本文首先采用虚功原理建立了反作用轮的扰动解析模型，然后给出了反作用轮的实验模型。
In this paper, an analytical model is firstly set up using virtual work principle, an empirical model is then given.
采用虚功原理，通过对单元转角-位移方程的修正，推导了这种计算模型的单元质量矩阵和刚度矩阵。
By revising the rotation displacement equation, a mass matrix of this kind of structure is derived by virtual principle in this paper.
采用虚功原理，通过对单元转角-位移方程的修正，推导了这种计算模型的单元质量矩阵和刚度矩阵。
Revising the rotation displacement equation, the mass matrix and stiffness matrix of this kind of structure were derived by virtual principle.
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