近年來自主式水下載具已被應用於水下調查和監視，常被用於各種深度的水域中的例行性或具有危險的任務。為了適合各種可能的水下環境和期間的使用，無方向舵與升降舵的設計將簡化船身外型與控制方法，通過減少安裝方向舵或升降舵等活動零件的安裝，避免船體上的間隙來增強水下載具的防漏性。本研究的目的是開發一種新的水下載具控制方法，用於巡航目的的水下設備。本文提出了一種質量轉移機構用於操控小型自主式水下載具的方向控制。配備了兩個可在固定軌道上移動的配重，通過將兩個配重移動到預定的位置來改變該水下載具的重心位置，從而改變偏航角和俯仰角而達到對自主式水下載具方向控制的目的。一具Arduino控制器被用於控制自主式水下載具系統內部的質量轉移機構與相關的外部感測器的資料讀取以利於之後進一步的運用。經過測試，在前進與下潛上浮的功能上都達到設計的目標。而因在配重質量相對於系統總質量的比例則需要再調整，以便使產生用於轉向的轉矩達到足以使得自主式水下載具的轉向的功能。對於此種方向控制方式，配重相對於系統重量比例與移動軌跡的設計，是此種控制方法的重要關鍵也是將來的研究方向。

Autonomous underwater vehicles have been used in underwater surveys and monitoring, and are often used for routine or dangerous tasks in the waters of various depths. To be suitable for various underwater environments and periods of use, an autonomous underwater vehicle without rudder and elevator will simplify the hull design and control method, also avoid gaps and enhance the leak-proof. This research proposes a mass shifter mechanism for direction control of a small autonomous underwater vehicle by moving two counterweights on fixed trajectories. These two counterweights move and change the position of the center of gravity to generate torque. The torque changes the yaw angle and pitch angle to control the direction. An Arduino controller is used to control the mechanism and collect the data from sensors. After testing, the surfacing and the diving functions are achieve. And it is necessary to adjust the ratio of the mass of the counterweights to the total the system to generate sufficient torque to steer the autonomous underwater vehicle. Based on the results, the design of the weight ratio of the counterweight relative to the system weight and the movement trajectory are key design factors to this control method.

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