本文運用包含操縱性及耐海性的流體動力方程式，用以模擬潛艦接近海面航行時之六度運動， 為了節省程式之運算時間，相關潛艦受波浪力量產生之流體動力係數，均採用基於源點分布法的截 片理論，並運用四階Runge-Kutta數值計算方法，以建構潛艦航行於淺水域之運動模型，因此本文 發展的數值方法，係分析潛艦接近海面航行時控制深度的有效模擬工具。

In the paper, a hydrodynamic model including the characteristics of maneuvering and seakeeping is developed to simulate the six-degree freedom motions of submarine sailing near the sea surface. The corresponding wave exciting forces on the submarine moving in waves are calculated by the strip theory, which is based on the source distribution method. With the hydrodynamic coefficients relevant to the maneuvering and seakeeping, the fourth-order Runge-Kutta numerical method adopted to solve the equations of motions and six-degree of freedom of the motions for the submarine at shallow submergence can be obtained. The hydrodynamic numerical model developed here can be served as a valuable tool for analyzing depth controlling behaviors of the submarine near the sea surface.