Forward Prediction-Based Feedforward Time Delay Compensation of Electro-hydraulic Shaking Table

Real-time hybrid simulation using electro-hydraulic shaking tables has been widely applied in vibration testing of large-scale structures. However, the presence of time delay in electro-hydraulic shaking tables significantly affects the control accuracy of real-time hybrid simulations. In this study, a forward-prediction-based feedforward time-delay compensation method is proposed. Frequency characteristic fluctuations are compensated, and time delay is reduced using the autocorrelation algorithm and FP algorithm. Additionally, time-varying system characteristics are compensated through an online adaptive control algorithm. Experimental results demonstrate that the proposed method effectively reduces time delay and significantly improves the tracking accuracy of the reference waveform.