Aiming at the complicated and time-consuming problems of brushed Direct-Current （DC） motor Proportion Integral Differential （PID） parameter tuning， a PID parameter tuning method based on improved Genetic Algorithm （GA） was proposed. Firstly， a fitness enhanced elimination through selection rule was proposed， which improved the selection process of traditional GA. Then， a gene infection crossover method was proposed to ensure the increase of the average fitness value in the evolution process. Finally， the unnecessary copy operation in traditional GA was deleted to improve the running speed of the algorithm. Modeling and simulation analysis were carried out through the motor transfer function. Experimental results show that， compared with conventional tuning methods， the proposed improved GA can significantly improve the PID parameter tuning effect. At the same time， compared with the traditional GA， the improved GA reduces the evolutionary generation number required to achieve the same evolutionary effect by 79%， and increases the running speed of the algorithm by 4.1%. The proposed improved GA improves GA from the two key operation steps of selection and crossover， and is applied to PID parameter tuning to make the rise time less， the stability time shorter， and the overshoot smaller.