Foreword: When reading the book of flight control these days, I saw the angular motion equation in the kinematic equation:
p, q, r are the angular velocities around the x, y, and z axes, respectively, and ϕ^˙ in the formula , ψ^˙, θ^˙ are the rate of change of roll angle, the rate of change of yaw angle, and the rate of change of pitch angle, then my question is that p, q, r are not ϕ^˙, ψ^˙, θ^˙? ? But not according to the formula.
Analysis: The root cause of this doubt is that I have made a mistake in the concept of attitude angle. My previous understanding of the attitude angle is: the angle change of the aircraft in the pitch, roll and yaw directions of the aircraft system. And after reading the book, I realized:
The angular motion equation is to convert the attitude angle to q, q, r under the machine system