扁平流線型水下載具之設計

Design of a Flat-streamlined Underwater Vehicle

李鴻志(Hung-Chih Li)

指導教授 ： 郭振華

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.00807

摘要

本文發展扁平流線型水下載具之設計方法。在執行水下大面積觀察任務時，需要一具有穩定的深度控制和良好的平面控制的平台成載觀測儀器，並且為了能降低阻力以求長時間觀察，此平台需要有流線型外型。本論文發展在水下可以有較穩定深度且平面操控性良好的扁平流線型載具的設計方法，首先建立載具運動方程式，利用此方程式分析載具在不同的尺寸下的運動特性，並尋找適合尺寸以符合設定的運動特性。本文考慮運動特性指標如操控性、穩定性、下潛深度、下潛效率及迴轉半徑等，以決定載具的外型及設計參數，並使用載具的外型參數預測載具的下潛效率及迴轉半徑。最後本論文製作一具實驗載具，並展示實驗數據，以驗證此方法於扁平流線型水下載具設計的可行性。

關鍵字

自主式水下載具 ； 運動方程式 ； 操控性穩定性 ； 迴轉半徑

並列摘要

This work develops a design method of a flat-streamlined underwater vehicle. It is an usual practice using an underwater vehicle to carry sensors to observe an underwater area with a fixed depth above the relatively flat terrain. A stable platform that has stiff depth control and maneuverable plane control is necessary to carry out such missions. In order to save propulsion energy, we need the vehicle be streamlined shaped. Using the equations of motion of an underwater vehicle in the vertical and horizontal planes, the representative indicators such as maneuvering indexes, stability derivatives, diving efficiency and turning radius can be derived. A method to determine the vehicle's shape and parameters by evaluating their performance indicators are introduced. The performance of a vehicle can also be predicted by these indicators giving their dimensions. Finally, this work demonstrates the experimental data to validate the design method by a flat-streamlined autonomous underwater vehicle.

並列關鍵字

autonomous underwater vehicled ； equation of motion ； maneuverbility index ； stability derivative ； turning radius

參考文獻

1. Asakawa, K., Kojima, J., Ito, Y., Shirasaki, Y., and Kato, N., “Development of Autonomous Underwater Vehicle for Inspection of Underwater Cables,” Proc. of Underwater Intervention ’93, pp. 208-216, 1993.

3. Chiu, F.C., Guo, J., Chang, Y.Y., Wang, C.C., Wang, J. P., “On the Linear Hydrodynamic Forces and the Maneuverability of Unmanned Untethered Submersible with Streamlined Body,” J. of Japanese Society of Naval Architecture, No. 180, 1996. (In Japanese)

4. Chiu, F. C., Guo, J., Huang, C.C., Wang, J. P., “On the Linear Hydrodynamic Forces and the Maneuverability of Unmanned Untethered Submersible with Streamlined Body (2nd Report: Lateral Motions),” J. of Japanese Society of Naval Architecture, No. 182, 1997. (In Japanese).

5. Guo, J., J. F. Tsai and F. C. Chiu, “Design, Simulation and Control of a Highly Maneuverable Autonomous Underwater Vehicle Testbed,” MARIENV ’95, Tokyo, 1995.

7. Landweber, L. and M. Gertler, Mathematical Formulation of Bodies of Revolution, The David W. Taylor Model Basin Report 719, 1950.