PID (Proportion Integration Differentiation) control method and device for actively inhibiting muzzle vibration

The invention discloses a PID (Proportion Integration Differentiation) control method and device for actively inhibiting muzzle vibration, and belongs to the field of high-low follow-up system control of large and medium-caliber cannon, and the method comprises the following steps: firstly, carrying out vibration inhibition on a barrel after shooting, and ensuring that a next bullet can be shot out when the barrel has no initial disturbance; when vibration suppression is carried out, the firing angle position of the muzzle during the vibration response period after the current cannon is fired is predicted through the vibration angular displacement curve of the muzzle, which is actually measured in history, of the same kind of cannon after firing, and vibration is suppressed by controlling accurate reverse energy compensation of a controlled object. The vibration amplitude of the muzzle is attenuated more quickly, and the total vibration time of the muzzle is shortened more quickly; under the condition that th