隨著電子產品的小型化，對速度與精度的要求有越來越精密的趨勢，所以提升進給速度與追蹤過程的輪廓誤差精度為現今刻不容緩的重點。
本論文內容可分為輪廓誤差與終點誤差精度改善方法兩部分。在輪廓誤差精度改善上，以FIR數位濾波器設計加減速曲線，並修改交叉耦合控制器的補償運算，使控制器參數在訂定上更為容易，效能較傳統PID交叉耦合控制方法更佳，另外以輪廓誤差曲線為基礎，求出時變補償增益值，使輪廓誤差精度再度提升。在終點誤差上，以兩階段控制為基礎，在減速區作控制器切換，除了直接改善終點誤差外，也間接改善減速區的輪廓誤差。
關於上述方法，在論文中除了以電腦模擬確定其可行性外，更以實驗證實其正確性。

As the electronic products are getting more and more small, the trend of the needs for speed and accuracy is more precise. Therefore, upgrading the speed and the accuracy of contour error on tracking control has become an important point.
This research is focus on the improving of contour error and terminus error. In the contour error, we design the acceleration /deceleration profile based on digital FIR filter. And then remodel the compensatory method of cross-coupled controller, making the design of controller parameter easier, and getting better efficiency. And further, we get the time-variable gain by curve of contour error, making the accuracy better. In terminus error, according to two-step control, we switch the controller in deceleration region, not only directly improving the terminus error, but also improving the contour error.
Finally, the above improved strategies are verified by the simulation and experimental results.

中文摘要 け
英文摘要 げ
總目錄 こ
圖目錄 さ
表目錄 し
第一章 緒論 1
1.1. 前言 1
1.2. 研究動機 2
1.3. 研究目的 2
第二章 文獻回顧 4
2.1.誤差定義 4
2.2.路徑插補 5
2.3.加減速法則 6
2.4.軌跡追蹤控制 16
第三章 研究方法 20
3.1.交叉耦合控制 20
3.1.1交叉耦合理論 20
3.1.2交叉耦合控制架構 23
3.1.3新型態交叉耦合控制架構 24
3.2.兩階段交叉耦合控制 26
第四章 模擬與實驗結果 29
4.1.實驗設備架構 29
4.2.系統模型及參數量測 30
4.3.商品化運動控制卡分析 31
4.4.新型態與傳統PID交叉耦合控制比較 32
4.5.軌跡追蹤模擬與實驗結果 35
第五章 結論 48
5.1.貢獻 48
5.2.未來研究方 49
參考文獻 50

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