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提出了一种基于积分分离比例、积分、微分(PID)算法的多雷达协同控制方法,在多雷达天线协同控制过程中,当从动雷达方位与目标方位差值较大时,直接采用PID算法控制,其中的积分作用会引起协同系统雷达方位超调,甚至震荡.为避免出现超调现象,文中设计了积分分离控制方法,当从动雷达方位与目标方位差值较大时,放弃积分手段,直接采用PD控制算法,当方位偏差量较小时采用普通PID控制算法.仿真实验表明:基于积分分离PID控制方法能够有效改善协同系统的稳定性,提高协同系统控制效率和精度.“,”A multi-radars cooperative control method based on integral separation PID algorithm is proposed.In the process of cooperative control of multi-radar antennas,when the difference between the azimuth of the driven radar and the target is large,the PID algorithm is used directly,the azimuth overshoot of the cooperative radar will be caused,and even the radar antenna oscillation will occur.In order to avoid overshoot,an integral separation control method is designed in this paper.That is,when the difference between the azimuth of the driven radar and the target azimuth is large,the integral method is abandoned,and the PD control algorithm is adopted directly,and the ordinary PID control algorithm is used when the azimuth deviation is small.The Simulation results of antenna coordination system improve the better stability,improve higher efficiency and accuracy of the derived PID algorithm.