With pseudorandom binary sequence as inspiriting signal , feedback data is collected and time - domain and frequency - domain characteristic of the steering gear is analyzed . according to the results , system delay is determined . applying predictive error identification method , by comparing the different order model , model structure and parameters of the steering gear is determined 以偽隨機二進制序列為激勵信號,收集了反饋數據;利用收集的數據,對舵機進行了時域和頻域特性分析;并以此為參考,確定了系統的延時量,應用預報誤差的辨識方法,通過不同階次模型間的比較,從而確定了舵機模型結構及參數。