中文摘要：

之前的整体地球自转动力学理论的局限性之一，就是在数学上不能明确表述地球的各种几何轴和物理轴（Tisserand轴、自转轴、瞬时形状轴、角动量轴、CEP和CIP轴等）．基于经典的液核地球自转动力学理论，建立了极移和‘章动’的联合动力学方程．由此给出了液核地球各种几何轴和物理轴的极移、岁差章动的动力学方程，明确了各种轴的定义及其之间的理论关系．

英文摘要：

One of limiting factors on dynamical theory of whole Earth rotation is that, it can＇t definitely express various geometrical and physical axes of Earth （Tisserand axis, rotation axis,instantaneous figure axis, momentum axis, CEP and CIP axis ） in mathematics. Based on the classical theory on rotation of the fluid core Earth, an associated dynamical equation containing both nutation and wobble of the Earth rotation have been established. Therefore, the dynamical equations on polar motion and precession -nutation of various geometrical and physical axes of Earth rotation are given, and the bottom of the definition and relations among these axes were got to.