结果表明，相对于常规PD控制器，该神经网络控制器具有自学习、自适应功能，位置跟踪获得了满意的控制效果。

The simulation results prove that the neural network controller has self-learning and self-adaptive ability by comparison with PD controller. The position tracking control obtains satisfactory effect.

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分析了积分分离pid控制算法，在此基础上，将应用最广泛的PID控制器与具有自学习功能的神经网络相结合，得到了基于BP神经网络的PID控制算法。

Analyzing the integral splitting PID algorithm, and melting the wide-used PID controller and the automatic learning neural network, got a PID control algorithm based on the BP network.

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利用神经元的自学习功能实现神经元控制器的在线学习，并以神经元控制器作为交流伺服系统的位置调节器；

The neuron controller with its self-learning ability can realize the on-line learning algorithm, and it is adopted as the position controller of the AC servo system.

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