本論文以MATLAB 軟體為發展環境，在PC 端自行開發一可載入數值控制碼之解譯器與插值器環境。其功能包含可載入符合RS-274D 標準之數值控制碼、以不同曲線型態之插值器求出各軸運動命令、以多節預覽實現各種前加減速功能，此外並以一實務上常用之串級式伺服控制架構做為CNC 運動控制系統之動態模擬，此一整合模擬環境將有利於進一步開發實體之CNC 運動控制模組。所建立之解譯器與插值器主要是針對直線、圓弧、螺旋與NURBS 曲線而設計，其特點為利用多節預覽搭配數值積分事先求得加工曲線總長度，以達到前加減速之功能；而在加減速規劃的部分，則是應用數位旋積及多節預覽規劃前加減速功能，以本文
提出之混合式數位旋積法經模擬結果顯示可有效降低轉角處之進給率並縮短加工時間。同時，所開發之軟體模擬環境亦可提供使用者在正式加工前，進行加工路徑之快速模擬，可達到節省加工時間之目的。最後在整合之模擬環境下，利用命令前饋控制器、摩擦力前饋補償及背隙補償，
克服CNC循圓測試中常見的伺服延遲及圓尖角誤差，以達到高速高精度加工之需求。

　　In this thesis, an integrated environment, which combines the machining code interpretation and interpolation for CNC motion control is developed
based on the MATLAB platform. This integrated software environment provides several key features, including: an interpreter which is capable of
interpreting the RS-274D standard NC codes, an interpolator which can convert different kinds of parametric curves into axis motion commands, and
the function of acceleration/deceleration before interpolation based on the multi-block look-ahead concept. In addition, the mathematical model of a
standard cascaded servomechanism is developed for the dynamic simulation of the CNC motion controller. This integrated environment is beneficial to the implementation of CNC control module. The interpreter and the interpolator
developed in this study are focused on the cases of lines, circles, helical curves, and NURBS curves. Furthermore, by combining the digital convolution, multi-block look-ahead function, and numerical integration for calculating the total distance of the machining curve in advance, the acceleration/deceleration before interpolation can be accomplished. Simulation results verified that the proposed method, Hybrid Digital Convolution, is able to reduce the feed rate at the connection of each block effectively so that the net machining time can also be saved. In addition, the integrated software environment can be used for a preview of the desired machining trajectory, which helps the users to debug the NC programs. Finally, compensating strategies are designed and applied to the servo control units to overcome the servo lag and quadrant protrusion which are ordinary in the CNC circulating test.

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