A rotating machine with a fluid rotor comprises a set of blades (4) mounted on arms (2) rotating about a main axis (1) of the rotor, the rotor being held by a support structure (5) in an orientation such that said axis (1) is essentially perpendicular to the direction of the flow of fluid, each blade (4) being mounted pivoting about a respective axis of rotation (3) parallel to the main axis (1), the machine comprising a linkage (13, 7, 14) for generating a relative rotational movement of each blade (4) relative to the arm (2) of same at the axis of rotation (3) thereof, in order to thus vary the tilt of the blade relative to the flow of fluid in an angular range. According to the invention, the machine comprises means for collectively modifying the geometry of the linkages (13, 7, 14) from a movement generated at the main axis of the rotor in order to vary the amplitude of the angular range.

A rotating machine with a fluid rotor comprises a set of blades (4) mounted on arms (2) rotating about a main axis (1) of the rotor, the rotor being held by a support structure (5) in an orientation such that said axis (1) is essentially perpendicular to the direction of the flow of fluid, each blade (4) being mounted pivoting about a respective axis of rotation (3) parallel to the main axis (1), the machine comprising a linkage (13, 7, 14) for generating a relative rotational movement of each blade (4) relative to the arm (2) of same at the axis of rotation (3) thereof, in order to thus vary the tilt of the blade relative to the flow of fluid in an angular range. According to the invention, the machine comprises means for collectively modifying the geometry of the linkages (13, 7, 14) from a movement generated at the main axis of the rotor in order to vary the amplitude of the angular range.

An amphibious vehicle for traversing land and bodies of water includes a chassis, and a cycloidal propeller coupled to the chassis and which includes a plurality of cycloidal propeller blades rotatably coupled to the chassis and each extending parallel a rotational axis of the cycloidal propeller, and an extension/retraction system configured to extend the plurality of cycloidal propeller blades away from the chassis and to retract the plurality of cycloidal propeller blades towards the chassis.

A cycloidal marine propulsion unit, including a hollow rotary casing having a central axis and defining a central inner space with an opening at an axial end thereof. A mounting body rotatably supports the rotary casing on a hull of a marine vessel. A rotating arrangement is provided for rotating said hollow rotary casing, while a plurality of blades extend axially from the rotary casing away from the hull. Each blade is mounted for pivotal movement with respect to the rotary casing, about respective blade axes. The rotating arrangement is configured to rotate the rotary casing by a circumference thereof. A blade shaft portion of each blade is at least partly received within the central inner space so as to attach said blade to the rotary casing.

The present invention relates to a device for optional activation of a vertical-axis propeller to be configured on the lower surface of a marine vessel, said device comprises a vertical-axis propeller; a sliding means associated with the lower surface of the marine vessel and sliding the vertical-axis propeller; at least one slider that is associated with the vertical-axis propeller and is in sliding relation with the sliding means; and at least one driving means for driving the vertical-axis propeller in upwards and downwards in the sliding direction.

A method for controlling a propulsion system of a marine vehicle is disclosed. A controller forms data on pitch angles of at least two foils, which are in a rotatable manner attached with a foil wheel, based on at least an angularly variable eccentricity of the at least two foils and an angle of rotation of the foil wheel. The variable eccentricity is limited at a portion of the angle of rotation of the foil wheel. An actuator arrangement receives the data from the controller and sets the at least two foils at the pitch angles based on the data.

A method for controlling a propulsion system of a marine vehicle is disclosed. A controller forms data on pitch angles of at least two foils, which are in a rotatable manner attached with a foil wheel, based on at least an angularly variable eccentricity of the at least two foils and an angle of rotation of the foil wheel. The variable eccentricity is limited at a portion of the angle of rotation of the foil wheel. An actuator arrangement receives the data from the controller and sets the at least two foils at the pitch angles based on the data.

An apparatus, method and computer program for controlling propulsion of marine vessel. The propulsion is implemented by a foil wheel propulsion system. The method includes: receiving a wheel operation status from a wheel drive; receiving a plurality of foil operation statuses from a plurality of foil drives; receiving a command from a vessel control system; generating wheel control data for the wheel drive to control a foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status; and generating foil control data for the plurality of the foil drives to further control the foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status and the plurality of foil operation statuses, wherein a reference torque of the foil control data for each foil drive is generated using a foil feedforward model.

An apparatus, method and computer program for controlling propulsion of marine vessel. The propulsion is implemented by a foil wheel propulsion system. The method includes: receiving a wheel operation status from a wheel drive; receiving a plurality of foil operation statuses from a plurality of foil drives; receiving a command from a vessel control system; generating wheel control data for the wheel drive to control a foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status; and generating foil control data for the plurality of the foil drives to further control the foil pitch function of the foil wheel propulsion system based on the command in view of the wheel operation status and the plurality of foil operation statuses, wherein a reference torque of the foil control data for each foil drive is generated using a foil feedforward model.

A rotating machine with a fluid rotor comprises a set of blades (4) mounted on arms (2) rotating about a main axis (1) of the rotor, the rotor being held by a support structure (5) in an orientation such that said axis (1) is essentially perpendicular to the direction of the flow of fluid, each blade (4) being mounted pivoting about a respective axis of rotation (3) parallel to the main axis (1), the machine comprising a linkage (13, 7, 14) for generating a relative rotational movement of each blade (4) relative to the arm (2) of same at the axis of rotation (3) thereof, in order to thus vary the tilt of the blade relative to the flow of fluid in an angular range. According to the invention, the machine comprises means for collectively modifying the geometry of the linkages (13, 7, 14) from a movement generated at the main axis of the rotor in order to vary the amplitude of the angular range.