PID调节是自动控制系统中应用最广泛的控制方法之一,使用起来比较方便,但是饱和问题常常给人带来麻烦。本文从理论上证明了在用计算机控制的数字PID调节中,也存在着饱和问题,从本质上揭示出饱和是积分算法存在的结果,而与实现PID调节的物理方法无关。同时也探讨了减弱和防止积分饱和问题的方法。 PID control is one of the most widely used control methods in automatic control system, which is more convenient to use. However, the saturation problem often brings trouble to people. This paper theoretically proves that there is also a saturation problem in computer-controlled digital PID regulation. It reveals essentially that saturation is the result of integral algorithm, but has nothing to do with the physical method of PID regulation. At the same time, methods of weakening and preventing the problem of integral saturation are also discussed.