电气化公路受电弓横向主动控制OA

During operation of electrified highway heavy-duty trucks,pantograph lateral alignment was prone to off-line events under road disturbances and lane changes.A pantograph lateral alignment error model was established,an out-of-bounds decision method and an out-of-bounds indicator sequence were proposed.Under typical operating conditions,three strategies were compared by simulation,including no control,error-feedback Proportional-Integral-Derivative control,and a feedforward-feedback composite control based on Feedforward-Feedback Proportional-Integral-Derivative.In the sinusoidal disturbance case,PID and FF-PID reduced the root-mean-square error by 52.74%and 57.8%relative to no control,respectively.In the saturated lane-change case,PID and FF-PID reduced the RMS error by 41.1%and reduced the total out-of-bounds duration by 10.2%;due to the actuator stroke constraint,out-of-bounds events showed continuous segments and had a physical lower bound.When the delay and noise introduced by the onboard measurement system were considered,the error was still effectively reduced,which verified the robustness of the control algorithm.