This paper develops a modular modeling and efficient formulation of launch dynamics with marching fire (LDMF) using a mixed formulation of the transfer matrix method for multibody systems (MSTMM) and Newton-Euler formulation. Taking a ground-borne multiple launch rocket systems (MLRS), the focus is on the launching subsystem comprising the rocket, flexible tube, and tube tail. The launching subsystem is treated as a coupled rigid-flexible multibody system, where the rocket and tube tail are treated as rigid bodies while the flexible tube as a beam with large motion. Firstly, the tube and tube tail can be elegantly handled by the MSTMM, a computationally efficient order-N formulation. Then, the equation of motion of the in-bore rocket with relative kinematics w.r.t. the tube using the Newton-Euler method is derived. Finally, the rocket, tube, and tube tail dynamics are coupled, yielding the equation of motion of the launching subsystem that can be regarded as a building block and further integrated with other subsystems. The deduced dynamics equation of the launching subsystem is not limited to ground-borne MLRS but also fits for tanks, self-propelled artilleries, and other air-borne and naval-borne weapons undergoing large motion. Numerical simulation results of LDMF are given and partially verified by the experiment.

本文使用多体系统传递矩阵方法 (MSTMM) 和 Newton-Euler 公式的混合公式，开发了行进式发射动力学 (LDMF) 的模块化建模和有效公式。以陆基多管火箭发射系统（MLRS）为例，重点是发射子系统，包括火箭、软管和管尾。发射子系统被视为刚柔耦合的多体系统，其中火箭和管尾被视为刚体，而柔性管被视为大运动梁。首先，管和管尾可以通过 MSTMM 优雅地处理，MSTMM 是一种计算效率高的 N 阶公式。然后，使用牛顿-欧拉方法推导出具有相对运动学的内膛火箭的运动方程。最后，火箭，管，和管尾动力学耦合，产生发射子系统的运动方程，可以看作是一个构建块，并进一步与其他子系统集成。推导的发射子系统动力学方程不仅适用于地基MLRS，也适用于坦克、自行火炮等大运动的机载和舰载武器。给出了LDMF的数值模拟结果，并通过实验进行了部分验证。以及其他进行大运动的机载和舰载武器。给出了LDMF的数值模拟结果，并通过实验进行了部分验证。以及其他进行大运动的机载和舰载武器。给出了LDMF的数值模拟结果，并通过实验进行了部分验证。