I have on occasion, but it’s always been preventable, and I always can fix it and get hard again. Usually it is when I stop penetrating and eat pussy and don’t keep my dick making contact with something, like my hand (stroking it) or if I am face down on the bed eating her, my cock is up against the mattress. Ignoring a hard dick is the quickest way to make it go half-chub.
My advice: eat pussy. Stroke your dick. It will get hard.