中文摘要：

在双轴高精度轮廓加工中，单轴的跟踪误差和双轴间运动不协调产生的轮廓误差都会影响加工精度。文章提出了一种基于双迭代学习一交叉耦合的双轴运动控制策略，将单轴的迭代学习控制（iterative learning control，ILC）与双轴的交叉耦合控制（cross—coupled control，CCC）以及轮廓误差的ILC相结合。单轴的ILC用来改善单轴的跟踪性能，减小单轴的跟踪误差；双轴的CCC用以增加各轴之间的匹配程度，减小轮廓误差；轮廓误差的ILC可以提高轮廓的跟踪性能，进一步削减轮廓误差。仿真结果表明，双迭代学习一交叉耦合控制系统不仅能够有效降低单轴的跟踪误差，而且能显著减小轮廓误差。

英文摘要：

In dual-axis high precision contour machining, the tracking errors of single axis load and the contour errors caused by the discordant motion of dual-axis have an influence on machining accuracy when processing parts. A dual-axis motion control strategy based on double-iterative learning and cross-coupling was proposed. The iterative learning control （ILC） of single axis and the dual-axis cross-coupled control（CCC） were combined with the ILC of contour errors. The tracking performance of single axis was improved by ILC of single axis, thus decreasing the tracking errors of single axis. The dual-axis CCC was used to increase the matching degree among axes, thus reducing the contour errors. The ILC of contour errors could improve the contour tracking performance. The simulation re- sults indicate that the dual-axis motion control system based on double-iterative learning and cross- coupling can not only effectively decrease the tracking errors of single axis, but also significantly re- duce the contour errors.