研发了一台具有单自由度补偿的车载稳定平台系统,结合车辆行驶过程中外界扰动量的功率谱分析,提出了基于功率谱分析的超前预测控制方法。通过预测平台未来时刻的扰动,并分析功率谱中不同频率谐波分量,对系统响应滞后的影响特性,得到系统的滞后时间,对预测步数进行实时修正。 A vehicle-mounted platform system with single-degree-of-freedom compensation was developed. Combined with the power spectrum analysis of the external disturbances in the vehicle driving process, an advanced predictive control method based on power spectrum analysis was proposed. By predicting the disturbance of the platform in the future and analyzing the influence characteristics of the harmonic components with different frequencies in the power spectrum on the system response lag, the system lag time is obtained and the predicted steps are corrected in real time.