Study on Auto Disturbance Rejection Controller for Submarine Depth Control Systems

The perpendicular maneuver under water of submarines is a complex multivariable system with coupling. The depth and pitch control system of submarine is difficult to design for the coupling relationship between the bow elevator and stern elevator. The submarine nonlinear model on the vertical is simplified according to the simulation needs. The bow rudder auto disturbance rejection controller (ADRC) and the stern rudder ADRC are designed to control the depth and pitch of the submarine separately. It is first proposed by introducing a nonlinear function to change the pitch angle target in real time according to the submarine depth changes, achieving fast and non-overshoot depth change. The computer simulation results showed that the control method has good control performance.