目的 解决传统精油灌装机精度低、速度慢等问题。方法 设计一种基于卡尔曼滤波的CMAC-PID液体微装量自校正控制系统。首先采用卡尔曼滤波方法抑制噪声和干扰信号，再利用有监督学习功能的CMAC-PID控制器来提供反馈控制、保持系统稳定，并结合系统模型，通过Matlab进行仿真验证。结果 仿真结果表明，使用卡尔曼滤波CMAC-PID控制方法使系统具备了响应快、超调量小、抗干扰能力强等特点。结论 该方法在确保灌装精度的同时，能够较好地满足系统对灌装速度的要求。

The work aims to solve the problem of low precision and slow speed of the traditional essential oil filling machine. A CMAC-PID liquid micro-filling self-tuning control system based on Kalman filter was designed. Firstly, Kalman filter was used to suppress the noise and disturbance signals. Then the CMAC-PID controller with the function to supervise learning was adopted to provide feedback control and keep the system stable. Combined with the system model, simulation verification was carried out through Matlab. The simulation results showed that, by using the CMAC-PID control method with Kalman filter, the system was characterized by fast response, small overshoot and strong anti-interference ability. The method can ensure the filling speed required by the system while ensuring the filling accuracy.