The Research on Fuzzy-PID Control of the Submarine Course

The submarine is a important weapon platform in modern war. It need not only good disguise but also good maneuver. the submarine maneuver is difficult to be controlled because it´s complex movement and strong nonlinearity. Especially when coming in or out the port, good maneuver is necessary to ensure the safety of submarine. the mission of autopilot is to change or keep the course, which usually adopt PID arithmetic. PID control is easy realized and highly reliable for many control system. but it bases on determinate math model and is difficult to achieve satisfactory effect for some complex control object such as submarine maneuver. Fuzzy control is introduced to combined with PID control and computer simulation research is carried out in the MATLAB/Simulink platform.