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)
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VAR_OUTPUT // Define input variables
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force : REAL;
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END_VAR
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VAR_INPUT // Define output variable
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x : REAL;
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dxdt : REAL;
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END_VAR
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FUZZIFY x
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TERM ok := (-0.1,0) (0,1) (0.1,0) ;
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TERM left := (-2,1) (0,0);
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TERM right := ( 0, 0) (2,1) ;
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END_FUZZIFY
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FUZZIFY dxdt
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TERM ok := TRIAN -1 0 1 ;
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TERM left := (-1,1) (0,0);
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TERM right := (0,0) (1,1) ;
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TERM tooRight := (3,0) (4,1);
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TERM tooLeft := (-4,1) (-3,0);
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END_FUZZIFY
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DEFUZZIFY force
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TERM zero := TRIAN -1 0 1 ;
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TERM left := (-101,0) (-100,1) (-99,0);
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TERM right := (99,0) (100,1) (101,0);
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METHOD : COG; // Use 'Center Of Gravity' defuzzification method
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DEFAULT := 0; // Default value is 0 (if no rule activates defuzzifier)
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END_DEFUZZIFY
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RULEBLOCK No1
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AND : MIN; // Use 'min' for 'and' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
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ACT : MIN; // Use 'min' activation method
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ACCU : MAX; // Use 'max' accumulation method
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RULE 1 : IF x IS right AND dxdt IS NOT tooLeft THEN force IS left ;
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RULE 2 : IF x IS left AND dxdt IS NOT tooRight THEN force IS right ;
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RULE 3 : IF x IS ok AND dxdt IS right THEN force IS left ;
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RULE 4 : IF x IS ok AND dxdt IS left THEN force IS right ;
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RULE 5 : IF x IS ok AND dxdt IS ok THEN force IS zero ;
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END_RULEBLOCK
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END_FUNCTION_BLOCK
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