抗縱搖功能之水下遙控載具運動模擬

The Motion Simulation of the Underwater Remote Vehicle with Anti-Pitch Performance

水下遙控載具（remotely operated vehicle, ROV）在潛航時易受洋流影響而產生縱向不穩定之現象，導致操作不便與探勘效益降低。為改善此現象並提升載具之縱向穩定性，本文透過時程數值模擬分析法，並加入一具抗縱挨功能之PD與PID控制系統以研究在洋流中之水下遙控載具運動反應。本研究之理論模式利用四階朗奇庫塔（Runge-Kutta）方法與多重射擊法等數值分析方法，並配合利用PMM試驗所求取的操縱性導數，考量臍帶電纜及洋流對潛航器之影響，來模擬分析ROV潛航運動穩定度。由研究成果顯示，加入PD控制器或PID控制器、都確實可達到預定之效果，雖然PD控制器較佳，但其差異並無太大、因此此技術對於增加潛航器穩定度與抗流性有相當大之助益。 Usually the underwater remotely operated vehicle (ROV) endures the longitudinal stability while it maneuvers in the current, which leads to the inefficiency of the operation and exploration. In order to promote the longitudinal stability of the vehicle, we apply the numerical simulation technique incorporating the PD and PID controllers with anti-pitch performance to study the response of the ROV in the current The 4(superscript th) order Runge-Kutta method and multi-step shooting method are adopted to solve the ROV motions including the umbilical cable effect and the related hydrodynamic coefficients are obtained by PMM test. The present results reveal that both PID and PD controllers can achieve the anti-pitch performance which will stabilize the aptitude of the ROV operating in the current and consequently makes the ROV equip with the anti-current potential.