设计一种首、尾升降舵模糊控制器，通过加入模糊积分环节，有效解决了传统模糊控制器中静差难以消除的问题.通过引入首舵自适应系数，将深度波动减小了50%，较好地实现了潜艇水下定深回转运动的自动操舵控制.在不同定深旋回操纵方式下，对模糊积分控制器的适用性进行验证.结果表明，深度和纵倾的控制收敛较快，这对实际训练和定深旋回操舵装置的设计具有一定的参考价值.

A fuzzy controller of first and tail elevator was designed, and the problem of static error in traditional fuzzy controller was effectively solved by adding fuzzy integral link. By introducing the adaptive coefficient of the head rudder, the depth fluctuation was reduced by 50%, and the autopilot control of submarine underwater fixed depth rotation motion was well realized. The applicability of the fuzzy integral controller was verified under different fixed depth cycle control methods. Results show that the depth and trim convergence faster, which has some reference value for the design of fixed depthkeeping turning control device.