Optimize the PID parameters based on improvement of immune algorithm

According to the disadvantages of general PID controller parameters optimization methods, this paper presents an improved immune algorithm. Main characteristics of this algorithm is to generate an initial population using homogenization techniques, self-adapt crossover operator and mutation operator. Result of simulation shows that the new method is superior to Z-N optimization algorithm. This method can overcome the premature phenomenon effectively and has good convergence performance and optimizing capacity.