Depth Control of Superspeed Underwater Vehicle in Vertical Plane

When a superspeed underwater vehicle runs in cruise phase, its motion characteristics are different from those of a usual bedewed vehicle because a majority of its surface is encircled by supercavitation. Based on the motion characteristics and the unique restricted condition of vehicle control in vertical plane, two depth control schemes adopting the ’bang-bang’ rudder operating control method were put forward. One is direct depth feedback control, and the other is indirect depth control via controlling the pitch angle feedback. The method of obtaining depth feedback signal was also discussed. These control methods are robust and easy to implement. The validity of these methods are verified by a mathematical simulation.