Abstract: Based on analyzing rationale and mathematics model of a position servo control system，the paper introduces a new design of parallel control arithmetic and controller based on CAMC and PID.The method replaces PID by single neuron PID，achieves the on-line adjustment PID control parameter and realizes real time control on the system by the self-study and self-adaptive capability of CMAC neural network.This algorithm is applied in simulation research of the position servo control system.The result shows the system possesses the advantages of high precision，real-time standard，strong ability of anti-interfere and robustness.

摘要： 在分析了位置伺服控制系统基本原理和数学模型的基础上，提出了一种单神经元PID/CMAC复合控制算法和控制器的设计方法。用单神经元PID替代常规PID控制，由神经元来在线调整PID控制参数，利用CMAC神经网络的自学习和自适应能力，来完成系统的实时控制。该算法直接应用于位置伺服控制系统，仿真结果表明，与传统PID控制算法相比较，该复合控制算法增强了系统的控制精度，提高了系统的响应速度，具有较强的鲁棒性和抗干扰能力。