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Pantograph current collectors, especially for high-speed trains, need to ensure safe contact with the catenary under stringent requirements on the dynamic contact force. A novel, high-dynamic pantograph test rig with accurate virtual catenary emulation is presented that allows for efficient, realistic, and reproducible testing. The complex dynamics of the pantograph/catenary interaction is modeled...
Series elastic joints allow force and impedance controllers to be implemented on high torque and high power density motors. Several impedance controllers have been proposed whose stability is usually analyzed by means of passivity-based tools such as the Z-width characterization. This paper proposes an overview of existing impedance control solutions for series elastic joints and derives the passivity...
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