基于分段非线性权重值的Pso算法，采用累计贡献率的方法，包含了阵列信号处理的常见算法，最小均方误差（MMSE）的算法，IMC-PID是利用内模控制原理来对PID参数进行计算，包含位置式PID算法、积分分离式PID。- Based on piecewise nonlinear weight value Pso algorithm, The method of cumulative contribution rate Contains a common array signal processing algorithm, Minimum mean square error (MMSE) algorithm, The IMC- PID is using the internal model control principle for PID parameters is calculated, It contains positional PID algorithm, integral separate PID.