说明：  PID控制器的性能取决于Kp、Ki、Kd这3个参数是否合理，因此，优化PID控制器参数具有重要意义。目前，PID控制器参数主要是人工调整，这种方法不仅费时，而且不能保证获得最佳的性能。PSO已经广泛应用于函数优化、神经网络训练、模式分类、模糊系统控制以及其它应用领域，本案例将使用PSO进行PID控制器参数的优化设计。
(Performance of PID controller depends on the Kp, Ki, Kd these three parameters are reasonable, therefore, to optimize PID controller parameters is important. Currently, PID controller parameters are mainly manual adjustment, this method is not only time consuming, but can not guarantee optimum performance. PSO has been widely used function optimization, neural networks, pattern classification, fuzzy systems control and other applications, in this case using the PSO is optimized PID controller parameters.)