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.

本文介绍了一种通过实验方法以模型比例电子控制摆线螺旋桨的方法。它建立了Kirsten-Boeing 和Voith-Schneider 螺旋桨等单机控制多螺旋桨模型的功能。它还处理不同机动情况的执行，如直线加速、自动驾驶、之字形、紧急停止。与传统摆线螺旋桨的机构不同，叶片马达独立控制螺旋桨叶片的俯仰。为此目的研究了 PID 控制和启发式控制。演示了用于系统识别、脉冲生成、位置和螺旋桨叶片速度控制以及圆盘和同步的数学模型。根据模型实验结果，