本研究之主要目的為發展一可利用之完整操縱模式，模擬潛艇於不同海況及水深之各項操縱行為。本文中仿擬之潛艇構型是以海軍船艦研究發展中心發表之潛艇資料（包括主要尺寸及流體動力係數）為基礎，加入水櫃之配置設計後供數學模式模擬之用。潛艇之運動方程式以Gertler & Hagen發表之潛艇模擬研究之標準運動方程式為基礎，納入水櫃效應及波浪之影響，以期建立更完整之數學模式。
本研究利用四階Runge-Kutta數值計算方法來執行潛艇運動之時程模擬，以進行各項操縱試驗狀況之模擬。文中首先進行各項潛艇決定性操縱試驗之模擬，包括水平面之螺旋試驗（Spiral test）、回舵試驗（Pull out）、迴旋試驗及ZIGZAG試驗，垂直面之上浮下潛試驗及垂直面超射試驗（Meander）等，由模擬結果顯示本研究開發之模擬系統可合理地模擬潛艇之六度運動。此外，本文亦進一步加入水櫃操作及波浪因素，由模擬結果亦可驗證水櫃操作設計之合理性以及波浪對潛艇於近水面之運動有相當之影響。
整體而言，本論文提供一套可分析潛艇於不同海況及深度下運動之模擬程式，未來除了可以用以國艦國造之潛艇初部設計及分析，更可發展成操航模擬系統以供潛艇操縱訓練之用途。

The purpose of the study is to develop a proper submarine maneuvering model to simulate the motion of the submarine in seaway. The mathematic model used here for simulation is based on equations of motions developed by Gertler & Hagen and the related hydrodynamic coefficients are adopted from the data published by Naval Ship Research and Development Center. Besides, in order to make the mathematic model more extensively useful, ballast tank effect and wave effect are also taken into consideration in equations of motions.
The time domain simulation for submarine’s motion is treated by the forth Runge-Kutta method. Before simulating the motions of the submarine at sea, the typical definitive submarine trials will be simulated firstly, including horizontal plane and vertical plane tests. The horizontal plane tests include turning circle test, spiral test, pull out test, and zigzag test whereas the vertical plane tests include float up test, dive test and meander test. According to the simulated results, we find that the submarine maneuvering mathematical model developed by this study is reasonable. Besides, the results also reveal wave effect will significantly affect submarine motion when it is sailing near the free surface and the ballast system is also an important factor influencing the submarine motion.
Overall, the simulation program developed in the present study can reasonably analyze the motions of submarine in the seaway. We hope the simulation program could be utilized to the preliminary design of Indigenous Defense Submarine and the related maneuvering training simulator.

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