【摘要】 本文在研究变结构控制中常用到的非线性控制律的基础上，提出了一种变结构控制律，并将它用于文献〔７〕潜艇深度控制系统的仿真研究中。结果表明，使用该控制律使控制系统的调节时间缩短，并且在滑动模态上的抖动明显减小。更多还原

【Abstract】 On the basis of researching non linearity control law which is commonly used in variable structure control,this paper puts forward a new control law of variable structure. This control law is applied to the simulation of submarine depth control of .The result shows that the adjusting time of the control system is shortened and the distur bance on the skid module is decreased after using the law.更多还原