The Degree Of Controllability Analysis and Calculation of Large Moving-Mass vehicles

Concerning the issue of quantitatively evaluating the attitude control capability of moving-mass vehicles, this paper proposes the use of the degree of controllability (DOC) to analyze the control performance of a single-mass roll-pitch control moving-mass vehicle (MMRTCV) under different moving-mass parameter configurations. First, an attitude dynamic model of the MMRTCV is established, and the working principles of different attitude control mechanisms-such as aerodynamic control surfaces and moving masses-are compared and analyzed. Then, based on the definition of state-norm DOC, a discretization method is employed to compute the DOC of the vehicle's attitude under various moving masses parameters, including mass ratio and deflection angle. Finally, the relationship between the additional control torque and the moving masses deflection angle is examined, revealing that a larger deflection angle is not always better. Instead, the optimal deflection angle should be selected according to the specific lift-to-drag ratio of the vehicle to maximize the effectiveness of the mass displacement.