【摘要】 建立一种单旋翼带尾桨直升机飞行动力学仿射非线性系统数学模型，为进一步开展直升机非线性系统特性和控制律设计研究做准备．建模过程中，保证了控制量能在方程中线性表示，又保证了模型的精度．以ＵＨ－６０Ａ直升机为对象，进行定直飞行配平计算以及直升机对不同操纵输入的动态响应计算，计算结果与试飞结果吻合，与国外较成熟的非线性工程实时仿真模型相比有相当的精度，证明建模理论和方法的合理和有效．更多还原

【Abstract】 Preparing for further study of nonlinear system and nonlinear control law of helicopter,a math model of affine nonlinear system for helicopter flight dynamics is established.In the process of choosing sub models and giving assumptions,a principle,for which all control variables in differential equations must be linearized and precision of model must be guaranteed simultaneously,should be abiced.The model is used to calculate UH 60A helicopter in the conditions of trim in steady straight flight and dynamics responses to different control inputs.The results agree with flight test and have considerable precision comparing to Ames GENHEL model.So,the math model are validated,and the theories and methods that have been used in the math model are all proven out.更多还原