如何降低輪廓誤差一直是循跡控制的重要課題，而目前用於降低輪廓誤差的方法可以分成二類：第一類為設計輪廓誤差控制器，藉此控制器來得到輪廓誤差的補償量，再利用此補償量以降低輪廓誤差。第二類為利用調變進給率的方式，以使得在輪廓誤差較大之處能夠降低進給率，進而達到減少輪廓誤差的目的。
根據上述二類降低輪廓誤差的方法，本論文將實現以下三點：1). 基於改良式切線輪廓誤差估測法來設計輪廓誤差控制器，以降低在任意曲線循跡問題之輪廓誤差。2). 利用模糊邏輯的方式，根據輪廓誤差的大小來決定適當進給率以控制輪廓誤差於設定之邊界內。3). 最後將上述兩點結合，合成一套輪廓誤差控制系統，以進一步地降低輪廓誤差並使其保持於設定之邊界內。
本論文將使用NURBS曲線插值器來產生精確自由曲線位置命令，並將所提出之方法實際運用於X-Y平台，以驗證其可行性。實驗結果顯示，將輪廓誤差控制系統加入X-Y平台之伺服系統後，確實可使圓形軌跡之輪廓誤差保持於15um左右，並使凸輪軌跡之輪廓誤差保持於20um左右。

　Reducing contour error is an important topic of contour following applications. This study conducts an in-depth investigation on this issue. In addition, an integrated control scheme is proposed to reduce contour error. In this paper, we have accomplished the following: 1). Based on the modified-tangent contour error method, a contour error controller was designed to reduce the contour error of an arbitrary curve following task. 2). According to the estimated contour error, a fuzzy logic based feedrate regulator was designed to determine a suitable feedrate in real time. 3).By integrating the contour error controller and the fuzzy logic based feedrate regulator, a contour error control system was developed to keep the contour error within a given range. In the experiments, the NURBS interpolator was employed to produce a precise position command, and an X-Y table was used to evaluate the performance of the proposed approach.

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