Stability Analysis of Travelling Pantograph

Abstract

The friction force acts to the travelling pantograph head in horizontal direction due to sliding of the pantograph head and contact wire. This study proposes a 2-dimensiodal pantograph model that considers friction characteristics of the pantograph head based on the multi-body dynamics approach. Furthermore, a stability analysis method based on the complex eigenvalue analysis for the pantograph model is proposed. The equation of motion of the pantograph model is derived based on both the differential algebraic equation (DAE) and the linear dynamics equation (LDE). Results of the LDE-based stability analysis of pantograph models are shown. Then the obtained stability is validated based on the DAEbased time history response analysis of the pantograph models.