针对四电机伺服系统中单个电机的故障，提出了一种基于命令滤波反步法的容错控制方案。首先，建立带有未知惯量和不平衡力矩的故障伺服系统动力学模型；随后，采用命令滤波反步技术进行控制器设计，构建误差补偿系统提高控制精度；此外，利用神经网络处理故障电机引起的非线性扰动，并设计同步误差信号实现系统的同步控制；最后，基于Lyapunov稳定性理论证明单电机故障情况下闭环系统的稳定性，设计仿真验证了所提控制方法的有效性及优越性。

A fault-tolerant control scheme based on command filtered backstepping method is proposed for the failure of a single motor in a four-motor servo system. Firstly, a dynamic model of the fault servo system with unknown inertia and unbalanced torque is established. Subsequently, the controller is designed using command filtered backstepping technology, in which an error compensation system is designed to improve the control accuracy. In addition, the neural network is used to deal with the nonlinear disturbance caused by the faulty motor, and synchronization error signals are designed to achieve synchronization control of the system. Finally, based on the Lyapunov stability theory, the stability of the closed-loop system under the condition of single motor failure is proved. And simulation is designed to verify the effectiveness and superiority of the proposed control method.

国家自然科学基金(62103212,62203381)