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Trains current collection for traction motors is obtained by means of a sliding contact between the overhead line (OHL) and the collector strips mounted on the pantograph head. The normal force by which the collector presses against the contact wire ensures the contact pressure for the electrical contact. As the train speed increases, the variation of contact force between pantograph and catenary increases, and the pantograph-OHL dynamic interaction becomes greater. This condition causes excessive mechanical wear and contact wire uplift (for high values of contact forces), and leads to high percentage of contact loss, arcing and electrically related wear

Hardware in the Loop Test-Rig for Identification and Control Application on High Speed Pantographs