mirror of
https://github.com/marcin-szczepanski/jFuzzyLogic.git
synced 2024-08-16 18:06:57 +02:00
58 lines
1.6 KiB
Plaintext
58 lines
1.6 KiB
Plaintext
FUNCTION_BLOCK ipPhi0 // control block fOR the angle
|
|
|
|
VAR_OUTPUT
|
|
fORce : REAL;
|
|
END_VAR
|
|
|
|
VAR_INPUT
|
|
phi : REAL;
|
|
dphidt : REAL;
|
|
END_VAR
|
|
|
|
|
|
FUZZIFY phi
|
|
TERM Z := TRIAN -5 0 5;
|
|
TERM PS := TRIAN 0 5 10;
|
|
TERM NS := TRIAN -10 -5 0;
|
|
TERM PB := (5,0) (10,1) (60,1) (70,0);
|
|
TERM NB := (-70,0) (-60,1) (-10, 1) (-5,0);
|
|
|
|
END_FUZZIFY
|
|
|
|
FUZZIFY dphidt
|
|
TERM Z := TRIAN -8 0 8;
|
|
TERM PS := TRIAN 0 8 200 ;
|
|
TERM NS := TRIAN -200 -8 0 ;
|
|
TERM PB := (8,0) (200,1) (500,1) ;
|
|
TERM NB := (-500,1) (-200,1) (-8,0);
|
|
END_FUZZIFY
|
|
|
|
|
|
DEFUZZIFY fORce
|
|
TERM Z := TRIAN -20 0 20;
|
|
TERM PS := TRIAN 30 50 70;
|
|
TERM NS := TRIAN -70 -50 -30;
|
|
TERM PB := TRIAN 190 200 210;
|
|
TERM NB := TRIAN -210 -200 -190;
|
|
|
|
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;
|
|
ACT : MIN;
|
|
ACCU : MAX;
|
|
|
|
RULE 1 : IF phi IS PS AND (dphidt IS PS OR dphidt IS Z) THEN fORce IS PS;
|
|
RULE 2 : IF phi IS PS AND dphidt IS PB THEN fORce IS PB ;
|
|
RULE 3 : IF phi IS NS AND (dphidt IS NS OR dphidt IS Z) THEN fORce IS NS;
|
|
RULE 4 : IF phi IS NS AND dphidt IS NB THEN fORce IS NB ;
|
|
RULE 5 : IF phi IS PB AND (dphidt IS NOT NB) AND (dphidt IS NOT NS) THEN fORce IS PB ;
|
|
RULE 6 : IF phi IS NB AND (dphidt IS NOT PB) AND (dphidt IS NOT PS) THEN fORce IS NB ;
|
|
RULE 7 : IF phi IS Z AND dphidt IS Z THEN fORce IS Z;
|
|
|
|
END_RULEBLOCK
|
|
|
|
END_FUNCTION_BLOCK
|