为满足航天伺服系统高性能控制需求，针对空间柔性系绳用永磁直驱伺服系统存在的电流环延迟问题，提出了一种基于无差拍控制的电流环延迟补偿策略，设计延迟补偿环节抑制电流环中存在的延迟，同时设计误差校正器提高电流采样精度，保证电流预测的准确性。在应对系统外部复杂扰动的挑战上，提出了一种扰动观测结合转子位置追踪的扰动抑制策略，设计了基于内模控制思想的新型外环控制器，并将微分结构引入观测器中实现无滞后扰动观测。对于柔性系绳易产生张力冲击的问题，提出了一种基于参数自适应调节器的防冲击张力控制策略，通过对张力调节器参数的动态调整实现张力的快速准确调节。最后，成功研制了空间柔性系绳用永磁直驱伺服系统实验平台，并进行了相关实验验证。实验结果显示，提出的控制策略有效消除了电流环中的延迟，提升了电流环的动态和稳态性能；同时，能够对外部扰动进行精确估计与实时补偿，提高了整个伺服系统的抗扰性能；此外，成功实现了对柔性系绳张力的精确控制，防止了张力冲击现象，从而实现了空间柔性系绳用永磁直驱伺服系统的高性能控制。

To meet the high-performance control requirements of the aerospace servo system， this paper proposes a current loop delay compensation strategy based on no-difference control to address the current loop delay issue in the permanent magnet direct drive servo system for space flexible tether. The design of the delay compensation loop suppresses the delay in the current loop， while the error corrector is designed to improve the current sampling accuracy， ensuring the accuracy of current prediction. To tackle the challenge of external complex disturbances， a disturbance suppression strategy combining disturbance observation with rotor position tracking is proposed， a novel outer loop controller based on internal model control theory is designed， and a differential structure is introduced into the observer to achieve lag-free disturbance observation. To address the issue of tension impact in flexible tether systems， a shock-resistant tension control strategy based on parameter adaptive regulator is proposed， achieving rapid and accurate tension adjustment through dynamic adjustment of tension regulator parameters. Finally， an experimental platform of the permanent magnet direct drive servo system for space flexible tether is successfully developed， and relevant experiments are conducted. Experimental results show that the proposed control strategy effectively eliminates the delay in the current loop， improves the dynamic and steady-state performance of the current loop； meanwhile， it can accurately estimate and compensate for external disturbances in real time， enhancing the disturbance rejection capability of the entire servo system.Results also show that this control strategy achieves the precise control of tether tension， preventing tension impact phenomena， thereby achieving high-performance control of the space flexible tether system using permanent magnet direct drive servo system.