Fractional Order Fuzzy PID control of an Active Suspension System for a High-Speed Pantograph
Keywords:
catenary, pantograph, rail transportation control systems, railway, controller, adaptive fuzzy fractional order controller
Abstract
Pantograph is a device that collects electrical current from overhead line to power an electrical locomotive. Pantograph must transmit electrical energy to high-speed rail system without arcing and interrupting power. This paper presents a Fractional Order Fuzzy PID (FOFPID) technique for tuning the optimal control gains of FOPID controller. The Fractional Order Fuzzy PID controller (FOFPID) can decrease rapidly the contact force variation between the pantograph and the catenary in order to minimize damage and wear of the contacting elements. The results are verified that system responses with proposed controller have better performance parameters in both transient state and steady state.
References
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[22] A. Jalilvand , A. Kimiyaghalam , A. Ashouri, H. Kord (2011) ," optimal tuning of PID controller parameters on a DC motor based on advanced particle swarm optimization algorithm ", International Journal on Technical and Physical Problems of Engineering (IJTPE)", Vol. 3, Issue 9, No. 4, pp. 10-17.
[23] W. Zhang, Y. Liu, and G. Mei (2006), “Evaluation of the coupled dynamical response of a pantograph– catenary system: Contact force and stresses”, vehicle system dynamics, Vol. 44, No. 8, pp. 645–658.
[24] J.-H. Seo, S.W. Kim, I.H. Jung, and T.W. Park (2006), “Dynamic analysis of a pantograph–catenary system using absolute nodal coordinates,” vehicle system dynamics, Vol. 44, No. 8, pp. 615–630.
[25] I. Podlubny (1999), "Fractional-order systems and -controllers", IEEE Trans. on Automatic control, Vol. 44, pp. 208-214.
[26] Yu-Chen Lin , Niahn-Chung Shieh, Van-Tsai Liu (2015) ,"Optimal control for rail vehicle pantograph systems with actuator delays", IET Control Theory and Applications , Vol. 9, Issue 13, pp. 1917–1926
[27] Nassim Mokrani and Ahmed Rachid (July 17-19, 2013), "A Robust Control of Contact Force of Pantograph- Catenary for The High-Speed Train" , European Control Conference (ECC), Zürich, Switzerland, pp. 4568-4573.
[2] Tiago Teixeira(2007), "Dynamics and Control of a High Speed Train Pantograph System" Department of mechanical engineering, Institute superior tecnico, Technical university of Lisbon.
[3] Zwe-Lee Gaing, Rung-Fang Chang (2009) "Optimal PID Controller for High-Speed Rail Pantograph System with Notch Filter " TENCON (IEEE), 23-26 Jan 2009, pp. 1-6.
[4] Xiaomin Tian, Yourui Huang, Canming Zhang (2010)," The tuning principle of adaptive fuzzy fractional-order PID controller parameters "Procedia Engineering (Elsevier), Vol. 7, pp. 251–255.
[5] Richa Sharma, K.P.S. Rana, Vineet Kumar (2013), "Performance Analysis of Fractional Order Fuzzy PID Controllers Applied to a Robotic Manipulator", Expert Systems with Applications, Vol. 41, pp. 4274-4289.
[6] Amir Hajiloo, Wen-Fang Xie (Jun 2013), "Fuzzy Fractional-Order PID Controller Design using Multi-Objective Optimization", ISFA World Congress and ANFIPS Annual Meeting (IEEE), pp. 1445-1450.
[7] Shantanu Das (2011)," Functional Fractional Calculus", Springer-Verlag Berlin Heidelberg.
[8]Igor Podlubny (1994), "Fractional Order Systems and Fractional Order Controllers", Department of Control Engineering B.E.R.G Faculty, university of Technology B.Nemcovej 3. Kosice,Slovakia.
[9] D. Baleanu, Z.B. Guvenc, J.A. Tenreiro Machado (2010),"New Trends in Nanotechnology and Fractional Calculus Applications" Springer.
[10] Aleksei Tepljakov (2011),"Fractional-order Calculus based Identification and Control of Linear Dynamic Systems" Department of Computer Control Tallinn University of Technology.
[11] Frederico Grases Rauter, João Pombo, Jorge Ambrósio, Manuel Pereira (2007)," Multibody Modeling of Pantographs for Pantograph Catenary Interaction" IUTAM symposium on multiscale problems in multibody system contacts (Springer), Vol. 1, pp. 205-206.
[12] Weihua ZHANG, Ning ZHOU, Ruiping LI, Guiming MEI, Dongli SONG (2011) ," Pantograph and catenary system with double pantographs for high-speed trains at 350 km/h or higher" Journal of Modern Transportation ",Vol. 19, No. 1, pp. 7-11.
[13] Y. J. Huang (February 2004) ," Discrete fuzzy variable structure control for pantograph position control", Electrical Engineering (Springer), Vol. 86, Issue 3, pp. 171-177.
[14] Jin-Woo Kim, Seung-Nam Yu (2013) ," Design Variable Optimization for Pantograph System of High-Speed Train using Robust Design Technique", International Journal of Precision engineering and manufacturing acturing, Vol. 14, No. 2, pp. 267-273.
[15] Angelines Alberto , Jes´ us Benetb, Enrique Ariasa, David Cebrian ,Tom´ as Rojo , Fernando Cuartero (December 2008) ,"A high performance tool for the simulation of the dynamic pantograph–catenary interaction", Mathematics and Computers in Simulation (Elsevier),Vol. 79,Issue 3, pp. 652-667.
[16] Ebru Karaköse, Muhsin Tunay GENÇOĞLU (2012)," Adaptive Fuzzy Control Approach for Dynamic Pantograph-Catenary Interaction", Mechatronica (IEEE), pp. 1-5.
[17] Yong Hyeon Cho, Kiwon Lee, Young Park, Bubyoung Kang, Ki-nam Kimb (2010)," Influence of contact wire pre-sag on the dynamics of pantograph–railway catenary ", International Journal of Mechanical Sciences, Vol. 52, issue 11, pp. 1471–1490.
[18] Yoshitaka Yamashita, Mitsuru Ikeda, Arata Masuda, Daisuke Iba, Akira Sone (2012)," Advanced Active Control of a Contact Force between a Pantograph and a Catenary for a High-speed Train",Quarterly Report of Railway Technical Research Institute (QR of RTRI) ,Vol. 53, No. 1, pp. 28-33.
[19] Andrea Collina , Sebastian Stichel (2011) ," Innovative active control strategies for pantograph catenary interaction", Politecnico Di Milano School of Industrial Engineering Master of Scince in Mechanical Engineering Department of Aeronautical and vehicle Engineering Railway Division.
[20] Jong-Hwi Seo, Hiroyuki Sugiyama, Ahmed A. Shabana (2005) ," Modeling Pantograph catenary interaction for multibody railroad vehicle systems", Multibody dynamics ,ECCOMAS Thematic Conference 21-24 June 2005, Madrid, Spain.
[21] Benedetto Allotta, Luca Pugi, Fabio Bartolin (2008), "Design and Experimental Results of an Active Suspension System for a High-Speed Pantograph", IEEE/ASME Transactions on mechatronics, Vol. 13, No. 5, pp. 547-557.
[22] A. Jalilvand , A. Kimiyaghalam , A. Ashouri, H. Kord (2011) ," optimal tuning of PID controller parameters on a DC motor based on advanced particle swarm optimization algorithm ", International Journal on Technical and Physical Problems of Engineering (IJTPE)", Vol. 3, Issue 9, No. 4, pp. 10-17.
[23] W. Zhang, Y. Liu, and G. Mei (2006), “Evaluation of the coupled dynamical response of a pantograph– catenary system: Contact force and stresses”, vehicle system dynamics, Vol. 44, No. 8, pp. 645–658.
[24] J.-H. Seo, S.W. Kim, I.H. Jung, and T.W. Park (2006), “Dynamic analysis of a pantograph–catenary system using absolute nodal coordinates,” vehicle system dynamics, Vol. 44, No. 8, pp. 615–630.
[25] I. Podlubny (1999), "Fractional-order systems and -controllers", IEEE Trans. on Automatic control, Vol. 44, pp. 208-214.
[26] Yu-Chen Lin , Niahn-Chung Shieh, Van-Tsai Liu (2015) ,"Optimal control for rail vehicle pantograph systems with actuator delays", IET Control Theory and Applications , Vol. 9, Issue 13, pp. 1917–1926
[27] Nassim Mokrani and Ahmed Rachid (July 17-19, 2013), "A Robust Control of Contact Force of Pantograph- Catenary for The High-Speed Train" , European Control Conference (ECC), Zürich, Switzerland, pp. 4568-4573.
Published
2017-06-15
How to Cite
Balochian, S. (2017). Fractional Order Fuzzy PID control of an Active Suspension System for a High-Speed Pantograph. Majlesi Journal of Mechatronic Systems, 6(1). Retrieved from https://ms.majlesi.info/index.php/ms/article/view/310
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