本研究主要著重在水下載具加上不同附屬物之流體動力實驗與分析，實驗方面使用平面運動機構(Planar Motion Mechanism, PMM)，數據分析則是使用帶通濾波(Band Pass)將雜訊去除。模型以DARPA SUBOFF為基礎，為了搭配成功大學系統系地下實驗水槽進行實驗改為1/2縮尺之模型，附屬物的部分包含帆罩(Sail)與艉舵(Rudders)，實驗模型配置為裸船(Bare Hull)、裸船加上單獨帆罩(Bare Hull With Sail)、裸船加上艉舵(Bare Hull With Rudders)與全附屬物(Bare Hull With Full Appendages)。PMM機構實驗包含靜態實驗與動態實驗兩種，靜態實驗為斜航試驗(Drift Angle Test)，藉由改變船體角度進而得到不同漂流角度下的縱向受力、側向受力與平擺扭矩之變化情形；動態實驗主要是藉由PMM機構上橫移馬達與平擺馬達來達到縱移實驗(Surging Test)、橫移實驗(Swaying Test)、平擺試驗(Yawing Test)與平擺時驗加上漂流角(Yawing Test With Drift Angle)。縱移實驗與橫移實驗目的為量測船體之縱向與橫向附加質量；平擺時驗與平擺時驗加上漂流角則是探討角速度與角加速度對船體受力與平擺扭矩間的關係。此外，也使用帶通濾波來濾除實驗中台車震動與馬達震動等雜訊，使實驗數據最佳化，並且與DTRC實驗結果做比較。

The main purpose of this study is to obtain the hydrodynamic coefficient of four types of 1/2 scale DARPA SUBOFF models, including bare hull, bare hull with sail, bare hull with rudders, and bare hull with all appendages, by using PMM experiments. The PMM experiments include both a static test and dynamic tests, i.e. a sway test, a surge test, a yaw test, and a yaw test with constant drift angle. After obtaining the raw data, a band pass is used to filter high frequency vibrations. Finally, a Fourier transform is used to obtain the hydrodynamic coefficients. The results indicate that the drift angle test hydrodynamic coefficients are similar to those from the DTRC (the David Taylor Research Center), and the dynamic tests are obviously effected by the vibration of the towing carriage and motor. In contrast, the static test has good accuracy, and it is found that the dynamic test data must be analyzed with a band pass, or the vibration of the towing carriage or motor will affect the results.

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