关键词: 火星探测, 火星四旋翼, 动力系统, 快速响应驱动, 无感磁场定向控制, 扩展卡尔曼滤波, 自抗扰控制

Abstract: The rarefied Martian atmosphere and the unique foldable structure of Mars quadrotor aircraft pose severe challenges to the response speed, disturbance rejection and torque ripple suppression capability of the vehicle power system. To address the torque ripple issue of traditional permanent magnet brushless DC motor drives and the low reliability of sensored field-oriented control (FOC) in extreme Martian environments, this paper proposes a fast-response driving method for power systems based on sensorless FOC. Firstly, the pose dynamics model of the aircraft and the domi-nant aerodynamic model of rotors are established to clarify the mapping relationship between motor speed and aircraft attitude regulation. Within the conventional FOC framework, a sensorless observer based on the extended Kalman filter (EKF) is designed. An accurate torque model adapted to the Martian environment is adopted to improve the esti-mation accuracy of rotor position and rotational speed. An active disturbance rejection controller (ADRC) is deployed in the outer speed loop to enhance the system's anti-disturbance performance and dynamic response. Meanwhile, dedicated motor drive hardware integrating power management, power drive and other functional modules is devel-oped to realize the proposed algorithm in engineering practice. The effectiveness of the proposed method is verified via flight simulation of the Mars quadrotor, dynamic characteristic tests of the power system, and real flight experi-ments under simulated Martian atmospheric conditions. The simulation results provide critical references for the selec-tion of motor peak torque. Test results show that the motor achieves step speed response without overshoot and de-livers excellent acceleration and deceleration performance. In real flight tests, the aircraft completes the full flight en-velope including takeoff, hovering, climbing and landing smoothly. The results demonstrate that the proposed driving method greatly improves the dynamic response of the power system, and the aircraft maintains excellent flight stability in the simulated Martian atmospheric environment.

Key words: Mars exploration, Mars quadrotor, power system, fast-response drive, sensorless field-oriented control, extended Kalman filter, active disturbance rejection control