固定翼無人機（UAV）具有較佳之巡航效率與續航能力，然而其起降通常受限於跑道或開闊場域，導致在船艦甲板、海事任務或受限空間中之操作彈性降低。相較而言，固定翼無人機之起飛可透過彈射系統縮短所需距離並降低場地限制，但回收階段仍須面對減速距離不足、姿態控制困難及結構衝擊負載較高等問題，因此回收作業仍為受限環境下較具挑戰性的環節。為改善此限制，本研究建立一套結合六自由度（6-DOF）飛行力學模擬與繩索掛鉤回收機制之數值分析架構，用以探討固定翼無人機於受限海事環境下之回收動態與結構負載特性。所提出之無跑道回收系統，係由旋翼機部署空中繩索，並透過安裝於無人機翼尖之掛鉤進行捕捉。模型中整合剛體飛行力學、繩索彈性模型、以及USAF Digital DATCOM 所取得之氣動力係數，並採用四階 Runge–Kutta 方法進行數值求解。模擬結果與 MATLAB Aerospace Toolbox 進行比對後，顯示兩者在飛行軌跡與動態響應上具有良好一致性。
本研究重點在於有系統地分析繩索剛性係數、繩索撞擊位置參數，以及初始俯仰與滾轉姿態對回收過程之影響。模擬結果顯示，繩索剛性為影響攔阻嚴重程度與能量耗散行為之主要因素。當繩索剛性由 200 lbf/ft 降低至 50 lbf/ft 時，最大總過載由 5.65 G 降至 3.69 G，約可降低 34.7% 之結構衝擊負載。此外，改變繩索撞擊位置亦會明顯影響張力分配；當撞擊位置由 (ξ=75%) 調整為 (ξ=25%) 時，側向負載由 4.90 G 降至 3.80 G，顯示較佳之幾何卸載效果可有效降低側向撕裂負載。
在初始姿態影響方面，適度抬頭之捕捉姿態可藉由氣動阻尼與升力支撐降低側向衝擊，使側向負載由 4.11 G 降至 3.80 G。另一方面，即使初始滾轉角僅有小幅變化，仍會顯著改變三軸負載分布。最大總過載依序為 +5^∘>0^∘>-5^∘其數值分別為 4.78 G、4.66 G 與 4.52 G。結果顯示，雖然繩索張力仍為回收過程中主要負載來源，但初始滾轉姿態所造成之氣動耦合，會改變繩索張力於機體座標軸上之分量分布。因此，接近水平之進場姿態可提供較穩定且可靠之回收條件。
總結本研究不僅建立了固定翼無人機繩索掛鉤回收之六自由度模擬架構，也從動態模擬層面探討了氣動力、繩索張力、剛體運動與飛行控制之間的耦合關係。研究結果可作為未來固定翼無人機無跑道撞繩回收時，歸向回收繩路徑之飛行控制律設計，評估回收系統之結構安全性、回收穩定性與操作可靠性之設計依據。

Fixed-wing unmanned aerial vehicles (UAVs) offer high cruise efficiency and endurance but usually require runways or large open areas for takeoff and landing. To improve their operational flexibility in confined environments, this study develops a six-degree-of-freedom (6-DOF) numerical framework for a rope–hook recovery system.
The model integrates rigid-body dynamics, rope elasticity, USAF Digital DATCOM aerodynamic data, and proportional–derivative (PD) flight control. The effects of rope stiffness, impact position, and initial pitch and roll attitudes are investigated. Results show that rope stiffness is the dominant factor affecting recovery severity, while impact position and aircraft attitude also influence load distribution and stability. Reducing rope stiffness from 200 lbf/ft to 50 lbf/ft decreases the peak total overload from 5.65 G to 3.69 G, corresponding to a 34.7% reduction.
The developed framework provides useful guidance for the design and evaluation of runway-independent fixed-wing UAV recovery systems.

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