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Communication time-delay is an inherent problem in teleoperation system, which will seriously affect the performance of the teleoperation system and reduce the stability and tracking performance of the system. The wave variable method based on passivity theory can guarantee the stability of the teleoperation system in any time-delay, and it is an important method to solve the delay problem. However, wave reflections caused by wave variable method will obstruct the useful signal transmission and reduce the master and slave signal tracking, seriously even lead to oscillations of the whole system. In this paper, a new impedance matching system based on wave variable compensation is proposed to reduce the wave reflections and enhance the operator's sense of presence and the tracking of the system. Through simulation experiments, the results show that the proposed method can guarantee the stability of the teleoperation system with fixed time-delay and has good tracking performance.