Dynamic interaction between pantograph and rigid overhead lines using a coupled FEM — multibody procedure

• We simulate the interaction between rigid catenaries and pantographs.
• Catenary (FEM) and pantograph (MB) models need to be integrated independently.
• We present a procedure to estimate and refine the mutual contact force.
• A fairly accurate equivalent lumped mass model may be found for most linkages.
• Finding lumped mass model parameters requires a prototype or an MB model.

Most studies on the interaction between pantograph and overhead contact systems refer to the conventional catenary composed of contact and messenger wires and droppers, whereas the literature related to the interaction with rigid overhead conductor rails is limited. This paper presents an algorithm capable of simulating the interaction between a catenary represented as a Finite Element Model and a pantograph modeled as a multibody linkage. The algorithm will be proven to be accurate and efficient. The procedure has been used to simulate the interaction in different scenarios as a tool to optimize the design of the infrastructure as well as the configuration of the pantograph. The piece of software produced can consider interaction of one or two pantographs with one or two overhead lines in transition sections.