輪廓預測控制器是一種將輪廓誤差估測法納入成本函數，藉由模型預測控制理論求解最佳控制量的線上最佳控制演算法；不同於傳統的交叉解耦合控制器設計法，此種控制演算法具備預測未來資訊與限制處理能力的優點，因此近幾年許多學者紛紛提出基於輪廓預測控制的相關設計方法以探討其應用潛力。然而現有文獻中的設計僅考慮輪廓誤差與各軸追跡誤差補償，對於常見的週期性誤差並未予以深入探討。本研究提出一具多週期性訊號處理能力之新型輪廓預測控制設計法，其概念為加入反覆控制器補償週期性輪廓追跡運動所造成的週期性誤差，同時考量因刀具進給軸運動所產生的週期性干擾，以另一不同週期的反覆控制器進行補償。本文以一雙軸馬達伺服系統進行圓形輪廓與多邊形的輪廓追跡控制探討，實驗結果證實所提輪廓控制方法能有效抑制多週期干擾並進一步改善輪廓誤差。

Contour predictive control is a recently-reported contour control method which includes the contour error into the cost function for contour performance optimization. Due to the advantages such as considering the predicted output for optimalmoves at all sample steps and constraint handling properties, this control algorithm and its variations have been reviewed in a number of published papers. The literature, however, is limited on the study of contour error and axis error compensations; very few studies have been conducted oncompensating the periodic errors commonly shown in many contouring control applications. In light of this, the current study presents a new predictive contour control design which adds repetitive control to compensate for the two different periodic errors caused by the periodic contour motion and tool feed rate motion.Circle and polygon contours are applied to a biaxial servo system for contour performance evaluation. Experimental results show that the proposed contour control method can effectively attenuate multiple-period errors and further improve the contour performance.

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