Lumped Mass Model for Dynamic Performance Simulation of Pantograph

The pantograph was simplified as a model with two and three lumped masses to measure the dynamic performance of the pantograph. The parameters of the model, including the masses, stiffness and damping of the pan-head, the upper frame and the lower frame were identified experimentally. The dynamic contact forces between the pantograph and the catenary were calculated based on the parameters and compared with available experimental data, showing that the maximum errors of the maximum and minimum contact forces were 23.97 and 12.02 N for the pantograph model with three lumped masses, and 36.95 and 20.84 N for that with two lumped masses, respectively.