The invention discloses a longitudinal-column type double-rotor-wing helicopter model system based on nonlinear three freedom degrees, and the system is characterized in that the system employs the following steps: 1, selecting a height axis and a rotating axis from the three freedom degrees, adding a state and achieving decoupling in a system dynamic state, and knowing that a system model has a nonsingular decoupling matrix (shown in the description); 2, employing a PCGSHF multi-rate sampling signal retainer to achieve the Taylor power series approximate expansion of system output in each section, and obtaining an approximate discrete time model (shown in the description) of a double-rotor-wing helicopter model under the PCGSHF condition, so a local truncation error between one order output (shown in the description) of a deduced approximate discrete time system and the output of a corresponding original continuous time system is shown in the description; 3, enabling a discretization zero dynamic state to consist of a true dynamic state and a sampling zero dynamic state, wherein the approximate asymptotic expression of the true dynamic state of the system is shown in the description, and the sampling zero dynamic state is the root of a characteristic polynomial (shown in the description).