Weapon having an eccentrically-pivoted barrel

The method of counteracting the gravitational torque acting on a weapon barrel (1) that is pivotally mounted on a base (2) at a location spaced from the center of gravity of said barrel (1), comprising the steps of:

• providing a spring (6);
• positioning said spring (6) between said barrel (1) and said base (2) to exert a force (F) therebetween;
• providing a force transducer (7);
• positioning said force transducer (7) so as to measure said force (F) and to produce an actual compensation force signal;
• converting said actual compensation force signal into an actual compensation torque signal (8);
• providing a gyroscope (13);
• mounting said gyroscope (13) on said barrel (1) to determine the elevation angle of said barrel (1) relative to a horizon and to produce an elevation angle signal (14);
• providing a set point generator (12);
• causing said set point generator (12) to generate a needed compensation torque signal (11) reflective of the torque necessary to counteract said gravitational torque as a function of said elevation angle signal (14);
• summing said actual compensation torque signal (8) with said needed compensation torque signal (11) to Produce a compensation torque error signal (15);
• providing a desired torque drive signal (17) reflective of a desired torque to be transmitted between said barrel (1) and said base (2);
• summing said desired torque drive signal (17) with said compensation torque error signal (15) to generate a compensated drive signal (21);
• providing an actuator (3) between said barrel and base to selectively apply a torque therebetween;
• operating said actuator (3) as a function of said compensated drive signal (21);
• thereby to counteract said gravitational torque acting on said barrel (1).