本文参考四旋翼无人机构型，将四台固液火箭发动机并联集成，通过差动式推力控制实现飞行器的姿态与轨迹控制，开展了四联差动固液动力系统总体方案设计与半实物试验验证。根据动力系统总体方案确定技术和性能要求，通过总体构型设计、内弹道计算、推力室设计、输送系统设计等步骤，完成了总体方案设计；设计了基于速度、室压双环模糊PID控制的单台固液火箭发动机精确推力控制策略，设计了以姿态稳定为目的的差动式推力分配策略，完成了基于高裕度模型的四联固液动力系统飞行可行性仿真验证；搭建了固液火箭发动机推力闭环试验系统和速度闭环半实物试验系统，开展了多工况推力闭环试验，最大推力调节速率613N/s，速度跟踪误差控制在±0.45m/s以内，稳定控制性能良好。本研究为开展四联差动固液动力系统的飞行试验奠定了动力技术和控制策略基础，也为可重复使用飞行器提供了有潜力的固液动力方案。

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.