Hardware-in-the-loop pantograph tests using analytical catenary models

Pantograph hardware-in-the-loop (HIL) testing is an experimental method in which a physical pantograph is excited by an actuator which reproduces the movement of a virtual catenary. This paper proposes a new method that uses analytical catenary models for HIL tests. The approach is based on an itera...

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Bibliographic Details
Published inVehicle system dynamics Vol. 60; no. 10; pp. 3504 - 3518
Main Authors Gil, J., Tur, M., Correcher, A., Gregori, S., Pedrosa, A., Fuenmayor, F. J.
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 03.10.2022
Taylor & Francis Ltd
Subjects
Actuators
Algorithms
analytical catenary model
Catenaries
Communications systems
Hardware-in-the-loop
Hardware-in-the-loop simulation
Iterative methods
Mathematical analysis
pantograph
Pantographs
steady-state response
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Summary:Pantograph hardware-in-the-loop (HIL) testing is an experimental method in which a physical pantograph is excited by an actuator which reproduces the movement of a virtual catenary. This paper proposes a new method that uses analytical catenary models for HIL tests. The approach is based on an iterative scheme until achieving a steady-state regime. Some of the method's advantages include its ability to consider the delay in the control and communication system and its applicability to a wide range of analytical catenary models. The proposed algorithm was validated both numerically and experimentally. The experimental results obtained in the HIL pantograph tests were compared with those obtained from pure numerical simulations using a linear pantograph model and showed good accuracy with pantograph running at different speeds.
ISSN:0042-3114
1744-5159
DOI:10.1080/00423114.2021.1962538