Design and control of an autonomous destroyer model

Model testing to date has not incorporated the simulation of realistic propulsion in the testing of closed loop control of ships. The development of a DDG-51 hull model for these tests is described, and the preliminary data from the sensor suite to be used for feedback control is analyzed. Based on the short duration of tests, the angular rate sensors are relied upon to correct for gravitational contributions in pitch while stabilized roll is used for sway correction. Signal noise, integration errors and sensor drift are bandpass filtered out in selected sensor channels. The preliminary results of double integrated position in global coordinates correlate well with experimental observations, and recommendations for continued development of the ship model are made.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Ocean Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2000

Author dc:creator

• Wu, Albert (Albert Tetai), 1975-

Advisor dc:contributor.advisor

• Michael Triantafyllou.

• Ocean Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/32703

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/32703