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机械工程学报

机械工程学报 ›› 2026, Vol. 62 ›› Issue (1): 159-170.doi: 10.3901/JME.260010

• 特邀专栏：运载火箭机构技术 • 上一篇    

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可复用火箭着陆支腿展开及着陆瞬态冲击响应分析

杨少斐1, 王栋梁2, 李建强3, 张明1,4, 鲁送兵1   

  1. 1. 南京航空航天大学航空航天结构力学及控制全国重点实验室 南京 210016;
    2. 中国航天科技集团商业火箭有限公司 上海 201100;
    3. 上海宇航系统工程研究所 上海 201100;
    4. 南京航空航天大学飞行器先进设计技术国防重点学科实验室 南京 210016
  • 收稿日期:2025-03-27 修回日期:2025-06-24 发布日期:2026-02-13
  • 作者简介:杨少斐，男，1999年出生，博士研究生。主要研究方向为飞行器起落装置设计。E-mail：yangshaofei@nuaa.edu.cn
    张明(通信作者)，男，1981年出生，博士，教授，博士研究生导师。主要研究方向为飞行器起落装置设计、飞行器系统设计及其动力学和飞行器机构结构设计及强度分析。E-mail：zhm6196@nuaa.edu.cn
  • 基金资助:
    国家自然科学基金(12502042)、国家资助博士后研究人员计划(GZC20252752)和江苏省卓越博士后计划资助项目。

Response Analysis of Landing Leg Deployment and Landing Transient Impact of Reusable Launch Vehicle

YANG Shaofei1, WANG Dongliang2, LI Jianqiang3, ZHANG Ming1,4, LU Songbing1   

  1. 1. State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016;
    2. China Aerospace Science and Technology Commercial Launch Vehicle Group Co. Ltd, Shanghai 201100;
    3. Aerospace System Engineering Shanghai, Shanghai 201100;
    4. Ministerial Key Discipline Laboratory of Advanced De-sign Technology of Aircraft, Nanjing University of Aeronautics and Astronautics, Nanjing 210016
  • Received:2025-03-27 Revised:2025-06-24 Published:2026-02-13

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摘要： 针对可重复使用运载火箭高重心、大长细比着陆支腿的瞬态冲击响应与展开动力学问题，通过有限元方法构建了包含油气缓冲器非线性特性的火箭瞬态动力学模型，并开展四腿对称着陆与单腿极限着陆工况的仿真及落震冲击试验验证。结果表明：相较于刚柔耦合法，有限元模型在缓冲行程、主支柱载荷和箭体过载等关键参数预测中展现出更高精度，尤其在0.89～1.88 m/s着陆速度范围内动态响应吻合度更优。单腿极限工况揭示辅助梁呈现拉-压交替受力特征，辅助梁与足垫连接处弯矩达峰值，通过减小足垫与辅助梁轴线偏心距或采用球铰连接可使该弯矩降低。地面摩擦系数敏感性分析表明动摩擦系数主导着陆稳定性，适中的动摩擦系数可使箭体垂向过载与缓冲器载荷实现最优平衡。展开动力学研究表明，套筒锁定冲击载荷主要由锁套端面碰撞产生，采用接触副等效简化方法可在较小误差范围内使计算效率提升；当箭体初始倾斜角小于支腿展开死角的一半时，四腿展开时间偏差较小满足工程需求。研究成果为可复用火箭着陆机构优化设计提供了支撑和指导。

关键词: 可重复使用运载火箭, 有限元, 瞬态动力学, 着陆支腿, 载荷

Abstract: This research focuses on the transient impact response and deployment dynamics of reusable launch vehicles with high center-of-gravity and high slenderness ratio landing legs. A transient dynamics model of the rocket incorporating the nonlinear characteristics of damper is developed using the finite element method (FEM). Simulations of four-leg symmetric and single-leg limit landing conditions, as well as drop tests, are performed for verification. Results indicate that the FEM demonstrates higher accuracy than rigid-flexible coupling methods in predicting key parameters such as cushion stroke, main strut loads, and vehicle overloads, especially within the landing speed range of 0.89-1.88 m/s, where dynamic responses align more closely. In the single-leg limit condition, the auxiliary beam exhibits alternating tension-compression characteristics, with the connection between the auxiliary beam the and footpad experiencing peak moments. This moment could be reduced by decreasing the eccentricity between the footpad and the auxiliary beam axis or by using a spherical hinge connection. A sensitivity analysis of the ground friction coefficient reveals that the dynamic friction coefficient is the dominant factor affecting landing stability, with an appropriate dynamic friction coefficient enabling optimal balance between vehicle vertical overload and cushion loads. Deployment dynamics research indicates that the main source of sleeve locking impact loads is the collision of the locking sleeve end face. The equivalent simplification method of contact pairs can enhance computational efficiency with minimal error. When the initial vehicle tilt angle is less than half of the landing leg deployment dead angle, the four-leg deployment time deviation is small enough to meet engineering requirements. These findings provide support and guidance for the optimal design of reusable rocket landing mechanisms.

Key words: reusable launch vehicle, finite element method, transient dynamics, landing leg, load

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