蛙人水下运动时下肢姿态与流场环境的动态交互作用研究

邹朋君; 林兴华; 张峻霞; 王浩; 王新亭; 王昊

doi:10.11993/j.issn.2096-3920.2025-0052

蛙人水下运动时下肢姿态与流场环境的动态交互作用研究

doi: 10.11993/j.issn.2096-3920.2025-0052

邹朋君^{1, 2,},
林兴华^{1, 2, ,},
张峻霞^{1, 2,},
王浩^{1, 2,},
王新亭^{1, 2},
王昊^{1, 2}

1.
天津科技大学机械工程学院, 天津 300457
2.
天津科技大学天津市轻工与食品工程机械装备集成设计与在线监控重点实验室, 天津 300457

基金项目: 国家自然科学基金青年基金项目(62301360). 天津市自然科学基金-青年项目(23JCQNJC01170).

详细信息

通讯作者:
林兴华(1990-), 男, 博士, 硕士生导师, 助理研究员, 主要研究方向为水下助力装备.

中图分类号: TJ630, E925.2, E153
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- 被引次数: 0
出版历程
- 收稿日期: 2025-04-03
- 修回日期: 2025-05-23
- 录用日期: 2025-05-28
- 网络出版日期: 2025-09-12

Study on the Dynamic Interaction between Lower Limb Posture and Flow Field Environment during Underwater Diver Motion

ZOU Pengjun^{1, 2
,},
LIN Xinghua^{1, 2
, ,},
ZHANG Junxia^{1, 2
,},
WANG Hao^{1, 2
,},
WANG Xinting^{1, 2},
WANG Hao^{1, 2}

1.
Tianjin University of Science and Technology, College of Mechanical Engineering, Tianjin 300222, China
2.
Tianjin University of Science and Technology, Tianjin Key Laboratory of Integrated Design and Online Monitoring of Light Industry and Food Engineering Machinery Equipment, Tianjin 300222, China

摘要

摘要: 针对蛙人水下运动中下肢姿态与流场环境的动态耦合机制问题展开研究。首先, 采用流固耦合仿真方法, 构建了穿戴式助力装备的蛙人下肢动力学数值模型, 通过与实验结果进行对比, 验证了数值模型的可靠性; 其次, 基于验证模型分析了不同航速下水流冲击对蛙人下肢姿态的影响, 揭示了关节角度变化规律; 最后, 基于NSGA-II多目标优化算法得到了不同航速时下肢关节角度的Pareto最优解集, 提出了基于姿态补偿的阻力优化策略, 并通过实验验证了优化效果。结果表明: 固定航速下, 下肢姿态经历“最大形变-反向调整-动态平衡”三阶段, 且随着运动速度提高, 下肢稳定姿态更趋于流场自适应平衡点; 在1~3 kn航速范围内, 髋、膝、踝关节的姿态稳定角度与阻力最优角度之间的补偿量分别为−0.78°、2.28°、−1.05°, 在对下肢姿态优化实验验证中, 航速较自由状态提高9.09%, 说明通过下肢姿态角度约束可以提高水下运动性能, 为水下助力外骨骼关节模块的闭环控制和总体的流场适应性设计提供了量化依据。
- 单兵外骨骼 /
- 蛙人下肢姿态 /
- 流固耦合 /
- 人机环境耦合 /
- 数值模拟
Abstract: In this paper, the dynamic coupling mechanism between the posture of the lower limbs and the flow field environment in the underwater movement of frogmen is deeply studied. Firstly, using the fluid-structure interaction simulation method, a numerical model of the frogman's lower limb dynamics with wearable assistive equipment was constructed, and the reliability of the numerical model was verified by comparing the experimental results with the simulation data. Secondly, based on the validated model, the influence of water flow impact on the posture of the frogman's lower limbs at different speeds was analyzed and the rule of joint angles was revealed. Finally, the Pareto optimal solution set of lower limb joint angles at different speeds was obtained based on the NSGA-II multi-objective optimization algorithm, the drag optimization strategy based on attitude compensation was proposed, and the optimization effect was verified through experiments. The results show that at a fixed speed, the lower limb posture experiences three phases: "maximum deformation - reverse adjustment - dynamic equilibrium." As the speed increases, the stable posture of the lower limb tends to flow field adaptive equilibrium point. Within the 1~3 kn speed range, the compensation between the posture stabilization angle and the optimal angle of resistance for the hip, knee, and ankle joints is −0.78°, 2.28°, and −1.05°. In the experimental verification of lower limb attitude optimization, the speed is increased by 9.09% compared with the free state, which indicates that the underwater kinematic performance can be improved by lower limb attitude angle constraints. This provides a quantitative basis for the closed-loop control of the joint module of the underwater assisted exoskeleton and the overall design of the flow field adaptation.
- man-portable exoskeleton /
- frogman motion posture /
- fluid-structure coupling /
- human-environment coupling /
- numerical simulation

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图 1 外骨骼系统几何模型

Figure 1. Geometric model of exoskeleton system

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图 2 蛙人下肢运动坐标系

Figure 2. Lower extremity motion coordinate system of diver

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图 3 流体域网格划分及边界条件

Figure 3. Meshing and boundary conditions of fluid domain

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图 4 阻力对比分析

Figure 4. Comparative analysis of resistance

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图 5 航速为3 kn时蛙人周围流场压强

Figure 5. Pressure distribution of the flow field around a diver at 3 kn

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图 6 下肢关节角度动态响应曲线

Figure 6. Dynamic response curves of lower-limb joint angles

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图 7 不同航速下关节最大角度和稳定角度

Figure 7. Maximum and stable angles of joints at different speeds

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图 8 下肢关节角度对C_d的影响规律

Figure 8. Effect of lower limb joint angles on C_d

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图 9 下肢关节角度对比

Figure 9. Comparison of lower limb joint angles

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图 10 下肢关节姿态补偿角度随航速的变化曲线

Figure 10. Variation curve of lower limb joint posture compensation angles with speed

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表 1 网格无关性验证

Table 1. Grid independence verification

网格方案	网格数量/万	阻力系数	变化率
Cas-1	181	0.448
Cas-2	300	0.471	4.88%
Cas-3	483	0.470	0.21%

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表 2 下肢关节角度动态响应分级模型回归参数

Table 2. Regression parameters of the graded model for dynamic response of lower extremity joint angles

关节	踝关节	膝关节	髋关节
最大屈曲角度响应系数	−0.357	1.316	−2.326
稳定屈曲角度响应系数	1.0842	−2.546	−2.01
最大屈曲角度初始值	35.215	26.25	14.44
稳定屈曲角度初始值	30.225	11.11	7.4703

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表 3 下肢关节角度动态响应分级模型R²

Table 3. R²of the graded model for dynamic response of lower extremity joint angles

分级模型	$ {\theta }_{a,\mathrm{m}\mathrm{a}\mathrm{x}} $	$ {\theta }_{a,\mathrm{s}\mathrm{t}} $	$ {\theta }_{k,\mathrm{m}\mathrm{a}\mathrm{x}} $	$ {\theta }_{k,\mathrm{s}\mathrm{t}} $	$ {\theta }_{h,\mathrm{m}\mathrm{a}\mathrm{x}} $	$ {\theta }_{h,\mathrm{s}\mathrm{t}} $
R²	0.996	0.982	0.993	0.987	0.954	0.996

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表 4 下肢关节临界角度与阻力系数的对应关系

Table 4. Correspondence between the Critical lower limb joint angles and C_d

关节	$ {\theta }_{st} $/(°)	$ {C}_{d,st} $	$ {\theta }_{p} $/(°)	$ {C}_{d,p} $	阻力变化率/%
踝关节	31.9°	0.430	31.0°	0.419	2.6
膝关节	7.0°	0.443	9.2°	0.412	7.0
髋关节	4.2°	0.436	3.5°	0.421	3.4

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表 5 不同航速时下肢关节角度的Pareto最优解集

Table 5. Pareto optimal solution sets of lower limb joint angles at different navigation speeds

V_n/kn	$ \theta_{a,\mathrm{opt}} $/(°)	$ \theta_{k,\mathrm{opt}} $/(°)	$ \theta_{h,\mathrm{opt}} $/(°)
1.0	29.6	12.3	6.7
1.5	30.0	11.5	5.6
2.0	30.3	10.9	4.4
2.5	30.6	10.3	3.7
3.0	30.8	9.8	3.4

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表 6 各航速下不同下肢关节角度的C_d

Table 6. C_dof lower extremity joint angles at different speeds

V_n/kn	$ {\theta }_{a,\mathrm{o}\mathrm{p}\mathrm{t}} $	$ {\theta }_{a,\mathrm{s}\mathrm{t}} $	$ {\theta }_{k,\mathrm{o}\mathrm{p}\mathrm{t}} $	$ {\theta }_{k,\mathrm{s}\mathrm{t}} $	$ {\theta }_{h,\mathrm{o}\mathrm{p}\mathrm{t}} $	$ {\theta }_{h,\mathrm{s}\mathrm{t}} $
1.0	0.420	0.421	0.428	0.454	0.443	0.460
1.5	0.425	0.450	0.424	0.458	0.429	0.472
2.0	0.432	0.437	0.430	0.435	0.442	0.450
2.5	0.430	0.439	0.410	0.437	0.432	0.444
3.0	0.419	0.430	0.412	0.443	0.421	0.436

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表 7 不同实验方案下蛙人航行实验结果

Table 7. Experimental results of frogman navigation under different protocols

实验方案	时间/s	速度/kn	最大功率/W
优化姿态	24.5	2.4	1 100
自由状态	26.7	2.2	1 100

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