滤波求和方式实现宽带波束形成，加入重复控制，基于欧几里得距离的聚类分析，对信号进行频谱分析及滤波，基于分段非线性权重值的Pso算法。- Filtering summation way broadband beamforming, Join repetitive control, Clustering analysis based on Euclidean distance, The signal spectral analysis and filtering, Based on piecewis