Pantograph Optimization Design Based on the Model of Mining Truck-Road-Pantograph

This study focuses on the operation of trolley-assisted mining truck, which leverage overhead lines for uphill propulsion, substantially reducing fuel consumption and carbon emissions. The pantograph mounted at the truck body's front exhibits complex vibrational behavior due to the subgrade stiffness and the nonlinearities of the hydro-pneumatic suspension. Vertical dynamic model of the mining truck is constructed which considering the road conditions and suspension characteristics to illustrate the pantograph's contact force. The vibration characteristic of pantograph base is analyzed which using the spatial transformation relationship between the truck's center mass of gravity and the base of pantograph. The stiffness of pantograph is designed based on a pantograph-catenary system model considering different road conditions. The real mining truck is modeled in the Trucksim software to obtain the vibration of pantograph base. And the effectiveness of the pantograph stiffness can be verified through co-simulation of Trucksim-Simulink. Finally, an MPC active controller is designed to reduce the fluctuation of contact force between the pantograph and the catenary by providing active force. The simulation results have shown that the optimized pantograph parameters can meet pantograph-catenary contact requirements and the controller can effectively reduce the pantograph head vibration and contact force fluctuations.