本文以潛艇六自由度標準運動方程式為基礎，將其延伸為可以應用於具X型舵之潛艇上。不同於透過潛艇模型實驗得到流體動力係數來進行模擬，本文直接利用翼型的升力面理論，計算出翼面力對潛艇六自由度運動的影響，來取代原潛艇標準運動方程式中艉部控制翼面的係數項。本文亦推導出一套適用於十字舵及X型舵的潛艇六自由度運動方程式。在模擬時計算近水面吸力，模擬潛艇在呼吸管深度時的反應及性能。藉由模擬潛艇在不同運動下的軌跡、六自由度時程分析及動舵情況，以此來分析舵板的尺寸設計是否符合需求。同時也可在相同舵板或是環境力的情況下，比較十字舵和X型舵在操縱性能上面的優劣。在控制方面上，使用比例微分(PD)控制，以試誤法來得到控制器中的增益值，藉以控制潛艇在所設定需要的姿態或深度去模擬其運動軌跡。本文在時程領域的數值方法上使用四階Runge-Kutta方式來推算出潛艇軌跡和姿態，所發展的X型舵控制之潛艇六自由度運動方程式，經過各種模擬的反覆測試，結果顯示可分析潛艇在不同艉部控制翼面下之操縱性能，甚至也能模擬艉舵故障下的操作，可用來幫助評估潛艇的各項需求。

The main purpose of this research is to develop the six degree of freedom equations of motion for X-rudder submarine. By calculating the reaction force generated by the stern control surfaces will be a more efficient way to derive the equation, rather than getting hydrodynamic coefficients through experiment. Also, considering the effect of near surface suction to complete the environment for simulation. In order to simulate the trajectory and motion of the submarine, applying Runge-Kutta method to derive the position and motion of the submarine. With the trajectory, six degree of freedom result and the operate outcome of rudders, we can analyze the need for rudders’ design. Furthermore, comparing the ability of maneuvering between cruciform rudder and X-rudder in the same scenario. Apply PD control system to maintain the depth or changing the motion of the submarine. In the other hand, we need to get the gain value through try and error.
In brief, through this modified six degrees of freedom motion equation. We can not only evaluate our design for control surfaces, but can also easily analyze the ability of maneuver for submarine with different types of stern control surface, even under the situation that one or two stern control surfaces were malfunction.

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