关键词: PID, 积分饱和, 控制算法, 饱和效应

Abstract: The problem of integral saturation occurred in engineering application of PID controller which is most common in the computer control system was analyzed. Several anti-saturation methods were introduced. The simulation shows that the improved algorithm used in this thesis can eliminate the integral saturation effect better than the conventional one and is valuable in practical application.

Key words: PID, integral saturation, control algorithm, saturation effect