The rotation dynamic and quaternion kinetic equations of spacecrafts were educed according to the principles of variable-structure control. 根據滑動(dòng)模態(tài)變結構控制原理，導出了航天器三軸動(dòng)力學(xué)和四元數姿態(tài)運動(dòng)學(xué)方程。
To perform the gear ratios synthesis, the exact solution of gear ratios is obtained from the kinematic equation and the geometric constraint of each basic EGM. 運動(dòng)綜合時(shí)，精確的齒數比可以從每一個(gè)基本周轉輪系的運動(dòng)學(xué)方程和幾何約束方程中求出。
