Maneuvering performance is one of the most important performances of submarines. In the implementation of some special missions, a submarine needs to control depth and pitch attitude in parking state, which is known as the submarine hovering control. 潜艇的操纵性能是潜艇最为重要的性能之一,在执行某些特殊任务的过程中,潜艇需要在航行停车状态下,对潜艇的深度和纵倾姿态进行控制,称为潜艇水下悬停操纵。