You can either use split
or a regular expression. This short program shows both alternatives.
use strict;
use warnings;
my $filename = 'abcd_ThisIsWhatIWant_xyz.pdf';
my ($substring1) = $filename =~ /_([^_]*)_/;
print $substring1, "\n";
my $substring2 = (split /_/, $filename)[1];
print $substring2, "\n";
output
ThisIsWhatIWant
ThisIsWhatIWant