60 lines
1.8 KiB
Plaintext
60 lines
1.8 KiB
Plaintext
FUNCTION_BLOCK ipPhi0 // control block fOR the angle
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VAR_OUTPUT
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fORce : REAL;
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END_VAR
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VAR_INPUT
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phi : REAL;
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dphidt : REAL;
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END_VAR
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FUZZIFY phi
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TERM Z := TRIAN -5 0 5;
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TERM PS := TRIAN 0 5 10;
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TERM NS := TRIAN -10 -5 0;
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TERM PB := (5,0) (10,1) (60,1) (70,0);
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TERM NB := (-70,0) (-60,1) (-10, 1) (-5,0);
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RANGE := (-70.0 .. 70.0); // Added range for phi
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RANGE := (-70.0 .. 70.0); // Added range for phi
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END_FUZZIFY
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FUZZIFY dphidt
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TERM Z := TRIAN -8 0 8;
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TERM PS := TRIAN 0 8 200 ;
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TERM NS := TRIAN -200 -8 0 ;
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TERM PB := (8,0) (200,1) (500,1) ;
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TERM NB := (-500,1) (-200,1) (-8,0);
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RANGE := (-500.0 .. 500.0); // Added range for dphidt
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END_FUZZIFY
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DEFUZZIFY fORce
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TERM Z := TRIAN -20 0 20;
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TERM PS := TRIAN 30 50 70;
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TERM NS := TRIAN -70 -50 -30;
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TERM PB := TRIAN 190 200 210;
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TERM NB := TRIAN -210 -200 -190;
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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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RANGE := (-210.0 .. 210.0); // Added range for fORce
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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 PS AND (dphidt IS PS OR dphidt IS Z) THEN fORce IS PS;
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RULE 2 : IF phi IS PS AND dphidt IS PB THEN fORce IS PB ;
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RULE 3 : IF phi IS NS AND (dphidt IS NS OR dphidt IS Z) THEN fORce IS NS;
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RULE 4 : IF phi IS NS AND dphidt IS NB THEN fORce IS NB ;
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RULE 5 : IF phi IS PB AND (dphidt IS NOT NB) AND (dphidt IS NOT NS) THEN fORce IS PB ;
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RULE 6 : IF phi IS NB AND (dphidt IS NOT PB) AND (dphidt IS NOT PS) THEN fORce IS NB ;
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RULE 7 : IF phi IS Z AND dphidt IS Z THEN fORce IS Z;
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END_RULEBLOCK
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END_FUNCTION_BLOCK
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