本文的重點是要開發一個迷你水下載具的深度控制系統，藉由LabVIEW程式語言為開發平台，並以一8吋水下載具原型來驗證此控制系統之可行性。硬體架構方面，除了一個中置垂向推進馬達外，尚結合了微控制器與壓力感測器的操作與監控，透過無線電將經過運算後的水深資訊傳至人機介面，完成一控制流程。載具之電源分配以兩階段進行測試，一是由可程式電源供應卡提供電壓至中置垂向馬達；二是載具自帶電源：水深資訊經模糊控制器運算後，送出脈寬比指令至微控制器，再由微控制器來控制電池的輸出。
在本文中，吾人採用模糊理論來設計控制器，以探討不同的歸屬函數對於迷你型水下載具深度控制之影響，並完成達到可任意指定水深位置的控制功能。
文中以LabVIEW程式模擬此迷你水下載具在水中運動情形，並比對水槽測試結果，藉由歸屬函數之調整，使載具運動表現至最佳狀態；本研究的實務經驗及理論基礎可提供未來開發大型自主式水下載具的參考。

The key point of this thesis is to develop a depth control system for the mini underwater vehicle. We use LabVIEW programming language as the developmental platform, and verify the feasibility of the control system by using an 8-inch underwater vehicle prototype. The framework of hardware, in addition to a vertical propulsion motor, includes a microcontroller and a pressure sensor device for operating and monitoring. To achieve control processes, the information about water depth is sent to the front panel through the radio operator after a large amount of calculation. There are two stages for testing power assign of the underwater vehicle. First, programmed power supply cards offer voltage to vertical motor; second, underwater vehicle can take the power by itself. After the calculation of water depth information, fuzzy controller operation would send duty cycle to micro-controller, and control the output of the battery by microcontroller.
In this thesis, the fuzzy theorem is used as a controller design which is based to the study about the different membership function of depth control effect on the mini underwater vehicle. Furthermore, we achieve the vehicle to reach the wanton assign position of water depth of control function.
In this thesis, we simulate the movement situation of the mini underwater vehicle in the water by LabVIEW programming. Also, we compare the experiment result in the tank, for adjusting membership function so that the movement of underwater vehicle to be the best performance state. The practical experience and theoretical basis of this research will be benefit to the future development of large autonomous underwater vehicle.

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