Simulation of Variable-Depth Motion Control for the High-Speed Underwater Vehicle

In order to solve the problem of variable-depth motion control of underwater high-speed vehicle, cavitator-fins joint control method and mathematical model simulation analysis method were used in this paper. First, improvement to the model of high-speed underwater vehicle, according to the analysis of relationship between supercavity shape and force for vehicle; Secondly, linearization the motion equations used by state variable feedback exact linearization method and then used pole placement for design controller. Third, use MATLAB/SIMULINK software to design simulation model of high-speed underwater vehicle. The simulations reveal that this controller is proved to be effective. The cavitator-fins joint control method can effectively solve a class of the variable-depth control of high-speed underwater vehicle.