The regular current collection is a fundamental requirement to high-speed trains，In order to improve pantograph-catenary vibration performance, reduce pantograph-catenary noise and wear, the mechanism of semi-active pantograph control with magnetorheological damper (MRD) is studied. The dynamic model of pantograph-catenary MRD semi-active control is constructed, the parameters of fuzzy control strategy are designed, and the semi-active pantograph-catenary simulation system of MRD is established by using SIMULINK software. The pantograph-catenary vibration characteristics under passive control and fuzzy semi-active control are simulated and analyzed. The results show that the MRD-based fuzzy semi-active control has a good effect on improving the performance of pantograph-catenary current collection. Under 350 working conditions, the fluctuation range of pantograph-catenary contact pressure decreases by 20%, the maximum decreases by 20%, the minimum increases by 80%, and the offline rate decreases to 0. Because MRD semi-active control consumes little external energy, has high robustness in control process and good control effect, it will become an important means to improve the pantograph-catenary interaction under high-speed conditions.