有鑑於水下自航模型的研究對於潛艦設計的重要性，本研究開發一套潛體六自由度運動操縱模式以初步評估水下自航模型之操縱性能，並作為後續試驗之參考依據。本研究參照DARPA SUBOFF的船體型式，設計出的縮尺(λ=0.538)潛艦自航模型 (Submarine Free Running Model)，透過MATLAB程式邏輯運算可進行一系列的操縱試驗，包括 : 迴旋圈 (Turning Circle)試驗、水平Z形 (Horizontal Zig-Zag)試驗、垂直Z形 (Vertical Zig-Zag)試驗、漫航 (Meander)試驗及螺旋試驗 (Spiral Test)，透過模擬確定性操縱試驗將可了解此模型的基本操縱性能，如:縱移、橫移、起伏、橫搖、縱搖和平擺等六自由度運動時序列變化情形。而在PD控制系統方面，透過加入MATLAB PID Tuner套件，模擬出最佳的 K_P、 K_D值，並比較不同的上升時間 (Rise time)、設定時間 (Settling time)、超越量 (Overshoot)與峰值 (Peak)，進而選擇最佳化控制增益參數，接著以瞄準線 (Line of Sight)導引方法模擬在三維空間中之航跡及六自由度運動時序列變化。最後，本文比較不同水平面及垂直面操縱控制增益參數之組合，建構一套適合用於DARPA SUBOFF潛艦自航模型之PD控制系統，後續擬將模擬結果與實驗分析進行比較。

On the basis of a full-appendage DARPA SUBOFF model (DTRC model 5470), a scale (λ = 0.535) semi-autonomous submarine free-running model (SFRM) was designed for testing its manoeuvrability and stability in the constrained water. Prior to the experimental tests of the SFRM, a six-degree-of-freedom (6-DOF) manoeuvre model with a conventional PD controller was developed by using logic operations in MATLAB. The SFRM’s attitude and its trim polygon were realized by coping with the changes in mass and trimming moment. Via a series of manoeuvring tests in empty tanks, including turning circle, horizontal zigzag, vertical zigzag, meander, and spiral tests, the performances of the SFRM's trajectories, variations of the rudder plane and the stern plane, as well as the surge, sway, heave, roll, pitch and yaw rates, were presented in cases of three sailing speeds. In addition, the PD control system was established by considering the simulation results of these manoeuvring tests. The optimal control gains with respect to each manoeuvring test can be calculated by using the PID tuner in MATLAB. Two sets of control gains derived from the optimal characteristics parameters were selected for deciding on the most appropriate PD controller with the line-of-sight (LOS) guidance algorithm for the SFRM in the autopilot simulation. Eventually, the simulated trajectories and course angles of the SFRM would be illustrated in the post-processor based on the Cinema 4D modelling.

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