The stability and small dynamic errors could be confirmed by using the method of composite control in which the pitch angular rate of barbette sensed by INS was feed back and compensated in advance.
用复合控制把惯导系统测量的炮塔俯仰转动角速度（扰动角速度）反馈到控制前端，进行预先补偿，可保证小的瞬态误差和系统的稳定性。
It puts forward a model and the concepts of critical speed analytical method and the advance locking, finding an advanced method in order to prevent the back side conflict in continuous humping.
提出临界速度分析法和分路道岔预锁闭的概念，并建立了数学模型。
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