When the deviation coupling control structure is used to control the synchonous movement of four permanentmagnet synchronous motors , the structure of the controller is complex and the amount of calculation is large.Moreover, thetradlitional PIlD control algorithm cannot adjust the parameters online and in real time, and the dynamic response is slow.Therefore, the four motor synchronous motion control structure and control algorithm are improved, and the ring couplingcontrol structure and immune single neuron PID contmoller are used to control the whole synchronous motion system.Thesimulation results show that the control structure has moderate complexity , good tracking peformance and stabilizing per-formance , and strong anti-interference.