Engraving machine system modeling and trajectory tracking control method

The invention discloses an engraving machine system modeling and trajectory tracking control method, and the method comprises the following steps of abstracting a system of an engraving machine into a model in which an integral factor is connected with a stable transfer function by analyzing a mechanism relationship between the input angular speed and an output position of the engraving machine system in a speed control operation mode; introducing a differential filter to process the sampled data, and converting a critical unstable integral model which is difficult to identify into a stable model which is easy to identify; for a multi-axis motion control system with a process fault, decomposing the process fault into a matched uncertain component and a mismatched uncertain component; aiming at the matching uncertainty component, designing a fault-tolerant synchronous control feedback rate based on an estimated value to carry out effective compensation; and for the mismatched uncertain component, realizing the