A Ship::PropulsorActuator for a cycloidal propeller. The azimuth angle is replaced by a thrust direction vector that follows the ThrustAngle input as a first order lag: both components of \( (\cos\alpha, \sin\alpha) \) approach their target with time constant AngularMotorConstants[2]. The object has all the input ports, output ports and parameters of PropulsorActuator and of Ship::LocalConnection, plus those below. The thrust vector has no rate limit and no angle limits. The Angle and Angle_FB outputs give \( \mathrm{atan2}(\mathrm{TransversePosition}, \mathrm{LateralPosition}) \).
Input ports
| Name | Width | Description |
| ThrustAngle | 1 | Commanded thrust direction angle (radians: the code takes sin and cos of it) |
Output ports
| Name | Width | Description |
| ThrustVectorBody | 3 | Thrust direction in the body frame: (LateralPosition, TransversePosition, 0) |
Configuration parameters
| Name | Width | Description |
| AngularMotorConstants | 3 | Required (also when IsAngularMotor is false). Element 2 is the time constant of the thrust vector. Unit not stated in the code |
States
| Name | Width | Description |
| LateralPosition | 1 | First component of the thrust vector. Initial value 0 |
| TransversePosition | 1 | Second component of the thrust vector. Initial value 0 |
Collaboration diagram for Cycloidal actuator:
1.9.8