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利用递阶、分散的控制思想， 将直升机对象划分为三个具有独立功能、便于建模的子系统， 即直升机、旋翼、发动机子系统， 再在各子系统模型基础上根据各子系统间的耦合关系，建立了整个系统的模型。其中四片铰接式旋翼模型起着纽带作用， 只有充分考虑机体／旋翼及发动机／旋翼间耦合关系才能建立直升机飞行／推进综合模型， 仿真结果证明了建模方法的有效性， 为直升机飞行／推进综合控制系统的建立奠定了基础。
By using the hierarchical and decentralized control ideas, the helicopter object is divided into three subsystems with independent functions and easy to model, namely helicopter, rotor and engine subsystems. Based on each subsystems model, Coupling relationship, the establishment of the entire system model. Among them, four articulated rotor models play a role as a link. The helicopter flight / propulsion synthesis model can be established only by fully considering the coupling between the body / rotor and the engine / rotor. The simulation results prove the effectiveness of the modeling method for helicopter flight / propulsion The establishment of comprehensive control system laid the foundation.