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Solution: Homework 8

Fuzzy Logic. Fuzzy Control. Solution: Homework 8. Fuzzy Logic. Fuzzy Control. Solution: Homework 8 (Cont.). FC with 5 Rules. R ule 1 : IF level is okay, T HEN valve is no change. R ule 2 : IF level is low, THEN valve is open fast.

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Solution: Homework 8

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  1. Fuzzy Logic Fuzzy Control Solution: Homework 8

  2. Fuzzy Logic Fuzzy Control Solution: Homework 8 (Cont.) FC with 5 Rules • 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. • 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. error=reference – level rate of error= – rate oflevel

  3. Fuzzy Logic Fuzzy Control no change close slow open slow close fast open fast 1 –30 –20 –10 0 10 20 30 negative zero positive negative zero positive 1 1 –5 –4 0 45 –4 –0.5 0 0.5 4 Solution: Homework 8 (Cont.) 1st Set of Membership Functions Level error [cm] Rate of level error [cm/s] Valve control signal [%/s]

  4. Fuzzy Logic Fuzzy Control Solution: Homework 8 (Cont.)

  5. Fuzzy Logic Fuzzy Control no change close slow open slow close fast open fast 1 –30 –20 –10 0 10 20 30 negative zero positive negative zero positive 1 1 –5 1 0 1 5 –4 –0.5 0 0.5 4 Solution: Homework 8 (Cont.) 2nd Set of Membership Functions Level error [cm] Rate of level error [cm/s] Valve control signal [%/s]

  6. Fuzzy Logic Fuzzy Control Solution: Homework 8 (Cont.)

  7. Fuzzy Logic Fuzzy Control no change close slow open slow close fast open fast 1 –30 –20 –10 0 10 20 30 negative zero positive negative zero positive 1 1 –10 –4 0 4 10 –4 –0.5 0 0.5 4 Solution: Homework 8 (Cont.) 3rd Set of Membership Functions Level error [cm] Rate of level error [cm/s] Valve control signal [%/s]

  8. Fuzzy Logic Fuzzy Control Solution: Homework 8 (Cont.)

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

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

  11. Fuzzy Logic Fuzzy Control + y r e u – Fuzzy Control of Single Tank Fuzzy PID Controller • Weakness: too many rules

  12. Fuzzy Logic Fuzzy Control e r + y Du – Fuzzy Control of Single Tank Fuzzy PD+I Controller

  13. Fuzzy Logic Fuzzy Control u y e r + – Du + + Fuzzy Control of Single Tank Fuzzy PD+I Controller

  14. Fuzzy Logic Fuzzy Control u y e r + – + + Fuzzy Control of Single Tank Fuzzy PD+I Controller

  15. Fuzzy Logic Fuzzy Control End of the Lecture

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