水下遙控載具（Remotely Operated Vehicle , ROV）在潛航時易受洋流影響而產生縱向不穩定之現象，導致操作不便與探勘效益降低。為改善此現象並提升載具之縱向穩定性，本文主要以DEEP OCEAN公司所生產的ROV ( Triggerfish )為研究對象，透過時程數值模擬分析法，再導入PD與PID控制器以研究其在洋流中之運動反應及相關之修正增益值。本研究之理論模式為利用ROV潛航於水下之運動方程式，結合4th -Order Runge-Kutta method、multi-steps shooting method等數值分析方法，配合利用PMM試驗所求取的操縱性導數，並考量臍帶電纜及洋流對潛航器之影響，模擬分析ROV潛航運動穩定度。由研究成果顯示，加入PID控制器可確實達到預定之效果，而PD控制器雖無PID控制器效果好，但也比無控制器更能將ROV姿態穩定使其達到較好的工作效率，且未來可將此技術應用於成大-中山所研發的ROV上，對於增加潛航器穩定度與抗流性應有相當大之助益。

Because of the current effect, the behaviors of the underwater remotely operated vehicle will be affected especially for the longitudinal stability. Consequently the efficiency of the operating the underwater ROV will be decreased. In the present paper, a numerical model including the PD or PID control is established to simulate the ROV motions in currents. The related suitable gains of the controller are obtained by trial and error. The numerical technique including 4th order Runge Kutta method and multi-steps shooting method is adopted to solve the equations of motions with two ends boundary values problem due to the cable effect. The related maneuvering hydrodynamic coefficients of the ROV were obtained by PMM technique. From the present results, we find that the PID controller is superior to the PD controller and indeed can improve the longitudinal stability, i.e. reduce the pitch motion. Therefore the technique developed in the present study can be regarded as an useful tool for improving the anti-current ability of the ROV while it is operating in currents.

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