针对直升机绞车收放时缆位保持问题,建立了负载出水回收进舱阶段缆位的动力学模型。由于浮力与洋流作用突然消失,负载出水后发生摆动,将负载的摆动作为带有理想约束的质点系动力学系统,采用拉格朗日方程建立动力学模型。考虑直升机悬停提升的情况进行仿真,仿真结果表明建立的数学模型能够较好的模拟负载摆动时的缆位变化。 Aiming at the problem of cable retention during retractable and retractable helicopter winch, a dynamic model of cable recovery during intake and recovery of load is established. Due to the abrupt disappearance of the buoyancy and ocean currents, the load oscillates after the water is discharged. Using the swing of the load as a particle system with ideal constraints, a dynamic model is established by Lagrange’s equation. Considering the situation of helicopter hovering and upgrading, the simulation results show that the established mathematical model can better simulate the change of cable position when the load wobbles.