研究自行火炮行进间载体牵连给跟踪带来的扰动问题 ,采用补偿的方法抑制这种扰动 .即采用开环前馈控制与跟踪闭环部分相结合的控制方法 ,取得了很好的控制效果 .从扰动的机理入手 ,利用可测参量 ,对扰动部分进行线性化 ,并给出了补偿信号的解析式 .用 Matlab Simulink进行了仿真 ,仿真结果表明所提出的方法能够使载体的扰动造成的误差明显减少 .其优点在于能够在不改变原有控制系统结构的情况下 ,实现有载体扰动时的跟踪轴线稳定 This paper studies the disturbances caused by self-propelled artillery carriers to track, and suppresses this disturbance by using compensation method, that is, the control method is combined with open-loop feedforward control and tracking closed-loop control, and good control effects are obtained. Perturbation mechanism, using the measurable parameters, the perturbation part is linearized, and the analytic formula of the compensation signal is given.The simulation with Matlab Simulink shows that the proposed method can make the error caused by the carrier disturbance obvious The advantage of which is to be able to achieve stable tracking axis with carrier disturbance without changing the structure of the original control system