Considering the influence of load force on speed stability and position accuracy,a four axis synchronous control strategy of position and speed doubleclosedloop control based on singleaxis with load force compensation was proposed for the high precision and speed control requirements of the electrohydraulic proportional control system of prebending machine.For the single axis simultaneous control position and speed characteristics,a double closed loop control method with the outer loop position control and the inner loop speed control were adopted;for the fouraxis synchronization,two groups of masterslave synchronization and the synchronous control method of mean synchronization between the two groups of spindles was adopted.The simulation results show that using the control strategy,higher synchronization accuracy and less speed error are achieved,the synchronization control accuracy can reach 0.24 mm,the speed tracking error is less than 2.2 mm/s,which fully meet the control requirements of the prebending machine production process.