IEEE - Aerospace and Electronic Systems - December 2022 - 20

Characterization of the Propulsion System for Submersible Multimedium Robotic Vehicles
Figure 6.
Variation of thrust and torque profiles for propellers of varying diameters in aerial and aquatic operational conditions. Operational RPM of
underwater conditions is limited to 1/10 of aerial scenarios.
Figure 7.
Variation of thrust profiles due to change in pitch angle of the propeller. (a) Thrust in air for 4-in propellers. (b) Thrust in water for 4-in propellers.
(c) Thrust in air for 12-in propellers. (d) Thrust in air for 12-in propellers.
increases, but not always. An increase in propeller diameter
increases the number of individual aerofoil cross sections,
which collectively leads to increased overall thrust.
While an increase in thrust due to propeller pitch is a little
tricky. As mentioned in (7) and (8), this higher thrust is
due to a change in the angle of attack of the propeller
blade as the propeller pitch varies. Considering a constant
inflow angle (c), any increase in the propeller pitch (p)
also leads to subsequent increase in the angle of attack
(a). Further angle of attack affects the associated lift coefficient
(CL), which in turn affects the overall thrust and
torque profile.
20
An important thing to remember is that a change in
angle ofattack is not always directly proportional to the lift
coefficient. Thus, an increase in pitch can lead to an
increase in the angle of attack but subsequently lead to
decrease in the lift coefficient due to blade stall. Hence, it
must be noted that an increase in pitch will not always lead
to an increase in thrust as depicted in Figure 7(c). For the
12-in propellers, the thrust initially increases with a change
in pitch in aerial conditions but decreases subsequently due
to the decrease in the associated lift coefficient, which
depends on the angle of attack. Moreover, the effect of
change in pitch is much more significant in larger diameter
IEEE A&E SYSTEMS MAGAZINE
DECEMBER 2022

IEEE - Aerospace and Electronic Systems - December 2022

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