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本文叙述一种机载自动炮塔系统的模型试验，系统鉴别，控制设计和测试的方法。还讨论了根据物理数据进行的非线性动态模拟，线性和非线性系统鉴别，模型有效性，控制设计，仿真，执行和试验情况。抑制射击瞬间炮管前端运动的后坐影响，可以降低射击散布。把频率相关加权值分配给输出，就可在控制器设计中利用后坐扰动的准周期特性。标准控制器能降低炮管前端的后坐响应，同时又可保证炮塔／拨叉系统的运动。动态特性的非线性部分（即空回和库伦摩擦）会大大降低线性控制器性能。本文采用以下方法对标准线性控制器进行改进：用估算器追踪炮管前端的位置，查明发射瞬间炮管前端的实际偏差，并利用已查明的值校正下一次连发炸点。在各种模型参数变化条件下，本方案非常适于非线性模拟模型。
This article describes a model test, system identification, control design and test method of airborne turret system. Nonlinear dynamic simulations based on physical data, identification of linear and non-linear systems, model validation, control design, simulation, execution and testing are also discussed. Suppression of shots at the front of the barrel movement recoil, can reduce the shooting spread. Assigning frequency-dependent weighting to the output allows for the use of quasi-periodic characteristics of the squat disturbance in the controller design. The standard controller reduces recoil response at the barrel end while still ensuring turret / fork movement. The nonlinearities of the dynamic characteristics (ie, nullback and coulombs) greatly reduce linear controller performance. This article uses the following method to improve the standard linear controller: Use the estimator to track the position of the front of the barrel, to find out the actual deviation of the front of the barrel at the instant of launch, and to correct the next burst point with the detected value. Under the condition of various parameters of the model, the scheme is very suitable for the nonlinear simulation model.