本篇論文主要目的為探討潛艦靠近水面時，對操縱運動的變化影響，並更進一步研究潛艦的深度控制方法。依循二維理論與柏努力定律，參考文獻提供之吸力模擬結果，自行來推導吸力截片面積經驗公式，計算近水面產生之吸力與力矩，以建構一套可模擬近水面航行之潛艦操縱程式。文中也以Computational Fluid Dynamics (CFD)軟體OpenFOAM來模擬各深度、速度下，潛艦直航所產生興波，將此波形效應加入吸力運算，使其更加符合實際之近水面直航狀態。另外使用PD控制器(Proportional-Derivative)操縱水平控制翼，並以試誤法找尋PD控制器之比例和微分增益係數，可操控潛艦行駛目標深度，預防潛艦產生突轉等安全疑慮。
本研究著重於潛艦在近水面吸力之截片面積經驗公式推導，以及在吸力影響下之潛艦操縱模擬。

This research is focusing on the motion simulation of the submarine maneuvering near the free surface, and presents the depth controller for submarine. In order to develop a submarine maneuvering code near surface, the study derives the empirical formula for surface suction with respecting to the sectional area based on the Strip Theory, Bernoulli's Law, and the existing CFD results by other reference. The empirical formula is then applied to calculate the suction forces and moments generated by the submarine moving near the surface. Furthermore, the Computational Fluid Dynamics (CFD) software (OpenFOAM) is also adopted to simulate the wave-making free surface by a submarine in various depths and speeds. Then adding the surface wave form in the accounted sectional area to improve the calculation of the suction forces. Besides, the depth control method is based on proportional-derivative controller, and the related gain parameters are found by trial and error method. Thus, we can probably prevent the submarine from dangerous accidents through the water surface with the suitable control.
Overall, the paper mainly develops the empirical formula for the surface suction on the submarine maneuvering near the surface and the effects are also deeply analyzed.

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