Variations on which attitude of spacecraft dependents are time, law of motion of manipulators, liquid mass, liquid inertial tensor and damping coefficient besides paths of motion of manipulators.

研究表明：影响充液航天器姿态的因素除了机械臂运动的路径，还有机械臂运动的时间、机械臂转角的变化规律、液体的粘性、质量和惯性张量等。

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Nonlinear physical parameters of the docking mechanism-inertial, damping and stiffness matrices, are identified by direct parameter estimate(DPE)method with input-output data of the system.

采用直接参数识别方法（DPE）由系统的输入、输出数据识别空间对接机构的物理参数：惯量矩阵、阻尼矩阵和刚度系数矩阵。

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