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介绍新型随控布局潜器的概念，给出了潜器的运动方程，并结合潜器的具体结构及变结构控制理论的优点，设计了潜器的控制系统，仿真结果令人满意
This paper introduces the concept of a new type of following controllable submarine and gives the equation of motion of submarine. Based on the detailed structure of submarine and the advantages of variable structure control theory, the control system of submarine is designed and the simulation result is satisfactory.