The commented paper discusses the attitude dynamics representation using quaternions. The main idea of the paper is to eliminate angular velocity from the dynamics equations. The obtained equations are interesting. However, all applications presented in the discussed paper have plain errors in the equations derivations. This affects the main results and conclusions of the paper, which require significant corrections.

中文翻译：

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评“刚体自转运动的四元数模型及其在航天器姿态控制中的应用”

评论论文讨论了使用四元数的姿态动力学表示。本文的主要思想是从动力学方程中消除角速度。得到的方程很有趣。然而，在所讨论的论文中提出的所有应用程序在方程推导中都有明显的错误。这会影响论文的主要结果和结论，需要进行重大修正。