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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 邱逢琛 | |
dc.contributor.author | Ming-Feng Guo | en |
dc.contributor.author | 郭名峰 | zh_TW |
dc.date.accessioned | 2021-06-13T00:03:13Z | - |
dc.date.available | 2007-07-31 | |
dc.date.copyright | 2007-07-31 | |
dc.date.issued | 2007 | |
dc.date.submitted | 2007-07-29 | |
dc.identifier.citation | [1] D. C. Webb, P. J. Simonetti, and C. P. Jones. “SLOCUM, an underwater glider propelled by environmental energy.”, IEEE Journal of Oceanic Engineering, Vol. 26, NO.4, Oct 2001.
[2] C. C. Eriksen, T. J. Osse, R. D. Light, T. Wen, T. W. Lehman, P. L. Sabin, J. W. Ballard, and A. M. Chiodi, “Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research,” IEEE Journal of Oceanic Engineering, Vol. 26, NO.4, Oct 2001. [3] R. E. Davis, C. C. Eriksen, C. P. Jones, “Autonomous Buoyancy Driven Underwater Gliders”The Technology and Applications of Autonomous Underwater Vehicles. G. Griffiths, ed., Taylor and Francis, London, 2002. [4] J. Sherman, R. E. Davis, W. B. Owens, and J. Valdes. “The autonomous underwater glider ‘Spray‘.”, IEEE Journal of Oceanic Engineering, Vol. 26, NO.4, Oct 2001. [5] J. G. Graver, R. Bachmayer, N. E. Leonard, “Underwater Glider Model Parameter Identification”, Proc. 13th Int. Symp. On Unmanned Untethered Submersible Technology(UUST), August 2003. [6] http://seaglider.washington.edu/index.html [7] J. M. Tung, M. F. Guo, J. H. Guo, F. C. Chiu, S. W. Cheng, “Design of an Underwater Glider with Fore and Aft Buoyancy Engines”, UT07-SSC07, Tokyo, Japan, April 2007. [8] Fujino, M., “A Introduction to Ship Maneuverability…Safety of Navigation and Prediction of Maneuverability Performance”, Lectures held at National Taiwan University, Taipei, Taiwan, 1986. [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 [10] M. R. Bottaccini, “The Stability coefficient of Standard Torpedoes”, Navord report 3346, July 1954. [11] 李殿璞 ”船舶運動與建模 ”, 哈爾濱工程大學出版社, 1999. [12] A. F. Project engineer: D. E. Hoak, “USAF Stability and Control Datcom”, global engineering documents, Oct 1960. [13] D. C. Webb, P. J. Simonetti, “A Simplified approach to the prediction and optimization of performance of underwater gliders”, UUST 1997. [14] Ogata, K., “System Dynamics” 3rd edition, p.373, 1998 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/28231 | - |
dc.description.abstract | 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。 | zh_TW |
dc.description.abstract | 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. | en |
dc.description.provenance | Made available in DSpace on 2021-06-13T00:03:13Z (GMT). No. of bitstreams: 1 ntu-96-R94525030-1.pdf: 5193665 bytes, checksum: ee07058019b480bca81d7cfaa06a8755 (MD5) Previous issue date: 2007 | en |
dc.description.tableofcontents | 致謝……………………………………………………… Ⅰ
中文摘要………………………………………………… Ⅱ 英文摘要………………………………………………… Ⅲ 目錄……………………………………………………… Ⅴ 表目錄…………………………………………………… Ⅷ 圖目錄…………………………………………………… Ⅸ 符號說明………………………………………………… XXII 第一章 緒論……………………………………… 1 1-1 前言………………………………………… 1 1-2 研究背景與目的…………………………… 1 1-3 研究方法與本文架構……………………… 2 第二章 六自由度非線性運動數學模式………… 5 2-1 基本假設及座標系…………………………… 5 2-2 運動方程式的推導……………… 7 2-3 各自由度流體力的推導……………… 15 2-4 各元件流體力相關經驗式…………… 32 2-5 載具固定座標系與空間固定座標系之轉換 35 第三章 非線性運動方程式之線性化……………… 37 3-1 載具本身慣性力及力矩之線性化…………………… 37 3-2 流體力、重浮力差及其力矩之線性化……………… 39 3-3 載具固定座標系與空間固定座標系之轉換之線性化 51 3-4 線性化運動方程式之求解方式及流程圖…………… 58 第四章 流體動力係數估算………………………… 65 4-1 附加質量及附加慣性力矩之估算…………………… 65 4-2 各元件流體力係數之估算…………………………… 68 4-3 各元件流體力係數及附加質量、附加慣性矩之彙整… 76 第五章 操縱運動模擬計算………………………… 79 5-1 AUG主要外型尺寸及各項基本資料………………… 79 5-2 非線性運動方程計算驗證…………………………… 82 5-3 縱向運動模擬(Type 1/ Type 2B)………………… 92 5-4 縱向運動之性能分析(Type 1/ Type 2B)………… 96 5-5 橫向運動模擬(Type 1/ Type 2B)………………… 100 5-6 橫向穩定性分析(Type 1/ Type 2B)…………… 106 第六章 結論………………………………………… 113 參考文獻…………………………………………………… 115 附錄(一) AUG實際外型及簡易尺寸標記………………… 117 附錄(二) X3D及RHINO影像擷圖………………………… 127 附錄(三) 質量矩陣與阻尼矩陣元素列表………………… 133 附錄(四) 單/雙浮力引擎水下滑翔機縱向運動模擬…… 145 Appendix 4-1. 縱向運動模擬………………… 147 Appendix 4-2. 縱向運動模擬之性能分析…… 150 附錄(五) Type 2A/2B機型尾翼位置對穩定性影響……… 155 Appendix 5-1. 縱向運動模擬………………… 157 Appendix 5-2. 縱向運動模擬之性能分析…… 161 Appendix 5-3. 橫向運動模擬………………… 165 Appendix 5-4. 航行穩定性分析……………… 170 附錄(六) 迴旋運動之動態反應…………………………… 177 | |
dc.language.iso | zh-TW | |
dc.title | 水下滑翔機操縱運動模擬與性能分析之研究 | zh_TW |
dc.title | A study on the Analysis of Performance and Simulation for the Maneuvering Motions of Underwater Glider | en |
dc.type | Thesis | |
dc.date.schoolyear | 95-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 方銘川,謝傳璋,郭振華,周顯光 | |
dc.subject.keyword | 水下滑翔機,MMG數學模式,模組化模式,浮力引擎,移重裝置, | zh_TW |
dc.subject.keyword | Underwater Glider,MMG Mathematic Model,Modular Model,Buoyancy Engine,Moving Weight, | en |
dc.relation.page | 116 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2007-07-31 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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