陀螺体动力学的四元数分析法

The Method of Quaternion Analysis for Gyrcocope Dynaimcs

本文以四元数作为陀螺体的主刚体的定位参数，并以主刚体上转子的相对转角作为其转子的相对定位参数，导出了陀螺体对其质心的动量矩的矩阵表达式，在此基础上，利用动量矩定理进一步推导出了四元数形式的陀螺体动力学方程组。

In this paper, the quaternion is taken for peitional paraxneters of the main risid they of a gyro-scope. The relative rotation angles of the rotors on the main rigid they are regarded as relative peidonalparameters for the rotors. The poper derives eatrix expraseion about the angular momentum of the gyro-scope relatins to its centroid. The paper proced to derive the quaternion expression about the dynaxnic e-quations for the syrcacope by applyuig angular momentum theorem.