Abstract: Aiming at the problem of coordinated control of permanent magnet synchronous motors used in trajectory tracking, a coordinated control strategy for permanent magnet synchronous motors based on characteristic models is proposed. Firstly, the two-axis motion system is decoupled by the method of two-dimensional coordinate transformation, and the contour error and tangential error of the two-axis motion system are obtained. Then, a model-independent golden section adaptive controller by using the characteristic model method is designed in each axis position loop, and a logic differential controller is adopted to ensure the contour control accuracy of the system. The stability analysis of the designed control scheme is carried out. Finally, two motors with large differences in parameters are selected for the comparison and simulation of two different control schemes for the helical trajectory with large curvature changes, and the data analysis is carried out on the results. The simulation results show that the control scheme designed can effectively guarantee the running accuracy of the dual-axis motion system. The control effect of the contour error under the control of this scheme can be comparable to those that using on the PID controller, and the debugging is more convenient, at the same time, which is simple and saves a lot of time as well as the cost. The research results lay the foundation for further research on the application of permanent magnet synchronous motor servo system in multi-axis coordinated control.