Comparison and Analysis of Time Domain Indices of Real-time Hybrid Simulation

Real-time hybrid simulation is a novel seismic test method under development.However,there is still no well-accepted index to evaluate the effectiveness of various real-time hybrid simulation methods.In this study,a typical real-time hybrid simulation system was established consisting of the actuator,the damper and the reaction frames.Sinusoidal and random waves were input to evaluate the effectiveness of the four frequently -used time domain indices,including the max tracking error,the root mean square tracking error,the energy error and the tracking indicator error.It is observed that the first three indices can basically reflect the system error of the experiment while the max tracking error is more sensitive to the random error.