准备采用PID向导生成的PID模块。不知道该模块中采取积分饱和措施了没有。假如没有，则需要每次PID运算后需要进行处理。所以首先对该模块的数据要求了解，如下是PID生成的一个数据块：假若不用微分

PID0_PV:VD0 0.0 //Process Variable
PID0_SP:VD4 0.0 //Loop Setpoint
PID0_Output:VD8 0.0 //Calculated Loop Output
PID0_Gain:VD12 1.0 //Loop Gain
PID0_SampleTime:VD16 1.0 //Sample Time
PID0_I_Time:VD20 10.0 //Integral Time
PID0_D_Time:VD24 0.0 //Derivative Time
VD28 0.0 //Integral Sum or Bias
VD32 0.0 //Value of Process Variable stored from last execution.
VB36 'PIDA' //Extended Loop Table Marker
VB40 16#00 //Algorithm control byte
VB41 16#00 //Algorithm status byte
VB42 16#00 //Algorithm result byte
VB43 16#03 //Algorithm configuration byte
VD44 0.08 //Deviation value set from Advanced button or from default value
VD48 0.02 //Hysteresis value set from Advanced button or from default value
VD52 0.1 //Initial Output step value set from Advanced button or from default value
VD56 7200.0 //Watchdog timeout value set from Advanced button or from default value
VD60 0.0 //Gain value determined by Auto Tune algorithm
VD64 0.0 //Integral time value determined by Auto Tune algorithm
VD68 0.0 //Derivative time value determined by Auto Tune algorithm
VD72 0.0 //Deviation value calculated by algorithm if automatic calculation option set
VD76 0.0 //Hysteresis value calculated by algorith

根据书上介绍，当PID运算结果大于1时，积分饱和措施是MX=1-比例运算所占的分量（MP）。可是从上面数据中我始终找不到这三个量。
可能我想的太多了。高手指点一下。