Control method for stabilizing weapon e.g. gyroscope on movable pad, involves setting position difference as control variable, such that output signal of cascaded controller influences torque of drive motor

摘要

The direction of weapon connected to drive train is changed, such that weapon is moved by driving torque of drive motor. The detected deviation between desired motion and actual movement of weapon is fed to first controller as a control deviation. The output signal of first controller is supplied to lower-level second controller. The location positions of weapon and drive motor are determined. The position difference is determined and is set as control variable, such that output signal of cascaded controller influences torque of drive motor. An independent claim is included for control device for stabilizing weapon on movable pad using drive motor.