中文摘要：

为实现龙门双轴运动的同步,提出采用时域响应分析方法,从同步运动系统的各轴伺服响应差异入手分析同步误差的产生原因,分别推导出位置斜坡和位置正弦参考命令下龙门双轴同步误差的理论计算公式,得到两轴伺服增益系数、积分时间常数及参考命令参数与同步误差的定量关系。由MATLAB/Simulink建模仿真分析可知：在各参考输入下推导的同步误差理论计算公式正确;获得两轴伺服增益系数对同步误差的影响关系,即减小两轴伺服增益不匹配程度、增大两轴伺服增益系数能抑制同步误差。

英文摘要：

In order to realize the biaxial synchronization of gantry-type motion system,the time-domain response method is adopted to analyze the reason of synchronization errors generations which is based on different responses of servo systems of multi-axes in synchronous motion system. The theoretical formulas of synchronization errors are deduced under ramp and sine signals of reference position commands respectively. And then the quantitative relationship among biaxial servo gain coefficients,integral time constant,command parameters and synchronization errors are obtained. The system model is established using MATLAB/Simulink. The simulation results show that the theoretical formulas of synchronization errors deduced under the reference inputs are correct,and the influence relationship between biaxial servo gain coefficients and synchronization error is acquired as follows： synchronization error can be reduced when the mismatch degree of biaxial servo gain coefficients is decreased and biaxial servo gain coefficients are increased.