水雷严重威胁海上安全，直升机扫雷相比传统船舶扫雷部署快、效率高、危险低，但目前仍缺乏公开适用的建模理论和分析方法。本文基于绝对节点坐标法建立了跨介质大柔性拖缆模型，发展了易于耦合集成的直升机和拖体的刚体动力学模型，构建并验证了直升机扫雷系统跨介质刚柔耦合模型，提出了耦合系统的分块配平方法，分析了关键设计参数和飞行参数对配平特性的影响，结果表明：飞行速度增大时，直升机低头姿态加重，将拖点位置布置在重心后上方可改善姿态；转弯时，拖缆拉力抑制直升机滚转运动，需增加横向操纵提供转弯向心力；飞行高度降低和拖缆长度增加难以有效增加拖体深度，必须在拖体上加装迫沉部件。
Naval mines present a severe threat to maritime safety. Helicopter-based mine clearing, compared to traditional ship-based methods, offers faster deployment, higher efficiency, and lower risk. However, there is still a lack of publicly available modeling theories and analytical methods applicable to such systems. This paper establishes a cross-medium large-flexible towing cable model based on the Absolute Node Coordinate Formulation (ANCF). Additionally, a rigid-body dynamics model for the helicopter and towing body, which facilitates easy coupling integration, is developed. The cross-medium rigid-flexible coupling model for the helicopter mine-clearing system is constructed and validated. A partitioned trim method for the coupled system is proposed, and the effects of key design and flight parameters on trim characteristics are analyzed. The results show that: as flight speed increases, helicopter nose-down attitude intensi-fies; placing the towing point behind and above the center of gravity improves the attitude; during turns, the towing cable tension suppresses helicopter roll motion, requiring additional lateral control to provide centripetal force for turn-ing; decreasing flight altitude and increasing towing cable length does not significantly increase the towing body depth, necessitating the installation of sinking components on the towing body.
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