The differential equation of flexible rotor operating unsteadily is also derived and solved , its transient dynamics responses under different accelerations are obtained with simulink ' s program . the amplitude , phases and advancing angular velocity of response along with rotational speed and time under different accelerations are discussed . the responding conclusions have been reached 同时，建立了单盘转子的瞬态运动方程，用simulink程序求解了所建立的瞬态方程，仿真得到了它在不同加速度下的瞬态动力响应，并就不同加速度下的振幅、相位、进动角速度随时间和随转速的响应分别作了较详细的讨论，得出了相应的结论。
Automatic docking is one of the most important actions for msr robot ’ s self - reconfiguration and is one of the technologys about the robot researching , because it supports almost all practical advantages of such robot . in this thesis , automatic docking system and the module structure are first analyzed ; for searching the reason why the actual docking system run unsteadily , some validate and test thing are done , such as docking algorithm test , sensor unit test , drive unit test , and so on 自动对接是模块化自重构机器人完成自重构的一个基本步骤,也是这种机器人研究的关键技术之一,是模块化自重构机器人具有实际应用价值的基础。本文对自动对接系统结构进行了分析,为寻找实际对接系统工作不稳定的原因,做了一些验证与调试方面的工作,包括自动对接算法正确性与有效性的验证,串口电路设计,编写实时跟随对接模块运动的程序以及传感器建模程序等。
Unluckily , one year ago , chen ' s elder son chen liguang who is grade one of primary school sometimes acted indescribably , including walking unsteadily , running his head against the wall or stumbling suddenly meanwhile his hands are out of control and continues shaking when writing 然而好景不长，一年前，当时年仅9岁，就读小学一年级的大儿子陈立光有时会做出一些莫名其妙的举动，走路时东倒西歪，有时还会碰壁、跌倒，学习写字时双手老是不听使唤，写起字来歪歪斜斜。
