One of the relevant problems in high-speed train transportation systems is the regulation of the contact force between the catenary and the pantograph. The contact force should ensure a satisfactory permanent electricity feeding for the train. In this paper, a linear time varying (LTV) model of the pantograph-catenary (PAC) system is introduced. Since we cannot measure the current real states, we use a Kalman observer in order to obtain estimated values of the states. The regulation problem of contact force between the pantograph and the catenary is tackled by using a tracking control law based on an estimate state-feedback control combined with an integral action. The numerical tests and simulation results seem to be satisfactory.
['Nassim Mokrani', 'Ahmed Rachid', 'Mustapha Ait Rami']
A tracking control for pantograph-catenary system