关键词: 神经网络PID, 模糊PID, 免疫PID

Abstract: For controlling the angle of pitch and velocity of rotate shaft of helicopter，the control performance of fuzzy PID，neural network PID and immune PID is compared each other.The simulation results show that neural network PID controller has the highest accuracy.There is no response error and the stability is good.But it has long response time.The response time of fuzzy PID is faster and its stability is better than those of the other two controllers，but it has little error.When immune PID controller is used to control rotate shaft of helicopter，the response rate and stability are better than the other two controllers.But its control effect to control of angle of pitch control is bad.

Key words: netural network PID, fuzzy PID, immune PID