Contact force variation reduction method and pantograph of pantograph

摘要

PROBLEM TO BE SOLVED: To provide a method or the like for reducing contact force variation by considering a frequency excelling in signal intensity within a signal of contact force between a pantograph and a trolley wire.;SOLUTION: A pantograph 1 includes: an actuator 13 for dynamically controlling contact force between an overhead wire and a sliding plate 3; a contact force measurement means 10; and a controller 20A for inputting a signal of measured contact force therein, and outputting a control signal of the actuator 13. In the controller 20A, phase synchronization waveform nearly coincident with a frequency of a component in the vicinity of a frequency excelling in signal intensity within the contact force signal is converted to delayed waveform by a delay element 23, and a control command signal obtained by adjusting gain of the delayed waveform by an amplifier 24 is output to the actuator 13. The controller 20A includes a control parameter adjustment part 25 for adjusting a phase difference φ of the delay element 23 and the gain A of the amplifier 24. The phase difference φ and the gain A are optimized in the control parameter adjustment part 25, feedforward control is performed by using the optimized value, whereby contact force variation can be reduced.;COPYRIGHT: (C)2014,JPO&INPIT