水下滑翔機操縱運動模擬與性能分析之研究

A study on the Analysis of Performance and Simulation for the Maneuvering Motions of Underwater Glider

郭名峰(Ming-Feng Guo)

指導教授 ： 邱逢琛

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2007年)

https://doi.org/10.6342/NTU.2007.02910

摘要

為了研究台大正發展中的自主式水下滑翔機(Autonomous Underwater Glider; AUG)之動態特性，有必要先發展其操控運動模擬工具。為了在初步設計階段便於應用流體動力資料庫或經驗式，本研究採用MMG數學模式之模組化方式建構了AUG六自由度操縱運動數學模式。實際進行模擬計算時，先對非線性運動方程式作線性化得到微擾運動量的線性方程式，予以求解，再逐時積分得到六自由度非線性運動方程式的解。本研究利用此一工具，先比較AUG以單浮力引擎搭配縱向移重裝置及雙浮力引擎操控下的縱向運動特性；其次則比較主翼相對位置對AUG運動狀態之影響及其縱向運動特性；最後則進一步探討橫向移重裝置作動下，包含橫向運動在內的六自由度耦合運動模擬，並以此探討AUG主翼及垂直尾翼位置對於橫向穩定性以及迴旋性能的影響。
應用本研究所發展之水下滑翔機六自由度耦合運動模擬計算工具，模擬浮力引擎及縱、橫向移重裝置操控AUG包含下潛、上浮及迴旋運動在內的六自由度耦合運動，初步顯示了合理的模擬結果，並確認了本模擬計算工具可作為水下滑翔機初步設計階段的實用工具。

關鍵字

水下滑翔機 ； MMG數學模式 ； 模組化模式 ； 浮力引擎 ； 移重裝置

並列摘要

In order to investigate the dynamic characteristics of an autonomous underwater glider, which is under developing in National Taiwan University, it’s necessary to develop a tool to simulate its maneuvering motions. In the present study, modular modeling is adapted to construct the mathematical model for the 6 degree of freedom of maneuvering motions of an AUG for the sake of easy application of existing database or empirical formula in estimating the hydrodynamic forces of elements, such as fuselage, wings, stern vertical fin and interaction among them, at preliminary design stage. It’s a similar way as MMG mathematical model to simulate ship maneuvering motions. In numerical simulation, the derived nonlinear equations of motions are linearized for obtaining the equations that governing the increment of motions at each time step, and then the solved motions increments are integrated and the coupled nonlinear motions of 6 degree of freedom are simulated. Firstly, the dynamic performances of vertical motions of the two types of underwater gliders were investigated by simulation. One type is controlled by longitudinal moving weight and buoyancy engine located fore, another type is controlled by two buoyancy engines located fore and aft but without longitudinal moving weight. Then the effects of main wing location to the dynamic performances are investigated. Finally, the coupled nonlinear motions of 6 degree of freedom controlled by rolling a transverse moving weight were simulated, and applied to investigate the effects of the locations of main wing and vertical tail fin to lateral stability and turning ability.
It was confirmed that the simulation tool developed in the present study may be used as a practical tool for designing an underwater glider in the preliminary design stage.

並列關鍵字

Underwater Glider ； MMG Mathematic Model ； Modular Model ； Buoyancy Engine ； Moving Weight

參考文獻

[9] 邱逢琛、張祐鴻，”潛艦運動數學模式之建構與模擬”，國立台灣大學NTU-ESOE Tech. Report 856, 2006

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