This paper deals with the long-wavelength behaviour of a Euler beam periodically supported by co-located rotation and compression springs. An asymptotic homogenization method is applied to derive the several macroscopic models according to the stiffness contrasts between the elastic supports and the beam. Effective models of differential order two or four are obtained, which can be merged into a single unified model whose dispersion relations at long and medium wavelengths fit those derived by Floquet-Bloch. Moreover, the essential role of rotation supports is clearly evidenced. A mixed “discrete/continuous” approach to the boundary conditions is proposed, which allows the boundary conditions actually applied at the local scale to be expressed in terms of Robin-type boundary conditions on macroscopic variables. This approach can be applied to both dominant-order and higher-order models. The modal analysis performed with these boundary conditions and the homogenised models gives results in good agreement with a full finite element calculation, with great economy of numerical resources.