TMS320F280049: DCL_runClamp_C1 in the DCL library

Wayne,

Correct.  The clamp function is there to guarantee lk is either 1.0 or 0.0.  This variable is used as an argument to DCL_runPID_C4 where it denotes an external saturation.  When lk is 1.0 there is no external saturation; when lk is 0.0 saturation has occurred.  The controller then clamps the integrator to avoid wind-up.

This example was re-written for DCL v3.3 to make this clearer.  The revised code is below:

// read ADC channel

yk = ((float) AdcResult.ADCRESULT0 - 2048.0f) / 2047.0f;

// run PID controller
uk = DCL_runPID_C4(&pid1, rk, yk, lk);

// external clamp for anti-windup reset
clampactive = DCL_runClamp_C1(&uk, upperlim, lowerlim);
lk = (clampactive == 0U) ? 1.0f : 0.0f;

Version 3.3 will be released in March.

Regards,

Richard