At first, with the simulink of MATLAB, the feedforward neural networks went through training based on PSO in the closed-loop control system, and the optimized parameters of NN-PID are obtained.

• 首先借助MATLAB系统仿真工具，在闭环控制系统中通过PSO优化算法训练前馈网络，得到优化的NN-PID控制器参数；