Reducing servo response error and further making reduction on contour error is crucial for high-precision computer numerical control (CNC) machine tools. For a permanent magnet synchronous motor (PMSM) servo system, there is always a response lag in feedrate tracking, which would introduce response error into the machining trajectory. Therefore, it is necessary to improve the performance of feedrate planning and interpolation for trajectory path. In this paper, a novel contour error compensation strategy is proposed. Compared with the mainstream methods, the proposed method offers a simplified alternative to existing contour error estimation techniques. Through a three-closed-loop control structure of a PMSM servo system, a response error model is founded. Afterwards, an improved S-model feedrate planning method is introduced according to the servo response error compensation. This predicted error is subsequently compensated in each interpolation cycle, resulting in a reduction of contour error. Finally, simulations and experiments are performed to demonstrate that the contour error can be reduced in both the ‘∞’-shaped Non-Uniform Rational B-Spline (NURBS) curve path and the butterfly-shaped NURBS curve path using the proposed method.

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