Time delay is a critical and unavoidable problem in real-time hybrid simulation. An accurate and effective compensation method for time delay is necessary for the safety of real-time hybrid simulation and the reliability of test results. Generally, a model-based compensation method can be adopted, which is derived from the identified transfer function by assuming the latter can accurately represent the real plant. However, there must be some differences between the transfer function and the real plant. To facilitate the development of real-time hybrid simulation, we proposed a two-stage feedforward compensation method considering the error between the transfer function identified and the real plant. The compensation strategy proposed in this study was not only based on the transfer function but also introduced an error model as a second-stage compensation into a compensator to realize the synchronization of command and measurement. To verify the efficiency of the proposed method, comparisons in time domain and frequency domain with the feedforward compensator in a model-based feedforward–feedback control method were carried out. Compared with the feedforward compensator, the two-stage method achieved better tracking performance, especially in the high-frequency bandwidth. The test results verified that for a band-limited white noise of 0–30 Hz, the phase lag of the actuation system can be limited to ±5°. Finally, the two-stage method was applied to a real-time hybrid simulation of a two-story frame to illustrate its compensation effect on time delay.

时间延迟是实时混合仿真中的关键和不可避免的问题。对于实时混合仿真的安全性和测试结果的可靠性，需要一种准确有效的时延补偿方法。通常，可以采用基于模型的补偿方法，该方法是通过假定识别的传递函数可以准确表示真实植物的方法，从识别出的传递函数中得出的。但是，传递函数和实际工厂之间必须存在一些差异。为了促进实时混合仿真的发展，考虑识别的传递函数和实际设备之间的误差，我们提出了一种两阶段前馈补偿方法。本研究提出的补偿策略不仅基于传递函数，而且将误差模型作为第二阶段补偿引入补偿器中，以实现命令与测量的同步。为了验证所提方法的有效性，在基于模型的前馈-反馈控制方法中，使用前馈补偿器在时域和频域进行了比较。与前馈补偿器相比，两阶段方法具有更好的跟踪性能，尤其是在高频带宽中。测试结果证明，对于0-30 Hz的带限白噪声，致动系统的相位滞后可以限制为±5°。最后，