The paper presents a methodology to design an electric controller for marine cycloidal propeller. The controller is designed considering the torque and the rotational speed limit of the motor. The influence of manoeuvring dynamics of the ship, rotational speed of the disc, eccentricity ratios and torque, pitching speed and pitch angle of the blades on the controller design are investigated. Feedback signals are used for the controller and combined with multiple PID control logic for controlling the motion of disc and blades. The proposed PID controller helps to stabilize the rotational speed of propeller blades and disc when requirement of torque exceeds the maximum limit of motor torque. The proposed control algorithm enhances the chances of optimizing propulsion efficiency of the blade. This is achieved due to decoupling of the motion of individual blades. Simulation results of different manoeuvring and straight run cruising conditions demonstrate the application of proposed control scheme. Finally, the simulated results are validated with the experimental results of mechanically controlled cycloidal propeller.

中文翻译：

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船用摆线螺旋桨PID型控制器：仿真研究

本文提出了一种设计船用摆线螺旋桨电气控制器的方法。控制器的设计考虑了电机的转矩和转速限制。研究了船舶操纵动力学、圆盘转速、偏心比和扭矩、桨叶桨距速度和桨距角对控制器设计的影响。反馈信号用于控制器，并结合多个 PID 控制逻辑来控制圆盘和叶片的运动。当扭矩要求超过电机扭矩的最大限制时，所提出的 PID 控制器有助于稳定螺旋桨叶片和盘的转速。所提出的控制算法提高了优化叶片推进效率的机会。这是由于单个叶片的运动分离而实现的。不同机动和直线巡航条件的仿真结果证明了所提出的控制方案的应用。最后，将模拟结果与机械控制摆线螺旋桨的实验结果进行了验证。