Fuzzy Logic Fuzzy Control Solution: Homework 12.

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Presentation transcript:

Fuzzy Logic Fuzzy Control Solution: Homework 12

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.) FC with 5 Rules Rule 1: IF error is zero, THEN valve is no change. Rule 2: IF error is positive,THEN valve is open fast. Rule 3: IF error is negative,THEN valve is close fast. Rule 4: IF error is zero AND error rate is positive, THEN valve is open slow. Rule 5: IF error is zero AND error rate is negative, THEN valve is close slow. Rule 1: IF level is okay, THEN valve is no change. Rule 2: IF level is low, THEN valve is open fast. Rule 3: IF level is high, THEN valve is close fast. Rule 4: IF level is okay AND rate is negative, THEN valve is open slow. Rule 5: IF level is okay AND rate is positive, THEN valve is close slow. error = reference – level rate of error = – rate of level

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.) 1st Set of Membership Functions zero positive negative –5 –4 0 4 5 1 zero positive negative –4 –0.5 0 0.5 4 1 Level error [cm] Rate of level error [cm/s] no change open fast close fast –30 –20 –10 0 10 20 30 1 open slow close slow Valve control signal [%/s]

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.)

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.) 2nd Set of Membership Functions zero positive negative –5 -1 0 1 5 1 zero positive negative –4 –0.5 0 0.5 4 1 Level error [cm] Rate of level error [cm/s] no change open fast close fast –30 –20 –10 0 10 20 30 1 open slow close slow Valve control signal [%/s]

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.)

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.) 3rd Set of Membership Functions zero positive negative –10 –? 0 ? 10 1 zero positive negative –4 –0.5 0 0.5 4 1 Level error [cm] Rate of level error [cm/s] no change open fast close fast –30 –20 –10 0 10 20 30 1 open slow close slow Valve control signal [%/s]

Solution: Homework 12 (Cont.) Fuzzy Logic Fuzzy Control Solution: Homework 12 (Cont.)

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers u + – e r y Fuzzy P Controller

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers u + – e r y Fuzzy PD Controller

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers u e r y + – Fuzzy PID Controller Weakness: too many rules

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers r + – e y Du Fuzzy PD+I Controller

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers r u + – e y Du Fuzzy PD+I Controller

PID-like Fuzzy Controllers Fuzzy Logic Fuzzy Control PID-like Fuzzy Controllers r u + – e y Fuzzy PD+I Controller

Fuzzy Logic Fuzzy Control End of the Lecture