I. Introduction
In electric railways, the catenary constructed along the railroad is used to provide continuous electric current for the locomotive via pantographs mounted on the carbody’s roof, as shown in Fig. 1. As a crucial part of the traction power system [1], the sliding contact performance between the pantograph and the catenary directly determines the current collection quality. A deteriorated contact quality of the pantograph–catenary mainly reflects in an incremental fluctuation in the contact force. An overlarge contact force causes extra stress and wear in the pantograph strip [2] and the contact line [3] and reduces the system’s life expectancy. An inadequate contact force increases the probability of arcing occurrence, which may burn the contact surface and cause electric transmission issues [4], [5]. Therefore, good contact quality is desired to enable a fast and safe train without traffic disorders.
Schematic of a pantograph–catenary system.