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.

wij - j- i- .

wij' - j- i- .

Ji - i-

.

Jij - .

Mij -

j- i- .

a - Y1.

a' -

Y1.

a'' - Y1.

b - Z2.

b' - . Z2.

b'' - Z2.

 

i- :

 

dQxi/dt - Qyi×wzi + Qzi×wyi = Mxi

dQyi/dt - Qzi×wxi + Qxi×wzi = Myi

dQyi/dt - Qzi×wxi + Qxi×wzi = Myi

 

:

) :

 

dQy1/dt - Qz1×wx1 + Qx1×wz1 = My1

 

) :

 

dQx2/dt - Qy2×wz2 + Qz2×wy2 = Mx2

dQy2/dt - Qz2×wx2 + Qx2×wz2 = My2 (1)

dQz2/dt - Qx2×wy2 + Qy2×wx2 = Mz2

X1, Y1, Z1 :

 

Qx1 = Jx1×wx1 - Jxy1×wy1 - Jxz1×wz1

Qy1 = Jy1×wy1 - Jyx1×wx1 - Jyz1×wz1 (2)

Qz1 = Jz1×wz1 - Jzx1×wx1 - Jzy1×wy1

 

 

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