Comparison of Balance and Out of Balance Main Battle Tank Armaments

It has been commonly thought that stabilising an out of balance gun on a moving platform (tank or ship) is very difficult or impossible to achieve. Using models of a balanced and out of balance gun on a main battle tank this is shown not to be the case. The models of the guns used, include the effect of non‐linear friction and out of balance. To improve the stabilisation of the out of balance gun, trunnion vertical acceleration feedforward is used.