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针对直线电机驱动XY平台执行高精度任意自由轨迹轮廓控制任务的情况，提出一种基于速度场的轨迹规划方案，以建构速度场的方式规划指令轨迹的路径，将双轴位置协调控制转化为各单轴速度控制，消除“轨径缩减”现象。首先，基于方向场理论，以划分网格点的方式构建轨迹速度场，并将由速度场规划的X、Y轴的速度分量作为系统指令的速度输入，通过设计各单轴 PI 控制器使 X、Y 轴的速度误差趋近于0，以提高系统的轮廓精度。仿真与实验结果表明，所提方案能够构建任意轨迹的速度场，将双轴协调控制简化为各单轴速度控制，提高了系统的轮廓精度。“,”To improve contour accuracy of the free-form contour trajectory control task that was executed by the direct drive XY table of two linear motors, a novel trajectory planning method based velocity vector field was proposed. In order to enhance the coordination performance and eliminate the “radial reduction” phenomenon, the velocity vector field of desired trajectory was constructed and biaxial coordination control was transformed into single axis velocity control. The velocity field was constructed based on the direction field grid point method, and in order to reduce the velocity error and contour error, the PI controller was designed. Simulation and experimental results demonstrate that the proposed scheme can ensure a higher contour accuracy of the system.