为实现基于转台的像移补偿型周视扫描成像系统的高分辨率稳定成像，提出了一种复合控制算法对永磁同步电机驱动的扫描转台进行转速跟踪控制。根据转台的载荷特点及电机的数学模型， 建立了包含机械参数不确定性和快变转矩扰动的单采样率控制系统模型；采用快速非奇异终端滑模和扩张高增益观测器复合控制实现了转速跟踪控制；采用快速非奇异终端滑模实现了最大转矩电流 比控制；最后，分析并验证了基于上述复合算法的转速跟踪控制性能。实验表明：在转台转速设定为120 r/min或240 r/min时，采用该复合算法的转速跟踪误差均小于0.1%。与PI控制、快速非奇异 终端滑模控制及线性滑模+观测器控制相比，采用该复合算法的转台转速响应具有无超调、抗扰动性能更强、跟踪精度更高的优点，能保证所述周视成像系统获得清晰稳定的周视全景图像。

In this study, a composite control algorithm was developed for controlling the turntable speed of a circumferential scanning imaging system (ICSIS) driven by a permanent magnet synchronous motor (PMSM) to obtain stable high-resolution images. Based on the load characteristics of the turntable and the mathematical model of the PMSM, a single-sampling rate control system model, comprising the mechanical parameter uncertainty and fast-changing torque disturbance, was established. The fast nonsingular terminal sliding mode (FNTSM) control and an extended high-gain observer were used in designing the speed-tracking controller. The maximum torque current ratio control was determined through another FNTSM control. Finally, the performance of the speed tracking control based on the above composite algorithm was analyzed and verified. The experimental results show that when the turntable speed is set to 120 or 240 r/min, the speed tracking error is less than 0.1%. Compared with the proportional-integral control, FNTSM control, and linear sliding mode control+observer, the governing system with the proposed algorithm was characterized by no overshooting, stronger anti-disturbance, and higher speed-tracking precision, which enabled the ICSIS to capture clear and stable circumferential images.