Design and control of an autonomous destroyer model

Abstract

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.