WO2012099291A1 - Propulsion device for moving body using principle of progressive waves and method thereof - Google Patents

Abstract

The present invention pertains to a propulsion device for a moving body using the principle of progressive waves and a method thereof. A driving section provides a plurality of driving forces and controls the driving forces to be periodically changed according to time such that phase differences may be generated. A plurality of variable members are disposed in series and driven by the driving forces which are supplied by the driving section and independent from each other. Therefore, a propulsion device may be deformed into a desired shape by the plurality of driving forces that are supplied from the driving section, and progressive waves are implemented in the propulsion device via the continuous deformation of shape under the control of the driving section. As the implemented progressive waves progress, a wave front of the progressive waves exerts a force to a fluid or a fixed object in a reverse direction and a method is provided for propulsive force generated by the reaction thereof. In addition, energy loss due to the reciprocating movement or the rotational movement of the conventional propulsion device may be removed, so that a propulsion device with a high efficiency is provided.

Description

Propulsion device and method of moving object using traveling wave principle

More particularly, the present invention relates to a propulsion device for a moving body using a traveling wave principle, and more particularly, to a propulsion device in which a plurality of variable members are provided so as to be continuously arranged, And the driving force provided to the adjacent deformable member is controlled to have a phase difference with respect to each other so that the driving force of the propelling device In which a traveling wave whose shape changes periodically according to time is implemented and a traveling wave direction force is applied to a fluid or a fixed object by the traveling wave and a reaction force is generated by the traveling wave direction, .

Generally, the principle that a moving body propels in a fluid such as a gas or a liquid acts on a fluid in a direction opposite to a propelling direction (hereinafter referred to as " reverse " direction) of the moving body by reciprocating motion or rotational motion of the propelling device, It is the principle of action and reaction that generate momentum by reaction.

In accordance with this principle, the motion of the propulsion device includes a propulsion motion which acts on the fluid. For example, in the movement of a boat, which is a propulsion unit of a boat, a movement in which the nose is immersed in water and acts in the opposite direction to the water is a propulsion movement, and a movement in which the nose moves in all directions on the water is a return movement. At this time, the propulsive force of the boat is generated only by the propulsion movement in which the nog is immersed in the water and forces the water in the reverse direction. The return motion in which the nose moves in all directions on the water is for the next propulsion motion and does not generate propulsion force.

As shown in the above example, when propulsion and return movements are performed in different fluids having different specific gravity differences, the reverse propulsive force generated by the return movement can be neglected compared with the propulsive force, but propulsion and return motion in the same fluid In the case of the device, the reverse thrust generated by the return motion is of a size that can not be ignored, which is an important consideration in the design of the propulsion device.

In addition, since energy for returning motion is required for such a returning motion, the energy-efficient propulsion device should be designed so that the energy required for returning motion is minimized or the propulsion motion is continuously performed without returning motion.

An example is the propeller method. The propeller method is a structure in which several wings are fixed to the rotating body at all angles and at a constant inclination angle, and a reverse force is applied to the fluid by the rotation of the wing, and the moving body is propelled by the reaction. The speed and propulsion of the moving body are controlled by the number of revolutions of the propeller. Such a propeller system is one of the most popular propulsion systems for continuous propulsion without return motion.

However, in the propeller system, the inevitable rotational motion causes energy wastage. When the wing of the propeller is rotated, the fluid is rotated in the same direction as the wing rotation direction, and the spiral motion is performed in the opposite direction. At this time, only the energy pushing the fluid in the opposite direction generates the thrust, and the energy that rotates the fluid does not generate the thrust.

In addition, the energy that rotates the fluid also causes the moving body to rotate in the opposite direction or vortex in the fluid to affect the propulsion of the moving body.

And in these propeller systems, the force acting on the fluid varies from the axis of rotation to the radius of rotation of the wing. The closer this force is to the axis of rotation, the smaller and larger the force becomes. This causes an imbalance in the propulsive forces generated on the propeller rotating surface. In order to compensate for this imbalance, the inclination angle of the wing is designed to vary according to the turning radius, but it is not compensated for all the speed of the moving object.

In general, the propeller method has a fixed wing area and an inclination angle, and thus rotates the wing at a high speed in order to increase the propulsive force. At this time, if the fluid pressure around the propeller is lower than the vaporization pressure of the fluid, the fluid is vaporized and bubbles are generated. This is called cavitation, which reduces propulsion of the moving body, damages the propeller, and causes vibration and noise.

The present invention has been proposed in order to solve the problems of the prior art, and unlike the conventional propulsion device in which propulsion is generated by reciprocating motion or rotational motion of the propulsion device, the shape of the propulsion device changes with time, And a propulsion system in which propulsion is generated by the propulsion system.

In general, wave theory is a theory that describes the phenomenon of transferring energy by vibrational motion of a medium. According to the wave theory, there are standing waves in the waves with fixed ship and node positions, and progressive waves in which the floor and the bone position move. A simple example is that a violin string's vibration corresponds to a standing wave, and a sea wave corresponds to a traveling wave. All of these examples are phenomena in which energy is transferred by the oscillation motion of the medium.

Conversely, an object may vibrate in a medium such as a fluid. For example, the reciprocating motion of a furnace, which is the propulsion unit of a boat, and the movement of a string when it is held up at one end of the string and shook it up and down, both cause the object to vibrate in the fluid. At this time, the motion of the furnace is a movement corresponding to a Standing Wave in which the position of the boat (the end of the furnace) and the position of the node (middle portion of the boat fixed to the boat) are unchanged. It is a movement corresponding to a progressive wave.

At this time, as the traveling wave progresses, the movement of the rope moves the position of the rope opposite to the traveling wave direction. If you run it in a fluid that has the same mass and width as the cord, or a fluid with a specific gravity, such as water, the position of the cord is shifted more. This is because the fluid is pushed by the traveling wave of the cord and the cord is moved by the reaction.

As described above, in the conventional propulsion method, propulsive force is generated by the reciprocating motion or the rotational motion of the propulsion device, but the propulsion method of the present invention is a method in which the propulsive force is generated by the shape change of the propulsion device, similar to the traveling wave of the cord.

To this end, the present invention provides a propulsion device in which a plurality of variable members are continuously arranged to change the shape of the propulsion device, and each of the deformable members is driven by a plurality of driving forces provided by the driving portions, Wherein the control unit controls the plurality of driving forces provided by the driving unit to vary periodically with time so that the driving force provided to the adjacent deformable members is controlled to be phase difference with respect to each other, Whereby the propulsion device is continuously deformed with time.

Progressive wave motion is implemented in the propulsion unit due to the continuous deformation, so that the forward wave acts on the fluid or the fixed object in the reverse direction by the wave front, And an object of the present invention is to provide an effective propulsion device and method for a moving object using traveling wave principle that provides continuous propulsion motion without rotational motion and return motion in motion of the propulsion device.

In order to accomplish the object of the present invention, there is provided a driving apparatus for a vehicle, comprising: a driving unit for providing a plurality of driving forces and controlling the driving forces to periodically change with time, Wherein the plurality of variable members are continuously arranged and each variable member is driven by the driving force provided by the driving unit so that the propulsion unit is deformed to a desired shape by a plurality of driving forces provided by the driving unit, And a propulsion device in which a progressive wave is periodically deformed to realize a progressive wave.

According to another aspect of the present invention, there is provided a propulsion method for a moving body using a traveling wave principle, comprising: (a) generating and controlling a plurality of different driving forces in a driving unit so that the propulsion unit is deformed to a desired shape, Respectively; (b) deforming the plurality of deformable members, respectively, when a plurality of driving forces having different phase differences are provided from the driving unit to the plurality of deformable members of the propulsion unit, respectively; (c) controlling a plurality of driving forces provided to each deformable member to change periodically with time, thereby causing the propelling device to be periodically deformed with time; (d) implementing a progressive wave continuously running according to characteristics of the driving force provided to the propulsion device; And (e) a wavefront of a traveling wave implemented in the propulsion device applies a reverse force to a fluid or a fixed object in contact with the propulsion device, and a reaction force is generated by the reaction.

As described above, according to the present invention, a plurality of driving forces are generated in the driving part according to a desired form of the propulsion device, and the phase difference of the driving force is controlled to be different from each other, , There is an effect of providing an effective propulsion method in which a progressive wave is implemented in a propulsion device, a force acting in a reverse direction is applied to a fluid or a fixed object by the traveling wave, and a reaction force is generated by the reaction.

In addition, the present invention provides an energy-efficient propulsion device for a mobile body by eliminating energy loss due to rotational or reciprocating motion of an existing propulsion device.

1 is a view for explaining that one deformable member 10, which is an electroactive substance, is deformed in response to a power source.

2 is a view for explaining a propulsion apparatus 20 in which a plurality of deformable members 10 are arranged on a one-dimensional line.

Fig. 3 is an overall configuration diagram of a propulsion device for a moving body using the traveling wave principle according to the present invention

Figure 4 is a view for explaining a plurality of power source E _i provided by the driving device 20 in the driver 30.

5 is a view for explaining the relationship between the propulsion device 20 and a plurality of power sources E _i ;

6 is a view for explaining a process in which a plurality of power sources E _i and a traveling wave y change with time;

7 is a diagram illustrating a process in which wavefront 71 of traveling wave y implemented in propulsion device 20 exerts a force on fluid 72;

8 is a view for explaining the kind of the one-dimensional traveling wave propulsion device 20 in which the deformable members 10 are arranged on a one-dimensional line.

9 is a view for explaining a two-dimensional traveling wave propulsion device 90 in which the deformable members 10 are arranged on a two-dimensional plane.

10 is a view for explaining a three-dimensional traveling wave propulsion device 100 in which a deformable member 10 is arranged in a three-dimensional space.

11 is a flowchart illustrating a method of driving a moving object using a traveling wave principle according to an embodiment of the present invention.

Description of the Related Art

10: variable member 11: longitudinal section of the deformable member

12: Cross section of the deformable member 20: Propulsion device

30: driving unit 31: power source

32: controller 33: multiple output device

70: Fluid 71: Wave Front

90: Two-dimensional traveling wave propulsion device 100: Three-dimensional traveling wave propulsion device

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The traveling wave propulsion device of the present invention is a propulsion device in which the shape is periodically changed to generate propulsive force. To this end, the propulsion device is configured such that a plurality of deformable members are continuously arranged, and the propulsion device is periodically deformed by a plurality of driving forces provided by the driving portion.

One of such propulsion systems is to provide a mechanical structure that converts rotational motion into wave motion. The propulsion device having such a mechanical structure is provided with a plurality of variable members such as a conventional reciprocating propulsion device, that is, a boat furnace, arranged continuously, and the reciprocating motions of the respective deformable members are controlled so as to be phase- It is a method to implement traveling wave.

Another method is a method of using an electroactive substance as a material of the deformable member in the same manner as described in the embodiment of the present invention. It is preferable that the electroactive substance is used as a variable member of the propulsion device in the present invention which provides a propulsion device which is easily deformed by a power source and changes its shape. Typical electroactive substances developed so far include carbon nanotubes, electroactive polymers, shape memory alloys, and electroactive ceramics. , And various other materials are being studied.

In the following embodiments, a propelling device is provided with a deformable member using an electroactive substance, and a method in which a power source is provided as a driving force for driving the deformable member is described.

Example

1 is a diagram for explaining that one deformable member 10, which is an electroactive substance, is deformed (bent) in response to a power source.

When power is supplied to one deformable member 10 using an electroactive substance, it is deformed (bent) according to the polarity of the power source. In addition, if the polarity of the power source is changed, it is deformed (bent) in the opposite direction. Since the polarity is continuously changed by providing a power source having a polarity changing with time, the bending degree and direction are changed in proportion to the frequency and amplitude of the power source, . In this case, when the power source changes by one cycle, the variable member also reciprocates for one cycle, so that the cycle of the power source and the cycle of the reciprocating motion generated by deforming the variable member are the same.

 The propulsion device composed of one deformable member 10 is similar to the conventional propulsion device that reciprocates according to the input power source.

2 is a view for explaining a propulsion device 20 in which a plurality of deformable members 10 are arranged on a one-dimensional line.

As shown in Fig. 2, the propulsion device 20 is configured such that a plurality of the deformable members 10 are successively arranged on a one-dimensional line and adjacent deformable members 10 are fixed to each other using methods known in the art, The members 10 are provided with different power sources as shown in Fig. 3 and are deformed independently of each other.

Here, the method of continuously arranging the deformable members can be easily carried out in accordance with the present invention by a person having ordinary skill in the art, and it is natural that the difference of the arranging method is within the scope of the present invention.

When the different power sources controlled by the driving unit 30 are provided in the respective deformable members 10, the propulsion unit 20 is deformed into various shapes according to the input power source. Since each power source changes with time, the shape of the propulsion device 20 also changes with time. Further, when each of the power supplies is controlled to have a phase difference with each other and the frequency and amplitude are controlled and provided to the propulsion device 20, progressive wave motion that progresses with time is implemented in the propulsion device 20. [

3 is an overall configuration diagram of a propulsion device for a moving object using the traveling wave principle according to the present invention.

As shown in FIG. 3, the propulsion device of the moving object using the traveling wave principle according to the present invention includes a plurality of deformable members 10 that are continuously arranged using an electroactive substance, and adjacent deformable members 10 A propulsion device 20 fixed to each other using methods known in the art and being deformed into a desired shape when a different controlled power source is provided to each deformable member 10; And a driving unit 30 for providing the variable member 10 of the propulsion device 20 with a plurality of power sources controlled so that the propulsion device 20 is changed to a desired shape.

4 is a view for explaining a plurality of power sources E _i provided to the propulsion device 20 in the driving unit 30 of FIG.

The driving unit 30 includes a multiple output unit 33 connected to the power source 31 at one side and a plurality of power sources E _i connected to the controller 32 at the other side.

Source 31, the power is the signal for controlling each of the waveform and the phase of the power source E _i to provide a common power supply to the multi-output unit 33 is supplied, the controller 32 in the driving device 20, a multi-output unit 33, .

The multiple output device 33 generates and supplies to the propulsion device 20 a plurality of power sources E _i whose waveforms and phases are controlled in accordance with the power source and control signal input from the power source 31 and the controller 32, respectively .

5 is a diagram for explaining the relationship between the propulsion device 20 and a plurality of power sources E _i .

5, the power source E ₁ is connected to the first variable member 10 of the propulsion device 20, the power source E ₂ is connected to the second variable member 10, and the power source E _i is connected to the i-th variable are respectively connected to a member (10), θ _i is the phase difference between E _i to E _1.

And each variable-member 10 of Figure propulsion device 20 when the plurality of power source E _i that make up forms, such as in 5 (b) are each provided in the deformable member 10 of the driving device 20 is independently The propulsion device 20 is deformed as shown in FIG. 5 (a).

At this time, the respective deformable members 10 are deformed independently of each other, but the connecting portions are constrained and are connected and deformed as a whole. The method of connecting the adjacent deformable members 10 to each other is performed by a method known in the art depending on the type of the deformable member 10. [ This connection each deformable member is adjacent the deformable member yet permit the deformation independently are bound to each other deformation, so as a whole, and this strain as one strain, and variants of the plurality of power source E _i of Figure 5 constituting (b ). ≪ / RTI >

Hereinafter, an embodiment in which deformation of a plurality of deformable members is used as a propelling device will be described.

E _i = f _i (? T -? _I ), i = 1, 2, ..., n [

(t: time, ω: angular frequency of E _i , θ _i : phase difference between E ₁ and E _i )

In Equation (1), the function f _i is a power supply provided to the i-th variable member 10 arranged in the propulsion unit 20, and represents a power source in a periodical form according to time.

When the power source E _i provided to the propulsion device 20 is controlled according to Equation 1 and provided to each of the i-th deformable member 10 of the propulsion device 20, each deformable member 10 generates an input power E _i And the deformation of the deformable member 10 changes periodically with time because the power source E _i varies periodically with time. In this modification, the shape of the propulsion device 20 is periodically changed, and a progressive wave is implemented in the propulsion device 20. [

1, the angular frequency ω of the power source E _{i and} the angular frequency ω of the progressive wave implemented in the propulsion device 20 are equal to each other.

In addition, the power E of the phase difference θ _{i 1} and the power source E _i is θ ₁ (= 0) is increased or decreased at a constant size from up to θ _n.

Therefore, the absolute value | θ _i | Of | θ _n | is the largest value, and has an arbitrary real number value greater than zero.

For example, if n is sufficiently large and θ _n is π, a half wave traveling wave is implemented in the propulsion device 20, one wavelength is realized when 2π, and two wavelengths are realized when 4π.

Therefore, the wavelength? Of the progressive wave implemented in the propulsion device 20 is expressed by Equation 2 below.

L = length of propulsion device, M:? _n / (2?)}

In Equation (2), M is a real number greater than 0, and the closer to 0, the larger the wavelength lambda, and vice versa.

If M is 0, the phases of all the power sources E _i provided to the propulsion device 20 are the same, which is similar to the case of one variable member as in the example of FIG.

Since the wave number k is defined as 2? /? According to the wave theory, the wave number k of the progressive wave implemented in the propulsion device 20 according to Equation (2) 3.

k =? _n / L (3)

Therefore, according to the wave theory, the power source E _i is provided to each deformable member 10, and the traveling wave wave function y implemented in the propulsion device 20 is expressed by Equation (4) below.

y = g {(? _n / L) x-? t}

   (x: displacement along the longitudinal direction of the propulsion unit, ω: angular frequency of traveling wave)

In Equation (4), the function g is a periodic traveling wave function representing the degree of deformation of the propulsion device 20 according to time and displacement.

In the equations (1) and (4), the functions f _i and g are periodic functions in which sin, cos, or several functions are superimposed.

Therefore, the traveling speed v of the traveling wave y implemented in the propulsion device 20 is expressed by Equation (5) below as in Equation (4).

? = (? L) /? _n (5)

(ω: angular frequency of traveling wave, L: length of propulsion device, θ _n : phase difference between E ₁ and E _n )

For example, if the phase difference θ _n between E ₁ and E _n is 2π, then M = 1 and a traveling wave of one wavelength is realized in the propulsion system 20, and the velocity ν = (ωL) / (2π) of the traveling wave is obtained at this time.

L is the process speed ν of the value, so, the traveling wave length fixed by the driving unit 20 is determined by the angular frequency ω of the phase difference θ _n and the power source E _i.

The amplitude of the traveling wave y is determined by the physical characteristics and electrical characteristics of the variable member 10.

6 is a view for explaining a process in which the power source E _i and the traveling wave y change with time and displacement.

There propulsion device 20 is illustrated in accordance with a plurality of power source E _i, the time interval Δt, and take the right side input of E _i is modified according to time and displacement are shown provided in, the drive section 30, the left side of Figure 6, Where E _i is the power provided to the i th variable member and E _n is the power provided to the n th last variable member.

Hereinafter, the relationship between the power source E _i and the traveling wave y will be described.

The shape of the power source E _i and the traveling wave y when the time is t is shown in FIG. 6 (a).

When Δθ is θ _i -θ _{i -1} and Δt is Δθ / ω, when the time is changed by Δt at t

t + Δt in time E _i is changed to the power for the E _i-1 at time t thus pushing device 20 is also changed according to the shape is shown in (b) of FIG.

Similarly, the changed shapes when the time is t + 2? T and t + 3? T are shown in (c) and (d) of FIG. 6, respectively.

Therefore, the power E ₁ supplied to the first deformable member 10 is continuously shifted as E ₁ -> E ₂ -> E _i -> E _{n - 1} -> E _n as the time t is changed by Δt . Where E ₁ is E _n -> E ₁ or a new power supply is provided.

   As the power supplied to each variable member continuously changes as described above, the entire variable member increases in time by? T, so that the shape of the propulsion device 20 is changed in the form of traveling wave .

7 is a view for explaining a process in which a wavefront 71 of a traveling wave y implemented in the propulsion device 20 (a surface of a waveform formed by deforming the entire propulsion device) acts on the fluid 72 in a reverse direction.

7, the wavefront 71 of the traveling wave acts on the fluid 72 in the traveling direction 73 of the traveling wave 73, A reaction occurs in the direction 74 opposite to the direction of the traveling wave.

As the traveling wave progresses, each of the wavefronts 71 exerts a reverse force on the fluid 72, so that reaction occurs on both sides of the propulsion device 20, and all the reactions are added, It becomes propulsion.

The angular frequency ω of the traveling wave y implemented in the propulsion device 20 is equal to the angular frequency ω of the input power source E _i and the wavelength λ of the traveling wave y is determined by the length L and the phase difference θ _n of the propulsion device 20, do.

Since the amplitude of the traveling wave y is proportional to the amplitude of the input power source E _i , the traveling speed v of the traveling wave is proportional to the speed at which the fluid is pushed, and the size of the wave front is proportional to the amplitude and the area of the propulsion device 20, The amount of fluid pushed is proportional to the traveling speed and amplitude of the traveling wave and the area of the propulsion device 20.

   If the traveling velocity v of the traveling wave is greater than the flow velocity 75 in accordance with the above description when the velocity of the traveling wave 75 is the reference of the propulsion device 20 and the direction of the flow velocity 75 is in the opposite direction If the traveling velocity v of the traveling wave is smaller than the flow velocity 75, the reverse thrust is generated. If the traveling velocity 75 and the travel velocity v of the traveling wave are the same, no thrust is generated.

This controls the propulsive force by measuring the flow velocity and controlling the traveling speed of the traveling wave.

Comparing the present invention with the conventional propeller method, the area of the traveling wave propulsion device 20 and the amplitude of the traveling wave correspond to the area of the propeller blade, the traveling wave wavelength corresponds to the inclination angle of the blade, . Here, the propeller method controls the propulsive force only by the number of revolutions, but since the propagation propulsion method can be performed by amplitude, wavelength, and frequency, it provides an efficient control method depending on the flow velocity and the characteristics of the fluid.

   When traveling waves are generated by shaking the strings in the water, the traveling wave energy is transmitted through one place where the rope is caught and shaken, but the present invention is transmitted through all the variable members 10 arranged in the propulsion device 20.

   Therefore, as the traveling wave of the cord runs, the wave form becomes smaller and eventually disappears, but the traveling wave of the propulsion device 20 is controlled and maintained in a desired shape.

8 is a view for explaining the kind of the one-dimensional traveling wave propulsion device 20 in which the deformable members 10 are arranged on a one-dimensional line.

   Fig. 8 (a) shows the propulsion device 20 in which the deformable members 10 are continuously arranged on a one-dimensional line, as shown in Fig. The driving device 20 is arranged such that the longitudinal sides 11 of the adjacent deformable members 10 are connected to each other. The wave function of the traveling wave is a one-dimensional wave as shown in Equation 4, Deformed (bent) and the traveling wave proceeds along the x-axis.

   8 (a), the propulsion apparatus provided with the plate-like deformable member 10 is preferably used in the fluid, and the propulsion apparatus provided with the rod-shaped deformable member is arranged on the fixed object Is preferably used.

A propulsion system that travels on a fixed object, such as a ground, will not cause the object to be pushed by the traveling wave of the propulsion system, so if the difference in frictional force between the propulsion system and the ground (difference in omni-directional frictional force and reverse frictional force) Energy efficiency is higher than ongoing propulsion systems.

   In the propulsion device shown in FIG. 8 (a), a propulsion device provided with a plate-like deformable member provides a propulsion device similar to a fish body, and a propulsion device provided with a rod- Device.

8 (b) shows a state in which the variable members 10 are continuously arranged on a one-dimensional line, in which the cross-sections 12 of the deformable members 10 are arranged to be connected to each other, Surface) is fixed to the moving body. Therefore, each of the deformable members 10 is deformed (bent) on the yz plane, but the traveling wave generated by each deformable member 10 advances along the x axis perpendicular to the yz plane.

   The propulsion device 80 is a propulsion device in which one side (surface with y = 0) is fixed and driven by a moving body, and one propulsion device 80 or a plurality of propulsion devices 80 are fixed to a moving body have.

   Therefore, the two propelling devices 80 may be fixed to the left and right sides of the moving body, or the four propelling devices 80 may be fixed to the left, right, upper, and lower sides of the moving body, respectively.

Thus, the propulsion device 80 provides a propulsion device similar to the fins of a fish.

It is preferable that the traveling wave propulsion device of the present invention is provided by determining n and M values defined in Equations (1) and (2) according to the physical characteristics of the fluid in which the propulsion device is used. For example, in the case of a compact and compact gas, such as air, a liquid with a high density and little compressibility, such as water, and a fixed object such as a ground, It is preferable to reduce the amplitude and the frequency of the traveling wave. In the case of the base, it is preferable to make n and M small and increase the amplitude and frequency of the traveling wave.

   Therefore, in the air, n and M in Fig. 8 (b) are reduced (for example, n is 4 or less and M is 1/2 or less), and two propulsion devices having larger amplitudes and frequencies of traveling waves are disposed on both left and right sides It is preferable to drive it by being fixed.

In this way, the propulsion device 80, which reduces n and M and increases the amplitude and frequency of the traveling wave, provides a propulsion device similar to an insect's wings.

As shown in FIGS. 8A and 8B, the one-dimensional traveling wave propulsion device generates propulsive force in both forward and backward directions according to the traveling direction of the wave.

   9 is a two-dimensional traveling wave propulsion device 90 in which the deformable members 10 are arranged on a two-dimensional plane, and the shape of a traveling wave is a two-dimensional wave. The two-dimensional traveling wave propulsion device 90 is easy to move by controlling the direction of the waves in the front, back, left, and right directions in a plan view, and the propulsion device is large because the area of the propulsion device is large.

The two-dimensional wave function z is expressed by Equation (6) below.

where k _x and k _y are the x component and the y component of the wave number vector k , respectively, as shown in Equation (6): z = h (k _x x + k _y y-

   Since the traveling waves implemented in the two-dimensional traveling wave propulsion device simultaneously travel in the same direction, they are analyzed in the same manner as the one-dimensional traveling wave.

10 is a three-dimensional traveling wave propulsion device 100 in which the deformable member 10 is arranged in a three-dimensional space, and the shape of a traveling wave is a three-dimensional wave.

   The propulsion device 100 is a propulsion device using a characteristic in which a variable member is changed in response to a power source and its volume is changed. Since the propagation wave propagates in forward and backward directions along the x axis, the propagation wave is analyzed in the same manner as the one- .

   The wavefront of the traveling wave implemented in the propulsion device 100 is similar to the round ellipsoid, and the propulsive forces generated from the respective wavefronts are rotationally symmetric with respect to the x-axis.

Therefore, the three-dimensional propulsion device 100 is more preferable than the one-dimensional propulsion device 20 or the two-dimensional propulsion device 90 for a larger and more stable propulsion force in the fluid.

11 is a flowchart illustrating a method of driving a moving object using a traveling wave principle according to an embodiment of the present invention.

The driving method of the moving body using the traveling wave principle according to the present invention is a method for generating and controlling a plurality of different power sources E _i in the driving unit 30 so that the propulsion unit 20 is transformed into a desired shape, (S100); When a plurality of power sources E _i having different phases are provided to the plurality of deformable members 10 of the propulsion unit 20 from the driving unit 30, the plurality of deformable members 10 are deformed S200; Each variable-member driving device 20, thereby controlling the plurality of power source E _i to vary periodically with time provided in (10) is periodically modified according to the time (S300); The pushing traveling wave (Wave Progressive) are continuously conducted in accordance with the plurality of characteristics of the power source E _i provided in the deformable member 10 of the device 20 is implemented (S400); The wavefront of the traveling wave implemented in the propulsion device 20 acts on the fluid or fixed object in contact with the propulsion device in a reverse direction and generates a propulsive force in response to the wave in step S600.

   As described in the above embodiments, the propulsion device 20 using the traveling wave principle according to the present invention can effectively propel a moving body not only on a fluid such as a gas and a liquid but also on the ground, Thereby providing an energy-efficient propulsion device.

   In the present invention, the driving force for driving the deformable member is described using a power source. However, the present invention is not limited to this, and may include pneumatic, hydraulic, and mechanical power.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Therefore, the true scope of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

Claims (9)

1. In a propulsion device for a moving body using a traveling wave principle,

   And a driving unit (30) for providing a plurality of driving forces to the propulsion unit,

   The propulsion device 20 is provided with a plurality of variable members 10 arranged continuously and each of the deformable members 10 is provided with a driving force which is independently provided to each of the deformable members 10 in the driving portion 30 And each of the deformable members 10 is deformed and driven by a driving force independently provided to each of the deformable members 10 so that the propulsion device 10 is deformed, A progressive wave in which the shape is periodically deformed is implemented in the propulsion device 20 because the plurality of driving forces that are provided are controlled so as to periodically change according to time and each driving force is controlled to have a phase difference with each other, Wherein a traveling wave direction force is applied to a fluid or a fixed object by a wavefront (71) of a traveling wave, and a propelling force is generated by the reaction. The propulsion system.
2. The method according to claim 1,

   The propulsion device (20) is characterized in that a plurality of the variable members (10) are provided successively arranged, each of the variable members (10) is driven by a driving force independent from each other, The shape of the propulsion device 20 is periodically deformed according to the time and the displacement and the propulsion force is generated due to the periodic deformation of the propulsion device 20 A propulsion device for a moving object using traveling wave principle.
3. The method according to claim 1,

   The driving unit 30 is provided with a plurality of driving forces, which are periodically varied with time according to a control signal and whose phases are different from each other, to the propulsion unit 20 so that the shape of the propulsion unit 20 is periodically changed And a propulsion force is generated.
4. The method according to claim 1,

   The n driving force E _i provided by the driving unit 30 is given by the following equation (1), and the driving force E _i is transmitted to the propulsion unit 20 When the traveling wave is implemented in the propulsion device 20, the wavelength λ of the traveling wave is given by Equation 2, the wave number k of the traveling wave is expressed by Equation 3, and the traveling velocity v of the traveling wave is (4), and the traveling wave wave function y is generated by the traveling wave as shown in the following equation (5) to generate propulsive force.

   E _i = f _i (ωt-θ _i )

   Where _{Δθ = θ i -θ i-1} : constant i = 1, 2, ..., n

   (t: time, ω: angular frequency of E _i , θ _i : phase difference between E ₁ and E _i )

   [Equation 2]? = (2? L) /? _N

   Where L is the length of the propulsion unit, θ _n is the absolute value of the phase difference between E ₁ and E _n ,

   [Equation 3] k =? _N / L

   Wherein (L: the phase difference between E ₁ and E _n: the driving unit length, θ _n)

   [Equation 4]? = (? L) /? _N

   Where (ω: angular frequency of the traveling wave, L: the phase difference between E ₁ and E _n: the driving unit length, θ _n)

   Y = g {(? _N / L) x-? T}

       Where (x: displacement along the longitudinal direction of the propulsion unit, ω: angular frequency of traveling wave)
5. The method according to claim 1,

   The propulsion device 20 is continuously arranged on a one-dimensional line so that the longitudinal sides 11 of the adjacent deformable members 10 are connected to each other and propulsive force is generated in both forward and backward directions according to the traveling direction of the traveling wave A one-dimensional propulsion device for a moving object using traveling wave principle (20).
6. The method according to claim 1,

   The one-dimensional traveling wave propulsion device 80 includes the variable members 10 arranged continuously on a one-dimensional line so that the transverse sections 12 of the deformable members 10 are connected to each other, So that a traveling wave is generated in a direction perpendicular to the plane in which each deformable member 10 is deformed. And a driving force is generated in both forward and backward directions in accordance with the traveling direction of the traveling wave.
7. The method according to claim 1,

   The two-dimensional traveling wave propulsion device 90 is characterized in that the variable members 10 are continuously arranged on a two-dimensional plane, and propulsive force is generated in the front, rear, left, and right directions in plan view according to the traveling direction of the two- A two-dimensional traveling wave propulsion device (90) for a moving object using a traveling wave principle.
8. The method according to claim 1,

   In the three-dimensional traveling wave propulsion device 100, the variable member 10 is continuously arranged on the three-dimensional space, propulsive forces are generated in both forward and backward directions along the traveling direction of the three-dimensional traveling wave, Axis direction of the traveling wave is rotationally symmetrical with respect to the axis of the traveling wave direction.
9. A method of driving a moving object using a traveling wave principle,

   (a) generating and controlling a plurality of different driving forces in a driving unit so that the propulsion unit is deformed to a desired shape, and providing the driving force to the variable members of the propulsion unit, respectively

   (b) when a plurality of driving forces having different phase differences are provided from the driving unit to the plurality of deformable members of the propulsion unit, respectively, the plurality of deformable members are deformed

   (c) a step of periodically deforming the propulsion device by controlling the plurality of driving forces provided to each deformable member to change periodically with time

   (d) implementing a progressive wave continuously running according to characteristics of the driving force provided to the propulsion device

   (e) a wavefront of a traveling wave implemented in the propulsion device applies a reverse force to a fluid or fixed object in contact with the propulsion device, and a reaction force is generated by the reaction

   Wherein the traveling wave principle is a traveling wave.

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