On the basis of analysis on error model of ultra precision CNC machine tool, the variant gain crosscoupling control algorithm is introduced into the servo control of ultra precision CNC machine tool.
文章在分析超精密数控机床误差模型的基础上，将变增益交叉耦合控制算法引入超精密数控机床的伺服控制。
2
Because cross-coupling control is advantageous to restricting and harmonizing between multi driving wheels, it can reduce orientation error and improve the accuracy of path tracking effectively.
由于交叉耦合控制利于多轮驱动之间的制约和协调，可以有效减少方向误差和提高路径跟踪的精确性。
3
As to the problem of tuning PID-CCC controller parameters, Cross-coupling fuzzy self-tuning based on CETF (contouring error transfer function) is proposed, which is robust to the parameters of plants.