A Dynamic Model for 2D Pantograph-Catenary Systems for Contact Tracking with Narrow Collector Head

Many electrified rail vehicles draw traction power using current collection systems that consists of overhead contact wires and pantographs mounted on top of the vehicles. The quality of power transmission depends on a stable and sufficient contact force between the contact wire and the pantograph. The quality of contact also sets a limit for higher vehicle speeds by limiting the transmission of electrical power required. The contact force from the pantograph is expected to handle external disturbances/vibrations, such as winds and vibrations from vehicle-track interactions; and also the changing catenary parameters such as deviations from initial design heights. Too high a contact force leads to undue wear on both the contact strip of the pantograph head and the contact wire, while insufficient contact forces lead to arcing and loss of contact. Modelling and active control of pantograph-catenary systems (PCS) has received increasing attention in the literature [1] - [3] . Existing passive pantographs are primarily limited to provide only the uplift force vertically. However, under extreme wind conditions, the combined lateral deviation of the contact wire and the pantograph from the track centre can lead to loss of contact or even dewirement. Adding extra degrees of freedom in the pantograph is a potential means to resolve these issues and prior research on active pantographs are mainly limited to the vertical degree-of-freedom (DOF). This paper will present a 2D modelling of a PCS system and the preliminary results of 2D control performance and effort required in contact tracking by an active sliding pantograph. The 2D model will incorporate an enhanced contact wire model presented by the authors previous work [3] . The active pantograph will feature a narrow collector head and is able to slide in sway on top of the train to track the moving contact wire. The research will help investigate the feasibility of laterally-actuated pantographs for unlocking lower mass designs and mechanically simpler catenaries.