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提出了一种新型无量化主－辅模糊控制方法，并将它与非线性动态逆方法结合，构成一类动态逆模糊集成控制方法。用此法在典型设定深度和初始条件下为某型鱼雷非线性系统设计了深度集成控制器，并在初始条件改变和内部参数摄动的情况下进行了仿真研究．仿真结果表明，用集成控制方法设计的鱼雷深度控制系统不仅具有良好的动、静特性，而且对系统初始条件或内部参数变化具有较强的适应性，较好地解决了空投入水鱼雷的深度控制问题。
A new type of non-quantized principal-sub-fuzzy control method is proposed and combined with the nonlinear dynamic inverse method to form a kind of dynamic inverse fuzzy integrated control method. In this method, a deep integrated controller is designed for a type of torpedo nonlinear system under typical set depth and initial conditions, and the simulation is conducted under the condition of initial conditions changing and internal parameter perturbation. The simulation results show that the torpedo depth control system designed by the integrated control method not only has good dynamic and static characteristics, but also has strong adaptability to initial conditions of the system or changes of internal parameters, which can well solve the depth of the torpedo dropped into water Control the problem.