Analysis of Charging Continuous Energy System and Stable Current Collection for Pantograph and Catenary of Pure Electric LHD Aiming at the problem of limited power battery capacity of pure electric LoadHaulDump (LHD), a method of charging and supplying sufficient power through pantographcatenary current collection system is proposed, which avoids the problem of poor flexibility and mobility of towed cable electric LHD. In this paper, we introduce the research and application status of pantograph and catenary, describe the latest methods and techniques for studying the dynamics of pantographcatenary system, elaborate and analyze various methods and technologies, and outline the important indicators for analyzing and evaluating the stability of current collection between pantographcatenary system. Simultaneously, various control strategies for pantographcatenary system are introduced. Finally, the application of the pantographcatenary system in highspeed railway and urban electric bus is discussed to illustrate the advantages of pantographcatenary system charging and energy supply, and it is applied to pure electric LHD charging and energy supply to ensure power adequacy.

Fuzzy Adaptive Control for Wireless Optimal Charging Gantry Robot System This paper mainly studies the realization of the wireless optimal charging gantry robot system using type2 fuzzy adaptive control for mobile rechargeable devices. The wireless charging system is based on the energy management systems using the adaptive control algorithm to achieve the maximum charging power control. The type2 fuzzy dynamic model is used to approximate the charging system in accordance with current standards without constructing sector deadzone inverse, where the parameters of the fuzzy model are obtained both from the fuzzy inference and online update laws. The tracking trajectory tore chargeable devices including forwardinverse kinematics written by C in Visual Studio is used for obtaining the joint angles of the xyz table corresponding to the desired trajectory. By feedback the charging current from the coil to detect position of the mobile devices, the optimal charging device tracking algorithm is given for obtaining the shortest distance and maximum power transmission between the induction coil and the rechargable device. Based on the Lyapunov criterion and Riccatiinequality, the control scheme is derived to stabilize the closedloop system such that all states of the system are guaranteed to be bounded due to uncertainties, deadzone nonlinearities, and external disturbances. The advantage of the proposed control scheme is that it can better handle the vagueness or uncertainties inherent in linguistic words using fuzzy set membership functions with adaptation capability by linear analytical results instead of estimating nonlinear system functions as the system parameters are unknown. Finally, both simulation and experimental results are provided to verify the validity of the wireless optimal charging system.