Huibin Gong

The electrical arcs generated by high-speed dynamic separation between pantograph and catenary systems pose a significant threat to the operational safety of high-speed railways. Environmental factors, particularly relative humidity and airflow, critically influence arc characteristics. This study establishes a two-dimensional pantograph–catenary arc model based on magnetohydrodynamic theory, validated through a self-developed experimental platform. Research findings demonstrate that as relative humidity increases from 25% to 100%, the core arc temperature decreases from 10,500 K to 9000 K due to enhanced heat dissipation in humid air and electron capture by water molecules; the peak arc voltage rises from 37.25 V to 48.17 V resulting from accelerated deionization processes under high humidity conditions; the average arc energy in polar regions increases from 2.5 × 10⁻⁴ J/m³ to 3.5 × 10⁻⁴ J/m³, exhibiting a saddle-shaped distribution; and the maximum arc pressure declines from 5.3 Pa to 3.7 Pa. Under airflow conditions of 10–30 m/s, synergistic effects between airflow and humidity further modify arc behavior. The most pronounced temperature fluctuations and most frequent arc root migration occur at 100% humidity with 30 m/s airflow, while the shortest travel distance and longest persistence are observed at 25% humidity with 10 m/s airflow, as airflow accelerates heat dissipation and promotes arc root alternation. Experimental measurements of arc radiation intensity and temperature distribution show excellent agreement with simulation results, verifying the model’s reliability. This study quantitatively elucidates the influence patterns of humidity and airflow on arc characteristics, providing a theoretical foundation for enhancing pantograph–catenary system reliability.

This article proposes a fuzzy optimal fault-tolerant control scheme with prescribed performance for three-dimensional trajectory tracking control of underactuated autonomous underwater vehicles (AUVs) in complex ocean environments, especially in the presence of unknown actuator faults and dynamic uncertainties. The scheme has the following features. 1) The underactuation problem is overcome by defining new system outputs. 2) An error transformation method that removes restrictions on initial error conditions is adopted to achieve global prescribed performance control. 3) A fuzzy adaptive disturbance observer based on a generalized fuzzy hyperbolic model (GFHM) is proposed to estimate compound disturbances consisting of actuator faults, dynamic uncertainty parts and disturbances. 4) Based on adaptive dynamic programming techniques, a single critic structure fuzzy optimal controller is developed using a GFHM to obtain an approximate optimal control law. In particular, actuator faults, dynamic uncertainties, and disturbances are uniformly handled by structuring an improved cost function and solving optimal control of the nominal system. Through analysis, the proposed scheme can ensure that all signals of the AUV closed-loop system are uniformly ultimately bounded and the original tracking errors can remain within prescribed boundaries. Pure software and hardware-in-the-loop simulations demonstrate the effectiveness and advantages of the proposed scheme.

The safety and optimality of underactuated autonomous underwater vehicles (AUVs) during operations are essential factors to consider. In this context, a three‐dimensional robust adaptive optimal trajectory tracking control method under position and velocity constraints, unknown dynamics, and environmental disturbances is proposed. The main features of the method are: (1) The outputs of an underactuated AUV system are redefined to handle the underactuation problem. (2) The system with position and velocity constraints is transformed into an unconstrained system by a nonlinear state‐dependent transformation. (3) A critic‐identifier architecture is constructed using adaptive dynamic programming and neural networks in a backstepping framework. Specifically, critic networks and weight update laws without requiring initial stability control are designed to solve Hamilton‐Jacobi‐Bellman equations in kinematic and dynamic subsystems, and optimal virtual and actual control laws are obtained. (4) A neural network identifier is developed to estimate unknown dynamics. Disturbances are overcome by improving the cost function and solving for optimal control of the nominal dynamic subsystem. By stability analysis, tracking errors in the AUV closed‐loop system can converge to an arbitrarily small compact set of the origin, and the other signals are uniformly ultimately bounded. Simulation comparisons demonstrate the effectiveness and superiority of the proposed method.