跨介质航行器波浪环境入水时面临着高冲击载荷与姿态失稳问题，本文对提出的旋翼型“软性”潜空跨介质航行器波浪入水问题开展系统研究，旨在揭示其入水特性和动态响应机理。首先，基于流体力学和刚体动力学构建流体-结构物相互作用多自由度运动数值模型，并通过实验验证数值方案的可靠性；然后，采用该数值方法对不同波浪参数和入水时刻下旋翼型跨介质航行器入水载荷和运动稳定性进行定量研究。研究表明：高入水工况下，航行器动能提升虽增加了砰击载荷，但波浪扰动减小，有利于姿态稳定。长波浪可均匀分散局部冲击力，波长增加可显著减少压力集中。迎浪波节相位入水时，航行器尾部先接触波浪产生动能耗散，降低了载荷幅值。上述参数对航行器入水载荷与运动稳定性的非线性影响研究为跨介质航行器入水决策提供了支撑，波峰相位应作为极端设计工况，波节相位入水可作为低冲击入水方案。

The water-entry of rotor-type "soft" cross-medium vehicle faces challenges of high impact loads and attitude instability. This paper conducts a systematic study on the wave-entry problem of the proposed rotor-type soft cross-medium vehicle, aiming to reveal its water-entry characteristics and dynamic response mechanisms. First, a numerical model of fluid-structure interaction with multiple degrees of freedom is developed based on hydrodynamics and rigid-body dynamics, with experimental validation confirming the reliability of the numerical approach. Subsequently, this numerical method was employed to quantitatively investigate the entry loads and motion stability under various wave parameters and entry timings. It is found that a higher entry height of the vehicle increases the slamming load, but it reduces the disturbance caused by waves. Long waves can distribute the local impact force and reduce pressure concentration. When the vehicle enters along the waves at its phase, the generated dissipates kinetic energy along its tail effectively reduces the load amplitude. These findings provide support for the optimization of the entry strategy. The wave crest phase should be adopted as the extreme design condition, and the wave node entry can serve as a low-impact water-entry solution.