Adaptive and Robust Fault-Tolerant Tracking Control of Contact force of Pantograph-Catenary for High-Speed Trains

Abstract This paper presents a modified multi-body dynamic model and a linear time-invariant model with actuator faults (loss of effectiveness faults, bias faults) and matched and unmatched uncertainties. Based on the fault model, a class of adaptive and robust tracking controllers are proposed which are adjusted online to tolerate the time-varying loss of effectiveness faults and bias faults, and compensate matched disturbances without the knowledge of bounds. For unmatched uncertainties, optimal control theory is added to the controller design processes. Simulations on a pantograph are shown to verify the efficiency of the proposed fault-tolerant design approach

Research on condition monitoring system of high speed railway catenary based on image processing

A contactless detection method based on the image processing algorithm is proposed to detect the geometric parameters of catenary. Aiming at the other obstacles in the image, the image edge is detected and enhanced by Canny algorithm, then the catenary image is extracted gradually through target tracking, image segmentation and breakpoint continuation. The corresponding relationship between the coordinates of contact line feature point and the 3D space coordinates measured by the binocular triangulation method is established to get the conductor height and the stagger value. According to the relevant theory, a catenary condition monitoring system is designed, which realizes the working state monitoring and the dynamic measurement of geometrical parameters for catenary

Advances in fault diagnosis for high-speed railway: A review

The high speed railway (HSR) is a complex system with many subsystems and components. The reliability of its core subsystems is a key consideration in ensuring the safety and operation efficiency of the whole system. As the service time increases, the degradation of these subsystems and components may lead to a range of faults and deteriorate the whole system performance. To ensure the operation safety and to develop reasonable maintenance strategies, fault detection and isolation is an indispensable functionality in high speed railway systems. In this paper, the traction power supply system, bogie system, civil infrastructure system, and control and signaling system of HSR are briefly summarized, and then different fault diagnosis methods for these subsystems are comprehensively reviewed. Finally, some future research topics are discussed

Pantograph Spark Fault Detection using YOLO

Pantograph-catenary is now the dominant form of current collection for modern electric trains because they can be used for higher voltages. Faults in pantograph-catenary systems threaten the operation and safety of railway transportation. They need to be continuously monitored and controlled to maintain safe transport. Pantograph may be damaged as a result of extreme weather conditions which can affect its normal operation, leading to failure of pantograph and overhead contact line systems. Poor contact between pantograph and overhead contact line causes thermal erosion to the wire. When the pantographs are exposed to air, they could deteriorate due to electrochemical reaction with the environment since they are made of metals. Movement of catenary lines and pantograph in high crosswinds has been found to cause the wire to be trapped in the pantograph. There is a serious issue regarding the quality of images generated by pantograph video monitoring system on high-speed railway trains which often shows inconsistencies of catenary faults. The application of traditional image processing and deep learning techniques have been unable to meet the requirements of spark detection. In this paper,  a modern deep learning algorithm is proposed to detect sparks in the pantograph. Specifically, the YOLOv3 model is used to counter this problem that traditional image processing algorithms have been unable to. The results on a very large sample of data show the efficiency and real-time performance of the proposed method, which meets the requirements of pantograph spark detection in high-speed railway. Keywords: High-speed railway pantograph; Spark detection; Deep learning; YOLOv3; DOI: 10.7176/ISDE/12-3-02 Publication date:September 30th 202

A novel Active Control of Trolleybus Current Collection System (ACTCCS)

The trolleybus has been a popular public transport vehicle for more than a hundred years across the world. However, the typical features of double passive pantograph-booms with two-wire overhead line often creates complicated catenary webs (particularly at crossroads) and can result in easily de-wiring and arcing issues. In this thesis, a novel concept of Active Control of Trolleybus Current Collection System (ACTCCS) is introduced with actuator-controlled solo-pantograph and single overhead line (catenary formed by two wires fitted on a frame with enough electric clearance and creep) as well as electric (traction)-electric (battery or supercapacitor backup) hybrid (E-E hybrid) propulsion. [Continues.

Experimental Characterization of Pantograph Arcs and Transient Conducted Phenomena in DC Railways

open2An electric arc is an example of a transient event that is quite common in electrified transportation systems as by-product of the current collection mechanism. As a broadband transient, an electric arc excites a wide range of (often oscillatory) responses related to the substation and onboard filters, as well as the line resonances and anti-resonances. Similarly do the charging of onboard filter and other related inrush events. This work considers the electrical characteristics of these transients and of the excited responses in order to define their typical spectral signatures in DC railways and take them into account concerning their impact on Power Quality measurements and the measurements of instruments deployed onboard.openMariscotti, Andrea; Giordano, DomenicoMariscotti, Andrea; Giordano, Domenic

Fuzzy Integral Based Multi-Sensor Fusion for Arc Detection in the Pantograph-Catenary System

The pantograph-catenary subsystem is a fundamental component of a railway train since it provides the traction electrical power. A bad operating condition or, even worse, a failure can disrupt the railway traffic creating economic damages and, in some cases, serious accidents. Therefore, the correct operation of such subsystems should be ensured in order to have an economically efficient, reliable and safe transportation system. In this study, a new arc detection method was proposed and is based on features from the current and voltage signals collected by the pantograph. A tool named mathematical morphology is applied to voltage and current signals to emphasize the effect of the arc, before applying the fast Fourier transform to obtain the power spectrum. Afterwards, three support vector machine-based classifiers are trained separately to detect the arcs, and a fuzzy integral technique is used to synthesize the results obtained by the individual classifiers, therefore implementing a classifier fusion technique. The experimental results show that the proposed approach is effective for the detection of arcs, and the fusion of classifier has a higher detection accuracy than any individual classifier

A simplify fuzzy logic controller design based safe experimentation dynamics for pantograph-catenary system

Contact force between catenary and pantograph of high speed train is a crucial system to deliver power to the train. The inconsistence force between them can cause the contact wire oscillate a lot and it can damage the mechanical structure of system and produce electric arc that can reduce the performance of system. This project proposes a single-input fuzzy logic controller (SIFLC) to control the contact force between the pantograph-catenary by implement Safe Experimentation Dynamics (SED) method to tune the SIFLC parameters. The essential feature of SIFLC is that it is model-free type controller design with less pre-defined variables as compared to other existing model-based controllers. The performance of the SIFLC is analyzed in terms of input tracking of contact force of pantograph-catenary and time response specifications. A simplified model of three degree of freedom (3-DOF) pantograph-catenary system is considered. In this study, the simulation result shows that the SIFLC successfully track the given contact force with less overshoot with percentage different of peak to peak response from actual force 2% and fast response within 5.27s

Power Quality in Electrified Transportation Systems

"Power Quality in Electrified Transportation Systems" has covered interesting horizontal topics over diversified transportation technologies, ranging from railways to electric vehicles and ships. Although the attention is chiefly focused on typical railway issues such as harmonics, resonances and reactive power flow compensation, the integration of electric vehicles plays a significant role. The book is completed by some additional significant contributions, focusing on the interpretation of Power Quality phenomena propagation in railways using the fundamentals of electromagnetic theory and on electric ships in the light of the latest standardization efforts