A Digital PID Control System for Torpedo Depth Simulator

For improving such performances as response speed and control precision of a depth simulator in torpedo hardware-in-the-loop simulation test, a dynamic digital proportion-integration-differentiation(PID) control system was developed on the basis of PC104 products. The control system adopts the master/slave computers structure, and realizes communication through a serial port. Aiming at the problems in PID control, such as integral saturation, anti-interference, and dynamic process acceleration, a corresponding control correction algorithm was designed to guarantee the control speed and precision of the system. By analyzing the hardware-in-the-loop simulation test data of a torpedo, it is proved that the depth simulator with this PID control system achieves very good performances and meets the requirement in actual use.