Model experiments with different cycloidal propeller algorithms using same electric controller

This article presents a methodology of controlling the cycloidal propeller electronically in model scale by an experimental approach. It establishes the function of single-unit controlled multiple propeller models such as Kirsten-Boeing and Voith-Schneider propeller. It also deals with the execution of different maneuvering cases like straight acceleration, autopilot, zigzag, crash stop. Blade motors independently control the pitching of the propeller-blades unlike the mechanism of the conventional cycloidal propeller. PID control and heuristic control are investigated for this purpose. Mathematical models for system identification, pulse generation, position, and speed control of propeller blades, and disc and synchronizations are demonstrated. Based on model experimental results, advantages/disadvantages of PID and heuristic control are discussed.