基于人群搜索算法SOA的PID参数整定，包括参数的编码，适应度函数的选取，搜索步长的确定，搜索方向的确定，个体位置的更新-Update search algorithm based on PID parameter crowd SOA tuning, including selecting encoding parameters, fitness function, the search step to determine to determine the direction of the search, the individual positions