说明：  利用PSO粒子群搜索算法,辨识PID参数:Kp,Ki,Kd.结果表明虽然该方法辨识精度不是很高,但是也有一定可信度.
(Use english PSO Particle Swarm algorithm, identification of PID parameters: Kp, Ki, Kd. The results show that although the method is not very high recognition accuracy, but it also has a certain credibility.)