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.