Pantograph Dynamics and Control of Tilting Train

The modeling methodology of tilting train is studied. The vehicle and pantograph are considered as nonlinear multiple rigid body systems, and the catenary is modeled by FEM method. The electrical mechanical actuators for carbody and pantograph tilting control are also considered in the tilting train model. The method of on-line curving detection, filtering and control is adopted for the tilting train. The passive and active controls for the pantograph lateral motions during tilting train curve negotiation are analyzed. The pantograph guideway on top of the carbody is designed, and the control strategy for the pantograph active control is investigated. It is known that the pantograph lateral and vertical displacement and the fluctuation of pantograph-catenary contact force can be minimized by the use of active control.