This article presents a novel passivity-based adaptive delay compensation scheme for cancelling actuator dynamics in real-time hybrid testing. This scheme uses the energy added to the system by actuation hardware, to quantify a variable delay, which is subsequently used for delay compensation. It offers the advantage of correcting for tracking errors and instability in hybrid tests and can be implemented without any information of the actuator’s dynamics. Thus, it offers an advantage over most conventional actuator dynamics mitigation schemes which require an accurate model of the actuator prior to testing. Experimental results compare the performance of passivity-based adaptive delay compensation with that of a state-of-the-art adaptive delay compensation scheme based on position. It was found that passivity-based adaptive delay compensation continuously updates the delay estimate while the position-based scheme only updates the delay when the system crosses zero. The performance of both schemes was found to be similar for sinusoidal inputs, mitigating phase lags of up to 35.6° at 10 Hz in the hybrid system tested. Passivity-based adaptive delay compensation requires no extra hardware as it can be run on the same hardware used to drive the actuator, enabling an affordable solution applicable to a wide range of hybrid tests.

中文翻译：

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用于实时混合测试的基于被动的自适应延迟补偿

本文提出了一种新颖的基于被动的自适应延迟补偿方案，用于在实时混合测试中消除致动器动态。该方案使用由驱动硬件添加到系统的能量来量化可变延迟，随后将其用于延迟补偿。它提供了在混合测试中纠正跟踪误差和不稳定性的优势，并且可以在没有任何执行器动态信息的情况下实施。因此，它提供了优于大多数传统执行器动态缓解方案的优势，这些方案在测试之前需要执行器的准确模型。实验结果将基于被动的自适应延迟补偿的性能与最先进的基于位置的自适应延迟补偿方案的性能进行了比较。发现基于被动的自适应延迟补偿不断更新延迟估计，而基于位置的方案仅在系统过零时更新延迟。发现两种方案的性能对于正弦输入相似，在测试的混合系统中在 10 Hz 时减少高达 35.6° 的相位滞后。基于无源的自适应延迟补偿不需要额外的硬件，因为它可以在用于驱动执行器的相同硬件上运行，从而实现适用于各种混合测试的经济实惠的解决方案。