目的 解决包装机工作过程中，因永磁同步电机的动态响应慢和抗扰动能力弱导致包装机精度不高的问题。方法 设计一种双模态有限时间滑模控制器，实现系统有限时间收敛。将双模态函数引入趋近律增益，不仅能实现“大误差大增益，小误差小增益”，而且趋近律增益切换为小增益的时间可调，从而使电机获得更快的响应速度和更小的抖振。同时，设计有限时间扰动观测器对扰动进行观测，并进行前馈补偿，以此来提高系统的抗扰性能。结果 实验结果表明，文中方法相较于另外2种对照方法，可以使电机的动态响应分别提升27%、37%，控制性能分别提升40%、70%，相较于超螺旋扰动观测器，可以使电机的抗扰性能提升58%。结论 所提控制策略可以明显提高系统的动态响应、控制性能、抗扰性能，使得永磁同步电机更符合包装机的要求。

The work aims to solve the problem of low precision in packaging machines in work due to the slow dynamic response and weak disturbance rejection ability of permanent magnet synchronous motors. A dual-mode finite time sliding mode controller was designed to realize finite time convergence of the system. By adding a dual-mode function to the reaching law, it could make the sliding mode gain achieve large error and large gain, small error and small gain , and the time of the sliding mode gain switched to small gain was adjustable, so that the motor could achieve faster response speed and less chattering. At the same time, a finite time disturbance observer was designed to observe the disturbance, and feed-forward compensation was performed to improve the disturbances rejection performance of the motor. The experimental results showed that if the method proposed was used to control the motor, compared with the control groups, the dynamic response was improved by 27% and 37% and the control performance was improved by 40% and 70%. Compared with the super-spiral disturbance observer, the disturbance rejection performance of the motor was improved by 58%. Therefore, the control strategy proposed can significantly improve the dynamic response, control performance, and disturbance rejection ability of the system, which will let permanent magnet synchronous motor more suitable for the needs of packaging machines.