根据纵列式双旋翼直升机具有的不同于单旋翼带尾桨直升机的特点，提出建立纵列式直升机数学模型的方法。将纵列式双旋翼直升机看作3个刚体(机体和前后两副旋翼)，利用分析力学的Kane方法建立直升机的动力学模型，并对模型进行分析。在适当的条件下将数学模型进行简化，导出简化的平移方程和转动方程，在MATLAB/Simulink界面进行仿真，对仿真结果进行分析，为控制器的设计提供依据。
Based on the difference between tandem helicopters and single rotor helicopters, the tandem helicopter was modeled as three rigid bodies: fuselage and two tail rotors. The dynamical model was deduced by Kane method. The mathematical model was simplified to develop simpler translational and rotational equations. The model was simulated in the environment of MATLAB/Simulink. It would provide the basis for the control system of the unmanned tandem helicopter.
