潛艦浮航及下潛轉移操船模擬之研究

Abstract

本研究以張祐鴻、劉韋群碩士所建立的潛艦全潛航操船運動模擬系統為基礎，擴增潛艦浮航及下潛轉移的操船運動模擬功能；本系統透過模組化的數學模型建構，將潛艦分拆為胴體、帆罩、艏翼、艉翼、舵、螺槳，以及數個水櫃等部件，探討分析各部件流體動力效應，最終，運動方程式組合各部件性能及交互作用，以逐時積分法求解潛艦六自由度運動。 潛艦全潛航的運動狀態，其整體的浮力為定值，此時，也可將各部件所受的流體動力視為定值。若要考量潛艦從浮航狀態出港、下潛至全潛航乃至上浮的操作過程，則需要擴充考慮水面航行的操船性能、下潛轉變過程中流體動力係數的變化，以及穩度分析等問題。因此本研究針對這些部分，進行各部件在不同吃水深度時，所受的流體動力係數和不同姿勢下的浮心位置之估算，以及水櫃進水使潛艦下潛的重心轉移；再透過雙變數內插、線性與非線性內插等方法，將這些逐時估算結果納入操船模擬系統中進行操船運動模擬。 本研究完成的系統擴充，可以完整呈現潛艦浮航及下潛轉移的運動過程。為了顯示擴充後的潛艦操船運動模擬系統功能，本研究以仿擬潛艦為例，除了進行包含浮航、下潛及上浮的運動模擬之外，並針對浮航狀態的操船性能，進行迴旋試驗、Ｚ型試驗、拉出試驗、螺旋試驗等操船模擬試驗以顯示系統可以進行合理的潛艦操船模擬。此外，後續也可以進一步應用本系統探討在模組化數學模型下，各部件交互作用參數對操縱運動性能之影響。

Standing on the foundation of researchs at M&C Lab. Of NTU/ESOE, which has developed maneuvering motion simulation technology for submarine before, the simulation system in present study is extended to deal with free surface effect on hydrostatic and hydrodynamic forces of a submarine operated crossing the free surface, namely in the transition between the conditions surfaced and submerged. The present simulation tool follows the modular modeling methodology which means that submarine is divided into several main elements, including fuselage, sail, bow plane, stern plane, rudder, propeller, and trimming tanks, and the hydrodynamic forces model for each element and the interactions among them are considered. In addition, the hydrodynamic coefficients are calculated by CFD tool of ANSYS FLUENT, and submarine maneuvering motion simulation is carried out by solving a coupled nonlinear 6-D equations of motions time step by step. In order to simulate submarine in the transition between the conditions surfaced and submerged, transition stability and maneuvering of surfaced submarine are also investigated in the present study. The position of centre of gravity and buoyancy of each element in different submerged depth and different posture are calculated in advance and then substituted into the 6-D equations by bilinear interpolation method. Finally, by applying a simulated submarine as a test model, it is confirmed that all the simulations of steady forward propulsion, descent and ascent maneuvers, turning-circle test, zig-zag test, and pull-out test for checking the directional stability show reasonable results. And the validity of the simulation tool improved by the present study is confirmed.