硬體迴路測試與動態次結構系統都是混和測試技術之一，將一個複雜的工程系統拆解成數值模擬和物理原型等兩個次結構，硬體迴路測試法廣泛地應用在電力電子與車輛領域，而動態次結構技術則強調在土木與結構工程應用上。雖然兩者的架構不相同，但本論文為了針對混合測試技術作文獻整合的討論，因此針對兩者不同之部分做簡單的討論。

在混合測試技術中，為了使工程測試能夠運行，增加了致動器與感測設備當作數值次結構與物理次結構之間的界面，然而致動器不理想的動態將影響測試結果，因此發展出多種建模方式與控制技術來處理動態次結構同步控制之問題，故本論文也將此部分做整理並針對平行式與串列式框架、延遲微分方程式與常微分方程式、同質與異質觀念、幾何基礎與動態基礎技術等部分做討論。

藉由一連串的文獻整理、理論分析與實驗驗證，本論文將硬體迴路與動態次結構系統所發展至今的框架與控制方法做整合，並有系統的討論兩者之差別，接著藉由理論分析與實驗，驗證文獻提出之動態限制。希望透過上述的內容，能使混合測試技術能整合並發展出更有工程實用性的理論與實驗架構。

Hardware-in-the-loop simulation (HILS) and dynamically substructured system (DSS) techniques are generally classified as hybrid methods for performance evaluation of engineering systems, combining both numerical simulation and hardware experiment parts. Principally, HILS techniques are widely applied to testing of power electronics and vehicle systems, while DSS methods emphasise on civil and structural engineering application. Although the two strategies are present in different between them are briefly discussed in this paper, in order to facilitate cross-literature communication about testing methodologies.

To employ DSS tests, additional actuator systems and sensor devices are required, which interface the numerical and physical subsystems. However, the non-ideal actuator dynamics sometimes destabilise the test. Therefore, various modelling and control techniques are proposed in the literature to deal with DSS synchronisation control problems since 1999. The objective of this paper aims at discussing recent technical development concerning the modelling and control of DSS tests, including the following issues: parallel vs. series structures and delay differential equations vs. ordinary differential equations for DSS modelling, homogenous vs. heterogeneous concepts for dynamic analysis, and geometry-based vs. dynamics-based techniques for control development.

With a series of literature review, theoretical analysis and experimental verification, the paper combines HILS with DSS and integrates their structure and control method. Then, discuss the difference between these two systems. Verify the restriction of dynamics proposed from literature by theoretical analysis and experimental application. Through the above content, this thesis will develop the theory which is more practical of engineering and experiment framework by the integration of hybrid test.

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