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Two-stage adaptive time-delay compensation method driven by inverse model for RTHS
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Shangzhang WANG1, 2, Ge YANG1, 2, 3, Jiajun XIAO1, 2, Bin WU1, 2
Journal of Vibration Engineering | 2025, 38(7) : 1521 - 1528
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Journal of Vibration Engineering | 2025, 38(7): 1521-1528
Two-stage adaptive time-delay compensation method driven by inverse model for RTHS
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Shangzhang WANG1, 2, Ge YANG1, 2, 3, Jiajun XIAO1, 2, Bin WU1, 2
Affiliations
  • 1.School of Civil Engineering and Architecture，Wuhan University of Technology，Wuhan 430070，China
  • 2.Sanya Science and Education Innovation Park，Wuhan University of Technology，Sanya 572000，China
  • 3.Key Laboratory of Earthquake Engineering Simulation and Seismic Resilience of China Earthquake Administration，Tianjin University，Tianjin 300350，China
Published: 2025-07-10 doi: 10.16385/j.cnki.issn.1004-4523.202307025
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During real-time hybrid simulation（RTHS） of nonlinear specimens，the interaction between the specimen and the loading system can lead to variations in the specimen’s behavior，consequently affecting the time delay in the servo system. Online estimation of the system’s time delay enables the application of an adaptive time-delay compensation method for controlling time-varying systems. Nevertheless，during the initial stages of parameter identification，the estimated values frequently exhibit notable fluctuations，which can have a detrimental impact on the effectiveness of control. To this end，a two-stage adaptive time-delay compensation method driven by the inverse model for RTHS is proposed. Firstly，the inverse model controller of the system is used to perform coarse compensation to eliminate the test error caused by the main time delay. Then，the adaptive delay compensation method based on recursive least squares is used to compensate the remaining delay to further control the accuracy. By using the two-story shear frame as the prototype and the self-centering viscous dampers as the specimens，a time-delay compensation RTHS is carried out simultaneously on the two experimental substructures. Numerical simulations and experimental results show that the control accuracy of the proposed method is higher than that of the single-stage time-delay compensation method，and it can be applied to RTHS involving multiple experimental substructures.

real-time hybrid simulation（RTHS）  /  two-stage time-delay compensation  /  multiple experimental substructures  /  inverse compensation  /  adaptive compensation
Shangzhang WANG, Ge YANG, Jiajun XIAO, Bin WU. Two-stage adaptive time-delay compensation method driven by inverse model for RTHS[J]. Journal of Vibration Engineering, 2025 , 38 (7) : 1521 -1528 . DOI: 10.16385/j.cnki.issn.1004-4523.202307025
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Year 2025 volume 38 Issue 7
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Article Info
doi: 10.16385/j.cnki.issn.1004-4523.202307025
  • Receive Date：2023-07-07
  • Online Date：2026-02-09
  • Published：2025-07-10
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History
  • Received：2023-07-07
  • Revised：2023-09-19
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Affiliations
    1.School of Civil Engineering and Architecture，Wuhan University of Technology，Wuhan 430070，China
    2.Sanya Science and Education Innovation Park，Wuhan University of Technology，Sanya 572000，China
    3.Key Laboratory of Earthquake Engineering Simulation and Seismic Resilience of China Earthquake Administration，Tianjin University，Tianjin 300350，China
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表12种不同金属材料的力学参数
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Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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