## 6 Simulation Results and Analysis
### Comparison of Dual-Motor Speed Synchronization Performance with Disturbance Observer
Table 3 summarizes the comparative analysis of the proposed method with existing methods (References [31; 32]) in terms of dynamic response, robustness, computational complexity, and the effect on synchronization error. Figure 14: Comparison of dual\(-\)motor speed waveform under different control strategies at high-speed operation with disturbance observer: (a) speed waveform under improved GFTSMC control; (b) speed waveform under SMC control; (c) speed waveform under PID control. Figure 15: Comparison of dual\(-\)motor speed synchronization errors under different control strategies at high-speed operation with disturbance observer. Figure 16: Comparison of dual\(-\)motor speed waveform under different control strategies at low-speed operation with disturbance observer: (**a**) speed waveform under improved GFTSMC control; (**b**) speed waveform under SMC control; (**c**) speed waveform under PID control. Figure 17: Comparison of dual\(-\)motor speed synchronization errors under different control strategies at low-speed operation with disturbance observer. Based on the comparative analysis, the proposed method demonstrates significant advantages in maintaining the synchronization accuracy of dual motors under external disturbances. The proposed method has a fast and efficient load variation adaptation capability in dynamic response, effectively dealing with frictional disturbances and load changes, with moderate computational complexity and lower steady-state error. Method A excels in robustness, particularly in adapting to frictional forces and load variations, but its optimization process is more complex, leading to higher computational complexity. Method B exhibits faster response speed, but its response time may be longer under heavy load conditions. Its robustness and steady-state error performance are moderate, and the computational complexity is relatively high. Overall, the proposed method maintains good performance across various load changes. In conclusion, through the comparative analysis of Experiment 2 and Experiment 3, it is evident that the introduction of the disturbance observer enables the system to effectively suppress friction disturbances in real-time, significantly reducing the speed synchronization error, further enhancing the system's synchronization performance, and disturbance rejection capability. The experimental results demonstrate the practical value of the proposed control strategy in various industrial applications. In the field of precision manufacturing, the dual-drive gantry table requires extremely high synchronization accuracy for dual-axis coordinated control. This strategy significantly reduces machining errors and improves product quality. For operational robots, the proposed approach effectively minimizes linear contour errors, enhancing the accuracy and efficiency of coordinated robotic movements. Additionally, when applied to dual-motor synchronized conveyor systems in automated production lines, this strategy also substantially reduces synchronization errors between motors, improving the system's stability and reliability. In particular, in the high-precision application scenario of the dual-drive gantry table, the gantry beam is driven by servo motors on both sides, and strict synchronization control is key to ensuring machining accuracy. However, asymmetric friction within the system often causes inconsistencies in the movement of the two motors, leading to synchronization errors, beam distortion, or trajectory deviation, which severely impact machining performance. This paper proposes a control strategy based on an improved GFTSMC and a DOB to effectively address these issues in three aspects: First, GFTSMC