The Wolfson School of Mechanical, Electrical and Manufacturing Engineering A Novel Active Control of Trolleybus Current Collection System (ACTCCS) (ACTCCS Research Thesis) PhD Student: Min Chen Supervisors: Dr Christopher Ward Dr Ella–Mae Hubbard Dr Peter Hubbard February 2020 Abstract The trolleybus has been a popular public transport vehicle for more than a hundred years across the world. However, the typical features of double passive pantograph-booms with two-wire overhead line often creates complicated catenary webs (particularly at crossroads) and can result in easily de-wiring and arcing issues. In this thesis, a novel concept of Active Control of Trolleybus Current Collection System (ACTCCS) is introduced with actuator- controlled solo-pantograph and single overhead line (catenary formed by two wires fitted on a frame with enough electric clearance and creep) as well as electric (traction)-electric (battery or supercapacitor backup) hybrid (E-E hybrid) propulsion. Dynamic models of both passive and active catenary-pantograph systems are developed with half-trolleybus, pre-load, self-generation static force, non-linear and linearized, bouncing and finally hybrid non-linear models as well as complex catenary webs (particularly at crossroads and switch etc.). The simulations are carried out to explore and fully explain the phenomenon of contact loss, electrical arcing, de-wirement etc. in such catenary-pantograph systems. Phase advance (PA) and phase advance-integrator (PA-I) control systems are introduced into an active catenary-pantograph system in order to reduce electrical arcing and facilitate planned de-wirement and re-wirement. The PA and PA-I control system simulations are carried out using contact force and position as the feedback control mechanism. Typical requirements of the actuator used to achieve the active control are also estimated in this work. From a theoretical and demonstration perspective, the models presented in this work make a significant contribution to a dynamic theory of conventional and novel models in catenary- pantograph systems. In addition to trolleybus systems, this work could also be used for the analysis and explanation of railway catenary-pantograph systems. Acknowledgements It is impossible that the research of ACTCCS (Active Control Trolleybus Current Collection System) would have been fulfilled without the excellent guidance and support from my supervisors Dr Christopher Ward, Dr Ella-Mae Hubbard and Dr Peter Hubbard. Their excellent teaching, supervision and guidance with rich knowledge always inspired me throughout this study. I am grateful to Professor Roger Dixon and Professor TX Mei, who, as examiners, gave me professional and helpful advice and comments that helped guide me to correct the original version of the thesis. I would like to thank Dr Tony Allen (my ex-supervisor at Nottingham Trent University) for his ongoing professional advice and for proof-reading the various drafts of this thesis. He did a similar, excellent job for me whilst I was studying for a Master of Science Degree with distinction at Nottingham Trent University. I would also like to thank Professor Roger Dixon, the Research Dean of Wolfson Engineering School of Loughborough University, for his professional encouragement and advice in his examination of my first and second years as well as for providing an excellent research environment in the school. Thanks are also due to Mr Roy Horne, who gave me professional advice and comments on the single overhead line concept, during the development of the original idea of A Novel Active Control of Trolleybus Current Collection System (ACTCCS). I would especially like to thank my wife, Dr Shaoyi Zhang for her love as well as everything she has done for me. We have been together for over a quarter of a century and I dedicate this work to my wife and our only baby girl Jing-Ar Chenzhang - a wonderful gift. I also wish to make a special present of this thesis to my parents, Mr. Hanmian Chen and Mrs. Zhongxin Ma-Chen, for their loves and for giving me the life. They both passed away last November, and I am very proud of the education and knowledge they gave me. Their charitable words and expectations are always with me throughout my whole life and encouraged me to achieve this PhD study. I never forget the early education from my maternal grandmother Jingxiu Xu-Ma. I would also say thanks to my only younger sister and her husband, Mrs. Zheng Chen-Hou and Mr. Jiangpin Hou. I never forget the help and support they have given to their older brother (me). As a special gift, I would like to dedicate this work to my lovely and clever nephew Boya Hou. I would also like to thank all my colleagues in Loughborough University. They are: Dr Nike Wright, Mrs Hasma Antong, Mrs Emma Ebinger, Mr Sam Bemment, Ms Priya Parthasarathy, Mrs Mitixa Jani, Ms Sharon Henson, Mrs Sharon Want, Nabilah Farhat and Dived Brock. Their patient assistance helped me gain further knowledge in English and computer skills. I would like to say many thanks to my relatives and friends for their long time helps and supports. They are as follows: Mrs. Zhonglian Ma-Zhang, Mr. Shaonan Zhang, Mr. Zhongren Ma, Mrs. Zhongzhi Ma- Zhang, Mr. Hang Gao, Mr. Gan Chen, Mr. Yongsheg Zhang, Mrs Su Zhang-Shi, Mr. Yukuan Ma, Mr. Jiarong Zhang-Chen, Mr. Shuhua He, Mr. Shenwu Song, Mrs. Yiannan Zhang-Song, Mr. Xiaodong Liu, Mr Ming Liu, Mr Yong Pan, Mr Guangzhong Meng, Mr Rongbing Xia, Mr. Sijin Liu; Mr. Roy Horne; Dr Hans Bleijs, Mr. Robert Goodwin, Mr. Andy Moore, Mr. Steve Glenn, Mr. David Woolhouse, Mr. Martin Gunn, Mrs. Ping Peng-Liao, Mr. David Liao, Mr. Huihuan Zhang. You all have motivated and helped me to reach this far and I am really blessed to have you all in my life. Finally, there is a person who should never be forgotten in my life and who deserves especially be thanked: Mr. Zhongliang Ma is my closest and most honest friend; we have known each other for more than four decades. He always stood by me through my difficult times and has shared in my sadness as well as in my happiness. List of Contents List of Tables...… .......................................................................................... 4 List of Figures ................................................................................................ 6 List of Appendix Simulink Configuration Diagrams .............................. 13 1 Background of trolleybus active pantograph control........................ 14 1.1 Introduction ............................................................................................................ 15 1.2 Trolleybus current status and main issues ............................................................. 16 1.3 Concept of ACTCCS trolleybus ............................................................................ 18 1.4 Research contribution ........................................................................................... 20 2 Literature reviews ................................................................................ 21 2.1 Aim, scope and sources of the reviews .................................................................. 22 2.2 The benefits of the ACTCCS research for potential market .................................. 22 2.3 The existing technology and research of the trolleybus......................................... 23 2.4 Review of associated research in trolleybus and catenary-pantograph systems…27 2.5 Identification of gaps between the state of the art and ACTCCS ......................... 34 2.6 Chapter summary .................................................................................................. 34 3 Passive catenary-pantograph modelling and analysis . ..................... 35 3.1 Brief overview of passive trolleybus catenary-pantograph modelling…………...36 3.2 Modelling and simulation of catenary-pantograph for trolleybus ……………….38 3.3 Modelling and simulation of half trolleybus ......................................................... 54 3.4 Combined model of half trolleybus with catenary-pantograph ………………….73 3.5 Chapter summary .................................................................................................. 87 1 4 Hybrid non-linear catenary-pantograph modelling and analysis ... 89 4.1 Introduction of issues ............................................................................................ 90 4.2 Trolleybus’ catenary-pantograph bouncing model ……………………………....91 4.3 Trolleybus catenary-pantograph hybrid non-linear model and simulation……...100 4.4 Application of hybrid non-linear catenary-pantograph model in risk analysis of trolleybus’ arcing and de-wirement ................................................................... 110 4.5 Chapter Summary ............................................................................................... 123 5 Trolleybus active catenary-pantograph .......................................... 125 5.1 Introduction of active catenary-pantograph ......................................................... 126 5.2 Basic modelling of active catenary-pantograph ................................................... 126 5.3 Proportion (P), Phase advance (PA) and phase advance-integrator (PA-I) control design, simulation and results analysis of catenary-pantograph ............. 129 5.4 Chapter Summary ................................................................................................ 139 6 Trolleybus planned de-wirement and re-wirement for the avoidance of hazards and negotiation of road