對於循跡控制而言，最主要的問題之一就是如何縮小輪廓誤差(contouring error)以及追蹤誤差(tracking error)。然而對於輪廓誤差而言，在自由曲線的循跡控制應用上一直缺少一種有效的估測準則，因此本論文提出一種改良式的切線輪廓誤差(Modified-Tangent Contouring Error)估測方法，可以即時計算循跡過程中的輪廓誤差。另一方面，本論文提出一整合型控制架構(Integrated Motion Control Scheme)，結合位置回授控制器與速度前饋控制器，並利用切線-輪廓座標(Tangential-Contouring Coordinate)的概念將追蹤誤差轉換為輪廓方向的誤差量以及切線方向的誤差量。再根據此二誤差量，分別設計輪廓誤差控制器以及切線誤差控制器，以提升系統加工精度。此外，本論文採用NURBS曲線插值器及S-curve前加減速來產生適當的位置與速度命令，搭配前述之整合型控制架構與輪廓誤差估測方式，進而達成精密控制的目標。本論文將所提之方法實際運用於一X-Y雙軸平台之循跡控制實驗以驗證其可行性。實驗結果顯示，本論文所提出之改良式切線輪廓誤差模型可以即時計算出循跡過程中的輪廓誤差，並在搭配整合型控制器後，也確實有效地改善循跡精度。

　　In contour following applications, the main concern is how to reduce the tracking errors and the contouring errors. However, in terms of the free-from curve, there is a lack of effective algorithms in estimating contouring errors. To overcome this difficulty, a modified-tangent contouring error estimation algorithm that is capable of estimating contouring error in real time is proposed in this study. On the other hand, an integrated motion control scheme that combines a position feedback controller, a velocity feedforward controller, and a tangential-contouring controller (TCC) is developed in this study. Using the idea of tangential-contouring coordinate, the tracking error can be converted into the error components in the normal and tangential directions, respectively. Based on these two error components, the contouring error controller and the tangential error controller are designed individually to improve the machining accuracy. In addition, the NURBS interpolator and the S-curve acceleration/deceleration before interpolation are employed in this study to generate precise motion commands. Combining with the proposed integrated controller, the goal of precision control can be achieved. To evaluate the performance of the proposed approach, several contour following tasks are conducted. Experimental results indicate that the proposed approach exhibits satisfactory performances.

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