yaw motion

The PY and PYR joint based on tightwire and guide-wheel drive realize light and miniaturization design. The application of slide-block solves the problem of the motion coupling of pitch and yaw.

基于钢索和导向轮驱动的PY型及PYR型关节实现了轻量化小型化设计，采用滑块机构解决了俯仰和偏摆运动耦合问题。

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the roll/ yaw motion is controlled by pitch magnetic dipole moment.

滚动/偏航运动由俯仰轴磁矩控制。

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Neglecting the dynamic terns for the attitude motion, we obtain an analytical expression of the yaw steering law.

文中还在忽略角运动动态项的条件下，导出横向导引规律的解析公式，并对系统精度进行解析分析。

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Using the STF theory and Frank source close-fit method, given is the results on the motion responses of different foreign nuclear power submarines at the periscope depth, including surge, sway, heave, roll, pitch, yaw and vertical acceleration of specified points.

采用STF理论和Frank源分布&紧密拟合法对国外核潜艇潜望状态进行了纵荡、垂荡、纵摇、横荡、横摇、艏摇和垂向加速度等波频运动耐波性理论预报。

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