Active control of pantograph vertical vibration of tilting train

In order to study the active control of pantograph vertical vibration, the mechanical-electric coupled nonlinear dynamics model of tilting train was set up, the linear model and nonlinear model for pantograph were constructed respectively, the finite element model and static contact stiffness model of the catenary were developed, the models were coupled together to constitute the tilting train-pantograph-catenary dynamics system. The P controller and H_∞ robust controller were designed, the dynamic behavior of pantograph with P and H_∞ robust controllers was studied by numerical simulation method. Numerical simulation result shows that the contact force between pantograph and catenary fluctuates heavily during curving negotiation when without pantograph vertical control, the fluctuation of the contact force can be reduced evidently if active vertical control is used, H_∞ controller has better control performance than P controller when the time delay of the control system is taken into account, the catenary vibration!influences the contact force, but the controllers work well too.