在輪廓追隨應用中，由於輪廓誤差將造成加工精度的降低，因此如何降低輪廓誤差一直是運動控制主要的研究課題之一。然而欲降低輪廓誤差，必須先有一可靠且準確的即時輪廓誤差估測法，雖然先前已有不少學者提出各種即時輪廓誤差估測演算法，但效果仍有待改善。有鑑於此，本論文提出一修正型切線輪廓誤差模型，以提升估測自由曲線輪廓誤差的精確性。此外，本論文亦提出一Fuuzy-PI交叉耦合控制器架構以降低輪廓追隨應用中之輪廓誤差。為驗證所提方法之可行性，本論文進行數個輪廓追隨實驗，比較P type交叉耦合控制器、PI type交叉耦合控制器、模糊邏輯交叉耦合控制器、與本論文所提之Fuuzy-PI交叉耦合控制器等四種不同控制策略之性能。在實驗中，本論文使用NURBS即時插值器產生自由曲線命令位置，並分別以前述四種不同控制策略控制X-Y平台進行輪廓追隨。實驗結果顯示，本論文所提出之方法具有不錯之效果。

In the contour following application, since contour error will degrade machining accuracy, finding an effective way to reduce contour error is one of the major research topics in motion control. However, to reduce contour error, a reliable and accurate real-time contour error estimation algorithm is needed in advance. Although there are many existing contour error estimation algorithms, their accuracy still has rooms to improve. Therefore, this thesis develops a tangent contour error model to improve the accuracy of contour error estimation. In addition, a fuzzy-PI cross couple controller is also proposed to reduce contour error in the contour following tasks. In order to verify the feasibility of the proposed approach, several experiments have been conducted to compare the performance of four different control schemes  proportional type cross couple controller, PI type cross couple controller, fuzzy logic cross couple controller, and the proposed fuzzy-PI cross couple controller. All the free-form curves used in the experiments are generated from a real-time NURBS interpolator. The aforementioned four different control schemes are employed to control an X-Y table to perform a contour following task, respectively. Experimental results indicate that the proposed approach exhibits satisfactory performance.

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