Abstract
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.
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