【目的】针对具有外部扰动力矩的双电机伺服系统，提出一种基于有限时间扰动观测器的终端滑模控制(TSMC)策略，旨在提升系统在复杂工况下的动态响应品质、鲁棒性及双电机间的协同运动精度。【方法】首先，设计有限时间扰动观测器，快速精确估计外部扰动，确保观测误差有限时间收敛。其次，构建非奇异终端滑模面，避免奇异性问题，增强系统抗干扰能力。然后，引入同步反馈与优化趋近律，抑制抖振，确保双电机高精度同步。最后，基于Matlab/Simulink仿真平台，对比分析了本文所提TSMC策略与积分滑模控制策略的性能。【结果】结果表明，本文所提TSMC策略在系统负载跟踪性能、轨迹跟踪误差及双电机同步误差性能指标上均展现出显著优势。【结论】本文所提TSMC策略在理论上保证了系统的有限时间稳定性，在实践中展现出抗干扰强、响应快及同步精的显著优势。该成果为高性能双电机伺服系统在复杂扰动和高精度场景下的控制，提供了有效的解决方案。

[Objective] For a dual-motor servo system with external disturbance torques, a terminal sliding mode control (TSMC) strategy based on a finite-time disturbance observer is proposed. The aim is to enhance the dynamic response quality, robustness, and cooperative motion accuracy between the dual motors under complex working conditions. [Methods] Firstly, a finite-time disturbance observer was designed to quickly and accurately estimate external disturbances, ensuring that the observation error converged in finite time. Second, a nonsingular terminal sliding mode surface was constructed to avoid singularity issues and enhance the system’s anti-interference capability. Then, synchronous feedback and an optimized reaching law were introduced to suppress chattering and ensure high-precision synchronization of the dual motors. Finally, based on the Matlab/Simulink simulations platfrom, the performance of the proposed TSMC strategy was compared and analyzed with that of the integral sliding mode control strategy. [Results] The results demonstrated that the proposed TSMC strategy exhibited significant advantages in system load tracking performance, trajectory tracking error, and dual-motor synchronization error. [Conclusion] The proposed TSMC strategy theoretically guarantees finite-time stability of the system and demonstrates significant practical advantages, including strong anti-interference capability, fast dynamic response, and high-precision synchronization. This achievement provides an effective solution for controlling high-performance dual-motor servo systems in scenarios with complex disturbances and stringent accuracy requirements.

国家自然科学基金(62573250);山东省自然科学基金(ZR2024QF008);山东省重大科技创新工程(2022CXG020901);山东省高校青年创新团队计划(2024KJH124);青岛市自然科学基金(25-1-1-159-zyyd-jch)