中文摘要：

针对驱动多轴联动数控机床的高精度永磁同步电动机交流伺服系统，在分析系统轮廓误差的基础上，提出了将零相位误差跟踪控制器（zero phase error tracking controller，ZPETC）、自适应鲁棒控制器（adaptive robust controller，ARC）和交叉耦合控制器（cross coupling controller，CCC）相结合的控制策略。ZPETC提高了系统动态响应的快速性，消除系统的滞后现象，实现准确跟踪；ARC克服系统参数变化、负载扰动等不确定性因素的影响，增强系统的品质鲁棒性和稳定性；CCC用以消除各轴之间的增益参数和动态参数不匹配的影响。仿真分析表明所提出的控制方案有效，可提高零件的轮廓加工精度。

英文摘要：

For high precision permanent magnet synchronous motor servo system driving multiple linked numerical control machine, on the basis of analyzing the contour error of the system, the control strategy is presented which is based on the combination of zero phase error tracking controller（ZPETC） and the adaptive robust controller（ARC） with the cross coupling controUer（CCC）. ZPETC enhances the fasmess of the system dynamic response, eliminates the delay problem of the system, and implements the accurate tracking. ARC can overcome the influences of the uncertainties, such as system parameters variation, the load disturbance and so on, thus it enhances the quality robusmess and the system stability. While CCC eliminates the influences of mismatching of the gain parameters and dynamic parameters between the axis to further reduce the contour error. The simulation results show that the control scheme is effective. The new method of improving the contour machining precision of the parts is proposed.