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考虑了潜艇于近水面航行时波浪对深度测量的干扰，在分析潜艇运动特性的基础上，针对高频操舵问题，提出了一种“开环补偿＋闭环增量修正”的定深控制方法。仿真结果表明其控制算法效果良好。
Considering the disturbance of the wave to the depth measurement when the submarine is navigating near the surface, a deep and deep control method of “open-loop compensation + closed-loop incremental correction” is proposed for high-frequency steering based on the analysis of the submarine’s motion characteristics. Simulation results show that the control algorithm works well.