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Shock and Vibration
Volume 2017, Article ID 4895321, 16 pages
Research Article

Sliding Mode Control with PD Sliding Surface for High-Speed Railway Pantograph-Catenary Contact Force under Strong Stochastic Wind Field

1State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu, Sichuan 610031, China
2School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan 610031, China
3School of Engineering, University of Liverpool, Brownlow Street, Liverpool L69 3GH, UK

Correspondence should be addressed to Zhigang Liu; nc.utjws@gzuil

Received 24 August 2016; Revised 19 November 2016; Accepted 27 November 2016; Published 18 January 2017

Academic Editor: Sergio De Rosa

Copyright © 2017 Yang Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


As is well known, the external disturbance (especially the stochastic wind load) has nonnegligible effect on the operation of pantograph-catenary system, which may cause the strong fluctuation in contact force as well as the increased occurrence of contact loss. In order to improve the current collection quality of a high-speed railway pantograph-catenary system under a strong stochastic wind field, a sliding mode controller with a proportional-derivative (PD) sliding surface for a high-speed active pantograph is proposed. The nonlinear finite element procedure is employed to establish the catenary model. The fluctuating wind speeds along catenary are simulated using empirical spectrums. The buffeting forces exerted on contact and messenger wires are derived to construct the stochastic wind field along the catenary. A PD sliding surface is properly determined to guarantee that the mechanical impedance of pantograph head at the dominant frequencies of contact force decreases when the sliding surface approaches zero. Through several numerical simulations with different wind velocities and wind angles, the control performance of two popular control laws (proportional switching law and constant switching law) is evaluated.