摘要：网络环境下不可避免的存在网络时延，使网络控制系统的控制品质下降。针对此问题设计了基于模型参考自适应控制的交流伺服电机网络化控制系统，将预测误差控制和参数估计结合起来，使控制对象的输出跟踪参考模型的输出。系统采用B/S（Browser/Serve）与C/S（Client/Server）混合的模式开发了软件程序，并在自行开发的人机控制界面上进行了真实系统的网络化控制调试。测试结果表明，模型参考自适应控制的网络化伺服系统受网络延时影响小，具有较好的跟踪性和鲁棒性。

关键词：网络控制；交流伺服电机；模型参考自适应控制；网络延时
Abstract: Control quality of networked control system decline because of network delay. To solve this problem, AC servo motor network control system based on ModelReferenceAdaptiveControl (MRAC) was designed. This method of control made the output of the controlled object tracking reference model output by combining the prediction error control and parameter estimation together. Software program was developed by B/SC/S mixed mode. Network control of the real system was debugged in the selfdeveloped humanmachine control interface. The experiment results show good traceability and robustness, that is to say network servo system based on MRAC is hardly affected by network delay.

Key words: network control；AC servo motor；modelreferenceadaptivecontrol；network delay