A cycloidal (Voith-Schneider type) propeller with a thrust vector chosen from the input. The thrust is \( F = \rho n^2 D^3 b C_t(\theta) \) along the thrust vector, with \( n \) the rotation speed in rev/s (the RPM input divided by 60), \( D \) the diameter, \( b \) the foil length, \( \rho \) the sea water density, and \( C_t(\theta) = C_{t0} \sin^2(\theta \pi/2) \) with \( \theta \) the thrust intensity input. The thrust is reduced by a factor between 0.2 and 1 when the water moves along the thrust direction (limited to 8 m/s), a drag force from the relative velocity is added, and the object makes a jet in the Environment when there is one.
Input ports
| Name | Width | Description |
| PositionNED | 3 | Position of the propeller in the NED frame |
| VelocityNED | 3 | Velocity of the propeller in the NED frame |
| QuaternionNED | 4 | Orientation quaternion of the propeller (body to NED) |
| ThrustVectorBody | 3 | Direction of the thrust in the body frame |
| ThrustIntensityBody | 1 | Thrust intensity \( \theta \), dimensionless; the thrust coefficient is \( C_t0 \sin^2(\theta \pi/2) \) |
| RPM | 1 | Rotation speed in revolutions per minute |
Output ports
| Name | Width | Description |
| ForceNED | 3 | Force on the body in the NED frame |
| TorqueNED | 3 | Torque in the NED frame |
| ForceBody | 3 | Force in the body frame |
| TorqueBody | 3 | Torque in the body frame |
| ShaftTorqueBody | 1 | Absolute value of the shaft torque, with ShaftPowerScaling applied |
| ShaftTorqueCorrectedBody | 1 | Same value as ShaftTorqueBody |
| ShaftPower | 1 | Absolute shaft torque times rotation speed in rad/s, with ShaftPowerScaling applied |
| ShaftPowerCorrected | 1 | Same value as ShaftPower |
Configuration parameters
| Name | Width | Description |
| Diameter | 1 | Diameter \( D \) of the propeller. Required |
| FoilLength | 1 | Foil length \( b \). Required |
| Ct0 | 1 | Thrust coefficient at full intensity. Default 1.2 |
| Cq0 | 1 | Torque coefficient at full intensity. Default 0.5 |
| PropellerThrustScaling | 1 | Factor on the thrust. Default 1 |
| ShaftPowerScaling | 1 | Factor on the torque. Default 1 |
| ReverseRotationDirection | 1 | Reverse the rotation direction in the visualization. Default false. Builds with visualization only |
States
| Name | Width | Description |
| currentState | 1 | Speed of the jet. Initial value 0 |
| rotation | 1 | Rotation angle for the visualization. Initial value 0. Builds with visualization only |
Collaboration diagram for Cycloidal propeller:
1.9.8