首先建立了采用任意浮动参考系时的柔性航天器动力学方程；
The dynamic equations of flexible spacecraft are derived by introducing a moving coordinate frame.
根据带柔性附件的航天器的动力学模型推导并建立其特征模型。
The characteristic model is derived based on the dynamics model of the spacecraft with flexible appendix.
带伸展柔性附件航天器的动力学方程是刚-柔耦合的时变非线性动力学方程，用传统方法求解其动力学响应时会遇到很大的困难。
The dynamic equation of the spacecraft with extensional flexible appendages system is time variable and nonlinear, so it is very difficult to solve this kind of equation with traditional methods.
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