PROBLEM TO BE SOLVED: To provide a pantagraph control method for effectively suppressing the contact force variation of a pantagraph with wiring by utilizing sliding mode control.SOLUTION: A pantagraph 10 includes a collector head 11 brought into contact with wiring 15 to collect power, a frame 12 for contacting or separating the collector head with or from the wiring, and an air pressure actuator 13 for driving the frame. The axial force of the actuator is adjusted by a control command signal generated by using a switching function obtained by applying a state variable including the displacement and the speed of the collector head, the displacement and the speed of the frame, and the axial force of the actuator for a coefficient matrix defined based on the mass of the collector head, the mass of the fame, rigidity and attenuation performance between the collector head and the frame, the damper performance of a pantagraph, a design parameter, a control gain, the gain and the time constant of the actuator, and the gain of the pantagraph.SELECTED DRAWING: Figure 2

    【課題】スライディングモード制御を利用して、架線とパンタグラフの接触力変動を効果的に抑制するパンタグラフの制御手法を提供する。【解決手段】架線15に接して集電する舟体11と、舟体を架線に向かって接離する枠組12と、枠組を駆動する空気圧アクチュエータ13とを備えたパンタグラフ10を対象とする。舟体の質量、枠組の質量、舟体と枠組の間の剛性と減衰性能、パンタグラフのダンパ性能、設計パラメータ、制御ゲイン、アクチュエータのゲインと時定数及びパンタグラフのゲインとに基づいて定める係数行列に対して、舟体の変位と速度及び枠組の変位と速度、さらにアクチュエータの軸力とからなる状態変数を作用させて求めた切換関数を利用して生成した制御指令信号により、アクチュエータの軸力を調整する。【選択図】図2


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    Title :

    PANTAGRAPH CONTACT FORCE VARIATION REDUCTION DEVICE


    Additional title:

    パンタグラフの接触力変動低減装置


    Contributors:

    Publication date :

    2016-08-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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