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A. Schirrer, G. Aschauer, S. Jakubek:
"High-Dynamic Accurate Railway Catenary Emulation by Real-Time Mechanical Impedance Control for Pantograph Testing";
in: "Simulation and Testing for Vehicle Technology", C. Gühmann, J. Riese, K. von Rüden (Hrg.); Springer International Publishing, Switzerland, 2016, ISBN: 978-3-319-32344-2, S. 277 - 295.

The developments in modern hardware-in-the-loop testing tend towards realistically emulating the designated environment of the unit-under-test already in the laboratory. Using the example of an innovative high-speed pantograph test rig it is demonstrated how complex, distributed-parameters system dynamics (catenary), described via coupled partial differential equations can efficiently be transferred into a high-fidelity real-time-capable model. Careful modeling choices and efficient finite element codes provide these real-time capabilities. Then it is shown how the dynamics of the obtained model can be tracked by test rig actuators by using impedance control. A control concept is presented that not only leads to superior performance but also assures consistent energy and momentum exchange in hardware-in-the-loop testing, allowing for yet more realistic results. First experimental results are presented that validate the proposed concepts: impedance control results showcase the advanced catenary emulation functionality, and the efficiency of the real-time-enabled finite element code developments is analyzed. These building blocks deliver superior performance for their upcoming integration into the overall HiL control implementation.

Hardware-in-the-loop, Pantograph, Finite elements, Partial differential equations, Impedance control, Conserved quantities

http://dx.doi.org/10.1007/978-3-319-32345-9_20