The Cooperative Motion Control of Forward and aft Variable Vector Propeller of Ocean Submarine

In this paper we mainly studied the cooperative movement control of form and end variable vector propeller of ocean submarine, by analyzing the work mechanism of movement of form and end propeller, we can reduce the work mode of form and end propeller and the mathematic connection between pitch angle and ship speed under this work mode when ocean submarine moved in six direction. At the same time the cooperative movement control system of form and end propeller was designed in this paper, affording the structure fig of control system, and taking the neural net PID controller to control. The neural net PID controller has self-study ability and all-right stability. The convention PID controller hardly control the object with nonlinearity and time varying, but neural net PID controller can overcome this disadvantage of convention PID and make the system achieving the nicer control purpose.