隨著科學研究和國防產業的發展，水下載具的應用和需求日益增加，發展突飛猛進。其中，自主式水下載具(Autonomous Underwater Vehicle, AUV)不需要連接電纜且具備自主執行任務能力，適合執行長期性或身處危險環境的工作。近年來因電腦和自動控制系統的進步，X型艉舵被廣泛採用，相較傳統的十字形舵板，具有更好的機動性能和容許損壞的能力。本研究的目的在於了解X型艉舵載具的控制程式和機動性能。
本研究載具分為前段、中段與後段，前段配置都卜勒測速儀和深度計，並用卡爾曼濾波器將蒐集到的資料進行處理，中段架設微型電腦和myRIO嵌入式系統;後段為推進器和舵板架構。在載具機電系統整合中，運用LabVIEW軟體及myRIO開發整合系統。
控制程式方面，本研究分為航向控制和深度控制，航向控制使用PI算法進行，PI控制器將航向誤差轉換為舵板旋轉信號，改變載具航向。深度控制程式則是利用深度值及縱搖姿態進行兩層的PI控制，一開始為深度值PI控制，在深度值小於一定值時，改為控制縱搖姿態來固定深度。本研究將使用此載具進行各項不同項目測試，包括控制實驗及多項操縱性能實驗，以此驗證控制程式及機動性能。

The demand for underwater vehicles has been rapidly increasing due to advancements in scientific research and the defense industry. Autonomous Underwater Vehicles (AUVs) are particularly well-suited for long-term operations or tasks in hazardous environments as they do not require tethered power cables and possess autonomous mission execution capabilities. These vehicles have been increasingly equipped with X-shaped stern rudders due to their superior maneuverability and greater damage tolerance than traditional cruciform rudders.
This study aims to understand the control methods and maneuvering performance of vehicles with X-shaped stern rudders. The AUV vehicle is divided into the front, middle, and rear sections. The front section is equipped with a Doppler Velocity Log (DVL) and a depth sensor, and the depth data is processed using a Kalman filter. The middle section houses a microcomputer and a myRIO embedded system, while the rear section contains the thrusters and the X-shaped rudders. The system development and integration in the electromechanical system are implemented using LabVIEW software and myRIO.
The control program is divided into two parts: heading control and depth control. Heading control employs a Proportional-Integral (PI) algorithm to convert heading errors into rudder rotation signals, altering the AUV's heading. The depth control uses a two-layer PI control based on depth value and pitch angle, where a PI algorithm is used to control the pitch angle to maintain a stable depth within a small range of depth error.
The X-Rudder AUV will undergo various tests, including control experiments and multiple maneuverability tests, to validate the control program and evaluate the vehicle's performance.

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