Contacts between pantograph and catenary are the most critical parts in the transmission of electrical energy for modern high-speed trains. Contact wire oscillations change combined force between pantograph and catenary, and the contact may even get lost. Therefore special pantographs and catenaries have been developed and further constructive changes are under development. A design criterion includes the permanent contact of pantograph head and contact wire at high speed and the reduction of both aero acoustic noise and wear. Because of complicated dynamic behaviour and very high costs for prototypes, all modifications and new design concepts for the pantograph/catenary system are essentially based on dynamical simulation. Traditional approaches focus on the catenary, which is modelled as set of coupled strings and/or beams, whereas simplified lumped mass models are used to describe the pantograph. Nowadays increased computer power allows considering applications with more refined pantograph modes (e.g. the elasticity of the pantograph) and active control components in innovative pantograph concepts.