Modeling, simulation and control of a cyclic and collective pitch propeller for underwater vehicles

This paper presents theoretical modelling, simulation and control of a cyclic and collective pitch propeller (CCPP) that is applied for underwater vehicles. The collective and cyclic pitch propeller has been designed and fabricated. It needs testing under various conditions to construct the relationships between the rpm, pitch angles of propeller blades and axial and side thrusts. The propeller is driven by a brushless dc motor. The propeller has two main controllers, one controls the propeller motor speed and the other controls the blade angles. This paper is about the development of mathematical equations by relevant theory, computer-based simulation and design of the controller for the CCPP. The paper focuses on the mathematical models of two main components of the propeller, one is the brushless dc motor driving it and the other is the linkage mechanism controlling the blade angles.