水下无人系统学报2025，Vol.33Issue(5)：836-845,10.DOI:10.11993/j.issn.2096-3920.2025-0052
蛙人下肢姿态与流场环境动态交互作用研究
Dynamic Interaction between Frogman's Lower Limb Posture and Flow Field Environment
摘要
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 was deeply studied.Firstly,by using the fluid-structure coupling 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,and the drag optimization strategy based on attitude compensation was proposed.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 approach the adaptive equilibrium point of the flow field.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 posture optimization,the speed is increased by 9.09%compared with the free state.It is demonstrated that by constraining the posture angles of the lower limbs,the underwater movement performance can be improved.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.关键词
蛙人/下肢姿态/流固耦合/姿态补偿/水下助力外骨骼Key words
frogman/lower limb posture/fluid-structure coupling/posture compensation/underwater assisted exoskeleton分类
武器工业引用本文复制引用
邹朋君,林兴华,张峻霞,王浩,王新亭,王昊..蛙人下肢姿态与流场环境动态交互作用研究[J].水下无人系统学报,2025,33(5):836-845,10.基金项目
国家自然科学基金青年基金项目(62301360) （62301360）
天津市自然科学基金-青年项目(23JCQNJC01170) （23JCQNJC01170）
天津市自然科学基金青年B类项目(25JCQNJC01070). （25JCQNJC01070）
