| 摘要 |
PROBLEM TO BE SOLVED: To provide a method or the like for reducing a variation in pantograph contact force that can easily constitute a measuring system and reduce the variation in the contact force more easily. SOLUTION: The displacement of a support spring 11 is measured by a sensor, and an actuator is controlled so that a low-frequency component (1 to 3Hz or lower, for example) of the variation of the displacement of the support spring 11 detected by the sensor approximates zero. That is, the low-frequency component of the displacement of the support spring 11 is set as a control target amount F<SB>T</SB>, and the low-frequency component is controlled so as to approximate zero. Since the sensor is for measuring the displacement of the support spring 11 that is the control target amount F<SB>T</SB>, the measurement can be performed by less number of sensors, and the measurement itself is easy. Furthermore, there are considered advantages such that the phase difference of the displacement between a shoe 3 and a support mechanism 10 is small, and that the inertia force of the shoe 3 can be neglected by paying attention to the variation of the low-frequency component, and also a control algorithm can be simplified. COPYRIGHT: (C)2006,JPO&NCIPI
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