Research on the Application of Aquaculture Submarines in Deep-Sea Fishery

Focus on the maneuvering motion of the aquaculture submarines, the robust control method is adopted to design the controller. In order to solve the problem of the large deviation of longitudinal inclination, the secondary fixed-angle technology is adopted when designing the fixed-angle diving controller. Finally, the controllers obtained by the robust control method are presented and simulated on the original nonlinear model of the submarine. The simulation results show that the designed controllers have good control effects on the submarine's fixed-angle dive and fixed-depth straight course.