Hardware-in-the-Loop Testing of High-Speed Pantographs Using Real-Time Catenary Emulation

Abstract

This contribution outlines key developments and first results towards an innovative hardware-in-the-loop test rig for high-speed pantographs that can accurately emulate high-speed train rides. This allows for efficient pantograph testing in laboratory and thus reduces the need for expensive track tests. Efficient real-time-capable models of the relevant and complex catenary dynamics are needed, but due to the distributed-parameter dynamics and weak damping, special care in the model formulation has to be taken. A novel moving coordinate formulation combined with controlled absorbing boundary layers yields an accurate and efficient catenary model. A model-based predictive test rig impedance control scheme is then used to emulate the catenary behavior on the test rig. Additionally, physical conservation laws (energy and momentum) can be considered by the controller as control goals. First experimental results demonstrate the test rig ability to emulate catenary behavior and eliminate errors in energy and momentum between the coupled systems.