指導教授：郭振華臺灣大學：工程科學及海洋工程學研究所李鴻志Li, Hung-ChihHung-ChihLi2014-11-252018-06-282014-11-252018-06-282014http://ntur.lib.ntu.edu.tw//handle/246246/260927本文發展扁平流線型水下載具之設計方法。在執行水下大面積觀察任務時，需要一具有穩定的深度控制和良好的平面控制的平台成載觀測儀器，並且為了能降低阻力以求長時間觀察，此平台需要有流線型外型。本論文發展在水下可以有較穩定深度且平面操控性良好的扁平流線型載具的設計方法，首先建立載具運動方程式，利用此方程式分析載具在不同的尺寸下的運動特性，並尋找適合尺寸以符合設定的運動特性。本文考慮運動特性指標如操控性、穩定性、下潛深度、下潛效率及迴轉半徑等，以決定載具的外型及設計參數，並使用載具的外型參數預測載具的下潛效率及迴轉半徑。最後本論文製作一具實驗載具，並展示實驗數據，以驗證此方法於扁平流線型水下載具設計的可行性。This work develops a design method of a flat-streamlined underwater vehicle. It is an usual practice using an underwater vehicle to carry sensors to observe an underwater area with a fixed depth above the relatively flat terrain. A stable platform that has stiff depth control and maneuverable plane control is necessary to carry out such missions. In order to save propulsion energy, we need the vehicle be streamlined shaped. Using the equations of motion of an underwater vehicle in the vertical and horizontal planes, the representative indicators such as maneuvering indexes, stability derivatives, diving efficiency and turning radius can be derived. A method to determine the vehicle''s shape and parameters by evaluating their performance indicators are introduced. The performance of a vehicle can also be predicted by these indicators giving their dimensions. Finally, this work demonstrates the experimental data to validate the design method by a flat-streamlined autonomous underwater vehicle.誌謝 I 中文摘要 II Abstract III List IV Figures List VII Tables List IX Symbol List X Chapter 1 Introduction 1 1. 1 Motivation 1 1. 2 Literature Review 4 1. 3 Thesis Organization 5 Chapter 2 Vehicle Motion Model 6 2. 1 Introduction 6 2. 2 Coordinate System 7 2. 3 Equation of Motion 9 2.3.1 Translational Motion 10 2.3.2 Rotational Motion 13 2.3.3 Six Degrees of Freedom Motion Model 17 2. 4 Added Moment of Inertia and Added Mass 19 2.4.1 Added Mass of an Ellipsoid 19 2.4.2 The Interference Effects between Major Body and the Appendages 23 2.4.3 The Fluid Kinetic Energy of Ellipsoid 26 2.4.4 The Interference Velocity through the Primary of Ellipsoid 30 2.4.5 The Analytical Expression of Added Mass of Long Slender Ellipsoid 32 2.4.6 The Estimation of the Added Mass of Appendiges 33 2. 5 Fluid Damping Force 38 2. 6 Restoring Force and Restoring Moment 41 2. 7 Thruster Forces and Moments 44 2. 8 Ocean Current Force 46 Chapter 3 Performance Indexes 48 3.1 Linear Equations of Motion 48 3.2 Stability Derivative and Maneuvering Index 52 3.3 Ability of Submergence 54 3.4 Shape Design 57 3.5 Terminal Velocity 60 3.6 Turning Radius 62 Chapter 4 Vehicle Shape Design 65 4.1 Length 66 4.2 Height 68 4.3 Width 70 4.4 Depth Rate 72 4.5 Terminal Velocity 74 4.6 Diving Depth and the Turning Radius 75 Chapter 5 Vehicle Testing 82 5.1 Testbed Vehicle 82 5.2 Maneuvering Test 84 5.3 Diving Test 85 5.4 Speed Test 87 5.5 Diving by Rudder and Turning by Propellers 89 5.6 Hovering Test 96 Chapter 6 Conclusion 102 References 1031544654 bytesapplication/pdf論文公開時間：2014/07/22論文使用權限：同意有償授權(權利金給回饋學校)自主式水下載具運動方程式操控性穩定性迴轉半徑thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/260927/1/ntu-103-R00525071-1.pdf