A Model Predictive Controller for Hardware-in-the-Loop Pantograph Test

Hardware-in-the-loop testing serves as a means of analysing the dynamic interaction between the pantograph and catenary in controlled laboratory settings. The process starts measuring the force from the pantograph and determines the next pantograph's virtual position using a real-time catenary model. The position is sent to an actuator, generating the desired pantograph movement to complete the loop. This work proposes a new catenary model and a Model Predictive Controller to address instability issues arising from communication delays and interaction stiffness. The method is validated experimentally through tests with a DSA-380 pantograph. The results demonstrate an acceptable accuracy of the test results in the frequency range of 0-20 Hz.