因此，本文采用了变结构控制理论设计倾斜角稳定系统，采用了模型跟踪变结构控制理论设计俯仰、偏航通道的加速度稳定回路。

So, variable structure control theory is used in Angle stabilization of roll, and model - following variable structure control theory is used in acceleration stabilization of pitch and yaw.

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通过采用高低压回路和过阻尼驱动技术，解决了某一旋臂水池三自由度转盘机构横倾轴、纵倾轴零位准确定位及偏航轴精确位置调整等问题。

Through using the technology of high-low pressures and excessive-damping driving, the problems were solved for precision position adjustment of the swing axles in a three-freedoms swing-table.

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