挂索机构几何形状对火箭网系回收动力学的影响

doi:10.3901/JME.260015

机械工程学报 ›› 2026, Vol. 62 ›› Issue (1): 216-228.doi: 10.3901/JME.260015

• 特邀专栏：运载火箭机构技术 • 上一篇

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挂索机构几何形状对火箭网系回收动力学的影响

张欢^1,2, 阚镭³, 周立梁^1,2, 陈彤^1,2, 宋晓东^1,2

1. 北京理工大学空天科学与技术学院北京 100081;
2. 北京理工大学飞行器动力学与控制教育部重点实验室北京 100081;
3. 北京宇航系统工程研究所北京 100076

收稿日期:2025-03-31 修回日期:2025-08-27 发布日期:2026-02-13
作者简介:张欢，女，1990年出生，博士，助理教授。主要研究方向为多体系统动力学建模与计算方法。E-mail：huan_zhang@bit.edu.cn
宋晓东(通信作者)，男，1979年出生，博士，副教授，博士研究生导师。主要研究方向为多体机构设计、动力学建模与协调控制方法。E-mail：xd_song@bit.edu.cn
基金资助:
国家自然科学基金资助项目(12372039, 12202046)。

Influence of Cable-suspended Mechanism Geometry on the Rocket Cable Recovery Dynamics

ZHANG Huan^1,2, KAN Lei³, ZHOU Liliang^1,2, CHEN Tong^1,2, SONG Xiaodong^1,2

1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081;
2. Key Laboratory of Dynamics and Control of Flight Vehicle of Ministry of Education, Beijing Institute of Technology, Beijing 100081;
3. Beijing Institute of Astronautical Systems Engineering, Beijing 100076

Received:2025-03-31 Revised:2025-08-27 Published:2026-02-13

摘要/Abstract

摘要： 提出了一种基于二维符号距离场(Signed distance filed, SDF)的柔性绳索与轴向拉伸刚体精准高效接触检测方法，用于火箭网系回收系统中挂索机构与拦阻索的摩擦接触动力学计算，分析挂索机构几何形状对回收动力学的影响。利用轴向拉伸型物体的几何特点，将柔性绳索与具有复杂几何形状的轴向拉伸刚体之间的接触检测问题转换为二维问题。由SDF精准表征截面形状，通过离线生成高精度SDF和法线场，在线双三次插值接触参数计算，实现精准高效摩擦接触动力学计算，所提接触检测方法通过圆柱与绳索的接触动力学仿真和试验验证了准确性。针对捕获火箭的拦阻索入钩过程，建立了挂索机构与拦阻索系统多体动力学模型并针对不同的挂索机构几何形状进行了仿真计算，结果表明挂索机构截面几何形状直接影响挂索机构与拦阻索局部摩擦接触细节，特别在触网时刻，大圆角截面形状能有效降低触网冲击作用。

关键词: 符号距离场, 任意拉格朗日欧拉法, 挂索机构, 摩擦接触, 多体系统动力学

Abstract: A two-dimensional signed distance field (SDF)-based contact detection method for flexible cables and axially stretched rigid bodies is proposed, for frictional contact dynamics analysis between cable-suspended mechanism and arresting cable in rocket recovery cable system. It can be used to analyze the effect of geometric shape of cable-suspended mechanism on recovery dynamics. Benefiting from the geometric characteristics of axially stretched rigid bodies, the contact detection problem between flexible cables and rigid bodies with complex geometries is transformed into a two-dimensional problem. By utilizing SDF to precisely characterize cross-sectional shapes, combined with offline generation of high-precision SDF and normal fields, and an online bicubic interpolation-based contact parameter calculation method, accurate and efficient frictional contact dynamics computation is achieved. The proposed method is validated through contact dynamics simulations and experiment of a cable and a rigid cylinder. Regarding the arresting cable's hook-entry process during rocket capture, a multibody dynamics model is established and simulations for different cross-sectional shapes are conducted. Results show that the cross-sectional geometries of the cable-suspended mechanism significantly influence localized frictional contact details between the mechanism and the arresting cable, particularly at the cable contact initiation instant, where large-radius filleted cross-sections effectively mitigate impact dynamics compared to sharp-edged configurations.

Key words: signed distance field, arbitrary lagrangian eulerian method, cable-suspended mechanism, frictional contact, multibody system dynamics

中图分类号:

O313

张欢, 阚镭, 周立梁, 陈彤, 宋晓东. 挂索机构几何形状对火箭网系回收动力学的影响[J]. 机械工程学报, 2026, 62(1): 216-228.

ZHANG Huan, KAN Lei, ZHOU Liliang, CHEN Tong, SONG Xiaodong. Influence of Cable-suspended Mechanism Geometry on the Rocket Cable Recovery Dynamics[J]. Journal of Mechanical Engineering, 2026, 62(1): 216-228.

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挂索机构几何形状对火箭网系回收动力学的影响

Influence of Cable-suspended Mechanism Geometry on the Rocket Cable Recovery Dynamics

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