摘要：针对永磁直线同步电机跟踪系统中出现的诸多非线性因素，提出了基于PID控制器和径向基函数（RBF）神经网络组成的混合控制器。混合控制器结合了PID控制和RBF神经网络控制的优点，实现了非线性PID控制、高精度跟踪控制，拥有参数自整定、结构简单、易于实施等优点。分别对PID控制器，RBF神经网络控制器、混合控制器建模仿真，试验结果表明，混合控制器有较好的自适应性和鲁棒性。

关键词：永磁直线同步电机；非线性PID控制；RBF；混合控制器
Abstract: For many nonlinear factors which appear in the track system of Permanent Magnet Linear Synchronous Motor (PMLSM), the hybrid controller based on PID controller and RBF neural network controller were designed. The hybrid controller combines the advantages of PID control and RBF neural network control， achieved the nonlinear PID control and high-precision tracking control, which possessed the ability of parameters self-tuning, simple structure and easy to implement in the practice. PID controller, RBF neural network controller and the hybrid controller modeling and simulation were established. The experimental results show that the hybrid controller has good adaptability and robustness.

Key words: PMLSM; nonlinear PID control; RBF; hybrid controller