进行直升机飞行仿真的关键是要有一个可信度高的直升机飞行动力学模型。飞行动力学模型的可信度取决于旋翼诱导速度模型。本文在推导直升机全机运动方程组的基础上,引入旋翼广义涡流理论表示旋翼的诱导速度分布,并推导出旋翼挥舞运动模型。把旋翼气动力模型结合到运动方程组中,给出了完整的飞行动力学仿真模型。并对某型无人直升机进行了仿真计算,计算结果与实际相符。 The key to the helicopter flight simulation is to have a highly reliable helicopter flight dynamics model. The reliability of the aerodynamic model depends on the rotor induction velocity model. Based on the derivation of the equations of helicopter whole-body motion, this paper introduced the rotor generalized eddy current theory to represent the induced velocity distribution of the rotor and deduced the rotor wielding motion model. The rotor aerodynamic model is incorporated into the equations of motion, and a complete simulation model of the flight dynamics is given. And a type of unmanned helicopter was simulated, the calculation results are in line with the actual.