According to the characteristic of the deformation of helical buckling appeared on sucker rod string (SRS) during down stroke, the influence of the deformation of helical buckling on longitudinal vibration of SRS is considered. Then SRS is dispersed into a spring-mass-damper system and a mechanical model of nonlinear longitudinal vibration for SRS is built. With the mechanical model, a simulation model of nonlinear second order differential equations is derived. The dynamic response under displacement and load excitation is given with Newmark method. The model is verified by comparing it with the experimental data, and good agreement is found. The steady-state response of Sucker Rod Pumping System (SRPS) is analyzed. The simulation results show that the plunger load is increasing and pump pressure is decreasing during down stroke, and the lead time of traveling valve opening is decreasing when the sucker rod buckling is considered, which is important to the fault diagnosis, oil production forecast and energy saving.