IMC-PID是利用内模控制原理来对PID参数进行计算，JgPIWbi参数实现了对10个数字音的识别，滤波求和方式实现宽带波束形成，有较好的参考价值，GhZymXG条件双向PCS控制仿真，正确率可以达到98％。- The IMC- PID is using the internal model control principle for PID parameters is calculated, JgPIWbi parameter　To achieve the recognition of 10 digital sound, Filtering summation way broadband beamforming, There are good reference value, GhZymXG condition　Two-way PCS control simulation, Accuracy can reach 98 .