CN106476629B - A kind of Active Control Method and system of the high-speed railway pantograph based on EMPC - Google Patents
A kind of Active Control Method and system of the high-speed railway pantograph based on EMPC Download PDFInfo
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- CN106476629B CN106476629B CN201611208070.1A CN201611208070A CN106476629B CN 106476629 B CN106476629 B CN 106476629B CN 201611208070 A CN201611208070 A CN 201611208070A CN 106476629 B CN106476629 B CN 106476629B
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- pantograph
- pressure
- bladder pressure
- control system
- signal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
- B60L5/32—Devices for lifting and resetting the collector using fluid pressure
Abstract
The Active Control Method and system for the high-speed railway pantograph based on EMPC that the invention discloses a kind of, this method obtains pantograph operation data first, then the corresponding middle corresponding bow net contact power bladder pressure curve of selection is chosen from bow net contact power bladder pressure curve one by one mapping table according to operation data, obtain pantograph switch valve control variable value；According to the pantograph bladder pressure feedback signal and pantograph switch valve control variable value acquired in real time, the active control of pantograph is realized using EMPC control strategies；This method enables to obtain suitable dynamic contact force between bow net, ensures that the good of bullet train is flowed.Using EMPC principles realizes the pressure of change air bag of fast accurate, to change the lift pressure of pantograph, it overcomes and takes existing hydraulic-driven and cylinder and adjust the defects of operating process complexity need to additionally add executing agency, realize that easy to operate, cost is lower is precisely controlled.
Description
Technical field
The present invention relates to the pantograph of rail vehicle, more particularly to the active of a kind of high-speed railway pantograph based on EMPC
Control method and system.
Background technology
With the fast development of social economy and carrier, high-speed railway is big etc. with its rapidity, safety, freight volume
Feature plays very important role in all trades and professions.However, when being run at high speed due to train, from circuit to contact
The variation of network parameters can cause the acute variation of the dynamic property of pantograph-contact net contact system, it is possible to so that bow net point
From to generate electric arc, electric current Transmission is even resulted in.
In bow net estimation of stability, contact force is an important indicator.Traditional pantograph is to rely on the machinery of itself
Structure and material characteristic ensures that vibration characteristics, hardly possible are suitable for the high speed operation under different contact nets and interference.Active control mode
It is by outer force effect, the artificial contact force changed between bow net reduces contact fluctuation as far as possible.To make between bow net
There is suitable pressure well to be flowed to realize.But existing control method needs to control multiple variables or increases executing agency,
Extremely complex and inefficiency.
Invention content
The Active Control Method and system for the high-speed railway pantograph based on EMPC that the object of the present invention is to provide a kind of, with
Ensure that the dynamic performance parameter of pantograph is precisely controlled.
A kind of Active Control Method of the high-speed railway pantograph based on EMPC, includes the following steps：
Step 1：Pantograph history run status data is acquired using MVB networks；
The pantograph history run status data includes pantograph control system state, pantograph bladder pressure, train
The speed of service, pantograph position, pantograph model, the voltage on bow net dynamic contact force and pantograph；
Step 2：According to pantograph control system state in history run state to pantograph history run status data into
Row classification；
The pantograph control system state includes voltage stabilizing, overvoltage and under-voltage；
Step 3：Respectively to the bow net dynamic contact force and bladder pressure march in all kinds of pantograph history datas
Line is fitted, and obtains multigroup bow net contact power-bladder pressure standard curve；
Select the pantograph of same model in identical train running speed, and when pantograph control system state is identical acquires
Data carry out curve fitting；
Step 4：Obtain the airbag rule pressure of pantograph；
Bladder pressure, bow net dynamic contact force, pantograph model, pantograph position, the pantograph of acquisition pantograph in real time
Control system state and train speed, from pantograph model, pantograph control system state and train speed and bow net contact power-
Bladder pressure standard curve is searched and current pantograph model, pantograph control system state and train speed in mapping table one by one
Corresponding pantograph bow net contact power-bladder pressure standard curve, obtain with current bow net dynamic contact force match by electricity
The airbag rule pressure of bow and the airbag rule pressure of future time section t-t+N；
If the airbag rule pressure of the bladder pressure of the current pantograph acquired in real time and the pantograph of acquisition is unequal,
It is the air bag of pantograph in future time section t-t+ using the airbag rule pressure at future time section t-t+N moment on standard curve
The target, pressure of N, enters step 5；If equal, continue to repeat step 4；
Step 5：To linearize the minimum target of subregion range where each state of the control system of pantograph, pantograph is built
Bladder pressure Controlling object function so that the bladder pressure of pantograph reaches desired value at the t+N moment；
Step 6：Using the real-time bladder pressure of current pantograph, train speed and pantograph position data as input,
Using EMPC principles, the Controlling object function described in step 5 is solved, obtains pantograph controller in future time section
The switch valve signal exported in t-t+N carries out active control to pantograph.
Further, classification is carried out using in piecewise affine to pantograph history run status data in the step 2
Multiple objective programming is divided.
Further, the Controlling object function of the bladder pressure of the pantograph is as follows：
Wherein,
U indicates the switch valve signal that pantograph controller exports in future time section t-t+N, U=[ut,ut+1,...,
ut+N-1]；P (t) indicates pantograph in the bladder pressure actual value of t moment, pt+N|tAir bag pressure of the expression pantograph at the t+N moment
Strong actual value, pt+k|tBladder pressure actual value of the expression pantograph at the t+k moment；Air bag of r (t) the expression pantographs in t moment
Pressure desired value, w (t+k) are that the switch valve of the desired output at following k-th of moment controls the sequence of signal, w (t+k)=akp
(t)+(1-ak)r(t)；A indicates that switch valve signal control rate it is expected parameter, value range 0-1.
Further, the switch valve letter exported in future time section t-t+N using pantograph controller is obtained
Number, when carrying out active control to pantograph, the dead zone detection of switch valve is carried out according to following procedure：
Dead zone detection is carried out using extremum seeking algorithm, is made with the switch valve control signal of pantograph active controller output
For input signal gradient is obtained using demodulated signal after inputting high-pass filter elimination flip-flop after linear transformation
Information carries out low-pass filtering and Integral Processing successively to the gradient information obtained, and with integrated treated signal and swashs
Signal is encouraged to be added as new input signal, until searching switch valve dead zone critical value, so that pantograph active controller
The switch valve control signal of output makes pantograph rising bow bladder pressure reach desired value；
The pumping signal is asin (ω t), and demodulated signal is sin (ω t)；A is excitation signal amplitude, value 0.01
~0.05；ω is the angular frequency of pumping signal, and value is 500Hz~3000HZ.
Further, the linear transformation is realized by using the amplifier that gain is 4~10.
Further, the off period of high-pass filtering and low-pass filtering is respectively THP、TLP, THPFor 1/50~1/200, TLP
It is 1/30~1/90, and the gain in Integral Processing is k, value is 3~8.
A kind of active control system of the high-speed railway pantograph based on EMPC, which is characterized in that including：
Pantograph history data acquisition module, for obtaining pantograph history run status data；
Pantograph history data sort module, for according to pantograph control system state pair in history run state
Pantograph history run status data is classified；
Curve fitting module, for the bow net dynamic contact force and bladder pressure in all kinds of pantograph history datas
It carries out curve fitting；
Selecting module is used for according to real-time pantograph model, pantograph control system state and train speed by electricity
Arcuate number, pantograph control system state and train speed and bow net contact power-bladder pressure standard curve are one by one in mapping table
Search pantograph bow net contact power-air bag corresponding with current pantograph model, pantograph control system state and train speed
Pressure level curve；
Control module adopts for the curve selected by selecting module and controls the pantograph with the aforedescribed process.
The pantograph history data sort module, is divided using the multiple objective programming in piecewise affine.
Advantageous effect
The Active Control Method and system for the high-speed railway pantograph based on EMPC that the present invention provides a kind of, this method are first
Pantograph operation data is first obtained, is then selected from bow net contact power-bladder pressure curve one by one mapping table according to operation data
The corresponding middle corresponding bow net contact power-bladder pressure curve of selection is taken, pantograph switch valve control variable value is obtained；According to reality
When the pantograph bladder pressure feedback signal that acquires and pantograph switch valve control variable value, using EMPC control strategies realize by
The active control of pantograph；This method enables to obtain suitable dynamic contact force between bow net, ensures the good of bullet train
It is flowed.The pressure for using the change air bag that EMPC principles realize fast accurate overcomes to change the lift pressure of pantograph
It takes existing hydraulic-driven and cylinder adjusts the defects of operating process complexity need to additionally add executing agency, realize operation letter
Just, cost is lower is precisely controlled.
Description of the drawings
Fig. 1 is the structure diagram of the method for the invention；
Fig. 2 is the Controlling model schematic diagram of the method for the invention；
Fig. 3 is the basic schematic diagram of pantograph-contact net；
Fig. 4 is pantograph bladder pressure-bow net contact power mapping curve schematic diagram；
Fig. 5 is the offline optimal solution Condition Areas EMPC and optimum control rate schematic diagram, wherein (a) is that EMPC is optimal offline
Condition Areas (b) is the offline optimum control rates of EMPC；
Fig. 6 is to carry out pantograph active control verification platform pressure tracking effect schematic diagram using the method for the invention.
Specific implementation mode
Below in conjunction with drawings and examples, the present invention is described further.
As depicted in figs. 1 and 2, a kind of Active Control Method of the high-speed railway pantograph based on EMPC, including following step
Suddenly：
Step 1：Pantograph history run status data is acquired using MVB networks；
The pantograph history run status data includes pantograph control system state, pantograph bladder pressure, train
The speed of service, pantograph position, pantograph model, the voltage on bow net dynamic contact force and pantograph；
Step 2：According to pantograph control system state in history run state to pantograph history run status data into
Row classification；
The pantograph control system state includes voltage stabilizing, overvoltage and under-voltage；
Classification is carried out using the multiple objective programming in piecewise affine to pantograph history run status data in the step 2
It is divided.
Step 3：Respectively to the bow net dynamic contact force and bladder pressure march in all kinds of pantograph history datas
Line is fitted, and obtains multigroup bow net contact power-bladder pressure standard curve；
Select the pantograph of same model in identical train running speed, and when pantograph control system state is identical acquires
Data carry out curve fitting；
Step 4：Obtain the airbag rule pressure of pantograph；
Bladder pressure, bow net dynamic contact force, pantograph model, pantograph position, the pantograph of acquisition pantograph in real time
Control system state and train speed, from pantograph model, pantograph control system state and train speed and bow net contact power-
Bladder pressure standard curve is searched and current pantograph model, pantograph control system state and train speed in mapping table one by one
Corresponding pantograph bow net contact power-bladder pressure standard curve, obtain with current bow net dynamic contact force match by electricity
The airbag rule pressure and the airbag rule pressure at future time section t-t+N moment of bow；
If the airbag rule pressure of the bladder pressure of the current pantograph acquired in real time and the pantograph of acquisition is unequal,
It is the air bag of pantograph in future time section t-t+ using the airbag rule pressure at future time section t-t+N moment on standard curve
The target, pressure of N, enters step 5；If equal, continue to repeat step 4；
Step 5：To linearize the minimum target of subregion range where each state of the control system of pantograph, pantograph is built
Bladder pressure Controlling object function so that the bladder pressure of pantograph reaches desired value at the t+N moment；
The Controlling object function of the bladder pressure of the pantograph is as follows：
Wherein,
U indicates the switch valve signal that pantograph controller exports in future time section t-t+N, U=[ut,ut+1,...,
ut+N-1]；P (t) indicates pantograph in the bladder pressure actual value of t moment, pt+N|tAir bag pressure of the expression pantograph at the t+N moment
Strong actual value, pt+k|tBladder pressure actual value of the expression pantograph at the t+k moment；Air bag of r (t) the expression pantographs in t moment
Pressure desired value, w (t+k) are that the switch valve of the desired output at following k-th of moment controls the sequence of signal, w (t+k)=akp
(t)+(1-ak)r(t)；A indicates that switch valve signal control rate it is expected parameter, value range 0-1.
Step 6：Using the real-time bladder pressure of current pantograph, train speed and pantograph position data as input,
Using EMPC principles, the Controlling object function described in step 5 is solved, obtains pantograph controller in future time section
The switch valve signal exported in t-t+N carries out active control to pantograph.
The switch valve signal exported in future time section t-t+N using pantograph controller is obtained, to pantograph
When carrying out active control, the dead zone detection of switch valve is carried out according to following procedure：
Dead zone detection is carried out using extremum seeking algorithm, is made with the switch valve control signal of pantograph active controller output
For input signal gradient is obtained using demodulated signal after inputting high-pass filter elimination flip-flop after linear transformation
Information carries out low-pass filtering and Integral Processing successively to the gradient information obtained, and with integrated treated signal and swashs
Signal is encouraged to be added as new input signal, until searching switch valve dead zone critical value, so that pantograph active controller
The switch valve control signal of output makes pantograph rising bow bladder pressure reach desired value.
The linear transformation is realized by using the amplifier that gain is 4~10.
The pumping signal is a sin (ω t), and the demodulated signal is sin (ω t), and a is excitation signal amplitude, is taken
Value is 0.01~0.05；ω is the angular frequency of pumping signal, and value is 500Hz~3000Hz.
The off period of high-pass filtering and low-pass filtering is respectively THP、TLP, THPFor 1/50~1/200, TLPIt is 1/30~1/
90, and the gain in Integral Processing is k, value is 3~8.
A kind of active control system of the high-speed railway pantograph based on EMPC, which is characterized in that including：
Pantograph history data acquisition module, for obtaining pantograph history run status data；
Pantograph history data sort module, for according to pantograph control system state pair in history run state
Pantograph history run status data is classified；
Curve fitting module, for the bow net dynamic contact force and bladder pressure in all kinds of pantograph history datas
It carries out curve fitting；
Selecting module is used for according to real-time pantograph model, pantograph control system state and train speed by electricity
Arcuate number, pantograph control system state and train speed and bow net contact power-bladder pressure standard curve are one by one in mapping table
Search pantograph bow net contact power-air bag corresponding with current pantograph model, pantograph control system state and train speed
Pressure level curve；
Control module adopts for the curve selected by selecting module and controls the pantograph with the aforedescribed process.
The pantograph history data sort module, is divided using the multiple objective programming in piecewise affine.
As shown in figure 3, the basic schematic diagram of pantograph-contact net of the present embodiment specifically includes：
Contact net：It is erected above rail, pantograph is contacted with contact line by carbon slipper to obtain electric energy；
Pantograph：Pantograph is placed at the top of train, and pantograph is by parts groups such as carbon slipper, lever mechanism, rising bow air bags
At；Electrical gas circuit：Electrical air path part is made of integrated valve plate, valve plate be by intake valve, air bleeding valve, safety valve and
The compositions such as gas circuit pipeline adjust the pressure of outlet by the way that control is opened and closed to intake valve and air bleeding valve；Active control unit：
The pressure of the rising bow air bag detected according to pressure transducer determines the opening and closing of fast valve, to realizing the dynamic tune of pressure
Section.
Fig. 4 is the mapping curve of practical pantograph bladder pressure-bow net contact power, and abscissa Train Schedule is indulged and sat
It is designated as the contact force of contact net and the pressure values of air bag.
Fig. 5 is the offline optimal solution Condition Areas EMPC and optimum control rate.X-axis and the pressure values that y-axis is Condition Areas, z
Axis is the optimum control amount of Condition Areas.
Fig. 6 pantograph active control verification platform pressure tracking effects, abscissa is Train Schedule, the line of ordinate
The linear section of item show be bladder pressure value desired value, another curve is the high-speed railway pantograph based on EMPC in figure
Active control under air bag actual value.It can be seen from the figure that method of the present invention can be preferably to pantograph gas
Bag pressure carries out by force stability contorting, it is made to be sufficiently close to desired value.
Specific embodiment is applied in the present invention to be expounded the principle and embodiment of invention, above example
Illustrate the method and core concept that are merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not
It is interpreted as the limitation to invention.
Claims (8)
1. a kind of Active Control Method of the high-speed railway pantograph based on EMPC, which is characterized in that include the following steps：
Step 1：Pantograph history run status data is acquired using MVB networks；
The pantograph history run status data includes pantograph control system state, pantograph bladder pressure, train operation
Speed, pantograph position, pantograph model, the voltage on bow net dynamic contact force and pantograph；
Step 2：Pantograph history run status data is divided according to pantograph control system state in history run state
Class；
The pantograph control system state includes voltage stabilizing, overvoltage and under-voltage；
Step 3：Respectively in all kinds of pantograph history datas bow net dynamic contact force and bladder pressure to carry out curve quasi-
It closes, obtains multigroup bow net contact power-bladder pressure standard curve；
Select the pantograph of same model in identical train running speed, and the number that when pantograph control system state is identical acquires
According to carrying out curve fitting；
Step 4：Obtain the airbag rule pressure of pantograph；
The bladder pressure of acquisition pantograph, bow net dynamic contact force, pantograph model, pantograph position, pantograph control in real time
System mode and train speed, from pantograph model, pantograph control system state and train speed and bow net contact power-air bag
Pressure level curve is searched in mapping table corresponding with current pantograph model, pantograph control system state and train speed one by one
Pantograph bow net contact power-bladder pressure standard curve, obtain the pantograph to match with current bow net dynamic contact force
The airbag rule pressure of airbag rule pressure and future time section t-t+N；
If the airbag rule pressure of the bladder pressure of the current pantograph acquired in real time and the pantograph of acquisition is unequal, with mark
The airbag rule pressure of future time section t-t+N is target of the air bag in future time section t-t+N of pantograph on directrix curve
Pressure enters step 5；If equal, continue to repeat step 4；
Step 5：To linearize the minimum target of subregion range where each state of the control system of pantograph, the gas of pantograph is built
The strong Controlling object function of bag pressure so that the bladder pressure of pantograph reaches desired value at the t+N moment；
Step 6：Using the real-time bladder pressure of current pantograph, train speed and pantograph position data as input, use
EMPC principles solve the Controlling object function described in step 5, obtain pantograph controller in future time section t-t+N
The switch valve signal of middle output carries out active control to pantograph.
2. according to the method described in claim 1, it is characterized in that, to pantograph history run status data in the step 2
Classification is carried out to be divided using the multiple objective programming in piecewise affine.
3. according to the method described in claim 2, it is characterized in that, the Controlling object function of the bladder pressure of the pantograph such as
Under：
Wherein,
U indicates the switch valve signal that pantograph controller exports in future time section t-t+N, U=[ut,ut+1,...,
ut+N-1]；P (t) indicates pantograph in the bladder pressure actual value of t moment, pt+N|tAir bag pressure of the expression pantograph at the t+N moment
Strong actual value, pt+k|tBladder pressure actual value of the expression pantograph at the t+k moment；Air bag of r (t) the expression pantographs in t moment
Pressure desired value, w (t+k) are that the switch valve of the desired output at following k-th of moment controls the sequence of signal, w (t+k)=akp
(t)+(1-ak)r(t)；A indicates that switch valve signal control rate it is expected parameter, value range 0-1.
4. according to claim 1-3 any one of them methods, which is characterized in that described utilize obtains pantograph controller not
Carry out the switch valve signal exported in time period t-t+N, to pantograph carry out active control when, switch valve dead zone detection according to
Following procedure carries out：
Dead zone detection is carried out using extremum seeking algorithm, the switch valve exported using pantograph active controller controls signal as defeated
Enter signal, after high-pass filter elimination flip-flop is inputted after linear transformation, gradient information obtained using demodulated signal,
Low-pass filtering and Integral Processing carried out successively to the gradient information obtained, and with integrated treated signal and pumping signal
It is added as new input signal, until searching switch valve dead zone critical value, so that the output of pantograph active controller
Switch valve control signal makes pantograph rising bow bladder pressure reach desired value；
The pumping signal is asin (ω t), and demodulated signal is sin (ω t)；A is excitation signal amplitude, value is 0.01~
0.05；ω is the angular frequency of pumping signal, and value is 500Hz~3000HZ.
5. according to the method described in claim 4, it is characterized in that, the linear transformation by using gain is 4~10 to put
Big device is realized.
6. according to the method described in claim 5, it is characterized in that, the off period of high-pass filtering and low-pass filtering be respectively
THP、TLP, THPFor 1/50~1/200, TLPIt is 1/30~1/90, and the gain in Integral Processing is k, value is 3~8.
7. a kind of active control system of the high-speed railway pantograph based on EMPC, which is characterized in that including：
Pantograph history data acquisition module, for obtaining pantograph history run status data；
Pantograph history data sort module is used for according to pantograph control system state in history run state to by electricity
Bow history run status data is classified；
Curve fitting module, for in all kinds of pantograph history datas bow net dynamic contact force and bladder pressure carry out
Curve matching；
Selecting module is used for according to real-time pantograph model, pantograph control system state and train speed in pantograph type
Number, pantograph control system state and train speed and bow net contact power-bladder pressure standard curve search in mapping table one by one
Pantograph bow net contact power-bladder pressure corresponding with current pantograph model, pantograph control system state and train speed
Standard curve；
Control module, it is described by electricity using power 1-7 any one of them methods control for the curve selected by selecting module
Bow.
8. control system according to claim 7, which is characterized in that the pantograph history data sort module,
It is divided using the multiple objective programming in piecewise affine.
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| CN201611208070.1A CN106476629B (en) | 2016-12-23 | 2016-12-23 | A kind of Active Control Method and system of the high-speed railway pantograph based on EMPC |
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| CN107487187B (en) * | 2017-08-25 | 2023-06-30 | 诺和君目（北京）科技有限公司 | Contact pressure feedback type pantograph control system |
| WO2019185166A1 (en) * | 2018-03-30 | 2019-10-03 | Siemens Ag Österreich | Device and method for controlling a current collector for a vehicle |
| CN108944462B (en) * | 2018-07-23 | 2023-09-08 | 西南交通大学 | Pantograph active control method and device based on current taking feedback |
| CN109318718A (en) * | 2018-09-20 | 2019-02-12 | 青岛四方法维莱轨道制动有限公司 | A kind of pantograph control method judging contact rising bow height based on image procossing |
| CN111208367B (en) * | 2020-01-10 | 2021-08-24 | 西南交通大学 | Device and method for regulating and controlling distribution of abrasion dust of bow net contact pair |
| CN115489320A (en) * | 2022-09-23 | 2022-12-20 | 西南交通大学 | Train pantograph intelligent control method based on deep reinforcement learning |
| CN117647935A (en) * | 2024-01-29 | 2024-03-05 | 兰州交通大学 | Active control method for backstepping of pantograph |
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|---|---|---|---|---|
| EP0449704A1 (en) * | 1990-03-28 | 1991-10-02 | Faiveley Transport | pantograph |
| US5115405A (en) * | 1989-04-28 | 1992-05-19 | Faiveley Transport | Device for adjusting the bearing force of a pantograph on a catenary wire and process relating thereto |
| GB2319761B (en) * | 1996-09-19 | 2000-06-07 | Brecknell Willis & Co Ltd | Pantographs |
| CN102431458A (en) * | 2011-11-29 | 2012-05-02 | 南车株洲电力机车有限公司 | Pantograph control device and pantograph control method |
| CN105652111A (en) * | 2015-12-23 | 2016-06-08 | 中国铁路总公司 | Pantograph dynamic operation performance control method and device |
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- 2016-12-23 CN CN201611208070.1A patent/CN106476629B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5115405A (en) * | 1989-04-28 | 1992-05-19 | Faiveley Transport | Device for adjusting the bearing force of a pantograph on a catenary wire and process relating thereto |
| EP0449704A1 (en) * | 1990-03-28 | 1991-10-02 | Faiveley Transport | pantograph |
| GB2319761B (en) * | 1996-09-19 | 2000-06-07 | Brecknell Willis & Co Ltd | Pantographs |
| CN102431458A (en) * | 2011-11-29 | 2012-05-02 | 南车株洲电力机车有限公司 | Pantograph control device and pantograph control method |
| CN105652111A (en) * | 2015-12-23 | 2016-06-08 | 中国铁路总公司 | Pantograph dynamic operation performance control method and device |
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