Multi-axis motor synchronization control system and method thereof

A multi-axis motor synchronization method, wherein the method is used to control a multi-axis motor synchronization control system, and the multi-axis motor synchronization control system comprises a plurality of driving axes, and the driving axes are coupled to one another;

• the method comprising the following steps:
• transmitting a position command to a position loop controller of each of the driving axes to generate a plurality of velocity signals;
• transmitting each of the velocity signals to a velocity loop controller of the corresponding driving axis to generate a plurality of velocity commands to drive motors of the driving axes respectively;
• receiving position feedback signals of the motors of the adjacent driving axes of each driving axis and calculating an average value of a position feedback signal of the motor thereof and the position feedback signals of the motors of the adjacent driving axes;
• feeding back each of the average values to the position loop controller of the corresponding driving axis so as to perform a synchronization calibration between each of the driving axes and the adjacent driving axes thereof;
• differentiating each of the average values to generate a plurality of first velocity compensation values and feeding back each of the first velocity compensation values to the velocity loop controller of the corresponding driving axis so as to perform the synchronization calibration;
• generating a plurality of third velocity compensation values according to the position feedback signal of the motor of each of the driving axes and the position feedback signals of the motors of the adjacent driving axes, and feeding back each of the third velocity compensation values to the velocity loop controller of the corresponding driving axis so as to perform a synchronization compensation for the multi-axis motor synchronization control system;
• performing a feed-forward control to process the position commands to generate a plurality of fourth velocity compensation values so as to perform a feed-forward compensation;
• and
• deducting each of the average value from the position command for each of driving axes to generate a plurality of position compensation values, and feeding back each of the position compensation values to the position loop controller of the corresponding driving axis so as to generate a plurality of second velocity compensation values.