Differential equations for movement of triaxial gyroscopic stabilizer on moving base

The equations of motion allow for the inertial forces of the gimbals, the elastic deformation of the gyroscope elements, and the lack of coincidence between the platform's center of inertia and the centers of inertia of the gyroscopes. Lagrange equations of the second kind are used, and the form taken by the forces of interaction between the elements of the stabilizer is indicated. In contrast to the study made by Afon'kin and Zimnitskii (1973), the full form of the differential equations of motion is given here.