【目的】针对四电机同步驱动伺服系统，本文提出了一种事件触发有限时间命令滤波控制策略，以确保伺服控制性能，同时降低控制信号更新频率，解决遥操作、大功率多轴伺服系统网络控制中的带宽资源有限的问题。【方法】首先，建立四电机同步驱动伺服系统的动力学模型，采用命令滤波反步控制技术，构建有限时间控制器，结合改进的交叉耦合同步架构，设计两组电机之间的同步反馈信号，以提高电机间的同步性能；其次，构建事件触发条件，避免芝诺现象，降低控制信号更新频率，同时将对控制性能的影响降至最低；然后，通过Lyapnov稳定性理论及有限时间稳定引理，证明闭环系统的稳定性；最终，基于Matlab/Simulink进行仿真分析，将所提ET-FNCFC与时间触发有限时间命令滤波控制(TT-FNCFC)进行对比。【结果】选取正弦信号作为系统跟踪信号。对比分析ET-FNCFC与TT-FNCFC的负载跟踪效果、跟踪误差、同步误差和触发次数。结果表明，相较于TT-FNCFC策略，本文所提ET-FNCFC策略能够快速跟踪期望信号，实现更低的同步误差，同时显著降低通信频率，节约资源。仿真结果验证了所提策略的有效性及优越性。【结论】事件触发控制策略可以有效减少通信资源的占用，有限时间同步控制不仅可以加快收敛速度，还可以实现良好的负载跟踪和电机同步，为多电机驱动系统的高性能控制提供了一种新的解决方案。

[Objective] Aiming at the four-motor synchronous drive servo system, this paper investigates an event-triggered finite-time command filtering control (ET-FNCFC) strategy to ensure servo control performance while reducing control signal update frequency, addressing bandwidth resource constraints in network control applications such as teleoperation and high-power multi-axis servo systems. [Methods] Firstly, the dynamics model of the four-motor synchronous drive servo system was established, and the finite-time controller was constructed by employing the command filtering backstepping control technique. Combined with the improved cross-coupling synchronization architecture, synchronization feedback signals between the two sets of motors were designed to enhance inter-motor synchronization performance. Secondly, the event-triggered conditions were formulated to avoid the Zeno phenomenon, thereby reducing control signal update frequency while minimising the impact on control performance. Subsequently, the closed-loop system stability was rigorously proved using Lyapunov stability theory and finite-time stability lemma. Finally, simulation and analysis were carried out based on Matlab/Simulink to compare the proposed ET-FNCFC with the time-triggered finite-time command filtering control (TT-FNCFC). [Results] The sine signal was selected as the system tracking signal. The load tracking effect, tracking error, synchronization error, and trigger times of ET-FNCFC and TT-FNCFC were compared and analyzed. The results demonstrated that the proposed ET-FNCFC strategy rapidly converged to the desired reference signal, achieved lower synchronization error compared to TT-FNCFC, while significantly reducing event-induced communication frequency to conserve system resources. The simulation results validated both the effectiveness and advantages of the proposed strategy. [Conclusion] The event-triggered control strategy can effectively reduce the occupation of communication resources, and the finite-time synchronization control not only accelerates the convergence speed, but also achieves precise load tracking and motor synchronization, providing a new solution for the high-performance control of multi-motor drive systems.

国家自然科学基金(62573250);山东省高校青年创新团队计划(2024KJH124);山东省自然科学基金(ZR2024QF008);青岛市自然科学基金(25-1-1-159-zyyd-jch)