Implementation of a Virtual Active PID Control in HIL Pantograph Tests

Railway vehicles obtain their electrical supply from the contact between the pantograph and the catenary, through which the network energy circulates.Understanding the characteristics of this contact is crucial, as the maximum speed of the railway must be regulated to prevent disruptions in supply caused by detachment between the pantograph and the catenary, leading to electric arcs that degrade the elements in contact.It is also crucial in the phenomenon of wear of the wiper material and the contact wire.The quality of the current collection is measured by the average value and the standard deviation of the contact force.This study explores the feasibility of using an active pantograph to stabilize the contact force, thus improving the current collection quality.To achieve this objective, a PID control system is virtually implemented on a Hardware-in-the-Loop test bench.The developed system could be implemented in a pantograph test bench for future experimental validation.The main contribution is the experimental validation of a control design proposal applicable to pantographs to improve the current collection.