建立了首摇、横荡、横摇三个自由度的船舶运动方程。
The ship-motion equations of sway, yaw and rolling were founded.
预报采用进退、横漂、首摇和横摇四个自由度的方程，考虑了横摇对水平面运动的耦合影响。
The mathematic model has four degrees of freedom (surge, sway. yaw and roll), taking the couple motion of roll on horizontal plane motion into account.
不应，摇其首。
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