多飞行模态和高机动性是共轴高速直升机的典型特征，常规的飞/发分离控制策略难以满足高性能控制需求；同时全包线范围内的高动态耦合、强外部干扰与时变飞行特性对控制策略的鲁棒性提出了严峻挑战。因此，论文提出一种基于鲁棒显模型跟踪控制（robust explicit model following control，REMFC）的飞/发综合控制架构。首先，基于旋翼与发动机的扭矩/转速关系，搭建了包含共轴直升机、涡轴发动机和传动系统的飞/发综合仿真模型。其次，通过重构显模型跟踪控制前馈–反馈结构并引入扩张状态观测器（extended state observer，ESO），提出了一种鲁棒显模型跟踪控制策略，实现了对未建模动态、气动干扰及参数不确定性的在线估计与补偿，并证明了闭环跟踪误差一致有界。最后，基于鲁棒显模型跟踪控制策略，设计飞/发综合控制律并实现了飞行操纵与发动机转速的综合控制与动态协调。全飞行包线内的多任务仿真结果表明，基于鲁棒显模型跟踪的共轴高速直升机飞/发综合控制方法在参考指令跟踪、扰动抑制和转速稳定性方面均优于传统方法，显著提升了共轴高速直升机在复杂飞行条件下的飞行性能与鲁棒性。

Multiple flight modes and high maneuverability are typical characteristics of coaxial high-speed helicopters, making conventional separated flight/engine control strategies inadequate for high-performance control requirements. At the same time, the high dynamic coupling across the entire flight envelope, strong external disturbances, and time-varying flight characteristics pose severe challenges to the robustness of control strategies. Therefore, this paper proposes an integrated flight/propulsion control architecture based on robust explicit model following control(REMFC). First, a comprehensive flight/propulsion simulation model is developed, incorporating the coaxial helicopter, turboshaft engine, and transmission system, based on the torque–speed relationships of the rotor and engine. Next, by reconstructing the feedforward–feedback structure of explicit model following control and introducing an extended state observer(ESO), a robust explicit model following control strategy is proposed. This strategy enables online estimation and compensation of unmodeled dynamics, aerodynamic disturbances, and parameter uncertainties, and the closed-loop tracking error is proven to be uniformly bounded. Finally, based on the robust explicit model following control strategy, an integrated flight/propulsion control law is designed, achieving coordinated control of flight commands and engine speed. Multi-mission simulation results across the full flight envelope demonstrate that the REMFC-based integrated control approach for coaxial high-speed helicopters outperforms conventional methods in reference tracking, disturbance rejection, and rotor speed stabilization, significantly enhancing flight performance and robustness under complex flight conditions.