关键词: 固液火箭发动机, 并联动力系统, 差动式推力控制, 垂直起降, 姿态控制

Abstract: Inspired by the configuration of quadrotor unmanned aerial vehicles, this paper integrates four hybrid rocket motors in parallel to achieve attitude and trajectory control of the vehicle through differential thrust control, and carries out the overall system design and hardware-in-the-loop (HIL) experimental validation of the quad-parallel differential hybrid rocket propulsion system. Based on the overall propulsion system scheme, the technical and performance requirements are determined. The overall scheme design is com-pleted through steps including overall configuration design, internal ballistic calculation, thrust chamber design, and feed system design. A precise thrust control strategy for a single hybrid rocket motor is designed based on a dual-loop fuzzy PID control with velocity and chamber pressure feedback. A differential thrust allocation strategy for attitude stabilization is developed. Flight feasibil-ity simulation verification of the quad-parallel hybrid rocket propulsion system based on a high-fidelity model is completed. A thrust closed-loop test system and a velocity closed-loop HIL test system for the hybrid rocket motor are established. Thrust closed-loop tests under multiple operating conditions are conducted, achieving a maximum thrust regulation rate of 613 N/s and a velocity track-ing error controlled within ±0.45 m/s, demonstrating stable control performance. This study lays the foundation of propulsion tech-nology and control strategy for flight tests of the quad-parallel differential hybrid rocket propulsion system, and also provides a promising hybrid rocket propulsion solution for reusable launch vehicles.

Key words: hybrid rocket motor, parallel propulsion system, differential thrust control, vertical takeoff and landing, attitude control