中文摘要：

时滞补偿是保证实时混合模拟试验效果的重要环节之一，其中逆补偿方法尽管简单易行，但往往存在补偿不足的问题。该文从频域角度对逆补偿的离散传递函数进行分析，证明逆补偿方法所能补偿的时滞与预测时滞和信号的频率有关，信号频率越小，补偿的结果越接近预测时滞。基于频域评价指标，对位移追踪试验进行了数值模拟和实验室测试，进一步证明逆补偿参数α与补偿的时滞存在10％左右的误差。最后，基于已有的实时混合模拟试验数据，建议当作动器时滞在10ms～30ms、结构频率在0．5Hz～3Hz时逆补偿参数仅取1．1倍预测时滞；对于其他情况，应根据离散函数确定参数α的取值。

英文摘要：

Delay compensation is one of the important components in ensuring the effectiveness of real-time hybrid simulation. Although the inverse compensation method is easy and effective, the delay may often be under-compensated. In this paper, the discrete transfer function of the inverse compensation method is analyzed in the frequency domain, and it is found that the delay compensated by the inverse compensation method has a close relationship with the predicted delay and the frequency of the signal. The compensated delay can be close to the predicted delay when the frequency of the signal is small. Based on the frequency-domain evaluation index, numerical simulation and predefined-displacement tests were conducted, which further prove that there is about 10% difference between a and compensated delay. According to existing real-time hybrid simulation data, it is recommended that the parameter a used in the inverse compensation method should be 1.1 times the predicted value, when the actuator delay is between 10 ms and 30 ms and the frequency is between 0.5 Hz and 3.0 Hz.