| 中文摘要 |
本研究應用潛艇概念設計，建立一個模擬潛艇六個自由度非線性運動與控制之模擬器，實現潛艇初步設計與潛艇運動控制的整合。在整個數學模型的建模過程中，完成潛艇運動模型，流體動力模型，操船控制模型的建立，使潛艇在設計階段即能藉由非線性控制系統，達到對潛艇的方向穩定性的初步評估。運動方程的轉換上，採用Euler-Rodriguez四元法來表示潛艇的運動姿態，能避開尤拉角轉換法的奇異點及龐大的旋轉矩陣計算。求解微分方程組方面，則是採用精確的四階Runge-Kutta方法。另外，本研究採用JAVA物件導向程式設計程序，使模擬器為物件導向化，以及整合JfreeChart圖表函式庫，使分析過程的數值可視化。最後，本研究應用put-out測試及Dieudonne螺旋測試，完整對一加拿大3000噸級潛艇六自由度之方向穩定性（directional stability）及航行路徑維持能力（course keeping ability）的評估，此潛艇外型為Riegels-type D2艏體，加上潛艇全長45%之平行舯體和36%的艉體，推進系統本研究採用荷蘭B系列螺槳。評估結果說明該型潛艇能在水平面及垂直面上達到方向穩定及維持航行路徑的能力。
In this paper, an integrated conceptual design to build a submarine motion simulator to help forecast quickly simulating a particular submersible maneuvering assessment, can accelerate the speed of the subsequent construction of physical design and reduce errors. The research studies the recent developments of ship and submarine motion model in Taiwan and abroad for further analysis. The system integrates preliminary design stage into maneuvering simulation. A simulation system, in the equations of motion coordinates conversion method, using Euler-Rodriguez quaternion method to represent the rigid body's athletic stance, with a view to avoid singular points of the Euler angle transformation method and large rotation matrix calculation, and using the fourth order Runge-Kutta method to solution of the system differential equations. In this study, a variety of programming technologies, such as JAVA object-oriented programming as well as JfreeChart 2D graphics library, are used to construct models modularly and to visualize the result of simulation of submarine motion. Finally the study reports results about estimating the direction stability of a prototype of submarine of Canada, the weight about 3000 tons, by using Put-out and Dieudonne spiral tests. Investigating results of the simulation, the report found the submarine well possesses direction stability and course keeping ability not only in horizontal plane but also in vertical plane. |
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