Dynamically substructured testing of railway pantograph/catenary systems

Shigeyuki Kobayashi*, David P. Stoten, Yoshitaka Yamashita, Takayuki Usuda

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

11 Citations (Scopus)
355 Downloads (Pure)


This paper presents a methodology for testing railway pantograph/catenary systems based upon the dynamically substructured system approach for combined physical and numerical components, originally developed by Stoten and Hyde. The main advantage of the dynamically substructured system is that it can provide more stable substructured testing than alternative schemes, such as the commonly used hybrid simulation method, often referred to as hardware-in-the-loop simulation. The developed method is validated through experiments using a simple pantograph rig, together with a numerical simulation of the catenary. In order to realise a real-time simulation of the large catenary model, for the first time in dynamically substructured system testing this study uses (i) a modal analysis technique to reduce the dimension of the contact wire model and (ii) a moving window approach to represent long-distance travel of the pantograph. Finally, the experimental dynamically substructured system test results are compared with simulations of the benchmark pantograph/catenary emulated system.

Original languageEnglish
Pages (from-to)516-525
Number of pages10
JournalProceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit
Issue number5
Early online date4 Oct 2018
Publication statusPublished - 1 May 2019


  • automatic control
  • dynamically substructured system
  • overhead catenary system
  • Pantograph


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