Unscented Kalman Filter-Based Two-Stage Adaptive Compensation Method for Real-Time Hybrid Simulation

In order to effectively solve the dynamic delay problem of the servo-hydraulic actuator, simplify the design of the compensator, and improve the robustness of the compensation, an unscented Kalman filter-based two-stage adaptive compensation (UKF-TAC) method is proposed for real-time hybrid simulation (RTHS) in this study. Theoretical analysis and numerical simulations are conducted to verify the performance of the proposed UKF-TAC method. The research results show that the proposed UKF-TAC method can significantly simplify the design of the compensator, effectively improve the compensation accuracy, and has the robustness to adapt to different partitioning cases and resist the interference of uncertain factors.