Hardware-in-the-loop hybrid simulation of pantograph–catenary interaction

The paper addresses the use of hybrid simulation to study pantograph-catenary interaction. Based on this approach, also known as ‘Hardware-in-the-loop’, a physical pantograph is set in interaction with a numerical model of the catenary which is run in real time. To this aim, a dedicated test bench was designed and built to reproduce pantograph–catenary interaction in the 0–20 Hz frequency range also including the effect of stagger in the contact wire. To appraise the accuracy of the simulation method, results of hybrid simulations were compared with line test measurements, considering two different pantograph–catenary couples presently used in the European high-speed railway network.

► A new hybrid simulation method to study pantograph–catenary interaction. ► A real-time model of the railway line overhead equipment was developed. ► The hybrid simulation results are compared with line test measurements. ► The comparison with line measurements shows a very good accuracy for hybrid simulation (deviation <5%). ► Prospective benefits to pantograph development and homologation are expected from this work.