The research on maneuverability of underwater vehicle with cycloidal propellers

Underwater vehicles with cycloidal propellers are a new invention. It is shown that the vehicle can be controlled in six dimensions and it is easier to keep vehicle´s positions and azimuth by setting three cycloidal propellers on it. So its maneuverability is improved. First, a formula is set up based on the experimental results of the cycloidal propeller´s pitch ratio varied from 0.2 π to 0.75 π and steering angle from -90 to +90 degrees. The experiments of that cycloidal propeller were made in Harbin Engineering University Towing Tank. Using these experimental results, a simulating calculation is also carried out and is compared with that of the vehicle controlled by other kind of propellers