基于改进搜寻者优化算法的PID控制

针对传统PID参数整定方法存在精度低、稳定性差，且被控制系统易受噪声影响等缺点，提出一种基于改进搜寻者优化算法(ISOA)的PID控制方法。采用Z-N方法得到的PID参数整定值指导初始种群的产生和个体寻优范围的确定，再引入变异操作方法和个体进化方向引导策略，从而提高PID参数优化精度，并结合Kalman滤波器实现对被控系统中控制噪声和测量噪声的滤波处理。仿真结果表明，与基于标准搜寻者优化算法(SOA)的PID控制方法比较，基于ISOA算法和Kalman滤波器的PID控制，不仅可以获得更优的PID参数，而且能够有效抑制控制过程中的噪声干扰，实现了高精度、强鲁棒性的PID控制。

PID Control Based on Improved Seeker Optimization Algorithm

In order to overcome the disadvantages of traditional PID setting methods, such as low precision, poor stability, susceptibility to noise, and so on, a PID control method is proposed based on improved seeker optimization algorithm (ISOA). This method adopts the Z-N method to calculate PID setting values to guide the production of initial population and the determination of searching range. Meanwhile, mutation method and guidance strategy of evolutionary direction are added to improve the accuracy of PID parameter optimization, and Kalman filter is used to filter control noise and measure noise in controlled systems. The simulation results show that, compared with the PID control method based on standard seeker optimization algorithm (SOA), the PID control method based on ISOA and Kalman filter can achieve better optimal PID parameters and effectively eliminate noise interference in the process of control, which achieves PID control with high precision and good robustness.