Hello Ahmet. Why not use a simple piggyback arrangement? Fit a pulley to the prop shaft. Mount the motor above the shaft with a pulley on the motor shaft, belt driving the prop shaft. A tension adjustment/release mechanism to allow changing the belt or removing it altogether. For 20HP you need a very wide and strong belt, or multiple belts. Changing the pulley size changes the reduction ratio. So in this configuration the motor is always turning. Sometimes the motor is being turned passively, by the diesel. Sometimes by the freewheeling prop, if it is a sailboat. Either way, with the proper controller, the motor can produce electricity for charging your batteries. Sometimes the motor is turning actively. The diesel transmission is neutral and power is applied to the motor by the controller.
Getting all components to play nicely together can be a challenge, if a reasonable degree of efficiency is required. You have a lot of research to do, I'm afraid. Even then, a lot of experimentaion. Not to mention the structural challenges. And you may want to look at a shaft coupling arrangement that allows quick and easy breaking of the shaft connection for quicker belt changes and pulley changes.
This is not going to be a simple project. I know I used the word "simple" in the first sentence, but that is relative.
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