66 lines
1.9 KiB
Plaintext
66 lines
1.9 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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phi : REAL;
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dphidt : REAL;
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END_VAR
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FUZZIFY x
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TERM ok := ( -2, 0) (0,1) (2,0);
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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 := (-10, 0) (0, 1) (5,0) ;
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TERM left := (-10,1) (0,0);
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TERM right := (0,0) (10,1) ;
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END_FUZZIFY
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FUZZIFY phi
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TERM ok := (-1,0) (0,1) (1,0);
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TERM left := (0,0) (1,1) ;
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TERM right := (-1,1) (0,0);
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END_FUZZIFY
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FUZZIFY dphidt
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TERM ok := (-10,0) (0,1) (10,0);
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TERM left := (0,0) (10,1) ;
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TERM right := (-10,1) (0,0);
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END_FUZZIFY
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DEFUZZIFY force
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TERM zero := (-1,0) (0,1) (1,0);
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TERM left := (-201,0) (-200,1) (-199,0);
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TERM right := (199,0) (200,1) (201,0);
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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;
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ACT : MIN;
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ACCU : MAX;
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RULE 1 : IF phi IS right AND dphidt IS right THEN force IS right ;
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RULE 2 : IF phi IS left AND dphidt IS left THEN force IS left ;
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RULE 3 : IF phi IS ok AND dphidt IS ok THEN force IS zero ;
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// RULE 3 : IF x IS ok AND dxdt IS ok AND phi IS ok AND dphidt IS ok THEN force IS zero ;
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// RULE 4 : IF x IS right AND dxdt IS ok AND phi IS right THEN force IS right ;
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// RULE 5 : IF x IS left AND dxdt IS ok AND phi IS left THEN force IS left ;
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// RULE 6 : IF x IS ok AND dxdt IS right THEN force IS left ;
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// RULE 7 : IF x IS ok AND dxdt IS left THEN force IS right ;
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END_RULEBLOCK
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END_FUNCTION_BLOCK
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