Radio frequency (RF) waves can provide heating, current and flow drive, as well as instability control for steady state operations of fusion experiments. A particle simulation model has been developed in this work to provide a first-principles tool for studying the RF nonlinear interactions with plasmas. In this model, ions are considered as fully kinetic particles using the Vlasov equation and electrons are treated as guiding centers using the drift kinetic equation. This model has been implemented in a global gyrokinetic toroidal code (GTC) using real electron-to-ion mass ratio. To verify the model, linear simulations of ion plasma oscillation, ion Bernstein wave, and lower hybrid wave are carried out in cylindrical geometry and found to agree well with analytic predictions.