And in chapter 2, we modify the general mathematical models for our model helicopter (Raptor?60), present a ground interaction model, and import a gust model and a gust disturb model based on flight mechanism analysis.

• 第二章在分析模型直升机飞行机理的基础上，结合raptor~(?) 60模型直升机的特点，对常规的模型直升机数学模型进行了修改，提出了地面碰撞模型，引入了阵风模型和阵风扰动模型；