Research on Joint Steering Technology of Underwater Vehicle Based on PID

Aiming at depth control problem of underwater vehicle in vertical plane, the paper proposes a joint steering strategy which assigns depth error and pitch error to bow and stern rudders simultaneously. Basing on PID control algorithm, we research the depth control problem of underwater vehicle in vertical plane by MATLAB Simulation. Firstly, we have established a simplified kinematics and dynamics models of the underwater vehicle in vertical plane; Then, we have designed joint steering strategy controller basing on PID control algorithm; Finally, using digital simulation platform, we have made the simulation experiment and comparative analysis for the joint steering strategy proposed in this paper. The results fully indicate the effectiveness and practicability of the joint steering strategy.