数字PID算法中的微分饱和与积分饱和问题

The Problems of Derivative and Integration Saturation in the Digital PID Control Algorithm

本文定义了积分饱和与比例微分饱和 ,提出了位置式和增量式等价、比例微分饱和的影响和消除比例微分饱和影响等概念。

This paper defines the integrator saturation and PD saturation, and presents the concepts of the increment from equivalent to the position form and the affect of the PD saturation and fight off the affect.