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.

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反作用原理是如何起作用的呢？

How does the reaction principle work?

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反作用原理是如何起作用的呢？

How does the reaction principle work?

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