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By improving the ZWT model, a principal structure model applicable to both soft and hard materials under dynamic loading conditions was obtained. Dynamic mechanical experiments were conducted using SHPB to obtain stress–strain curves for coal rock and foam concrete. The ZWT intrinsic model was simplified according to the dynamic impact characteristics of concrete, and the intrinsic model was established by introducing macroscopic damage quantity D and correction factor δ. The stress–strain curves of coal rock, foamed concrete, steel fiber concrete, granite, lightweight foamed concrete, and EPS concrete at different strain rates were used to validate the present constitutive model and prove the correctness of the model.