提出一种新型的非线性ＰＩＤ控制算法，通过调整增益、输出反馈、非线性前馈和死区修正算法，克服系统中大间隙、弹性、饱和、库仑摩擦、死区、滞后等固有本质非线性因素的影响，提高了系统的品质。实验表明，由该算法构成的控制系统具有良好的动态响应、高的控制精度和较强的鲁棒性，可广泛应用于地炮、火箭炮等要求高精度快速定位的系统中。 A new type of nonlinear PID control algorithm is proposed. By adjusting the gain, output feedback, nonlinear feedforward and dead-time correction algorithm, this paper overcomes the inherent essential nonlinearity of large clearance, elasticity, saturation, Coulomb friction, dead zone and hysteresis in the system. The impact of factors, improve the quality of the system. Experiments show that the proposed control system possesses good dynamic response, high control accuracy and strong robustness. It can be widely used in systems that require high precision and rapid positioning, such as grenades and rocket launchers.