目的 为提高瓦楞纸箱印刷过程多轴同步控制精度，采用偏差耦合控制设计一种多轴同步控制算法。方法 在介绍瓦楞纸印刷机结构的基础上，以印刷模块多电机控制为研究对象，基于偏差耦合控制阐述多轴位置控制问题。为减小同步误差，设计一种变论域模糊控制算法。在传统模糊控制的基础上，引入伸缩因子以实现模糊控制输入和输出的动态调节。集合ARM和FPGA设计多轴同步控制器。最后，进行实验研究。结果 电机同步误差会在1 s内趋于0，同步性能比较理想;变论域模糊控制可将最大同步位置误差控制在2 rad/s内;各色套印的准确度较高，并没有出现错印等情况。结论 所述瓦楞纸箱多轴控制方法响应速度较快、运行稳定，可以完全满足瓦楞纸箱印刷要求。

The work aims to design a multi-axis synchronous control algorithm by deviation coupling control, in order to improve the accuracy of multi-axis synchronous control in corrugated carton printing process. Based on the introduction to the structure of corrugated printing machine and with multi-motor control of printing module as the research object, the multi-axis position control was expounded based on the deviation coupling control. In order to reduce the synchronous error, a variable-domain fuzzy control algorithm was designed. On the basis of traditional fuzzy control, flex factor was introduced to realize dynamic adjustment of input and output of fuzzy control. A multi-axis synchronous controller was designed based on ARM and FPGA. Finally, an experimental study was carried out. The synchronous error of the motor tended to 0 within 1 s, and the synchronous performance was ideal. The variable-domain fuzzy control method could control the maximum synchronous position error within 2 rad/s. The accuracy of color overprinting was relatively high, and there were no misprints. The corrugated carton multi-axis control method has a relatively fast response speed and stable operation, which can fully meet the requirements of corrugated carton printing.