基于零相位误差跟踪控制器的轮廓误差交叉耦合控制

针对高精密轮廓加工，在分析系统轮廓误差的基础上，通过减小跟踪误差来间接减小轮廓误差，提出了将交叉耦合控制器和零相位误差跟踪控制器相结合的控制策略。交叉耦合控制器用以增加各轴之间的匹配程度，以减小轮廓误差；零相位误差跟踪控制器作为前馈跟踪控制器，提高了快速性，使系统实现准确跟踪。仿真结果表明所提出的控制方案是有效的，能达到良好的轮廓跟踪效果，从而提高了轮廓加工精度。

Cross Coupling Control of Contour Errors Based on Zero Phase Error Tracking Controller(ZPETC)

For high precision contour machining, on the basis of analysis of contour errors of the system, the contour errors were reduced indirectly by diminishing the tracking errors. The control strategy combining cross-coupling controller with zero phase error tracking controller was presented. Cross coupling controller was used to increase the matched degree among axes, therefore the contour errors were reduced. Zero phase error tracking controller was served as the feed--forward controller to improve the fast tracking performance of the system, thus exactly tracking of the system was implemented. The simulation results show that the proposed control scheme is effective and the better effect of the contour tracking is obtained. As a result, the contour machining precision is improved greatly.