为解决潜艇垂直面运动存在静差，常规Mamdani模糊控制无法达到预期目标值的问题，设计了带积分功能的自动操舵模糊控制器.通过引入智能积分判据，使控制器能同时满足潜艇定深和变深的运动控制要求.对周期性持续干扰和复杂运动条件下潜艇垂直面运动控制效果的仿真结果表明，智能模糊控制对于潜艇垂直面的各种定深和变深运动均具有较好的适应性和可操性.研究结论对于潜艇操艇系统的设计和改进有一定的借鉴意义.

In order to solve the problem that the conventional Mamdani fuzzy control cannot achieve the expected target value resulted from static error in submarine vertical motion, an automatic steering fuzzy controller with integral function was designed. By introducing intelligent integral criterion,  the submarine controller can satisfy the motion control requirements of depth-keeping and depth-changing at the same time. The control effect of submarine vertical motion under the condition of periodic continuous disturbance and complex motion was simulated and analyzed,and the results show that the intelligent fuzzy control has good adaptability and maneuverability for all kinds of depth-keeping and depth-changing motion of submarine vertical plane,which provides certain reference significance for the design and improvement of submarine control system.