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Based on the aperture partition and the ability of waveform agility,helicopter-borne radar can form multi-beams to perform different functions at the same time,using different waveform according to different situations,which propose a higher expectation for radar resource management. Considering time,energy and aperture resource,a joint adaptive scheduling algorithm of beam and waveform which adapts to the Helicopter-borne Phased Array Radars is proposed. Comparing with the traditional one,the algorithm is proved effect and advance by simulations.