基于分段非线性权重值的Pso算法，连续相位调制信号(CPM)产生，IMC-PID是利用内模控制原理来对PID参数进行计算，鲁棒性好，性能优越，isodata 迭代自组织的数据分析，包含CV、CA、Single、当前、恒转弯速率、转弯模型，是小学期课程设计的题目。- Based on piecewise nonlinear weight value Pso algorithm, Continuous phase modulation signal (CPM) to produce, The IMC- PID is using the internal model control principle for PID parameters is calculated, Robustness, superior performance, Isodata iterative self-organizing data analysis, It contains CV, CA, Single, current, constant turn rate, turning model, Is the topic of the elementary school stage curriculum design.