145 lines
3.5 KiB
Markdown
145 lines
3.5 KiB
Markdown
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# Digital Control Library (DCL) {#DCL}
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[TOC]
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## Introduction
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The Sitara™ Digital Control Library (DCL) provides a suite of robust software functions for developers of digital
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control applications using the Texas Instruments Sitara MCU. DCL is a header-only library, and all functions in
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the library are provided in the form of C source-code.
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The DCL contains PI,PID and "Direct Form" controller types. The former are typically used to tune properties of
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a transient response, while the latter are typically used to shape the open loop frequency response.
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In addintion, DCL contains functions to convert controller parameters from one type to the other. As well as
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functions to parameterize the controller given a transfer function.
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Several utility modules such as error handling, data logging are also included as a supporting module.
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## Features Supported
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Supported controller modules (floating-point)
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- Linear PI
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- Linear PID
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- Linear PI with double integrator
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- Direct Form 1 (first order)
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- Direct Form 1 (third order)
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- Direct Form 2 (second order)
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- Direct Form 2 (third order)
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Other utility modules:
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- Error Handling
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- Testpoints
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- Data Logging
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## Features Not Supported
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(Compared with C2000Ware's DCL)
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- Fix-point controller modules
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- Non-linear PID controller
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- Reference Generator and performance index
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- Multi-channel data logs
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## Benchmark Results
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A benchmark on R5F core has been conducted to observe the following results when running controller arithmetic:
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<table>
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<tr>
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<th>Controller Function
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<th>Cpu Cycles
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> PI Controller </td></tr>
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<tr>
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<td>DCL_runPISeries</td>
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<td>49.15</td>
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</tr>
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<tr>
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<td>DCL_runPIParallel</td>
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<td>50.00</td>
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</tr>
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<tr>
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<td>DCL_runPISeriesTustin</td>
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<td>56.35</td>
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</tr>
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<tr>
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<td>DCL_runPIParallelEnhanced</td>
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<td>62.57</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> PI2 Controller </td></tr>
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<tr>
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<td>DCL_runPI2Series</td>
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<td>74.00</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> PID Controller </td></tr>
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<tr>
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<td>DCL_runPIDSeries</td>
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<td>64.68</td>
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</tr>
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<tr>
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<td>DCL_runPIDParallel</td>
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<td>64.84</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> DF11 Controller </td></tr>
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<tr>
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<td>DCL_runDF11</td>
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<td>24.00</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> DF13 Controller </td></tr>
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<tr>
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<td>DCL_runDF13</td>
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<td>43.00</td>
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</tr>
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<tr>
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<td>DCL_runDF13Clamp</td>
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<td>53.00</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> DF22 Controller </td></tr>
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<tr>
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<td>DCL_runDF22</td>
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<td>27.00</td>
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</tr>
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<tr>
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<td>DCL_runDF22Clamp</td>
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<td>41.00</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> DF23 Controller </td></tr>
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<tr>
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<td>DCL_runDF23</td>
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<td>29.00</td>
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</tr>
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<tr>
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<td>DCL_runDF23Clamp</td>
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<td>45.00</td>
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</tr>
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<tr><td colspan="2" bgcolor=#F0F0F0> PID 64bit Controller </td></tr>
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<tr>
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<td>DCL_runPIDF64Series</td>
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<td>185.14</td>
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</tr>
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<tr>
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<td>DCL_runPIDF64Parallel</td>
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<td>173.63</td>
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</tr>
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</table>
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- Ran with TI Clang Compiler v2.1.3.LTS, with -Os flag and functions in ram, obtained the average result from 600 consecutive reading of running the controller with DPL CycleCountP.
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- Actual result may vary depending on provided datasets and memory configuration.
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## Provided Examples
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The following examples has been provided to demonstrate the DCL library:
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- \ref EXAMPLES_DCL_PI
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- \ref EXAMPLES_DCL_DF22
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## Additional References {#DCL_ADDITIONAL_REFERENCES}
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N/A
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## API
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\ref DCL_API_MODULE
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