Delay compensation method plays an important role in maintaining the stability and accuracy of the real‐time hybrid simulation (RTHS). Inverse compensation (IC) method establishes a first‐order discrete transfer function model to represent servo‐hydraulic dynamics and provides an easy‐to‐implement compensation for RTHS. Only one parameter is required for the IC method, and it can be adjusted through different adaptive laws to accommodate error in initial delay estimation or time‐varying delay throughout the test. Different techniques have been developed to improve the performance of the IC method such as dual compensation and adaptive IC (AIC). A windowed frequency domain evaluation index‐based (WFEI) compensation is experimentally verified in this study through predefined tests and RTHS of a single‐degree of freedom (SDOF) system. The frequency domain evaluation index (FEI) is applied through short‐time Fourier transform (STFT) to estimate actuator delay in a real‐time manner and to adapt the parameter of IC method to minimize possible delay variation and/or inaccurate estimation. The efficacy and robustness of the FEI‐based compensation is further compared with the AIC method for various initial estimates, different window lengths, and bounds of estimated delay. Experimental results demonstrated that the WFEI method provides an effective and easy‐to‐implement method for RTHS.

中文翻译：

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基于频域评估指标的实时混合仿真补偿实验

延迟补偿方法在保持实时混合仿真（RTHS）的稳定性和准确性方面起着重要作用。逆补偿（IC）方法建立了代表伺服液压动力学的一阶离散传递函数模型，并为RTHS提供了易于实现的补偿。IC方法仅需要一个参数，并且可以通过不同的自适应定律对其进行调整，以适应整个测试过程中初始延迟估计或随时间变化的延迟中的误差。已经开发了多种技术来改善IC方法的性能，例如双补偿和自适应IC（AIC）。通过预定义测试和单自由度（SDOF）系统的RTHS，在本研究中通过实验验证了基于窗口频域评估指标（WFEI）的补偿。频域评估指数（FEI）通过短时傅立叶变换（STFT）应用，以实时方式估计执行器延迟，并调整IC方法的参数以最小化可能的延迟变化和/或不准确的估计。基于FEI的补偿的有效性和鲁棒性与AIC方法在各种初始估计，不同的窗口长度和估计的延迟范围上进一步进行了比较。实验结果表明，WFEI方法为RTHS提供了一种有效且易于实现的方法。基于FEI的补偿的有效性和鲁棒性与AIC方法在各种初始估计，不同的窗口长度和估计的延迟范围上进一步进行了比较。实验结果表明，WFEI方法为RTHS提供了一种有效且易于实现的方法。基于FEI的补偿的有效性和鲁棒性与AIC方法在各种初始估计，不同的窗口长度和估计的延迟范围上进一步进行了比较。实验结果表明，WFEI方法为RTHS提供了一种有效且易于实现的方法。