An optimal servo system based on sliding mode for the contact force of an active pantograph

This paper presents a design method of optimal servo systems based on sliding mode for an active pantograph with flexibility subject to the stiffness variation of the catenary. It is pointed out through our analysis that the flexibility makes the control problem much harder, because it increases not...

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Autores principales:	Myat Thiri Ko, Makoto YOKOYAMA, Shun NAGAYOSHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2017
Materias:	active pantograph sliding mode controller servo system sliding mode observer optimal control Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/8a812f06c9ae45bcbd296dc535fca3a3
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spelling	oai:doaj.org-article:8a812f06c9ae45bcbd296dc535fca3a32021-11-26T07:06:29ZAn optimal servo system based on sliding mode for the contact force of an active pantograph2187-974510.1299/mej.17-00149https://doaj.org/article/8a812f06c9ae45bcbd296dc535fca3a32017-08-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/4/4/4_17-00149/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper presents a design method of optimal servo systems based on sliding mode for an active pantograph with flexibility subject to the stiffness variation of the catenary. It is pointed out through our analysis that the flexibility makes the control problem much harder, because it increases not only the freedom of motion but also the relative degree between the control input and the contact force to be controlled. However, it is shown by employing the optimal control theory, especially SRL (Symmetric Root Locus), together with sliding mode theory that pole-zero cancellations play an important role in the controller design. Some numerical simulations in a practical situation, where the actuator dynamics and sensor noise are taken into account, show the effectiveness of the proposed design method.Myat Thiri KoMakoto YOKOYAMAShun NAGAYOSHIThe Japan Society of Mechanical Engineersarticleactive pantographsliding mode controllerservo systemsliding mode observeroptimal controlMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 4, Iss 4, Pp 17-00149-17-00149 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	active pantograph sliding mode controller servo system sliding mode observer optimal control Mechanical engineering and machinery TJ1-1570
spellingShingle	active pantograph sliding mode controller servo system sliding mode observer optimal control Mechanical engineering and machinery TJ1-1570 Myat Thiri Ko Makoto YOKOYAMA Shun NAGAYOSHI An optimal servo system based on sliding mode for the contact force of an active pantograph
description	This paper presents a design method of optimal servo systems based on sliding mode for an active pantograph with flexibility subject to the stiffness variation of the catenary. It is pointed out through our analysis that the flexibility makes the control problem much harder, because it increases not only the freedom of motion but also the relative degree between the control input and the contact force to be controlled. However, it is shown by employing the optimal control theory, especially SRL (Symmetric Root Locus), together with sliding mode theory that pole-zero cancellations play an important role in the controller design. Some numerical simulations in a practical situation, where the actuator dynamics and sensor noise are taken into account, show the effectiveness of the proposed design method.
format	article
author	Myat Thiri Ko Makoto YOKOYAMA Shun NAGAYOSHI
author_facet	Myat Thiri Ko Makoto YOKOYAMA Shun NAGAYOSHI
author_sort	Myat Thiri Ko
title	An optimal servo system based on sliding mode for the contact force of an active pantograph
title_short	An optimal servo system based on sliding mode for the contact force of an active pantograph
title_full	An optimal servo system based on sliding mode for the contact force of an active pantograph
title_fullStr	An optimal servo system based on sliding mode for the contact force of an active pantograph
title_full_unstemmed	An optimal servo system based on sliding mode for the contact force of an active pantograph
title_sort	optimal servo system based on sliding mode for the contact force of an active pantograph
publisher	The Japan Society of Mechanical Engineers
publishDate	2017
url	https://doaj.org/article/8a812f06c9ae45bcbd296dc535fca3a3
work_keys_str_mv	AT myatthiriko anoptimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph AT makotoyokoyama anoptimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph AT shunnagayoshi anoptimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph AT myatthiriko optimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph AT makotoyokoyama optimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph AT shunnagayoshi optimalservosystembasedonslidingmodeforthecontactforceofanactivepantograph
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An optimal servo system based on sliding mode for the contact force of an active pantograph

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