In the design of electric vertical takeoff and landing (eVTOL) vehicles, coaxial rotors have garnered significant attention due to their superior space usage and aerodynamic efficiency compared to standard rotors. However, it is challenging to study the flow field near the rotors due to the blade–vortex interface (BVI) and vortex–vortex contact between two rotors. Using sliding mesh technology and Reynolds-averaged Navier–Stokes (RANS) solvers, a numerical method was established to simulate the flow field of a coaxial rotor in hover, which was verified by experiments. Using this method, this paper analyzes the relationship between position and intensity of the tip vortex of the upper rotor, the axial velocity of induced flow and the load distribution on the blades at the azimuth when the BVI phenomenon occurs with a difference in rotational speed and rotor spacing. The results indicate that, when the BVI phenomenon appears, the blade-tip vortex of the top rotor rapidly dissipates, and the load distribution of the lower blade changes due to the induced flow of the vortex. When the rotational speed increases, the spanwise thrust coefficient of each rotor changes slightly. The vortex–vortex interaction becomes stronger, which leads to vortex pairing. When the distance between the rotors decreases, the BVI phenomenon occurs at an earlier azimuth and the location of the BVI moves towards the tip of the lower blade. The vortex–vortex interaction is also enhanced, which leads to vortex pairing and vortex merging.

High payload capacity multi-rotor aerial vehicles are typically configured with multiple propellers to achieve the required aerodynamic lift. However, this design approach often results in an increased overall dimensional envelope, which introduces significant operational limitations in confined spatial environments such as urban airspace. By utilizing a limited overlap rotor configuration, the spatial utilization rate of an aircraft can be greatly improved, ensuring a sufficient thrust of rotor while simultaneously reducing the size of the aircraft. However, the slipstreams of two rotors overlap, which may create a significant aerodynamic interface. This paper utilizes numerical simulation based on the unsteady RANS (Reynolds-averaged Navier–Stokes) method to analyze the influence of parameters such as distance, blade distance, and rotation direction on the interference flow field of overlapping rotors. Research indicates that aerodynamic interference only affects the overlapping area between two rotors at the inner blade, leading to the offset of loading distribution on the blade, which can be explained by the slipstream effect, suction effect, and induced effects generated by two rotors. As the axis distance between two rotors decreases, the strengthening of the slipstream and suction effects leads to a rapid decrease in the aerodynamic efficiency of the two rotors. When the blade between the two rotors increases, the weakening of the suction effect and induced effects causes the load on the lower rotor to translate to the upper rotor. Moreover, the variation in the spatial distribution of the blade tip–vortex leads to blade–vortex interaction, which causes a change in the spanwise distribution of the load on the lower blade.