mirror of
https://github.com/marcin-szczepanski/jFuzzyLogic.git
synced 2024-12-18 16:35:27 +01:00
51 lines
1.5 KiB
Plaintext
51 lines
1.5 KiB
Plaintext
|
FUNCTION_BLOCK ip // Block definition (there may be more than one block per file)
|
||
|
|
|
||
|
|
VAR_OUTPUT // Define input variables
|
||
|
|
force : REAL;
|
||
|
|
END_VAR
|
||
|
|
|
||
|
|
VAR_INPUT // Define output variable
|
||
|
|
x : REAL;
|
||
|
|
dxdt : REAL;
|
||
|
|
END_VAR
|
||
|
|
|
||
|
|
FUZZIFY x
|
||
|
|
TERM ok := (-0.1,0) (0,1) (0.1,0) ;
|
||
|
|
TERM left := (-2,1) (0,0);
|
||
|
|
TERM right := ( 0, 0) (2,1) ;
|
||
|
|
END_FUZZIFY
|
||
|
|
|
||
|
|
FUZZIFY dxdt
|
||
|
|
TERM ok := TRIAN -1 0 1 ;
|
||
|
|
TERM left := (-1,1) (0,0);
|
||
|
|
TERM right := (0,0) (1,1) ;
|
||
|
|
TERM tooRight := (3,0) (4,1);
|
||
|
|
TERM tooLeft := (-4,1) (-3,0);
|
||
|
|
|
||
|
|
END_FUZZIFY
|
||
|
|
|
||
|
|
|
||
|
|
DEFUZZIFY force
|
||
|
|
TERM zero := TRIAN -1 0 1 ;
|
||
|
|
TERM left := (-101,0) (-100,1) (-99,0);
|
||
|
|
TERM right := (99,0) (100,1) (101,0);
|
||
|
|
|
||
|
|
METHOD : COG; // Use 'Center Of Gravity' defuzzification method
|
||
|
|
DEFAULT := 0; // Default value is 0 (if no rule activates defuzzifier)
|
||
|
|
END_DEFUZZIFY
|
||
|
|
|
||
|
|
RULEBLOCK No1
|
||
|
|
AND : MIN; // Use 'min' for 'and' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
|
||
|
|
ACT : MIN; // Use 'min' activation method
|
||
|
|
ACCU : MAX; // Use 'max' accumulation method
|
||
|
|
|
||
|
|
RULE 1 : IF x IS right AND dxdt IS NOT tooLeft THEN force IS left ;
|
||
|
|
RULE 2 : IF x IS left AND dxdt IS NOT tooRight THEN force IS right ;
|
||
|
|
RULE 3 : IF x IS ok AND dxdt IS right THEN force IS left ;
|
||
|
|
RULE 4 : IF x IS ok AND dxdt IS left THEN force IS right ;
|
||
|
|
RULE 5 : IF x IS ok AND dxdt IS ok THEN force IS zero ;
|
||
|
|
|
||
|
|
END_RULEBLOCK
|
||
|
|
|
||
|
|
END_FUNCTION_BLOCK
|