Research of HSIC-PID control to submarine depth near surface

The vertical movement of submarine has some characteristics such as non-linearity, time-dependent parameter and Complex Interfering. The traditional PID control can control the precision, but the rudder is used frequently, which is bad to the invisibility and safety. On the base of submarine vertical movement model and the rule of vertical movement, this paper contacts human simulating intelligent control with PID control, forming a new control method named HSIC-PID. Aiming at model submarine, this paper does some simulation to the depth control in two circumstances, one is without disturbance outside, another is disturbed by offshore wave when submarine sails near the surface. The result proves that the HSIC-PID is efficacious.