Abstract
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.
Keywords
This work was financially supported by the Austrian Research Promotion Agency (project 841331). The authors are grateful for the support of Siemens pantographs team (Siemens AG Austria, MO MLT BG PN).
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Ritzberger, D., Talic, E., Schirrer, A.: Efficient simulation of railway pantograph/ catenary interaction using pantograph-fixed coordinates. Vienna Int. Conf. Math. Model. 8, 61–66 (2015)
Jung, S.P., Kim, Y.G., Paik, J.S., Park, T.W.: Estimation of dynamic contact force between a pantograph and catenary using the finite element method. J. Comput. Nonlinear Dyn. 7(4), 041006 (2012)
Facchinetti, A., Bruni, S.: Hardware-in-the-loop hybrid simulation of pantograph–catenary interaction. J. Sound Vib. 331(12), 2783–2797 (2012)
Engquist, B., Majda, A.: Absorbing boundary conditions for numerical simulation of waves. Proc. Natl. Acad. Sci. 74(5), 1765–1766 (1977)
Higdon, R.L.: Absorbing boundary conditions for difference approximations to the multidimensional wave equation. Math. comput. 47(176), 437–459 (1986)
Givoli, D.: High-order local non-reflecting boundary conditions: a review. Wave Motion 39(4), 319–326 (2004)
Schirrer, A., Talic, E., Aschauer, G., Kozek, M., Jakubek, S.: Optimization based determination of highly absorbing boundary conditions for linear finite difference schemes. J. Sound Vib. 365, 45–69 (2016)
Ritzberger, D., Schirrer, A., Jakubek, S.: Emulating the properties of a perfectly matched layer with an optimal feedback controller. J. Comput. Phys. (in review) (2015)
Hogan, N.: Impedance control: an approach to manipulation: Part I: Theory. J. Dyn. Syst. Meas. Contr. 107(1), 1–7 (1985)
Priesner, R., Jakubek, S.: Mechanical impedance control of rotatory test beds. IEEE Trans. Industr. Electron. 61(11), 6264–6274 (2014)
Jakubek, S., Luchini, E., Oberhummer, A., Pfister, F.: A model-based interfacing concept for accurate power hardware-in-the-loop systems. Math. Comput. Model. Dyn. Syst. 22(1), 1–20 (2016)
Arnold, M., Simeon, B.: Pantograph and catenary dynamics: a benchmark problem and its numerical solution. Appl. Numer. Math. 34(4), 345–362 (2000)
Liu, G.R., Quek, S.S.: The Finite Element Method: A Practical Course. Butterworth-Heinemann, 2nd edn. (2013)
Yu-Geng, X., De-Wei, L., Shu, L.: Model predictive control—status and challenges. Acta Automatica Sinica 39(3), 222–236 (2013)
König, O., Gregorčič, G., Jakubek, S.: Model predictive control of a dc–dc converter for battery emulation. Control Eng. Pract. 21(4), 428–440 (2013)
Ferreau, H., Kirches, C., Potschka, A., Bock, H., Diehl, M.: qpOASES: a parametric active-set algorithm for quadratic programming. Math. Program. Comput. 6(4), 327–363 (2014)
Ferreau, H., Bock, H., Diehl, M.: An online active set strategy to overcome the limitations of explicit mpc. Int. J. Robust Nonlinear Control 18(8), 816–830 (2008)
Guennebaud, G., Jacob, B.: Eigen v3. http://eigen.tuxfamily.org (2010)
Acknowledgments
ZIM – Zentrales Innovations programm Mittelstand.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Schirrer, A., Aschauer, G., Jakubek, S. (2016). High-Dynamic Accurate Railway Catenary Emulation by Real-Time Mechanical Impedance Control for Pantograph Testing. In: Gühmann, C., Riese, J., von Rüden, K. (eds) Simulation and Testing for Vehicle Technology. Springer, Cham. https://doi.org/10.1007/978-3-319-32345-9_20
Download citation
DOI: https://doi.org/10.1007/978-3-319-32345-9_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-32344-2
Online ISBN: 978-3-319-32345-9
eBook Packages: EngineeringEngineering (R0)