邱逢琛臺灣大學：工程科學及海洋工程學研究所張祐鴻Yohon-Chang2007-11-262018-06-282007-11-262018-06-282006http://ntur.lib.ntu.edu.tw//handle/246246/51007摘要 本研究依循日本在船舶操縱運動方面所建構的MMG 數學模式之模組化方式建構潛艦操縱運動模組化數學模式。亦即數學模式由包含帆罩、艦體、前後控制翼、舵、螺槳等個別元件的基本性能以及彼此間的相互影響效應所構成、並盡可能使其物理意義明確。關於方程式中流體動力係數，先進行相關經驗式之估算，後將估算出來之流體力係數與本實驗室林守毅同學流體動力係數之拘束船模試驗所提供之流體動力係數做分析與比較，並將整個數學模式做線性化的處理，最後以求每一瞬間微小增量方式用時間積分法進行程式的模擬計算。本研究以仿德製209型潛艦為例進行基本操縱試驗模擬計算，驗證了本研究所建構之潛建六自由度運動數學模式的有效性及合理性。ABSTRACT A MMG mathematical model for ship maneuvering motions has been developed and validated for many years in Japan. Following the basic idea of MMG model, a modular mathematical model for the maneuvering motions of a submarine has been developed, in which the hydrodynamic forces of main hull, sail, bow and stern planes, rudders and propeller as well as interaction among them are considered. Firstly, the hydrodynamic coefficients estimated by the simulation basing on the present mathematical model with some empirical formula are compared with those obtained through oblique towing tests of a captive model. The agreement is quite acceptable. Then, some typical maneuvering motions of a submarine such as turning and zig-zag maneuvering were carried out to show that reasonable motion characteristics can be clarified through the simulation basing on the present modular mathematical model.目錄 致謝…………………………………………………………………………Ⅰ 摘要…………………………………………………………………………Ⅱ ABSTRACT…………………………………………………………………Ⅲ 目錄……………………………………………………………………………Ⅳ 表目錄………………………………………………………………………Ⅵ 圖目錄………………………………………………………………………Ⅶ 符號說明………………………………………………………………………Ⅸ 第一章 緒論……………………………………………………………………1 1-1 前言……………………………………………………………………1 1-2研究背景與目的………………………………………………………1 1-3研究方法與本文架構…………………………………………………1 第二章　六自由度非線性運動數學模式推導………………………………3 　2-1 基本假設及座標系……………………………………………………3 2-2 運動方程式的推導……………………………………………………5 2-3 各自由度流體力的推導 ……………………………………………12 2-4 各元件流體力相關經驗式……………………………………………35 2-5 潛艦固定座標系uvwpqr與空間固定座標系之轉換………42 第三章　非線性運動方程式之線性化………………………………………43 　3-1潛艦本身慣性力及力矩之線性化……………………………………43 3-2 流體力、推力、重力浮力差及其力矩之線性化……………………45 3-3 潛艦固定座標系與空間固定座標系之轉換之線性化………………65 第四章　流體動力係數之估算與驗證………………………………………70 　4-1 供試模型………………………………………………………………70 　4-2 附加質量及附加慣性力矩之估算……………………………………70 4-3 阻力……………………………………………………………………74 4-4 控制面升力係數的計算………………………………………………77 4-5 流體動力係數分析與比較……………………………………………79第五章　操縱運動模擬與討論………………………………………………87 　 5-1潛艦直線運動基本性能………………………………………………87 5-2 迴旋測試………………………………………………………………88 5-3 橫向ZIG-ZAG測試…………………………………………………89 5-4 垂向ZIG-ZAG測試…………………………………………………89 5-5 非線性運動方程計算驗證…………………………………………90 第六章　結論與建議…………………………………………………………92 參考文獻………………………………………………………………………93 附圖……………………………………………………………………………95 附表…………………………………………………………………………120 附錄…………………………………………………………………………1325439892 bytesapplication/pdfen-US潛艦運動Submarine Maneuvering[SDGs]SDG14thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/51007/1/ntu-95-R92525020-1.pdf