Active Control of Pantograph with Fluctuating Wind Excitation of Contact Wire Considered
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摘要: 针对外部环境脉动风激励对弓网耦合系统动态耦合性能造成的影响,提出了一种受电弓变论域模糊分数阶PID主动控制方法。修正了脉动风激励下的简化弓网模型,分析了脉动风激励在接触线产生的抖振力,得到了不同风攻角和风速下的弓网系统接触压力。将接触压力误差及误差变化率作为变论域模糊分数阶PID控制的输入,实时调整PID参数。利用论域伸缩因子调整模糊控制论域,提高了模糊控制精确性。利用Oustafod滤波器有理化了分数阶微积分算子,提高了PID控制器灵活性。仿真结果表明,设计的控制器在脉动风环境下能有效减小接触压力波动,降低弓网离线率,提高了系统的鲁棒性。Abstract: To deal with the influence of the fluctuating wind excitation of the external environment on the dynamic coupling performance of a pantograph-catenary system, a variable universe fuzzy fractional-order PID active pantograph control method was proposed. The simplified pantograph-catenary model under fluctuating wind excitation was modified. The buffeting force generated by the fluctuating wind excitation of the contact wire was analyzed, and the contact force of the pantograph-catenary system under different wind attack angles and wind speed was obtained. The contact force error and the error change rate are used as inputs of the variable universe fuzzy fractional PID control, and the PID parameters are adjusted in real time. The fuzzy control variable-universe is adjusted with the contraction-expansion factor, improving the accuracy of the fuzzy control. The fractional calculus operator is rationalized with the Oustaloup filter to improve the flexibility of the PID controller. The simulation results show that the designed controller can effectively reduce the fluctuation of contact force under the wind environment and the off-line rate, thus improving the robustness of the pantograph-catenary system.
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表 1 SSS400+型受电弓结构基本参数
序号 mi/kg ci/(Ns·m-1) ki/(N·m-1) 1 6.1 10 10 400 2 10.2 0 10 600 3 10.3 120 0 表 2 ΔKP模糊控制规则
e ec NB NM NS ZO PS PM PB NB PB PB PM PM PS ZO ZO NM PB PB PM PS PS ZO PS NS PM PM PM PS ZO NS NS ZO PM PM ZO NS NS NM NM PS PS PS ZO NS NS NM NM PM PS ZO NS NM NM NM NB PB ZO ZO NM NM NM NB NB 表 3 速度300 km/h时的控制效果对比
控制方法 最大值(Max) 最小值(Min) 平均值(Mean) 标准差(Std) 未控制 252.2 70.8 155.2 54.7 FFPID 229.3 95.5 156.4 31.7 VFFPID 202.4 117.1 157.2 27.3 表 4 速度350 km/h时控制效果对比
控制方法 最大值(Max) 最小值(Min) 平均值(Mean) 标准差(Std) 未控制 359.2 58.3 186.5 81.4 FFPID 286.5 103.7 187.3 46.7 VFFPID 276.4 118.1 188.2 39.4 表 5 风速为20 m/s攻角为40°时对比
控制方法 最大值(Max) 最小值(Min) 平均值(Mean) 标准差(Std) 未控制 360 0 158 77 FFPID 297 18 155 56 VFFPID 297 26 157 49 表 6 风速为30 m/s攻角为50°时对比
控制方法 最大值(Max) 最小值(Min) 平均值(Mean) 标准差(Std) 未控制 467 0 161 98 FFPID 383 0 155 79 VFFPID 383 0 157 73 表 7 动态验收弓网离线燃弧数据
速度级/(km·h-1) 动车组 线名 行别 燃弧率/% 测试区段/km 受电弓型号 300 重连 成渝客专 上行 1.43 296 SSS400+ 下行 1.57 300 重连 合福铁路 上行 1.14 519 SSS400+ 下行 1.10 350 单列 京沪高铁 上行 2.15 313 SSS400+ 下行 1.02 DSA250 -
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