Home

LOGIX-UM004A-EN-P RSLogix 5000 Fuzzy Designer User Manual

1. Modifying Fuzzy System Parameters Online Importing an Add On Instruction to FuzzyDesigner Chapter 7 PIO 223 4h eae II Document Element 0 a a eee ens Chapter 8 I MTOdUCION surta beds de BO EOE ea Preface About This Publication Use this manual to understand how to best use the features in RSLogix 5000 software version 16 FuzzyDesigner This manual describes the necessary tasks to e build fuzzy systems as block diagrams from components of the FuzzyDesigner Component Library and use FuzzyDesigner functions to complete the project e use execute and monitor the designed fuzzy system on Rockwell Automation Logix5000 controllers e understand the fuzzy project and how you can export it to the XML format Who Should Use This This manual is for application and control engineers to enhance functionality of control and decision making systems Publication a Conventions Text that is Identifies Bold A value that you must enter exactly as shown Italic A variable that you replace with your own text or value Courier Example programming code shown in a monospace font so you can identify each character and space Enclosed in brackets A keyboard key Publication LOGIX UMO004A EN P March 2007 8 Preface Notes Publication LOGIX UMO0O4A EN P March 2007 Chapter 1 Introduction Understanding FuzzyDesigner Predicted Demand Predict Get Started with
2. 88 Intermediate Linguistic Variable 92 Rule Block 4 42 544 24044344 444454 4429684448 94 PHO Controller otro aa Deen A Be ee 97 I PET COU tte Sad Peg E L 102 Term Properties Dalo 2 3 ula Gee pue BY oes aE paa 105 Rule Editor auna lona donan a a Be eae 108 Operations Wilh RUES e hai ei sede lp or es 109 Rule Editor TOOL Bat odias ped ale Eos eS Mies 110 PO o AAA 113 Wat ee suas da ae te toads as 8 ae Od Soe ese 113 ESTO Gia Pl gah ees Yen Sco da sia iaa 117 History Graph Control Context Menu 119 History Graph Control Tool Bar 121 History Graph Control Mouse Dragging 122 OE foe ea a a ea ee E ee 6 S E S N 122 2D Graph Control Context Menu 124 2D Graph Control Tool Bart es dais oh ee wee 125 O AO EE E E E EEE a E E E E 125 3D Graph Control Context Menu 128 Fuzzy System Simulation RSLogix 5000 Add On Instruction XML Format of a Fuzzy Project Glossary 3D Graph Control Tool Bat siii sra GAs aia 3D Graph Control Mouse Dragging Chapter 5 HOTPOCUCUOM siinon A ese he ek ee ee Chapter 6 oo od eos be ete e pee Se ie Generating a Fuzzy Add On Instruction Add On Instruction Parameters 0004 Importing Add On Instructions to RSLogix 5000 Projects Monitoring and Updating a Project Online Configuring RSLinx OPC Server TOPIC
3. o File name i Notes Files of type RSLogix 5000 Import Export Files 5 Cancel Places Help E 4 Select the Add On Instruction L5X file you want to import to the RSLogix 5000 project Publication LOGIX UMO0O4A EN P March 2007 RSLogix 5000 Add On Instruction 137 5 Create an instance tag of the fuzzy Add On Instruction The type of the tag has to match the imported Add On Instruction Controller Tags ball controller Scope fin bal Show Showa Neme a las Bas Date Type Style Description ES ange REAL Float control variable SQ for angle actuator output Ea o posero REAL Float ball position error SP actual position input a Ma velocity of the ball input Braem oe pe t Nonlinear Fuzzy PO Controller of BallBear System ES g H 6 Create the tags if not yet created in which you want to store inputs and outputs of the fuzzy AOI The type of these tags has to be REAL 7 Add the fuzzy Add On Instruction to code cfd E e O 4 Favorites A Add On A Bit A Tim B MainProgram MainRoutine PERSA A E rect Nonlinear Faz ER Hall pos error velocity angle 0 D mM O DO OD 0 0 A wo Publication LOGIX UMO0O4A EN P March 2007 138 RSLogix 5000 Add On Instruction 8 Enter parameters operands for the AOI E MainProgram MainRoutine Oj x Contr
4. EA General Terms Description Variable Description Term Editor Variable Description Enter the description of the IMLV e Term Editor button Click this button to open the Term Editor see section Term Editor where you can change the default terms of the variable count names e OK button Accept the entered properties for the project e Cancel button Click this button to close the IMLV properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Rule Block Use the Edit New Rule Block main menu command or the New Rule Block tool bar button to add a new Rule Block RB to the active project Use the New Rule Block project window context menu command to add a block FuzzyDesigner Projects 95 The Rule Block properties dialog appears and a default name is assigned to the component Click OK to add the component to the appropriate project Rule Block names must be unique in the same project e General tab dialog Specify the main properties of a new or existing RB Rule Block Properties Dialog General Tab Dialog Y Rule Block bal Rules General Links Description Block General Block Name T normm Type Rule Editor Cancel Block Name Enter the block name T norm Type Set up the t norm type for the block Publication LOGIX UMO04A EN P March 2007 96 FuzzyDesigner Proj
5. Enter the description of the RB e Rule Editor button Click this button to open the Rule Editor see section Rule Editor where you can change the block rule base for example add or delete rules e OK button Accept the entered properties for the project e Cancel button Click this button to close the RB properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog PID Controller Use the Edit New PID Controller main menu command or the New PID Controller tool bar button to add a new PID Controller PIDC to the active project Alternatively use the New PID Controller project window context menu command to add a controller The PID Controller properties dialog appears and a default name is assigned to the component Click the OK button to add the component to the appropriate project All PID Controller names must be unique in the same project Publication LOGIX UMO04A EN P March 2007 98 FuzzyDesigner Projects e General tab control page Specify the main properties of a new or existing PIDC PID Controller Properties Dialog General Tab Dialog a Options Description FID Controller Hame PIDControllerd Input Links Process arable none Set Point Link none ES Set Point Value oO P Gain Link none e P Gain Value oO Gain Link none Gain Value OD TD Gain Link none D Gain Value 0
6. General Terms Description Yarlable General Varable Hame Intermediate ariabled ee Variable Name Enter the name of the variable e Terms tab dialog The IMLV properties dialog defines the variable through the following terms Intermediate Linguistic Variable Properties Dialog Terms Tab Dialog 2 Intermediate Linguistic Variable ball IntermediateYariabli loj xl General Terms Description Mames flow medium high a Term Editor Cancel Count Specify the number of terms defined for the intermediate linguistic variable When the IMLV properties dialog is open for an existing variable the current number of terms is shown Publication LOGIX UMO04A EN P March 2007 94 FuzzyDesigner Projects Publication LOGIX UMO04A EN P March 2007 Names Change default names and specify names of terms for the newly created intermediate variable When the IMLV properties dialog is open for the existing variable the names of terms already applied are shown IMPORTANT When the IMLV properties dialog is open for an existing variable then the terms count and the term names are visible but you cannot change them in the properties dialog e Description tab dialog Specify the description of a new or existing IMLV Intermediate Linguistic Variable Properties Dialog Description Tab Dialog Y Intermediate Linguistic ariable ball IntermediateYar 0 x
7. shows the help index e Search shows the help search dialog e Product Activation shows the Product Activation dialog with the Computer ID Send this together with the serial number to technical support to get the Activation Key to access the desired application features e About about the FuzzyDesigner Publication LOGIX UMO0O4A EN P March 2007 66 FuzzyDesigner Graphical User Interface Tool Bar Menu Publication LOGIX UMO0O4A EN P March 2007 This section lists all menu buttons in the tool bar menu see FuzzyDesigner Tool Bar of the FuzzyDesigner main window e Create new project e Open project e Save active project e Undo see section FuzzyDesigner Control Basics e Redo see section FuzzyDesigner Control Basics e Refresh evaluates static the just active project e Go to Design Mode Go to Monitoring Mode switches FuzzyDesigner between the Design and Monitoring Mode see section FuzzyDesigner Control Basics e Preview shows the preview of the current project e Print e Hide Tree View see section FuzzyDesigner Tree View e New Input Port e New Input Linguistic Variable e New Output Port e New Output Linguistic Variable e New Output Takagi Sugeno Variable e New Intermediate Linguistic Variable e New Rule Block e New PID Controller Help shows the FuzzyDesigner help Introduction Working with Projects Chapter 4 FuzzyDesigner Projects
8. 40 FuzzyDesigner Component Library Publication LOGIX UMO0O4A EN P March 2007 Largest of Maxima LOM generally The only difference to the previous method is that the maximum value of the interval is chosen The defuzzified output is defined as follows J _ largostc 4 c max 4 e Mean of Maxima Smallest of Maxima and Largest of Maxima methods are not continuous and are mainly used in applications on decision making and classification when the task is to choose from several alternatives If no term is activated DOF 0 then the inference result is set to a user defined crisp default value Defuzzification SOM MOM LOM for singletons Output value is computed as a reference singleton with maximal term DOF If more terms have the same maximal DOF gt 0 then e SOM output smallest of the singletons with maximal DOF e LOM output largest of the singletons with maximal DOF e MOM output mean of the singletons with maximal DOF FuzzyDesigner Component Library 41 Term Editor AE O x QOROVA ee eae E A angle Ne gative zero positive Output term with maximal DOF zero 0 5 0 0 ATN ail Output Default Value if all DOFs 0 0 700 0 350 0 000 0 350 0 200 Output Yale 0 0000 Parameter Term DOFs negative Zero positive defaults O 0000 0 6000 0 4000 0 0000 a A DOF zero is maximal Defuzzification SOM MOM LOM for trapezoids Trap
9. Allen Bradley a La 5 Gb a LA a f T m a ay irs ay A AAA AA a i a a m Tm Li i 1 RSLogix 5000 Fuzzy Designer User Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of infor
10. PID Controller Fuzzy System Analysis Tools Tool Description 2D 3D mesh plots Visualization of input output static mappings generated by the fuzzy system or Its specified subsystem Interactive plot control Color grid texture zoom and viewpoint management Tracing fuzzy system evaluation Marks output on the mesh when input is being changed FuzzyDesigner Mesh Plot 2 3D Graph No 0 FuzzyProject E O x 4 AYAMIAANA E Velocity i e i Agt Publication LOGIX UM004A EN P March 2007 20 Get Started with FuzzyDesigner FuzzyDesigner Mesh Plot with Simulated Path 3D Graph No 0 FuzzyProject AA LON IAN RON H N N Ae W h i SN e i PAIS D EI NORE ly deere Py ee Me RN Position Fuzzy System Monitoring Feature Description Numerical and graphical display Monitoring of all internal variables Archiving Recording specified internal or external variables History graph Plotting history graph for on line or off line monitoring Fuzzy System Monitoring Through Numerical Displays watch EggWashController E E O x a 3 EA Xx Input Ports egag_dirt 0 11739 convepor ep 0 4258 water flow r 04122 oil flow orate 0 3511 Output Ports conveyor ep 0 0326 Water valve 0 01086 oll valve poz 0 01172 Intermediate Components water valve 0 01086 conveyor sp 0 0326 oll valve poz 0 01172
11. Publication LOGIX UMO04A EN P March 2007 Get Started with FuzzyDesigner 21 Fuzzy System Monitoring Through Plotting Historical Recordings and On Line Update 9 History Graph ball al ES E 2 HH pos error y Absolute Graph velocity angle Base variable id 15 18 21 24 27 30 33 36 39 1 1 Time s di FuzzyDesigner Project Formats File Format Description XML FSP complete project file generated by FuzzyDesigner XML user supplied fuzzy system or project file Publication LOGIX UMO04A EN P March 2007 22 Get Started with FuzzyDesigner Features Export fuzzy AOI On line parameter change Real time fuzzy system monitoring Integrated Design Environment IDE screen captures Publication LOGIX UMO04A EN P March 2007 Direct Support of Logix5000 controllers FuzzyDesigner version 16 00 and later supports Rockwell Automation s Logix5000 family of controllers The fuzzy system designed using FuzzyDesigner can be exported to an RSLogix 5000 Add On Instruction AOD XML import file You can then import the fuzzy system into any of your projects as needed Fuzzy AOI can be used by any of the programming languages Function Block Diagram Ladder Logic or Structured Text With FuzzyDesigner you can also monitor and update the selected fuzzy AOI online directly in the running controller This is made available through RSLinx OPC Server Description Utility for export of designed fuzzy
12. Supported Format of Rules Multiple notations are used in the explanation of the supported format of rules eX X gt X premise variables e Y Y gt Y yn consequent variables e Aj Ajo terms defined for the premise variable X e Biz Bj terms defined for the consequent variable Y EI IF X IS A33 AND X3 IS Az1 AND AND X IS Ay 1 THEN Y IS By 5 ws Y IS Boy w ee be IS Bp3 Wh where w e 0 1 is rule weight of the k th consequent schematically the rule can be rewritten as follows A13 Agr Api P B12 wi Boy Iwal Bpa Wh This rule base format is very useful in manual design lt can be represented in the form of a table where every column corresponds to one variable and rows of the table are filled with appropriate terms or optionally with their inversions applying the NOT operator FuzzyDesigner also supports the OR operator EEUU 1x 1S A1 OR X IS A12 OR JAND Xp IS A21 AND AND X IS A 7 THEN Y IS By You define the number of terms in the OR expression The NOT operator can be applied to the whole OR expression IF NOT Xy IS A41 OR Xy IS A42 OR I AND X3 IS A24 AND AND X IS Ajj THEN Y IS B12 wy Yo IS B34 Wo oe The rule block component performs fuzzy logic inference based on fuzzy rules In a simplified way it computes degrees of fulfillment of consequent variables from degrees of fulfillment of premise variab
13. 0 DOF pr zero 0 DOF u positive max DOF positive for all rules max 0 1 0 5 0 5 These steps are schematically shown on the following figures Publication LOGIX UMO0O4A EN P March 2007 FuzzyDesigner Component Library Set of Rules Example Evaluation Procedure 1 small gt medium 0 9 positive 1 0 Sy we MT ates i 0 09 premise ae ose 0 1 FO ee 0 1 2 large gt small 0 8 SG 2 oe ee i premise E DOF 0 1 3 ee gt small 1 0 positive 1 0 premise aa TO 0 AA 05 total DOF maximum 0 08 Example of a Block Diagram of the Rule Block Evaluation Rule Block medium 0 9 0 09 postive 1 0 fer temp erature pressure small 1 0 postive 1 0 voltage small medium 0 0 0 09 voltage small medium 0 08 0 0 voltage small medium 0 5 0 0 Y voltage small medium 0 5 0 09 voltage Publication LOGIX UMO0O4A EN P March 2007 large 0 0 large 0 0 large 0 0 large 0 0 current zero positive 0 0 0 1 current zero positive 0 0 0 0 current zero positive 0 0 0 5 current zero positive 0 0 0 5 52 FuzzyDesigner Component Library PID Controller Publication LOGIX UMO0O4A EN P March 2007 Connections The input logical link of the Rule Block can be connected to a component providing a DOF value as a result of fuzzification or defuzzification such
14. Hide All Buttons hides all tool bar buttons of the application Show All Buttons shows all tool bar buttons of the application Create New Project shows or hides the Create New Project tool bar button of the application Open Project shows or hides the Open Project tool bar button of the application Save Active Project shows or hides the Save Active Project tool bar button of the application Undo shows or hides the Undo tool bar button of the application Redo shows or hides the Redo tool bar button of the application Refresh Active Project shows or hides the Refresh Active Project tool bar button of the application Go to Design mode Go to Monitoring mode shows or hides the Go to Design mode Go to Monitoring mode tool bar button of the application Preview shows or hides the Preview tool bar button of the application Print shows or hides the Print tool bar button of the application Hide Tree View Show Tree View shows or hides the Hide Tree View Show Tree View tool bar button of the application New Input Port shows or hides the New Input Port tool bar button of the application New Input Linguistic Variable shows or hides the New Input Linguistic Variable tool bar button of the application New Output Port shows or hides the New Output Port tool bar button of the application New Output Linguistic Variable
15. Import The following window appears Import Add On Instruction Look in FuzzpDlesigner de ej Ez My Recent Documents Deskho p By EggWashMachine Lox My Documents er pr ELICAPRGARPY TELKI User r ja e Nec rien O A Sere File name een Files of type ASLogix 5000 Add On Instructions LE Cancel E Select the Add On Instruction L5X file you want to import to FuzzyDesigner Publication LOGIX UMO04A EN P March 2007 Prolog Document Element Chapter XML Format of a Fuzzy Project FuzzyDesigner enables you to export and import the fuzzy project in the XML format In this chapter the basic structure of the XML document corresponding to the fuzzy project designed in FuzzyDesigner is shown An XML document consists of two main parts the prolog and the document element the root element lt xml version 1 0 gt SSPE Ee Tee eae A A E Re Ren ae ae ee ee nO Te Ona lt a lt FuzzyDesigner Project Description in XML format gt lt Version 16 00 05 gt lt Time 07 13 2006 14 41 00 gt ED AAA A a ER EAA AA E O a as S lt FUZZYDESIGNER_PROJECT SOFTWARE_VERSION 16 00 05 PROJECT_VERSION 2 01 00 gt lt FUAZY SYSTEM NAME FuzzyProjecu VERSION 2 01 gt lt INPUT PORT NAME velocity gt lt INPUT LINGUISTIC VARIABLE NAME velocity PROCESO FUZZY INPUTS i lt INPUT LINGUISTIC VARIABLE gt lt OUTPUT LINGUISTIC
16. The basic working unit in the FuzzyDesigner is a project This chapter describes the concept of a project Topic Page Working with Projects 67 Designing a Fuzzy System 12 Fuzzy system Components 75 Term Editor 102 Term Properties Dialog 105 Rule Editor 108 Port Order Editor 113 Watch 113 History Graph 117 2D Graph 122 3D Graph 125 A project is a set of data containing information related to a particular fuzzy system Designing a fuzzy system involves several steps definition of components and links between components design of membership functions and creating fuzzy rules Most of the commands used for basic operations with projects can be found in the Project menu This menu contains the following commands e New creates a new project e Open opens an existing project e Close closes the currently active project e Close All closes all opened projects e Save saves the currently active project e Save As saves the currently active project to new file e Project Information shows the information about the currently active project e Preview shows the preview of the currently active project window Publication LOGIX UMO004A EN P March 2007 68 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 e Print prints the project window of the currently active project e Recent Projects shows the four most recent projects e Exit closes FuzzyDesigner All opened
17. below the line The units of vertical range are not displayed as the plotted variables might not share the same units Right click the legend to display the graph context menu see History Graph Context Menu You can change the graph size or view the graph property window Legend This is located on the left top corner of the main graph window You can hide it by using a graph toolbar button The legend lists the displayed curves Related text items and curves share the same color If the curves overlap the color of the first related item from the legend is applied Use a drag and drop operation to reorder the list of items The first item in the list is a base curve taken as a reference if the eraph is relative in scale Right click the legend and the legend context menu appears see History Graph Legend Context Menu From this menu you can change the color or the vertical range tick marks related to a curve FuzzyDesigner Projects 119 e Base Variable Property This is located on the left bottom corner of the main graph window You can hide it by using a eraph toolbar button The window displays the base curve information the curve on top of the legend Unit name color and range are displayed History Graph E History Graph ball 9AE Absolute Graph angle variable angle Base Variable pos error 1 1 Time 3 History Graph Control Context Menu Two context menus are available
18. component to the appropriate project All Output Linguistic Variable names must be unique in the same project e General tab dialog Specify the main properties of a new or existing OLV Output Linguistic Variable Properties Dialog General Tab Dialog Dutput Linguistic ariable ball angle o E O x General Unit Range Terms Description Variable General Wanable Hame angle Fuzzy Inference Algorithm MAM DANI MINIMU Detuzzification Algorithm CA Compute Output Fuzzy Set Term Editor Cancel Variable Name Specify the variable name Fuzzy Inference Algorithm Specify the fuzzy inference algorithm to be applied Defuzzification Algorithm Select the Defuzzification algorithm Compute Output Fuzzy Set Click this check box to generate a fuzzy set as the component output Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 85 e Unit tab dialog Specify the unit of a new or existing OLV Output Linguistic Variable Properties Dialog Unit Tab Dialog Gutput Linguistic ariable ball angle y Oo xj General Unit Range Terms Description Vanable Unit Predefined Vanable of none User Defined Urit rad Term Editor Cancel Predefined Click this radio button to select the unit of the variable from the list of predefined units e Variable of Select one of the predefi
19. Interface MDI A Windows API for creating multiple window applications allows FuzzyDesigner to show multiple fuzzy systems or projects at the same time OLE for Process Control OPC An industrial standard allowing vendor independent access to industrial communication networks defined on OLE mechanism Output Port OP Stores values of a fuzzy system s output variables Publication LOGIX UMO004A EN P March 2007 152 Glossary Publication LOGIX UMO0O4A EN P March 2007 Output Takagi Sugeno Variable OTSV Stores parameters of functional terms and computes the output value from degrees of fulfillment of terms Proportional Integral Derivative Controller PIDC Allows intelligent supervision of a built in PID controller Rule Block RB Stores rules and computes degree of fulfillment of rule conditions Rule Weight weighting factor RW A value from the interval 0 1 that states the degree of importance credibility confidence of a linguistic rule server The object that provides services Smallest of Maximum SOM A discontinuous defuzzification technique s norm The class of mathematical operations realizing fuzzy union OR t norm The class of mathematical operations realizing fuzzy intersection AND How Are We Doing JAN E Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback wy You can complete t
20. LOGIX UMO0O4A EN P March 2007 14 Get Started with FuzzyDesigner Publication LOGIX UMO0O4A EN P March 2007 Crisp and Fuzzy For temperature readings you can classify a reading into three sets Low Medium and High Each set contains values in a given interval and the intervals do not overlap This means that a single reading or value is uniquely classified into one set degree of membership level of classification Classification Result Low Medium High 1 eee 1 00 Medium 0 0 High gt 0 0 Low 20 150 pera Crisp Value Degree of membership DOM is a value describing how well the particular value of the variable in this case temperature fits the meaning of the label of the set Medium If the DOM is 1 the current temperature is understood as 100 Medium However vague classifications are more realistic as there is usually no sharp border between Low Medium or High temperatures In this situation however a single numerical value might fall into multiple categories For example it might be partially Medium and partially High as shown in the following figure A specification of how much the particular value of temperature fits into the meaning of the label of the category fuzzy set is described by the membership function which becomes a design parameter of the fuzzy controller Get Started with FuzzyDesigner 15 Similar fuzzy terms are designed for the output variables that is Low Medium
21. March 2007 e PID Controller Components of the same type used more than once in the same project must have a unique name The Input Port and the Input Linguistic Variable can share the same name The name of the Input Linguistic Variable Output Linguistic Variable Output Takagi Sugeno Variable and PID Controller used in the same project cannot be shared by the other components The Output Port can share names with the Output Linguistic Variable Input Port Use the Edit New Port New Input Port main menu command or the New Input Port tool bar button to add a new Input Port CIP to the currently active project Use the New Input Port project window context menu command to add a port First the Input Port properties dialog appears A default name is assigned to a new component Click OK to apply the component to the appropriate project All names assigned to Input Ports belonging to a single project must be unique e General tab dialog Specify the main properties of a new or existing IP Input Port Properties Dialog General Tab Dialog Input Port ballpos_ error E 5 x General Description Port General Port Hame pas_error Use Filter Butterworth Lowpass Filter Get Transter Function f Filter with Specific Transfer Function Butterworth Lowpass Filter Filter Order Cutoff Frequency Filter with Specific Transter Function Numerator Coefficients i Denominator Coefficients
22. P March 2007 FuzzyDesigner Projects 87 e Terms tab dialog When the OLV properties dialog is open for defining the variable you can specify the variable terms in the same way as was explained for the Input Linguistic Variable Output Linguistic Variable Properties Dialog Terms Tab Dialog Output Linguistic ariable balh angle 3 e A x General Unit Range Terme Description Variable Terms Count E Type SINGLETON Hames negative zero positive Term Editor Cancel Count the number of terms Type the type of terms Names predefined names of terms IMPORTANT When the OLV properties dialog is open for an existing variable then the terms count the type and the names are visible but you cannot change them in the properties dialog e Description tab dialog Specify the description of a new or existing OLV Output Linguistic Variable Properties Dialog Description Tab Dialog Output Linguistic ariable balh angle E 2 10 x General Lirit Range Terms Desenption Variable Description angle Term Editor Cancel Publication LOGIX UMO04A EN P March 2007 88 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 Variable Description Enter the description of the OLV e Term Editor button Click this button to open the Term Editor see section Term Editor where the default variable te
23. The component pins can be connected to the Input Ports Output Linguistic Variables Rule Blocks and the PID Controllers Available Input Links Select an available feasible input link for the variable Add Pin button Click this button to add the pin to the Applied Input Links table related to the OTSV Remove Pin button Click this button to remove the pin selected in the Applied Input Links table Connect button Click this button to connect the link selected in the Available Input Links combo box with the pin selected in the Applied Input Links table Publication LOGIX UMO0O4A EN P March 2007 90 FuzzyDesigner Projects e Unit tab dialog Specify the unit of a new or existing OTSV Output Takagi Sugeno Variable Properties Dialog Unit Tab Dialog Dutput Takagi Sugeno Yariable ball TakagiSugenoYariable 2 Oo xj General Unit Range Description Variable Unit Predefined Variable of none it none C User Defined Urt inane Term Editor Cancel Predefined Click this radio button to select a predefined unit of the variable e Variable of Select one of the predefined quantities that has the same meaning as the OTSV e In Select one of the predefined units as the requested unit of the OTSV User Defined Click this radio button to insert a user defined unit of the variable e Unit Specify a unit of the OTSV The un
24. UMO0O4A EN P March 2007 62 FuzzyDesigner Graphical User Interface e Go to Design mode Go to Monitoring mode switches the project between the Design mode and Monitoring mode see section FuzzyDesigner Control Basics e New Port New Input Port see section Input Port New Output Port see section Output Port e New Variable New Input Linguistic Variable see section Input Linguistic Variable New Output Linguistic Variable see section Output Linguistic Variable New Output Takagi Sugeno Variable see section Output Takagi Sugeno Variable New Intermediate Linguistic Variable see section Intermediate Linguistic Variable e New Rule Block see section Rule Block e New PID Controller see section PID Controller View FuzzyDesigner Main Menu View Structure Tool Bar Hide All Buttons w Status Bar Show All Buttons w ree view w Create Mew Project w Open Project w Save Active Project w Undo w Redo w Refresh Active Project Go bo Monitoring Mode e Preview w Print Hide Tree view A Mew Input Port Mew Input Linguistic Variable Mew Output Port New Output Linguistic Variable New Output Takagi Sugeno Variable Mew Intermediate Linguistic Variable Mew Rule Block Mew PID Controller E A A A 4 44 4 Help Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Graphical User Interface 63 e Tool Bar
25. VARIABLE NAME angle gt lt OUTPUT LINGUISTIC VARIABLE gt lt FUZZY SYSTEM gt Publication LOGIX UMO004A EN P March 2007 148 XML Format of a Fuzzy Project Publication LOGIX UMO0O4A EN P March 2007 GRAPHIC MODEL VERSION L 0 gt lt GRAPHIC MODEL gt SOUL PROPER Dio VERO LON 2 02 gt lt GUI PROPERTIES gt lt FUZZYDESIGNER_PROJECT gt The prolog contains the XML declaration the XML description of the project designed in the FuzzyDesigner the version of the Fuzzy Core implemented in the FuzzyDesigner and time and date when the fuzzy project was exported to the XML document The Document element FUZZYDESIGNER_PROJECT contains information concerning the fuzzy system components element FUZZY_SYSTEM graphical representation of the fuzzy system element GRAPHIC_MODEL and GUI properties element GUI_PROPERTIES A more detailed description of the structure of the fuzzy system XML representation can be found in the FuzzyDesigner XML Project File Description document Introduction Chapter 8 Glossary In this section you can find brief explanations on terminology used in this document activation A process by which the degree of fulfillment of a rule condition acts on an output fuzzy set aggregation An operation which combines several fuzzy sets to produce a single fuzzy set In the context of fuzzy control it is the method of activation when multiple rules share the sam
26. Visible The attribute Visible is set to true that is the attribute is visible on the RLL and FBD Instruction face when the AOI is invoked Description The description is taken from the Description field on the Project Information dialog Project gt Project Information menu item Description of input and output parameters The description is taken from the Description tab on the Input or Output Port properties dialog Publication LOGIX UMO04A EN P March 2007 136 RSLogix 5000 Add On Instruction Importing Add On Instructions You can use fuzzy Add On Instructions in an RSLogix 5000 project to RSLogix 5000 Projects 1 Open the RSLogix 5000 project to which you want to import a fuzzy system Add On Instruction 2 Right click the Add On Instructions folder in the Controller Organizer Controlle a Controller ball Controller Tags 29 Controller Fault Handler ef Power Up Handler 4 3 Tasks aca MainTask ae MainProgram 3 Unscheduled Programs Phases Motion Groups Add On I Data Typ Mew Add On Instruction in I Ne ee Trends L Import Add On Instruction Ta Coni P FA cut Ctrl Copy ctrl E FA Faste Ctrl 3 Choose Import Add On Instruction The following dialog appears Import 4dd On Instruction Look in E FuzzpDlesigner re Ed EggwashiMachine L5x N Fz y My Recent Documents Desktop My Documents E EUCAHPRGAPY TELE User r
27. Window All of them have the same function as the menu items with the same name 2D Graph Tool Bar When you click the Tools 3D Graph main menu command then 3D Graph Properties dialog see 3D Graph Properties Dialog appears and you can set up the graph properties e General group box Specify general properties of the required 3D graph 3D Graph Properties Dialog 2 3D Graph Properties ball velocity port From E To fi angle part Fror To fi Grid Density Density 2 e coe Publication LOGIX UMO04A EN P March 2007 126 FuzzyDesigner Projects X Axis Link the selected Input Port or a disconnected Input Linguistic Variable to the x axis of the 3D mesh plot From Sets the lower limit of the x axis range To Sets the upper limit of the x axis range Y Axis Links the selected Input Port or a disconnected Input Linguistic Variable to the y axis of the 3D graph From Sets the lower limit of the y axis range To Sets the upper limit of the y axis range Z Axis Links the selected Output Port Output Linguistic Variable or the Output Takagi Sugeno Variable to the z axis of the 3D graph From Displays the lower limit of the z axis range To Displays the upper limit of the z axis range e Grid Density group box Specify the grid density of the 3D graph Density Displays the selected g
28. angle 15 positiwe 1 AIF velocity 15 positive THEN angle IS positwe 1 FuzzyDesigner Projects 113 Port Order Editor Use the Tools Set Port Order main menu command to open the Port Order Editor dialog see Port Order Editor Dialog where you can change the order of the Input and Output Ports of the active project Port Order Editor Dialog mE Port Order Editor ball Input Ports Output Ports Index Name Index Name pos error 2 velocity ro e Input Ports table Select one of the applied Input Ports be e Output Ports table Select one of the applied Output Ports e Shift Port Up button Click this button to shift any port up by one position Select a port in the Input Ports table or the Output Ports table e Shift Port Down button Click this button to shift any port down by one position Select a port in the Input Ports table or the Output Ports table e OK button Accept the entered properties for the project e Cancel button Click this button to leave the Port Order Editor dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Watch Use the Tools Watch main menu command to open a dialog with all available component values of the active project see Watch Dialog The following buttons are available e Data History Click this button to set up a history depth see Watch Data History Dialog The history
29. corresponds to the absolute frequency O q where 0 TT T is the Nyquist frequency for the sampling period T WARNING All dynamical terms in a fuzzy system filters PID controllers have to share the common sampling period Is otherwise the system will not work correctly Connections The output link of the input port is connectable to all components expecting a crisp value at the input This includes the following components e Input Linguistic Variable e Output Port e Output Takagi Sugeno Variable accepts crisp values only e PID accepts crisp values only Publication LOGIX UMO0O4A EN P March 2007 34 FuzzyDesigner Component Library Input Linguistic Variable trapezoid Publication LOGIX UMO04A EN P March 2007 Parameters e Name of the component e Vector b bo b b coefficients of the filter transfer function numerator b d optional e vector a a d coefficients of the filter transfer function denominator a d optional The fuzzy system Input Linguistic Variable component stores membership functions fuzzy sets of terms and is used for fuzzification classification of the component input a crisp value The component output is a vector of degrees of fulfillment of all terms for the crisp input or degree of overlapping for the input fuzzy set An Input Linguistic Variable component consists of linguistic terms Each linguistic term is defined by a fuzzy set tha
30. depth is specified by number of samples which are archived for user needs e History Data Click this button to select components or choose one or more variables for archiving see Watch Data History Dialog Publication LOGIX UMO0O4A EN P March 2007 114 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 e History Graph Click this button to show the history graph When a dialog see Watch History Graph Properties Dialog with a check box lists appears choose values for the history eraph To view the history graph see History Graph click the Show button at the bottom of the dialog When the history is empty the graph is shown immediately after you press the History Graph button The ranges of the relevant component predefine the axis and grid of the history graph automatically but you can change the range later You can change the curve parameters zoom of the graph graph legend visibility and vertical axis information as well The history samples are not interpolated but joined by abscissa Save History Click this button to save the history into the specified file When a dialog see Watch Save History Data Dialog appears select the component values to be saved Other than the selected component value the time axis can also be stored Two time formats are supported relative and absolute time Click Save As at the bottom of the dialog to confirm the choice and the standard Save As dialog a
31. diagrams of a fuzzy system by inserting and linking graphical objects library components and text The window size is user defined and accommodates any structure of a fuzzy system Avoid moving any object outside of this area If you right click the empty Design Sheet window the Design Sheet context menu see Fuzzy System Project Window Context Menu appears The following menu items are available Fuzzy System Project Window Context Menu Select All New Input Port New Output Fort New Input Linguistic Yarnable New Output Linguistic arable New Output T akagi Sugeno Variable Mew Intermediate Linguistic Varable Hew Rule Block New PID Mer Text Project Information e Select all Selects all blocks and texts e New Input Port New Output Port Adds a new block to the sheet e Project Information Opens a window with project information Working with Blocks There are eight types of Fuzzy System Components see section Fuzzy System Components referred to as blocks which enable you to design the fuzzy system as a block diagram Blocks are graphical objects Adding a Block A new block can be added to the existing diagram in several ways The first is by using context menu This menu is described in the section Fuzzy System Project Window The other way to add a new block to the existing diagram is to use the Main Menu or the Tool Bar Publication LOGIX UMO04A EN P March 2007 14 FuzzyDesigner P
32. in the XML format with all project information will open When the selected file has no information about the project graphical representation or about FuzzyDesigner GUI the project will be opened with a default graphical representation and FuzzyDesigner GUI information without the project description for example 4 Click Open When the project opens successfully the appropriate tree view node will be added to the Tree View tab control page and the project window will be opened in the application workplace with appropriate recently opened dialogs FuzzyDesigner is a Multi Document Interface MDD application so you can open more then one project at a time Only one of the currently opened projects can be active so all the tool bar button commands associated with a project are applied to this active project The FuzzyDesigner active window does not automatically relate to the active project Changing the Active Project You can switch between projects by clicking the appropriate project window or project tree view node When a new or existing project is opened it is automatically set as the active project The name of the active project is shown in the title of the FuzzyDesigner main window Project Information Use the Project Project Information main menu command to open the Project Information dialog see Project Information Dialog for an active project Properties group box Specify additional information for t
33. minimum and 1 for maximum e Terms tab dialog The ILV properties dialog defines the variable through the following terms Input Linguistic Variable Properties Dialog Terms Tab Dialog Input Linguistic Variable ball pos error x General Unit Range Terme Description Wanable Terms Count E Type TRAPEZOID Mames negative zero positive Term Editor Cancel Count Specify number of terms fuzzy sets related to the variable Type Select either the trapezoid or s function ILV term type When the ILV properties dialog is open for the existing variable the term type of the applied variable terms is displayed Other is displayed when term types for the selected variable differ Names Select default names of terms for the variable When the ILV properties dialog is open for the existing variable any applied terms are shown IMPORTANT When the ILV properties dialog is open for an existing variable then the terms count the type and the names are visible but you cannot change them in the properties dialog Publication LOGIX UMO04A EN P March 2007 82 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 e Description tab dialog Specify the description of a new or existing ILV Input Linguistic Variable Properties Dialog Description Tab Dialog 210 xl Input Linguistic Yariable ball pos error General Urut Ra
34. projects and their components are seen in the Tree View tab control page When you right click a tree view node a context sensitive menu appears When you right click the Projects node a context menu with the following commands appears see Projects Tree View Node Context Menu e New creates a new project see section Creating a Project e Open opens an existing project see section Opening an Existing Project e Close All closes all opened projects see section Closing a Project Projects Tree View Node Context Menu Mew Open Close All When you right click the opened project node a context menu with the following commands appears see Project Tree View Node Context Menu e Close closes the project see section Closing a Project e Save saves the project see section Saving a Project e Save As saves the currently active project to new file see section Saving a Project e Preview shows the project preview e Print prints the project see section Printing a Project Project Tree View Node Context Menu Close Save Save S Preview Print There are project component type nodes of the applied components under the node of each opened project When you right click the component type node a context menu with the following command appears see Component Type Tree View Node Context Menu FuzzyDesigner Projects 69 e Delete All deletes all applied components with the appro
35. shows or hides the New Output Linguistic Variable tool bar button of the application New Output Takagi Sugeno Variable shows or hides the New Output Takagi Sugeno Variable tool bar button of the application New Intermediate Linguistic Variable shows or hides the New Intermediate Linguistic Variable tool bar button of the application New Rule Block shows or hides the New Rule Block tool bar button of the application New PID Controller shows or hides the New PID Controller tool bar button of the application Help shows or hides the Help tool bar button of the application Publication LOGIX UMO0O4A EN P March 2007 64 FuzzyDesigner Graphical User Interface Publication LOGIX UMO0O4A EN P March 2007 e Status Bar shows or hides the status bar of the application e Tree View shows or hides the Tree View tab control page of the application Tools FuzzyDesigner Main Menu Tools Structure Options Show in Status rea Reset Internal Stakes Process Membership Functions Set Port Order Watch Simulation 2D Graph 3D Graph Instruction Generator o an gt On line Connection Wizard Import e Options Show in Status Area check this menu item to set the FuzzyDesigner to the server mode The FuzzyDesigner icon shows in the status area and the application should be closed only through the icon context menu e Reset Internal Sta
36. speed ED mater_walve_poz S D oil_vake_pos_dif E E Output Linguistic Vari 2 mater_walve_poz 2 corvepor_ speed dd oll valve pos dif E Rule Blocks 2729 RuleBlock1 FuzzyDesigner Environment Component examples Rule Block Output Liguistics Variable A EggWashController ry E al Munt ES egg dirt 0117 CONVEYOR Speed al OE Hau cn 0 0326 Tvevor speed Hien an conveyor speed Cconweyor_speed lan al 0 478 R ve faa water valve _pos cif 0 0109 PuleBlock1 a o conveyor _3y 0 032 EL water_valve O 01C Get Started with FuzzyDesigner 25 FuzzyDesigner Membership Functions i Term Editor FuzzyProject Temperature E o x NABNAA A TA AlS EER Temperature very low medium high very_high SOY XA e MAN 100 0 Parameter Value Input Value Term DOFs very_low low medium high very_high 0 5063 0 5196 0 0000 0 0000 Degree of Fulfillment window FuzzyDesigner Rule Base Rule Editor Rule Editor EgqgashController RuleBlock1 2 2 Oj x i m 0 0000 high low Zero 1 positive m 0 0000 A high high high negative Zero 1 f mo 0187 7 low high 1 negative 1 pz 032 J law low positive 1 1 i E 0 6739 acceptable Zero 1 Zero 1 Publication LOGIX UMO0O4A EN P March 2007 26 Get Started with FuzzyDesigner FuzzyDesigner Rule Interfacing Rule Block ball Rules ioj xj Ge
37. the Default Setting option to restore the default settings Path Change the visibility and color of the path trace see section 3D Graph You can change its visibility and color You can also delete the complete path Graph Properties Open the 3D Graph Properties Dialog see section 3D Graph Publication LOGIX UMO04A EN P March 2007 130 FuzzyDesigner Projects 3D Graph Control Tool Bar The tool bar see 3D Graph Tool Bar has nine buttons Rotate Left Rotate Right Rotate Up Rotate Down Rotate CCW Rotate CW Zoom In Zoom Out and Zoom To Fit Window All of them have the function identical to the menu items described previously 3D Graph Tool Bar Publication LOGIX UMO0O4A EN P March 2007 3D Graph Control Mouse Dragging Drag the mouse to modify the 3D graph orientation The graph is rotated in the left right or up down direction if you hold the left mouse button and drag horizontally or vertically To rotate the graph CW and CCW press the SHIFT key the left mouse button and drag horizontally Introduction Chapter 5 Fuzzy System Simulation FuzzyDesigner enables manual simulation of inputs and tracking of outputs generated by the fuzzy system This feature serves as a basis for off line tuning of a fuzzy system design parameters All internal variables are also monitored and displayed during the input simulation run Use Tools Simulation main menu command to start the monitoring FuzzyDesign
38. the changes in Logix click the Apply Changes to Logix icon on the On line Connection Panel 5 To stop monitoring click the Stop Monitoring icon The Watch window shows input and output values of the selected fuzzy system read from the selected controller Monitored Value as well as values computed in FuzzyDesigner Project Value Watch EggWashController Oo xj e E Le AX 2 Input Ports Intermediate Components Output Ports egg_dirt 0 40000 Water valve 0 15000 conveyor sp 0 00000 OU O0000 conveyor sp U 2000 conveyorsp 0 00000 Water valve 0 15000 0 15000 water fowr 0 700i oll valve poz 0 02587 ol valve poz 0 02587 0 02587 ol flow rate 0 6800 Publication LOGIX UMO04A EN P March 2007 144 RSLogix 5000 Add On Instruction Configuring RSLinx OPC Server The OPC topic represents a specific path to a processor If an RSLogix Topic 5000 project is saved then a default RSLinx topic is created with a default name that corresponds to the Controller Name To make sure that the selected RSLinx topic corresponds to the correct controller or to reconfigure or create a new RSLinx topic do the following steps 1 Start RSLinx software by double clicking the RSLinx icon on the desktop or by clicking the RSLinx Communication Service on the system Service Status toolbar ES 2 In RSLinx software click the OPC DDE menu and choose Topic Configuration 3 Select the topic in th
39. the same name shown as a tool tip To resize the Tree View tab control page use your mouse and drag the splitter on the right side of the tab control FuzzyDesigner Control Basics FuzzyDesigner Graphical User Interface 59 FuzzyDesigner Tree View Tree View E E Projects a E i Input Ports e pos_ error a C4 velocity aa Input Linguistic Variables SAO pos_ermror The controls in FuzzyDesigner are very similar to other Microsoft Windows applications and are easy to use FuzzyDesigner s functions can be accessed from the main menu or by clicking the tool bar button commands By right clicking the tree view item or in the FuzzyDesigner project window a related pop up menu appears You can also control most of the functions using these pop up menus These menus are context sensitive they offer the most useful commands applicable to the current window Use the Project Recent Projects menu command to reopen the most recent projects in FuzzyDesigner Up to four projects are shown in the Recent Projects menu Detailed Help is accessible through the FuzzyDesigner main menu The Help button can be used in the Term and the Rule Editor tool bars as well Using this button information about the particular editor can be displayed You can apply the Edit Undo and Edit Redo menu commands to a few changes made in the active project The Undo menu command is always applied to the last change in the active pro
40. which defines the manual control variable e Mode 0 automatic or 1 manual e Parameter b dampens the influence of the setpoint on the proportional action e Dead band YES or NO e Dead Band Radius if YES e Dead Band Type Zero Crossing or No Zero Crossing if YES e Gain forgetting factor The Output Port component stores an actual output value of the HFS provided by a preceding component The output is a crisp value Connections The input link of the output port can be connected to all components providing a crisp value such as e Input Port component e Output Takagi Sugeno Variable component e Output Linguistic Variable component e PID component Parameters e Name of the component Chapter 3 FuzzyDesigner Graphical User Interface Introduction The FuzzyDesigner graphical user interface GUD is illustrated by a simple academic Ball and Beam experiment provided as one of the sample projects when you install FuzzyDesigner Topic Page setting Options 57 FuzzyDesigner Control Basics 99 The objective is to stabilize the ball at the desired position on the beam The main screen of the FuzzyDesigner GUI with the opened project named ball this is our Ball and Beam example can be seen below Ball and Beam Project in FuzzyDesigner lt FuzzyDesigner 16 00 ball Project Edit View Tools Window Help Dele PS as BGR SBR SSR Tree View AC Projects E E ball Direct Nonlinear Fuz
41. with a letter or underscore _ All other characters can be letters numbers or underscores RSLogix 5000 Add On Instruction 135 In RSLogix 5000 software the Add On Instruction names are stored in the same namespace as all other built in instructions and data types system or user defined Therefore the Add On Instruction name must be unique Otherwise an error message will appear during the import of the fuzzy Add On Instruction When exporting the fuzzy Add On Instruction you can select the folder to which you want to save the L5X file You can also enter these optional parameters e Add On Instruction Major Revision e Minor Revision e Vendor e Revision Note Add On Instruction Parameters The Add On Instruction parameters correspond to the fuzzy system input and output ports The ordering of parameters follows the order of the ports Port order is determined by default by the order in which the ports are added to the project The port order can also be set from the Tools gt Set Port Order menu item The following parameter attributes are set to default values e Name The name of parameters are the same as the names of fuzzy system input and output ports e Usage The usage is set to Input for input ports or Output for output ports DataType The DataType ofallinput and output parameters is set to REAL Required The attribute Required is set to true that is the attribute requires an argument e
42. y sr Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3223 Monday Friday 8am bpm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operationa
43. 23 X Axis Select the Input Port or a disconnected Input Linguistic Variable as the x axis of the 2D graph From Specify the lower limit of the x axis range To Specify the upper limit of the x axis range Y Axis Select the Output Port the Output Linguistic Variable or the Output Takagi Sugeno Variable as the y axis of the 2D graph From Displays the lower limit of the y axis range To Displays the upper limit of the y axis range Grid Density group box Specify the grid density of the 2D graph Density Displays the selected grid density of the graph Select the density by clicking a point on the slider Create button Generate the 2D graph see 2D Graph Cancel button Close the 2D Graph Properties dialog without creating a graph You can also click Close at the top right corner of the dialog 2D Graph 1 2D Graph No 0 ball e loj x angle 0 8 0 6 0 4 0 2 0 2 0 4 0 6 0 8 1 08 06 04 02 OF OF OF 06 G 1 pos error The 2D graph can be controlled from the context menu or tool bar buttons Publication LOGIX UMO0O4A EN P March 2007 124 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 2D Graph Control Context Menu The context menu appears when you right click the 2D graph and have the structure displayed in the 2D Graph Context Menu The meaning of all menu items is explained as follo
44. Bias Link none bi Blas Value OD Manual Control none Mode Switch none ie PID Controller Name Specify the controller name Input Links group box Set up all available input links or values e Process Variable Set up required process variable link e Set Point Link Click the check box and select the set point link e Set Point Value When the Set Point Link check box is not checked enter the set point value in the text box e P Gain Link Click the check box and select the P gain link e P Gain Value When the P Gain Link check box is not checked enter the P gain constant value e I Gain Link Click the check box and select the I gain link Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 99 I Gain Value When the I Gain Link check box is not checked enter the I gain constant value e D Gain Link Click the check box and select the D gain link e D Gain Value When the D Gain Link check box is not checked enter the D gain constant value e Bias Link Click the check box and select the bias link e Bias Value When the Bias Link check box is not checked enter the bias constant value e Manual Control Select the manual control link e Mode Switch Select the mode switch link e Options tab control page Specify all remaining options of a new or already existing PIDC PID Controller Properties Dialog Options T
45. Context Menu This menu appears if you right click a block or a group of selected blocks You can change block appearance graphical parameters foreground color the color of the border background color font and line width Fuzzy System Components FuzzyDesigner Projects 15 You can change the internal parameters that define the block function by clicking the Block Properties menu item or by double clicking the object You can also modify internal parameters by using the Tree View Blocks Context Menu Delete Foreground Color Background Color Font Line Width Default Setting Thin Thick Block Properties Working with Text Use text to make comments in a fuzzy model To insert text select the Text Properties command in the Design Window context menu If you enter only spaces or don t enter any text the text object is not created Text objects are not selectable from the tree view To edit a text object double click the object or right click the text object and select the Text Properties command Texts Context Menu Delete Color Font Test Properties There are eight fuzzy system component types e Input Port e Input Linguistic Variable e Output Port e Output Linguistic Variable e Output Takagi Sugeno Variable e Intermediate Linguistic Variable e Rule Block Publication LOGIX UMO0O4A EN P March 2007 16 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P
46. FuzzyDesigner Topic Page Understanding FuzzyDesigner 9 Fuzzy Logic and Fuzzy Control Essentials 12 Specifications and Features 18 FuzzyDesigner is a software package for designing a fuzzy system to be implemented as a Hierarchical Fuzzy System HFS Fuzzy systems can be used in the following applications e Industrial automation and control systems e Process diagnostics and intelligent monitoring systems e Artificial intelligence e Decision making and forecasting Hierarchical Fuzzy System Man DON LTL DEN Li Man May DON Li faa Moo Mad Pump_1 Water_Request Level Modified Pumping_Effort12 Water_Request Pump_Control12 Fe O PORN Mon lan ZE Past_Pumping12 Past_Pumping12 E E PON an Tan POS an Level34 Tal Go on Pump_3 Pumping_Effort34 p Level_Manipulation TEN Pump_Control34 FE AE aan Pump_4 Past_Pumping34 Past_Pumpings4 FuzzyDesigner enables application and control engineers to enhance the functionality of control and decision making systems in various branches of industry FuzzyDesigner includes a library of components you can use to design a fuzzy system that includes nonlinear input output mapping You can use a hierarchical structure to decompose a complex fuzzy system into smaller and simpler parts This reduces the internal complexity of a fuzzy model and results in fewer fuzzy rules and provides easier insight into the system operation Publication LOGIX UMO04A EN P M
47. IX UMO0O4A EN P March 2007 46 FuzzyDesigner Component Library Intermediate Linguistic Variable Publication LOGIX UMO0O4A EN P March 2007 The input value link of the output Takagi Sugeno variable can be connected to components providing a crisp value such as e Input Port component e Output Linguistic Variable component e PID component e Output Takagi Sugeno Variable component The output value link of the output Takagi Sugeno variable can be connected to components expecting a crisp value such as e Output Port component e Input Linguistic Variable component e Output Takagi Sugeno Variable component only crisp values are considered e PID component only crisp values are considered The output logical link of the output Takagi Sugeno variable can be connected to components expecting a DOF value as result of fuzzification or defuzzification such as the Rule Block component Parameters e Name of the component e Range of the input value of the component Vins Vmax e List of functional terms described by The name The type of the function The vector of the function parameters lay 44 Apl for the linear function la for the constant function e Default value The fuzzy system Intermediate Linguistic Variable component is used as a buffer allowing logical chaining of rule blocks The component consists of linguistic terms with symbolic meaning Each linguistic term is defined by i
48. P March 2007 AO 1 a 80 O ds where D Finally the control variable CV is computed in the following way CV P E Iterm D AO Bias CV P E Iterm D AO Bias in the case of dependent gains and independent gains respectively The controller can be used in two different modes Manual mode and Automatic mode default mode During Manual mode the parameter Mode which is defined by the input link has to be set to 1 In this mode the controller calculates the user defined control variable which is connected to the input link Man During this mode the controller calculates the internal state of the integrator from the user defined control variable to achieve a bumpless transfer when the operator changes the control mode from manual to automatic In the Automatic mode when the parameter Mode is set to O the controller provides the computed value of the control variable If input links Man and Mode are not fed the default automatic mode is applied The component also provides the user additional features output limiting with anti reset windup dead band control and gain forgetting factor Output limiting allows applies limits CV_min and CV_max to the control variable If the output limiting is enabled and the computed control variable exceeds the limits the CV is saturated When the value of the computed control variable reaches or exceeds limits the integration is paused until the value of th
49. Publication LOGIX UMO0O4A EN P March 2007 142 RsLogix 5000 Add On Instruction If the selected AOI instance tag does not have the same parameters as the fuzzy project in FuzzyDesigner and only the project structures are the same the following dialog is shown This can happen if you have changed some parameters off line for example the membership function position Question AAA A 2 Only the project structures are the same Do vou want to continue e we If communication is successfully established the following window appears 2 On line Connection Panel EggWashController Oo xj 2313 b gt wh Connection Server Sling OPE Server Mode A Topic CH Add On EggwashContoler OPC Path RSLins OPC Server EggwashContoller Online EggwashContoller Monitoring Periods Requested 3000 mz Real inane me 4 Start monitoring by clicking on the Run Monitoring gt icon The On line Connection Panel offers the following functionality e If you want to change the monitoring period click the Change Monitoring Period icon On line Monitoring Period EggWashController x On line Monitoring Period Monitoring Period 000 Jin millisecond conca Publication LOGIX UMO0O4A EN P March 2007 RSLogix 5000 Add On Instruction 143 e If you make some changes for example changing membership function position in the fuzzy project in FuzzyDesigner and you want to apply
50. Rules 00 ia dade Be 48 CONMECUON Sta qui sarita aaa re ee 52 PrN lS ot SS ae arrasa a E ees 52 Pie OM MONC is rez ota iras iras heen Bik ee Be lada a 32 CONNEC ONS aeoaea a del dass 55 Parameters 0 00000 ce a 56 QUEL POL Gig ain eg Cee ee ees dado dl 56 COnN CONS s ri Hoek a eos ahe Ok eee ds Men ee Lae 56 Parameters o oaao aa a 56 FuzzyDesigner Graphical User Interface FuzzyDesigner Projects Chapter 3 Mod beset ara ids feb st se deca Mla et vk eb Sete ted a 57 SCDE OSOS eae ea or ad E e dea de S 57 gol Batic ct thereat aa a a ea e a aa 58 FuzzyDesigner Control BasiCS o o aaa 59 MEN eracarri usais E 60 Chapter 4 roduc Oe eae o Baud e a pata rated dada 67 Working With Projects aiii adds 67 Creator Dro Es panes eaten 69 Opening an Existing Project o o o ooo ooo 69 Changing the Active Project crime eb 70 Projectin ormas se tw hk os eens E a eE ee we 70 DANS Aroca oe lea cid 71 Closineca PrO C 2 6 es nue hot isa aia da 71 Desicnine a Project elos idos Y pe ede ee BEERS He IZ POTASA ROSE AE E o a 12 Destonito askuzz SyS lea soa daa Ta Fuzzy System Project Window naaa 73 Workino Vit DIOCKS siete aca adi 73 W Orkin Wit TEX AA IAEA EAS ip FUZZY System COMPO 4 1244464480 4 4 4254064504 75 PUC PO eaei A a i aare Be ee 76 Input Linguistic Variable naaa aaa aaa 79 UO Ol sg as ae oe ae eke N S 82 Output Linguistic Variables 243244664244 26 44 446856 84 Output Takagi Sugeno Variable
51. Term Editor Default terms are defined for a variable when you add it to the project The exception is the Output Takagi Sugeno Variable To change the default or to modify the existing terms setting you need to open the Term Editor dialog see Input Term Editor for Input Linguistic Variable or Output Term Editor for The Output Linguistic Variable Open the editor by clicking Term Editor or double clicking a variable in the project window or tree view The Term Editor consists of two main parts the membership function editor and the table of term DOFs DOF degree of fulfillment The membership function editor does not exist for the Output Takagi Sugeno Variable and for the Intermediate Linguistic Variable e Term Editor tool bar Use the buttons in the tool bar to create a new term delete an existing term or change variable term properties Add Term Add a term The Term Properties dialog see section Term Properties Dialog appears A complete set of term properties is accessible Delete Term Delete a variable term You can also use the Delete key Inverse Term Add an inverse term for the currently selected variable term Input linguistic Variable only Convert Terms To Trapezoids Transfer all applied terms of the selected variable to trapezoids except for Intermediate Linguistic Variable and Output Takagi Sugeno Variable Convert Terms To S Functions Transfer all applied terms of the
52. Term Type Select the term type except for the Intermediate Linguistic Variable Parameters group box Specify the term parameters except for the Intermediate Linguistic Variable For the Output Takagi Sugeno Variable parameters are separated by a space Enter the linear term parameters in the order a0 a1 a where a0 is a absolute term and a1 corresponds to the signal connected to pin1 For more information see the Output Takagi Sugeno Variable component description Publication LOGIX UMO0O4A EN P March 2007 106 FuzzyDesigner Projects e OK button Accept the entered properties for the project e Cancel button Click this button to leave the Term Properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Open this dialog by double clicking the right mouse button on the selected term in the Term Editor membership function editor or from the table of term DOFs or the Term Properties tool bar button of each Term Editor For the Intermediate Linguistic Variable and the Output Takagi sugeno Variable the terms can be selected only from the table of term DOFs Input Term Properties Dialog 2 Input Term Properties ball pos_erra AA IOl x General Parameters O00 E O00 oad Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 107 Output Term Properties Dialog General Term Name a Output T
53. Terms Description Variable Unit Predefined Vanable of Length Ir m C User Defined U rit linone Term Editor Cancel Predefined Click this radio button to select the variable unit from the list of predefined units e Variable of Select one of the predefined quantities which has the same meaning as the ILV e In Select one of the predefined units as the requested unit of the ILV User Defined Click this radio button to select a user defined variable unit e Unit Specify a unit of the ILV up to 100 characters e Range tab dialog Enter the operating range of the variable Input Linguistic Variable Properties Dialog Range Tab Dialog Input Linguistic Yariable ballpos error E Eo a Oo xj General Unit Range Terms Description Variable Range Minimum E Maimun i M Rezcale Membership Functions of the Applied Terms Term Editor Cancel Minimum Specifies the lower limit of the variable Maximum Specifies the upper limit of the variable Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 81 Rescale Membership Functions of the Applied Terms Click this check box to rescale the membership functions of all terms of the ILV IMPORTANT The minimum value must be always lower then the maximum value When the dialog for a new ILV Is opened the default range Is preset to 1 for
54. Type of fuzzy inference e Type of defuzzification method e Default output value The classical model by Takagi Sugeno offers a fuzzy rule based smooth switching between analytical functions The consequent is a crisp function of the antecedent variables rather than a fuzzy proposition A general form of a Takagi Sugeno model is FuzzyDesigner Component Library 43 The consequent functions are typically chosen as instances of a suitable parameterized function whose structure remains equal in all the rules and only the parameters vary Most often these functions are linear combinations of antecedent variables In control engineering each rule usually represents local dynamics in different state space regions and the consequent is given in the form of a state space or an ARX model The overall model of the system is achieved by fuzzy blending of these linear models FuzzyDesigner supports Takagi Sugeno fuzzy systems with linear functions in the rule consequents written in the following form R IF x is A and and x is 4 THEN y a a x 4a X or R IF x is A and and x is 4 THEN y a The Takagi Sugeno fuzzy system with the constant value in the rule consequents can be also considered as a fuzzy system with singleton membership functions in the rule consequents If the Centroid Average or Maximum Centroid Average defuzzification and Fuzzy Arithmetic Inference method is chosen than the behavior of both fuzzy systems
55. ab Dialog PID Controller project0 PIDControllero Equation Format Independent Gains Dernvatiwe Input Process Variable Sampling Period fon Parameter b 1 00 Sore Abs the paramere in the cg equaron Po See Dead Band Dead Band Radius om Dead Band Type Zero Lrossing O Output Limiting with Anti eset WindUp Minimum Maximum fi Gain Forgetting Factor Slow Tracking gt Features group box Set up all features of a new or already existing PIDC Publication LOGIX UMO0O4A EN P March 2007 100 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 Equation Format Specify the equation format of the controller Derivative Input Specify the derivative input of the controller Sampling Period Specify the sampling period of the controller The period must be greater then zero and is the same for all PIDs applied in the same project Parameter b Select the value of the parameter b entering the P b eo FSF y term of the PIDC equation The value of the parameter ranges from 0 to 1 Dead Band Click the check box to activate the dead band of the controller and specify the dead band radius and dead band type Dead Band Radius If the Dead Band check box is checked enter the dead band radius of the controller This value must be greater then zero Dead Band Type If the Dead Band check box is checked enter the dead band type of th
56. age is small 1 0 Current is positive 1 0 Publication LOGIX UMO0O4A EN P March 2007 50 FuzzyDesigner Component Library You can also formulate the rule base schematically e small negative gt medium 0 9 positive 1 0 e large negative gt small 0 8 o positive gt small 1 0 positive 1 0 In the following example some premise variable DOFs are supposed e Temperature DOFtemp small 0 4 DOFtempUarge 0 8 e Pressure DOFpress negative 0 1 DOFpress zero 0 9 DOFpress positive 0 5 Step 1 DOFs of all rules are computed Rule 1 DOF ye min DOF rempl small DOF press negative min 0 4 0 1 0 1 Rule 2 DOF je min DOF templ arge DOF press negative min 0 8 0 1 0 1 Rule 3 DOF jyje3 min DOF pres positive min 0 5 0 5 Step 2 DOFs of all consequent variables for every rule terms are computed Rule 1 DOF o medium DOF e1 Weight o 0 1 0 9 0 9 DOF positive DOF y1e1 Weight 0 1 1 0 0 1 Rule 2 DOF y small DOF je7 Weight o 0 1 0 8 0 8 Rule 3 DOF py small DOF je lt Weighty 0 5 1 0 0 5 DOF pyr positive DOF y e1 Weight 0 5 1 0 0 5 Step 3 DOFs of all consequent variables terms for overall fuzzy system are computed DOF small max DOF o smal for all rules max 0 08 0 5 0 5 DOF py medium max DOF y medium for all rules max 0 09 0 09 DOF r large
57. akagi Sugeno Variable 42 Intermediate Linguistic Variable 46 Rule Block 4 PID Controller 52 Output Port 56 Component Interface The connection between components is called a link Generally a Hierarchical Fuzzy System HFS computes with data in the form of a crisp real value and or a fuzzy set Not all components enable both types of data to be transferred over the link The data type on both ends of a link should match FuzzyDesigner uses icons to define a link type as follows FuzzyDesigner Icons Icon Description Crisp value input or output value link input crisp values and crisp values resulting from defuzzification are transferred over the link Crisp value input or output value link crisp values are transferred over the link DOF value input or output logical link degrees of fulfillment of fuzzy terms of a fuzzy variable are transferred over the link to a rule block DOF value input or output logical link degrees of fulfillment of fuzzy terms resulting from rule block evaluation are transferred over the link to a fuzzy variable ABET Publication LOGIX UM004A EN P March 2007 30 FuzzyDesigner Component Library Library of Components E Supported Membership Functions Publication LOGIX UMO0O4A EN P March 2007 The FuzzyDesigner Component Library offers the following components from which you can assemble fuzzy systems ranging from single input single output systems to multiple input m
58. also continuous and allows the output value to reach the limits of the range Defuzzification CA MCA for singletons 5 x positive 10 negative DOF negative zero DOF zero positive DOF positive Output _ _ _ _ o te DOF negative DOF zero DOF positive es 0 350 0 000 Output w alue Jo 2667 Parameter gt Term DOF negative Zero positive default O 0000 0 6000 0 4000 0 0000 ml et Publication LOGIX UMO0O4A EN P March 2007 0 700 Output Default Value if all term DOFs 0 DOF positive FuzzyDesigner Component Library 39 Defuzzification CA and MCA for trapezoids Trapezoids are automatically transformed to singletons CA centroid method MCA mean of maxima to allow reaching limit values of the range MCA CA CA MCA The output value is then computed in the same way as for singletons Mean of Maxima MOM generally This method computes the mean value of the interval at which the output fuzzy set reached the largest membership degree It is defined as follows A c max 4 c x y mean a NY F J Smallest of Maxima SOM generally This method is similar to the previous one Instead of mean value the minimum value of the interval is chosen The defuzzified output is computed as follows y smallest la A c Max A e J 40 eco Publication LOGIX UMO04A EN P March 2007
59. and High for compressor speed in our example degree of membership Devel of da ssification Lowy Medium High 3 e a Class fication Result 0 73 Medium 0 High 2 Low oa SS E Crisp Value Fuzzy rules The way in which the classified inputs are treated when passing through rules is shown in the following figure for our compressor control example if Temperature ls Aigh hedium Compressor B runninghledium or Compressor S runningAigh Tem perature Humidity is High rery High Medium High wWery_Hkg hi cone 08 Compressor Speer Center of gt rawit ld Aa icity Publication LOGIX UMO0O4A EN P March 2007 16 Get Started with FuzzyDesigner Publication LOGIX UMO04A EN P March 2007 First the numerical values of Temperature and Humidity get their meaning In our case the current setting of the Temperature is such that it is both 85 Medium and 40 High Humidity is both 80 High and 50 Very High The first rule is thus 80 true for the current inputs while the second rule is 40 true when using minimum for the and operation The first rule states that if 100 satisfied the compressor should run at Medium speed Currently the first rule is only 80 fulfilled so one method of how to consider that the rule is only 80 fulfilled is to truncate the Medium fuzzy set for the output at the level 0 8 A similar situation happens with the second rule where High compressor speed is only 40 fulf
60. and contains for instance a discrete integrator fed by the output of the Fuzzy Add On Instruction Get Started with FuzzyDesigner 17 Nonlinear Fuzzy Rule Based Supervisor of a PID Controller Plant States FUZZY feedforward SUPERVISOR CONTROLLER The great advantage of fuzzy supervision is that it can be applied to existing control and there is little danger of making errors in design Most frequently used is a supervised PID controller where PID gains feedforward action or setpoints are being modified dynamically by rules depending on the process status and external conditions defined through setpoints Smart Switching Between Conventional Controllers Takagi Sugeno Controller FUZZY SUPERVISOR Plant State Schedule weights 0 1 CONTROLLER 1 Setpoints fh A 2 noe A lt lim Ma CONTROLLER a lt x 3 PLANT Process Variables Another popular control structure with fuzzy logic is smart switching between local controllers A local controller is an analytical controller designed to work around specific process operation conditions Once the conditions change the rule based supervisor decreases the influence of one controller and gives more weight to another controller that has been designed to work in the new conditions Publication LOGIX UMO04A EN P March 2007 18 Get Started with FuzzyDesigner Feedback Control System with Direct Fuzzy Controller Control syst
61. arch 2007 10 Get Started with FuzzyDesigner From Expert Knowledge If x1 is low and x2 is medium then FuzzyDesigner is designed to work with Rockwell Automation s Logix5000 family of controllers A fuzzy system designed in FuzzyDesigner can be exported to an L5X Add On instruction AOI format You can then import the fuzzy AOI into any of your projects as needed Fuzzy AOIs can be used by any of the programming languages Function Block Diagram Ladder Logic or Structured Text With FuzzyDesigner you can also monitor and update the selected fuzzy AOI online directly in the running controller This is made available through the RSLinx OPC Server The Intended Use of FuzzyDesigner figure shows the underlying idea and intended use of the FuzzyDesigner software package used in designing Fuzzy Add On Instructions for Logix applications You can build smart components based on the expert knowledge encoded in fuzzy If Then rules You can use these components in the many applications listed above Intended Use of FuzzyDesigner FuzzyDesigner Y1 is fast Fuzzy Add on Generates Instruction XML L m po rted into RSLogix 5000 For Publication LOGIX UMO04A EN P March 2007 Control Systems controller supervisor process model Process Diagnostics process state classification Decision Making Forecasting decision support prediction model system Get Sta
62. as the e Input Linguistic Variable component e Output Takagi Sugeno Variable component e Output Linguistic Variable component e Intermediate Linguistic Variable component The output logical link of the Rule Block can be connected to components expecting a DOF value as result of fuzzy inference such as the e Output Takagi Sugeno Variable component e Output Linguistic Variable component e Intermediate Linguistic Variable component Parameters e Name of the component e List of links to premise variables e List of links to consequent variables e Type of t norm The fuzzy system PID component enables you to design an intelligent supervision of a conventional PID controller The following symbols and terminology are used in description of the component e PV process variable e CV control variable e SP set point e E error E SP PV e P proportional gain e J integral gain e D derivative gain e Man manually set value of CV e Mode controller mode FuzzyDesigner Component Library 53 The component can be used as a conventional PID controller with supervised parameters defined by component input links The component output link provides a crisp value representing the control variable The component functionality is defined through the equation format with the option of using either independent gains or dependent gains When the independent gains option is used the proportiona
63. can vary e The number of consequent functions of every corresponding output Takagi Sugeno variable has to be the same The number of parameters of these functions have to be the same as well their values can vary e The number and structure of rules of every corresponding rule block have to be the same Weights of rules can vary e The names of fuzzy system input and output ports have to be the same as in the fuzzy system which was exported to the L5X file If these conditions are not met the fuzzy system in the controller may not be updated online Then you would have to export the fuzzy system to the L5X file and import it again to the RSLogix 5000 project If the fuzzy system parameters are successfully updated the following message appears x _l The project parameters were updated successfully Publication LOGIX UMO04A EN P March 2007 146 RSLogix 5000 Add On Instruction Modifying the fuzzy system parameters modifies a specific instance of the fuzzy Add On Instruction not the definition of the fuzzy Add On Instruction If you want to change the definition you should create a new version of the fuzzy Add On Instruction and import it onto your RSLogix 5000 project Importing an Add On FuzzyDesigner enables you to import the fuzzy Add On Instruction XML file L5X back to FuzzyDesigner To import the fuzzy Add On Instruction to FuzzyDesigner instruction click the menu item Tools gt Add On Instruction gt
64. e Topic List DDE OPC Topic Configuration 2 x Project Default Topic List Data Source Data Collection Advanced Communication Egg ashController M Autobrowse 2 Workstation EUCZPRGIEKOLINS1 een Linx Gateways Ethernet l AB_DF1 1 DF1 EXP 01 1756 63 LOGIX5563 EgawashController H E Backplane 1756 4 7 4 AB VBP 1 1789 417 4 Virtual Chassis E 00 Workstation EUICZPRGIKOLINS1 I fi 01 1789 L60 A Softlogix5860 Controller 1789 L60 4 R13 31 Nem Clone Delete Apply Help The topic has to correspond to the correct controller path If not set the correct controller path in the communication path browser 4 Click Done Publication LOGIX UMO04A EN P March 2007 Modifying Fuzzy System Parameters Online RSLogix 5000 Add On Instruction 145 5 To create a new OPC topic click New and enter a Topic name Set a correct path to the controller in the browser 6 Click Apply and then click Done When you modify fuzzy system parameters online parameters are overwritten directly in the selected controller that is in the selected fuzzy system Add On instruction tag The following conditions must be met e The number and the type of components have to be the same in both projects e The number of membership functions of every corresponding input linguistic variable output linguistic variable and intermediate variable has to be the same their names types and parameter values
65. e computed control variable comes back into the range The adjustable dead band DB lets the user select an error interval DBI SP DB SP DB around the setpoint where the controller output does not change as long as the error remains within this range This dead band lets you control how closely the process variable matches the setpoint without changing the value of CV There are two choices of dead band type zero crossing and no zero crossing dead band FuzzyDesigner Component Library 55 Zero crossing dead band control stops changing control variable ACV 0 when the process variable crosses the setpoint The control variable is not changed as long as the process variable remains within the dead band interval Zero crossing dead band control can be written as follows Once PV reaches SP E 0 and as long as PVe DBI use ACV 0 consider E 0 No zero crossing dead band control stops changing control variable immediately when approaching the setpoint and crossing the band limits The control variable is not changed as long as the process variable remains in the dead band interval No zero crossing dead band control can be written as follows IF PVe DB THEN ACV 0 consider E 0 When the gain parameters of the PID controller are supervised by fuzzy rules rapid changes of premise rules variables may cause rapid changes of controller gains To avoid these changes the gain forgetting factor g can be used The value of g ha
66. e controller Output Limiting with AntiReset WindUp Click the check box to enable this function and specify the upper and lower limits Minimum When the Output Limiting check box is checked enter the lower saturation limit of the controller output Maximum When the Output Limiting check box is checked enter the upper saturation limit of the controller output IMPORTANT The minimum value must be always lower then the maximum value FuzzyDesigner Projects 101 Gain Forgetting Factor group box Specify the gain forgetting factor of a new or existing PIDC e Value Enter the controller gain forgetting factor value of the controller The factor default value is set to 1 for a new PIDC e Gain Forgetting Factor track bar Specify the gain forgetting factor setting from slow tracking minimum to exact tracking maximum e Description tab dialog Specify the description of a new or existing PID controller PID Controller Properties Dialog Description Tab Dialog Controller Description al Controller Description Enter the description of the PID controller e OK button Accept the entered properties for the project Publication LOGIX UMO0O4A EN P March 2007 102 FuzzyDesigner Projects e Cancel button Click this button to close the PIDC properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog
67. e membership function editor position the mouse cursor anywhere in the editor area Hold down the right mouse button and drag your mouse to the right zoom in or left zoom out Release the button when the scale is at the desired level When you want to zoom any part of membership function editor click the begin point by the right mouse button and move the mouse right the right mouse button Is still pressed down to the final point Release the right mouse button to rescale the membership function editor When the editor is zoomed click the right mouse button and move the mouse left or right to slide the membership function editor zoom To zoom out the editor click the right mouse button drag the mouse left and release the mouse button Discussed mouse operation must be performed inside the editor axes area Hide Term Names in Graph Hide or show names of the applied variable terms seen in the membership function editor except for Intermediate Linguistic Variable and Output Takagi Sugeno Variable Variable Properties Show the appropriate variable properties dialog The Term Editor dialog remains open Publication LOGIX UMO0O4A EN P March 2007 104 FuzzyDesigner Projects Help Show information about the Term Editor When you want to specify input values of the Input Linguistic Variable you can use the membership function editor slider Position the mouse cursor above the slider click the right mouse b
68. e term of a linguistic variable in the rule conclusion application A synonym for user programs Centroid Average CA A continuous defuzzification technique client An application that uses the services of an object crisp set A special case of a fuzzy set in which the membership function only takes two values commonly defined as 0 and 1 defuzzification A conversion of a fuzzy set into a numerical value Degree Of Activation DOA The degree to which the condition part of a rule is satisfied and consequently the degree to which the terms in the rule conclusion will be activated Publication LOGIX UM004A EN P March 2007 150 Glossary Publication LOGIX UMO0O4A EN P March 2007 Degree Of Fulfillment DOF A general evaluation of the degree of truth of fuzzy logic expressions DOF values range from 0 to 1 For example e Term DOF the DOF for the expression X is A is the degree of membership of x in A e Rule DOF the DOF of the condition part of a rule extensible markup language XML Class of data objects and definitions that define how programs should behave XML documents are made up of parsed data characters forming character data or markup Markup defines the document s storage layout and logical structure FuzzyDesigner uses XML to define the format in which FuzzyDesigner projects are kept fuzzification Determination of degrees of membership of the crisp input value of the ling
69. ects e Links tab dialog Set up the RB input and output logical links Rule Block Properties Dialog Links Tab Dialog 2 Rule Block ball Rules E loj General Links Description Block Links Applied Input Logical Links Applied Output Logical Links velocity New Logical Link pos error Add Link Delete Link Rule Editor Cancel Applied Input Logical Links Tab Dialog The list box shows all applied input logical links of the block Applied Output Logical Links Tab Dialog The list box shows all applied output logical links of the block New Logical Link combo box Select one of the available input or output logical links that can be used for the block Add Link button Click the button to add a new logical link selected by the New Logical Link combo box to the appropriate list box of the selected tab dialog with applied logical links Delete Link button Click the button to delete a marked logical link from the appropriate list box of the selected tab dialog with applied logical links Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 97 e Description tab dialog Specify the description of a new or existing RB Rule Block Properties Dialog Description Tab Dialog Rule Block ball Rules Y e ioii General Links Descnption Block Description rules Rule Editor Cancel Block Description
70. ed by any of the programming languages Function Block Diagram Ladder Logic or Structured Text Publication LOGIX UMO004A EN P March 2007 134 RSLogix 5000 Add On Instruction Generating a Fuzzy Add On Instruction Publication LOGIX UMO04A EN P March 2007 You can export a fuzzy system to an Add On Instruction XML import file CL5X To generate the Add On Instruction AOD for the active fuzzy project click Tools gt Add On Instruction gt Instruction Generator The following dialog appears Add On Instruction Generator EqgwashMachine de JO x Properties ADI Name Eggwashk achine Major Revizion 1 Minor Revizion j Vendor F ockwell Automatior Revision Mote Create In C NRSLogix AUOU Projects FuzzyDesigne Browse Create Cancel The following conditions must be met to generate a fuzzy AOI e All blocks of the fuzzy system must be connected e The fuzzy system must include at least one input port and one output port e All rules must be complete there is no rule with empty conditions or consequents e Each rule block must include at least one rule e Each linguistic variable must include at least one term The default file name of the Add On Instruction is taken from the name of the fuzzy system in FuzzyDesigner but you can change the name The instruction name must follow to the Add On Instruction naming rules It must e Be no more than 40 characters long e Start
71. elected the Filter with Specific Transfer Function radio button enter the numerator coefficients here see Input Port component description Separate coefficients with a space by by JO Denominator Coefficients If you selected the Filter with Specific Transfer Function radio button enter the denominator coefficients here see Input Port component description Separate coefficients with a space a ap mM Publication LOGIX UMO0O4A EN P March 2007 18 FuzzyDesigner Projects e Description tab dialog Specify the description of a new or existing IP Input Port Properties Dialog Description Tab Dialog Input Port ball pos_error 3 e lol xj General Description Port Description Reset Filter State Cancel Port Description Enter the description of the IP This description will be used as the input parameter description when the fuzzy algorithm is compiled to an Add On Instruction e Reset Filter State button Click this button to reset the internal state of the implemented filter e OK button Accept the entered properties for the project e Cancel button Click this button to close the IP properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 19 Input Linguistic Variable Use the Edit New Variable New Input Linguistic Variable main menu com
72. em status Primary controls Variables CONTROLLER Input filter Output filter Process Variables A fuzzy controller with the above structure typically handles multiple inputs and generates multiple outputs This system is recommended for experienced designers since control variables are direct functions of rules The number of rules increases rapidly with the number of inputs and fuzzy terms for inputs The problem of dimensionality can however be reduced by hierarchical structuring of the rule base of the controller which is supported by FuzzyDesigner Specifications and Features FuzzyDesigner features and specifications are summarized in the following tables For details refer to the subsequent chapters Fuzzy System Components Components are graphical objects blocks you work with to design a fuzzy system Component Membership AND Aggregation Inference Defuzzification functions Activation method if A Input Port Input Linguistic A Variable S shape and their inverses Rule Block Min product t norms Output Trapezoidal Max s norm Mamdani Fuzzy CA MCA Linguistic singleton Arithmetic MOM SOM LOM Variable Publication LOGIX UMO04A EN P March 2007 Get Started with FuzzyDesigner 19 Component Membership AND Aggregation Inference Defuzzification functions Activation Type method if applicable Intermediate Max s norm Linguistic Variable Output T S Max s norm Variable
73. er You can use a variable as an additional input to the project Publication LOGIX UMO004A EN P March 2007 132 Fuzzy System Simulation Publication LOGIX UMO0O4A EN P March 2007 Close button Stops off line simulation and closes the Simulation Watch dialog Returns FuzzyDesigner to Design mode Simulation Watch Dialog E Simulation Watch ball Input Ports Intermediate Components Output Ports Mame Project Value Mame Project Yalue pos eror velocity 0 0000 Name Project Value angle 0 0000 angle 0 0000 Input Value Ml ininnuree Value lo 0000 Masmum Introduction Chapter 6 RSLogix 5000 Add On Instruction You can use Add On Instructions AOIs to deploy your fuzzy logic algorithm created with FuzzyDesigner Topic Page Generating a Fuzzy Add On Instruction 134 Importing Add On Instructions to RSLogix 5000 Projects 136 Monitoring and Updating a Project Online 138 Configuring RSLinx OPC Server Topic 144 Modifying Fuzzy System Parameters Online 145 Importing an Add On Instruction to FuzzyDesigner 146 With FuzzyDesigner you can use a fuzzy system in RSLogix 5000 software and run it on Rockwell Automation controllers Logix5000 family FuzzyDesigner enables you to export the designed fuzzy system to an Add On Instruction XML import file L5X You can then import the fuzzy system as a fuzzy instruction into any RSLogix 5000 projects The fuzzy instruction can be us
74. er switches to Monitoring mode and a Simulation Watch dialog appears Values of all component variables used in the fuzzy system project are displayed in three tables in the Simulation Watch dialog see Simulation Watch Dialog The first table displays Input Ports and the third Output Ports All the remaining Intermediate Components are displayed in the second table Input Value group box Specify the range and input value of the Input Port selected from the Input Ports table e Minimum Display or set the lower limit of the selected Input Port e Value Display or set the value of the selected Input Port The track bar is an alternative to the entry field e Maximum Display or set the upper limit of the selected Input Port When you select the Input Port the range and current value are shown in the Input Value group box The Input Value group box is grayed out when you select a component from another table When you select an Input Port from the first table you can change its input value by clicking the slider in the Input Value group box or by entering a value in the appropriate entry field When you change the input value of the selected Input Port the fuzzy system project is statically evaluated that is the fuzzy system inference operation is computed When you disconnect the Input Linguistic Variable you can use the related Term Editor to set up its input value by the membership function editor slid
75. erm Properties Dialog for the Output Takagi Sugeno Variable Y Output Term Properties pendulum CYK 0 3 General Term Name ko Term Type LINEAR Parameters lo 4 4037 4 5046 4 4057 15 4325 3 7569 0 0 a Publication LOGIX UMO0O4A EN P March 2007 108 FuzzyDesigner Projects Rule Editor Publication LOGIX UMO0O4A EN P March 2007 Click Rule Editor in the Rule Block properties dialog to open the Rule Editor dialog see Rule Block Rule Editor with a Rule Base You can also open the Rule Editor by double clicking a Rule Block Rule Block Rule Editor with a Rule Base Y Rule Editor ball Rules Ioj xj o ri Cal 0 0000 EE negative negative 1 i Cal 0 0000 negatiwe zero negative 1 f Cal 0 0000 negative positive zera Cal 0 0000 ZeD negative negative 1 Cal 1 0000 Zero Zero Zero 1 Id Cal 0 OOOO A Zero positive positive 71 7 Cal 0 OOOO pozitive negative zera i Cal 0 OOOO pozitive Zero positive 1 Cal 0 0000 positive positive postive 1 The Rule Editor shows the following columns e Index Shows the index of a rule of the selected Rule Block rule base e Active Shows rule activity e Rule DOF Shows current degree of fulfillment of every rule of the rule base e IF Shows the premise variables of the selected Rule Block and the addressed terms which define the antecedent part of rules stored in the Rule Block e THEN Show
76. ezoids are automatically transformed to singletons SOM MOM LOM The output value is then computed in the same way as for singletons Recommendation e Use singletons to have easier insight to the output inference mechanism e No functionality is lost Publication LOGIX UMO0O4A EN P March 2007 42 FuzzyDesigner Component Library Output Takagi Sugeno Variable Publication LOGIX UMO0O4A EN P March 2007 Connections The input link of the output linguistic variable can be connected to a component providing the DOF value as a result of fuzzy inference that is the Rule Block component The output value link of the output linguistic variable can be connected to components expecting a crisp value such as e Output Port component e Input Linguistic Variable component e Output Takagi Sugeno Variable component only crisp values are considered e PID component only crisp values are considered The output logical link of the output linguistic variable can be connected to components expecting the DOF value as a result of fuzzification or defuzzification that is the Rule Block component Parameters e Name of the component e Range of the output value of the component Vins Ymax e List of terms described by The name The type of membership function The vector of membership function parameters la b c dl for the trapezoidal membership function c for the singleton membership function e
77. final position for the selected rule in the Position No box Click OK or click Cancel or Close to return to the Rule Editor dialog without making any changes Hide Column Bars Click this button to hide or show the column bars with a graphic representation of the rule DOFs Show Rules As Text Click this button to see the rule base rules as text A dialog see Rules As Text Dialog of Rule Editor with rules in the text format appears and you can perform operations such as copy rules to another application through the clipboard Help Click this button to show information about the Rule Editor Publication LOGIX UMO04A EN P March 2007 112 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 e Close button Click this button to close the Rule Editor dialog Generate Rules Dialog of Rule Editor 2 Generate Rules ball rulebase Options Select the Premise Variables r e velocity Masmum Number of Rules E Number of Rules 3 T M Remove Just Applied Rules za Target Position Dialog of Rule Editor Choose Target Position Position Mo E Rules As Text Dialog of Rule Editor 2 Rules as Text ball rulebase a o O x Applied Rules 1 IF _ pos_eror 5 zero AND velocity 1S zero THEN angle 15 zero 1 2 IF poz_errorl5 negative THEN angle IS negativel 3 IF velocity 15 negatiwe THEN angle 15 negatrwe 1 4 IF pos_eror S positwe THEN
78. for history graph control The first menu shown below appears when you right click the graph The menu items are explained below History Graph Context Menu foom In Esa Bidirectionally Zoom Out d Horizontally zoom To Fit window foom To Fit Base Vertical Range vertically Properties Bidirectionally Horizontally Vertically e Zoom In Zooms in on the graph The maximum size depends on the base vertical range and maximum on an absolute scale real displayed value Publication LOGIX UMO04A EN P March 2007 120 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 e Zoom out Zooms out of the graph The minimum size depends on maximum on an absolute scale value of all displayed curves e Zoom To Fit Window Changes the graph size to best fit the window e Zoom To Fit Base Vertical Range Changes the graph size to best fit the base vertical range in the window e Properties Opens the dialog with graph properties see Watch History Graph Properties Dialog The second context menu appears you right click the legend window In this menu you can change the parameters of the curve The menu structure is shown in History Graph Legend Context Menu The menu items are explained below History Graph Legend Context Menu Color Curve Wertical Range e Color Change the color of the selected curve e Curve Vertical Range Opens the dialog for changing the ve
79. functions can be used in an input linguistic variable component Singleton Membership Function with Parameter position center c l if x c O otherwise A x Singleton membership functions can be used in an output linguistic variable component The fuzzy system Input Port component stores an actual input value entering the HFS Optionally you can preprocess the input values by using the linear digital filter This filter is defined by its pulse transfer operator H expressed in terms of the backward shift operator d or equivalently in time domain as a difference equation as follows b d by bd b d a d l ad a d y t a y t 1 a y t n dyult bu t 1 b u t m H d y d H d u d Filter numerator parameters bo b1 6 filter denominator parameters 1 A There are two ways for designing the filter e user defined filter e butterworth low pass filter FuzzyDesigner Component Library 33 User Defined Filter You set the numerator and denominator coefficients by by b and 43 a directly the parameters are entered in the specified order separated by the space character Butterworth Low Pass Filter This filter can be created by specifying a normalized cutoff frequency q taken from the interval 0 01 1 and the order of the filter 1 2 3 Bode Plot of the Butterworth Low Pass Filter OdB HGo C We Q This normalized frequency q
80. gner main window FuzzyDesigner Main Menu Project Edit wiew Tools Window Help FuzzyDesigner Graphical User Interface 61 Project FuzzyDesigner Main Menu Project Structure Hew Ctrl M Open Chrl 0 Close Close All Save Ctrl 5 Save S Project Information Preview Frink Ctrl P Recent Projects Exit e New creates a new project e Open opens an existing project e Close closes the active project e Close All closes all open projects e Save saves the active project e Save As save the active project with a different name e Project Information displays the properties for the current project e Preview shows the preview of the currently active project e Print prints the active project e Recent Projects shows the four most recent projects e Exit closes the FuzzyDesigner application Edit FuzzyDesigner Main Menu Edit Structure Undo Redo Refresh Ctrl z Chrl Y Mew Input Port Mew Qurput Pork Go to Monitoring Mode 2 New Port Mew Input Linguistic Wariable Mew Variable t Mew Output Linguistic Wariable Mew Rule Block Mew Output Takagi Sugeno Variable New PID Controller Mew Intermediate Linguistic Variable e Undo see section FuzzyDesigner Control Basics e Redo see section FuzzyDesigner Control Basics e Refresh updates the display of the active project Publication LOGIX
81. gure DCOM settings Publication LOGIX UMO04A EN P March 2007 RSLogix 5000 Add On Instruction 141 3 Select the Add On Instruction instance Tag to monitor the OPC address space under a specific Topic the first branch under the tree root RSLinx OPC Server and click Connect On line Connection Wizard EqgWashController Oj xj Select Add On Instruction Instance Tag E ASLin OPC Server Eogw ashController A Topic E Offline E Online 7 conveyor speed e conveyor speed di egg_dirt z oil flow rate i ol valve poz dif i water flow rate z Waker valve pos dif i AE E A AOI Tag E Program M amProgram cos eres ae The AOI instance Tag can be accessed through a Topic tied to corresponding Logix controller If an RSLogix 5000 project is saved then a default RSLinx Topic is created with a default name that corresponds to the Controller Name To make sure that the selected RSLinx Topic corresponds to the correct controller or to reconfigure or create a new RsLinx topic follow the steps described in the Appendix K Configuring RSLinx OPC Server Topic If the AOI instance Tag cannot be found then check if the RSLinx topic is correctly configured as explained above If the selected AOI instance tag does not correspond to the fuzzy project in FuzzyDesigner the following message appears E SEED x ES The selected OPC Item does not correspond to a proper Fuzzy Add On Instruction Instance Tag
82. h e Zoom To Fit Window Zoom in or out of the graph to best fit the window e Rotate Left Rotate the 3D graph to the left e Rotate Right Rotate the 3D graph to the right e Rotate Up Rotate the 3D graph up e Rotate Down Rotate the 3D graph down e Rotate CW Rotate the 3D graph clockwise e Rotate CCW Rotate the 3D graph counter clockwise Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 129 Graph Grid Changes the graph grid visibility and color Click the Default Setting option to restore the default settings Graph Texture Changes the graph texture There are four options e Single color texture the graph has the texture defined as color 1 e Gradient texture the graph gets texture from gradient color The lowest parts of the graph are assigned the color defined as color 2 and the highest parts of the graph color 1 e Shadow texture the graph gets a shadowed texture The base color for this is color 1 e No texture the graph is transparent Graph Axis Changes the parameters of the graph axis You can change the visibility and color of all three axes Axis parameters are bounds grid and values Bounds are essential If bounds are not visible then the other two parameters are not displayed The grid distributes the interval defined by bounds into ten identical subintervals The values item includes both values for all axis and their labels Click
83. he project in the appropriate text boxes e Project Name e Description e Author e Company e Project ID free form project identification code FuzzyDesigner Projects 71 OK button Accept the entered properties for the project Cancel button Click the button if you do not want to apply the changes but you want to close the dialog Project Information Dialog 2 Project Information y ioj x Properties Project Name ball Description Author Company Project ID OR Cancel Saving a Project To save changes made in the active project use the Project Save main menu command To save newly created projects or to save to another project use the Project Save As main menu command The standard Save As dialog appears immediately so you may click the directory where the project will be stored and type a new project name in the dialog The FuzzyDesigner project can be saved to the file with fsp extension where all the information about the project is stored in the XML format This file can be opened in any XML editor Closing a Project You can close an active project using the Project Close main menu command or directly close the active project by clicking Close in the top right corner of the project window Publication LOGIX UMO0O4A EN P March 2007 72 FuzzyDesigner Projects Designing a Fuzzy System Publication LOGIX UMO04A EN P March 2007 To close all open projects use the Pro
84. his form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type RSLogix 5000 Fuzzy Designer Cat No 9324 Pub No LOGIX UMO04A EN P Pub Date March 2007 Part No 953030 82 Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step illustration feature is provided APES example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information Clarity 1 E How can we make things clearer all provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone ____No there is no need to contact me ___ Yes please call me ___Yes please email me at ___Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication ClG CQ521C EN P May 2003 PN953030 82957782 91 Other Comments PLEASE FASTEN HERE DO NOT STAPLE PLEASE FOLD HERE POSTAGE WILL BE PAID BY THE ADDRESSEE 3 Allen Bradley E
85. illed As both rules are used at the same time their conclusions must be combined to get a fuzzy value for the output which is compressor speed The partially fulfilled Medium and High fuzzy sets are unified and a single fuzzy value is assigned to Compressor Speed As conventional control systems cannot deal with fuzzy values the fuzzy instruction includes conversion from a fuzzy to a crisp value For this case the center of gravity for the green area is computed and used to represent the original fuzzy value To summarize the designer has to e define input and output variables e cover the interval of the respective variable by fuzzy sets that is membership functions e write if then rules using labels of the fuzzy sets defined previously Potential Use of Fuzzy Logic FuzzyDesigner enables you to enhance the functionality of existing or new control and decision making systems in various branches of industry The fuzzy system designed and generated by FuzzyDesigner can be used in control systems for example as a direct nonlinear fuzzy rule based controller PID feedback control system supervisor or a process model in a Model Predictive Control scheme Input and output filters are used for signal preprocessing such as filtering deriving trends and many other functions that might add dynamics to the static I O map generated from fuzzy rules Input filters can also be designed in FuzzyDesigner Output filtering is an option
86. is the same The fuzzy system Output Takagi Sugeno Variable component stores parameters of reference linear or constant consequent functions The component has two input links a logical input link degrees of fulfillment of all reference functions that can be multiple meaning that the component can be connected to several rule blocks and a value input link connectable to components that produce crisp values which can be multiple too The number of links depends on the number of consequent variables The component has two output links e Value link e Logical link The output logical link enables the connection of the component directly to other rule blocks If the component input link is connected to one rule block the output degrees of fulfillment are the same as the input degrees of fulfillment If the component is connected to several rule blocks the output degrees of fulfillment of reference membership functions are computed as a maximum of the corresponding input degrees of fulfillment Publication LOGIX UMO0O4A EN P March 2007 44 FuzzyDesigner Component Library Publication LOGIX UMO0O4A EN P March 2007 The output Takagi Sugeno Variable component consists of functional terms Each functional term is defined by its parameters dy aj Ap and its name the parameters are entered in the specified order separated by the space character The type of every linguistic term can be different There are t
87. it name can be up to 100 characters long Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 91 e Range tab dialog Specify the range of the variable including its default value Output Takagi Sugeno Variable Properties Dialog Range Tab Dialog Dutput Takagi Sugeno Yariable ball TakagiSugeno ari Of x Poe A A General Unit Range Description Variable Range Minimum E axinniurn i Default Value lo Y Rescale Functions of the Applied Terms Term Editor Cancel Minimum Specify the lower limit of the variable range Maximum Specify the upper limit of the variable range Default Value Specify the default value of the variable The default value must be within the variable range Rescale Functions of the Applied Terms Click this check box to rescale functions of the all applied terms of the OTSV IMPORTANT The minimum value must be always lower then the maximum value When the dialog for a new OTSV is opened the default range Is preset to 1 for minimum and 1 for maximum The default value is set up to the middle of this variable range Publication LOGIX UMO04A EN P March 2007 92 FuzzyDesigner Projects e Description tab dialog Specify the description of a new or existing OTSV Output Takagi Sugeno Variable Properties Dialog Description Tab Dialog Dutput Takagi Sugeno Yariable ball TakagiSuge
88. ition x IS A is true Process of Crisp Input Fuzzification Term Editor ball pos_error a Ioj xj El DAOBANOADIaSRE SDE pos error negative positive 05 50 Current input value 1 000 0 000 Input Value 0 37 31 Parameter Term DOF negative Zero positive 0 3617 0 0000 Term DOF membership degree DOFs of all terms are provided to connect rule blocks to complete the fuzzy logic inference Publication LOGIX UM004A EN P March 2007 36 FuzzyDesigner Component Library Output Linguistic Variable Publication LOGIX UMO04A EN P March 2007 Connections The input link of the input linguistic variable is connectable to any of these components providing a crisp value e input Port component e output Linguistic Variable component e output Takagi Sugeno Variable component e PID component The output logical link of the input linguistic variable is connectable to components expecting a DOF value as a result of fuzzification or defuzzification such as the Rule Block component Parameters e Name of the component X e Range of the input value of the component x ae min e List of terms described by Name Type of membership function Vector of membership function parameters la b c dl The fuzzy system Output Linguistic Variable component stores output linguistic terms and is used for defuzzification The component has a logical i
89. ject Close All main menu command FuzzyDesigner may display a dialog prompting you to save your project before closing it To save the project s changes click Yes To close the project without saving the project s changes click No To return to the project without saving or closing the project click Cancel Message Box of Closing an Unsaved Project P Do you want to save the changes el s La Designing a Project The fuzzy system is designed in the project window which is the main window for every project opened in FuzzyDesigner There is a graphical representation of the designed hierarchical fuzzy system with applied project components and an additional text comment A detailed description of how to work in the project window is available the section Designing a Fuzzy System Printing a Project You can print the active project using the Print main menu command in the Project menu You can also configure your printer from the Print dialog that appears Having a graphical representation of a Fuzzy System speeds up the design and also makes the internal architecture more transparent and interpretable It also serves as natural project documentation The graphics consist of three parts the workspace of the project window blocks and text These are explained in the following sections FuzzyDesigner Projects 13 Fuzzy System Project Window The fuzzy system project window enables the designer to create block
90. ject and the Redo menu command is always applied to the next change in the history of changes made in the active project Publication LOGIX UMO04A EN P March 2007 60 FuzzyDesigner Graphical User Interface Main Menu Publication LOGIX UMO0O4A EN P March 2007 FuzzyDesigner has two main modes Design mode and Monitoring mode FuzzyDesigner defaults to the Design mode where you can design the project set or reset options and use all application tools without any restriction Use the Monitoring mode when you need to change the project parameters only and leave the project design unchanged Options and tools that can enable project design changes are restricted in the Monitoring mode The current mode is indicated in the application Status Bar The Monitoring mode can be switched on or off directly from the Edit Go to Design mode Go to Monitoring mode main menu item or the tool bar with the same name in the tool tip The Monitoring mode is automatically enabled when the following dialoges are opened e Watch e Simulation Watch e Project Installation Wizard e Online Connection Wizard Panel e Monitoring Stand Alone Component After you close all of the open dialoges FuzzyDesigner switches to the Design mode You can minimize maximize or restore all windows opened in the FuzzyDesigner work area from the menu commands in the Window menu This section lists all menu items in the main menu bar of the FuzzyDesi
91. ks with the following types of membership functions FuzzyDesigner Component Library 31 Trapezoidal Membership Function with Parameters vertices a b c d 0 x a b a A x l if x lt a if xela b if xelb c if xe c d if x gt d x d c d 0 If a b then Ala 1 If c d then A c 1 Trapezoidal membership functions can be used in input and output linguistic variable components S shape Membership Function cubic spline with Parameters a b c d 0 if x lt a 252 if xela b 1 if xelb c 2 2 PERA en x d gt if xe c d 0 if x gt d 2 2 aby x a If a b then Ala 1 If c d then A c 1 S shape membership functions can be used in input and output linguistic variable components Inverse Trapezoidal Membership Function with Parameters vertices a b c d l if x lt a x b a b if xe a b 0 if xe b c if xelc d x2d A x x c d c l if If a b then Ala 1 If c d then A c 1 Inverse trapezoidal membership functions can be used in an input linguistic variable component Publication LOGIX UM004A EN P March 2007 32 FuzzyDesigner Component Library Input Port Publication LOGIX UMO0O4A EN P March 2007 Inverse S shaped Membership Function cubic spline with Parameters a b c d if E if xe a b if xe b c 2 aad if xelc d if x2d If a b then Ala 1 If c d then A c 1 Inverse S shaped membership
92. l integral and derivative gains affect only their specific proportional integral or derivative terms respectively When the dependent gains option is used the proportional gain is replaced with a controller gain which affects all three parts Both formats are shown in the following equations cv le SP t PV 0 1 E t dt D OO ias CV P b SP t PV t I E t dt p20 Bias Where parameter b can be defined by the user and has to be in interval 0 1 The default value is 1 This parameter dampens the influence of the setpoint on the proportional action The component allows two formats of derivative term O Derivative input to the controller can be either the process variable PVU or the error E t Use of the process variable eliminates output spikes resulting from setpoint changes Use of the error allows fast responses to setpoint changes when the algorithm can tolerate overshoots The algorithm is implemented in the discrete form Numerical integration is implemented as follows 1 Edt Ierm IE T Iterm where T is the loop update time Numerical derivation is implemented as follows The calculation of the derivative term is enhanced by using a smoothing first order low pass digital filter This filter eliminates large derivative term spikes caused by noise in the process variable Publication LOGIX UMO04A EN P March 2007 54 FuzzyDesigner Component Library Publication LOGIX UMO0O4A EN
93. l when shipped from the manufacturing facility However if your product is not functioning it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core E Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication LOGIX UMO04A EN P March 2007 PN 953030 82 Copyright 2007 Rockwell Automation Inc All rights reserved Printed in the U S A
94. led to an Add On Instruction Input Link Set up the OP input link The link can realize the connection between the OP and the Input Port Output Linguistic Variable Output Takagi Sugeno Variable or the PID Controller e Description tab dialog Specify the description of a new or existing OP Output Port Properties Dialog Description Tab Dialog Dutput Port ball angle IOl x General Description Port Description angle en Port Description Enter the description of the OP This description will be used as the output parameter description when the fuzzy algorithm is compiled to an Add On Instruction e OK button Accept the entered properties for the project Publication LOGIX UMO04A EN P March 2007 84 FuzzyDesigner Projects e Cancel button Click this button to leave the OP properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Output Linguistic Variable Use the Edit New Variable New Output Linguistic Variable main menu command or the New Output Linguistic Variable tool bar button to add a new Output Linguistic Variable OLV to the appropriate fuzzy system project Alternatively use the New Output Linguistic Variable project window context menu command to add a variable The Output Linguistic Variable properties dialog appears and a default name is assigned to the component Click the OK button to add the
95. les by using fuzzy t norms and s norms t conorms FuzzyDesigner supports the following t norms fuzzy AND operators e Minimum Tyin x YY min x y e Product Toroa A Y X y FuzzyDesigner Component Library 49 FuzzyDesigner also supports this s norm fuzzy OR operator maximum Smax x V max x y The evaluation of the Rule Block is completed in three steps 1 DOFs of all rules are computed from DOFs of the rule premise by using the selected t norm 2 DOFs of all consegent variables terms are computed for every rule These DOFs are obtained from DOFs computed in step 1 multiplied by weights of consequent variables 3 Total DOFs of all consequent variables are computed for the overall fuzzy system Total DOF of one consequent variable is computed as maximum value of DOFs computed in step 2 for the appropriate consequent variable Assume a simple fuzzy system with these two premise variables temperature pressure with terms e Temperature small large e Pressure negative zero positive This system also has two consequent variables voltage current with terms e Voltage small medium large e Current zero positive This system also has a minimum t norm The rule base can be formulated as the following Temperature is small Oressure is negative Voltage is medium 0 9 Current is positive 1 0 Temperature is large Voltage is small 0 8 Pressure is positive Volt
96. mand or the New Input Linguistic Variable tool bar button to add a new Input Linguistic Variable LV to the currently active project Use the New Input Linguistic Variable project window context menu command to add a variable First the Input Linguistic Variable properties dialog appears Click OK to add the component to the appropriate project Input Linguistic Variable names must be unique in the same project e General tab dialog Specify the main properties of a new or existing ILV Input Linguistic Variable Properties Dialog General Tab Dialog E Input Linguistic ariable ball pos error y a a x General Unit Range Terms Description Variable General Variable Mame pas_error Input Link pos error id Term Editor Cancel Variable Name Specify the variable name Input Link Select a feasible ILV input link from the drop down list The link can realize the connection between the ILV and an Input Port Output Linguistic Variable Output Takagi Sugeno Variable or a PID Controller When the dialog for a new unconnected ILV is opened then all feasible input links are displayed Publication LOGIX UMO0O4A EN P March 2007 80 FuzzyDesigner Projects e Unit tab dialog Specify the unit of a new or existing ILV Input Linguistic Variable Properties Dialog Unit Tab Dialog Y Input Linguistic Yariable ballpos_ error po E lol xl General Unit Range
97. mation circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION THe vai Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present PTT aha Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures o A MA A A A A Allen Bradley ControlLogix RSLogix 5000 Logix and RSLinx are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Preface Get Started with FuzzyDesigner FuzzyDesigner Component Library Table of Contents About Thi
98. ned quantities which has the same meaning as the OLV e In Select one of the predefined units as the requested unit of the OLV User Defined Click this radio button to enter a user defined variable unit e Unit Enter the unit name of the OLV up to 100 characters Publication LOGIX UMO0O4A EN P March 2007 86 FuzzyDesigner Projects e Range tab dialog Specify the range of the variable and its default value Output Linguistic Variable Properties Dialog Range Tab Dialog Dutput Linguistic Variable ball angle _ O x General Unit Range Terms Description Variable Range Minimum 0 7 bas Irma 0 7 Default Value lo M Rezcale Membership Functions of the Applied Terms Term Editor Cancel Minimum Specify the lower limit of the variable Maximum Specify the upper limit of the variable Default Value Set up the default value of the variable The default value must be within the specified range of the variable Rescale Membership Functions of the Applied Terms Click this check box to rescale the membership functions of all applied terms of the OLV IMPORTANT The minimum value must be always lower then the maximum value When the dialog for a new OLV is open the default range is preset to 1 for minimum and 1 for maximum The default value is set to the middle of this variable range Publication LOGIX UMO0O4A EN
99. neral Links Description Links Applied Input Logical Links Applied Output Logical Links velocity Hew Logical Link pos_error Add Link Delete Link Rule Editor FuzzyDesigner Defuzzification Methods angle angle negative zero positive 40 negative zero positive HD NZ AAN A A 1 000 y y 0 000 0 500 1 000 y y y 0 500 0 000 0 500 4 000 MCA CA SOM MOM LOM Publication LOGIX UMO04A EN P March 2007 Get Started with FuzzyDesigner 27 FuzzyDesigner PID Controller Y PID Controller WetBlend PID General Options Description PID Controller Mame PIO Input Links Process Y arable Temperature M Set Point Link Setpoint l Set Point Value i 4 P Gain Link Ke P Gain Value Cc W Gain Link Ki hi Gain Value o TD Gain Link none O Gain Value lo W Bias Link Bias a Bias Value jo Manual Control none Mode Switch aa Publication LOGIX UMO04A EN P March 2007 28 Get Started with FuzzyDesigner Notes Publication LOGIX UMO0O4A EN P March 2007 Chapter 2 FuzzyDesigner Component Library Introduction The FuzzyDesigner Component Library offers eight components from which you can efficiently build distributed fuzzy systems Topic Page Component Interface 29 Library of Components 30 supported Membership Functions 30 Input Port 32 Input Linguistic Variable 34 Output Linguistic Variable 36 Output T
100. nge Terns Description Variable Description position error Term Editor Cancel Variable Description Enter the description of the ILV e Term Editor button Click this button to open the Term Editor see section Term Editor where the predetermined variable terms can be changed count names e OK button Accept the entered properties for the project e Cancel button Click this button to close the ILV properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Output Port Use the Edit New Port New Output Port main menu command or the New Output Port tool bar button to add a new Output Port OP to the appropriate fuzzy system project Alternatively use the New Output Port project window context menu command to add a port The Output Port properties dialog appears and a default name is assigned to the component Click OK to add the component to the appropriate project All Output Port names must be unique in the same project FuzzyDesigner Projects 83 e General tab dialog Specify all parameters of a new or existing OP Output Port Properties Dialog General Tab Dialog Y Dutput Port ball angle General Description Port General Port Hame Jangle Input Link angle ES oe Port Name Specify the OP name This name will be used as the output parameter name when the fuzzy algorithm is compi
101. noYariab 5 xj General Unit Range Description Variable Description Term Editor Cancel Variable Description Enter the description of the OTSV e Term Editor button Click this button to open the Term Editor see section Term Editor where you can chage the terms of the variable e OK button Accept the entered properties for the project e Cancel button Click this button to close the OTSV properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Intermediate Linguistic Variable Use the Edit New Variable New Intermediate Linguistic Variable main menu command or the New Intermediate Linguistic Variable tool bar button to add a new Intermediate Linguistic Variable MLV to the active project Alternatively use the New Intermediate Linguistic Variable project window context menu command to add a variable Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 93 The Intermediate Linguistic Variable properties dialog appears and a default name is assigned to the component Click OK to add the component to the appropriate project All Intermediate Linguistic Variable names must be unique in the same project e General tab dialog Specify the name of the IMLV Intermediate Linguistic Variable Properties Dialog General Tab Dialog 4 Intermediate Linguistic ariable ball Intermediate ariabl a x
102. nput link degrees of fulfillment of all linguistic terms of the respective linguistic variable The link can be multiple meaning that the component can be connected to several rule blocks The component has two output links value and logical links Depending on the selected inference algorithm and defuzzification method the component computes a crisp value y Such a result provides an output value link The output logical link enables the connection of the component directly to another rule block If the component input link is connected to a single rule block the output degrees of fulfillment are the same as the input degrees of fulfillment If the component is connected to several rule blocks the output degrees of fulfillment of linguistic terms are computed as a maximum of the corresponding input degrees of fulfillment FuzzyDesigner Component Library 37 The Output Linguistic Variable component stores linguistic terms Each linguistic term is defined by its fuzzy set that is the membership function and the name The following membership functions are supported e Trapezoidal membership function e Singleton membership function Linguistic terms are defined on the specified range Win Ymax universe of discourse Defuzzification Defuzzification converts fuzzy sets to a crisp value taking into account their degrees of fulfillment FuzzyDesigner supports the following defuzzification methods Centroid Average Ma
103. o Reset Filter State Cancel FuzzyDesigner Projects 11 Port General group box Enter general parameters of a new or existing IP Port Name Specify the IP name This name will be used as the input parameter name when the fuzzy algorithm is compiled to an Add On Instruction Use Filter The IP input value can be filtered by a user defined filter Click the Use Filter check box to set up the Input Port filter Butterworth Lowpass Filter Click this radio button to set the Butterworth Lowpass Filter parameters Filter with Specific Transfer Function Click this radio button to set the user defined filter parameters Get Transfer Function When you want to read the transfer function of the specified Butterworth Lowpass Filter Cits numerator and denominator click this button The required numerator and denominator will be shown in the appropriate text boxes of the Filter with Specific Transfer Function group box Butterworth Lowpass Filter group box Specify parameters of a Butterworth Lowpass filter Filter Order If you selected the Butterworth Lowpass Filter radio button enter the required filter order here Cutoff Frequency If you selected the Butterworth Lowpass Filter radio button enter the cutoff frequency here Filter with Specific Transfer Function group box There are two text boxes for you to specify the filter parameters Numerator Coefficients If you s
104. ogix 5000 project e An instance of the fuzzy AOI is created in the RSLogix 5000 project e The RSLogix 5000 project is downloaded to a Logix controller Publication LOGIX UMO0O4A EN P March 2007 RSLogix 5000 Add On Instruction 139 e An RSLinx Topic corresponding to the Logix controller is created see section Configuring RSLinx OPC Server Topic If an RSLogix 5000 project is saved then a default RSLinx Topic is created with a default name that corresponds to the Controller Name e The fuzzy project used to generate the fuzzy AOI is open in FuzzyDesigner Follow these steps to establish online communication with a Logix controller 1 In FuzzyDesigner click Tools gt Add On Instruction gt On line Connection Wizard 2 Specify the RSLinx OPC server If RSLinx software is installed on the same computer select the RSLinx OPC Server option and click Next On line Connection Wizard EggW ashController Oo xj OPC Server Specification ASLins OPC Server C ASLins Remote OPC Server Mode computer name IP address domain Po ee ee ______ Publication LOGIX UMO04A EN P March 2007 140 RSLogix 5000 Add On Instruction If RSLinx software is installed on a remote computer select the RSLinx Remote OPC Server option and specify a Node then click Next On line Connection Wizard EggWashController If communication is not established contact your network administrator to confi
105. ol bar you can access editor commands by right clicking the tool bar buttons The following buttons are available e Generate Possible Rules Enables automatic generation of all rules resulting from the combination of terms and variables entering the rule premise Negated terms terms modified by NOT operator in the rule table are not considered a Click the tool bar button and a dialog see Generate Rules Dialog of Rule Editor appears where you can check the premise variables in the checked list box The maximum number of generated rules of the selected premise variables is shown in the Maximum Number of Rules textbox FuzzyDesigner Projects 111 b Use the Number of Rules numeric control to decrease the number of rules you want to generate c Click the Remove Just Applied Rules check box to remove all already applied rules of the selected Rule Block d Click OK to generate the requested rules or click Cancel or Close the top right dialog corner to return to the appropriate Rule Editor dialog without any changes Shift Selected Rule Up Click this button to shift the selected rule one position up Shift Selected Rule Down Click this button to shift the selected rule one position down Shift Selected Rule to Required Position Click this button to shift the selected rule to the required position A dialog see Target Position Dialog of Rule Editor opens and you can select the required
106. oller Tags ball controller 3 10 x else pal EA AE Scope fa ball Show Show All Name amp Alias Bas Data Type Style Description fuzzy controller de ss angle REAL Float control variable SO for angle actuator output add on instruction D pos_error l REAL Float ball position error SP actual_position input E velocity REAL Float ii of the ball input Direct Nonlinear Fuzzy Fa Ball_controller Ball Direct Nonlinear Fuzzy PD Controller of Ball amp Beam System Ball Ball_controlle EJ pos_error pos_error 0 0 velocity velocity 0 0 angle 0 0 e The order of parameters correspond to the port order of the fuzzy project angle you can optionally set it by the Tools gt Set Port Order menu item in FuzzyDesigner End E Ball No lO x Direct N nlinedr ed PD Controller of Balg Bem System a pos_error O ate ha EN Non angle 0 Monitoring and Updating a This section provides instructions on how to Project Online e establish online communication with a Logix controller to monitor and tune modify parameters the fuzzy AOI e what to do if online communication is not working correctly The communication with the Logix controller is via a RSLinx Classic OPC Server Before establishing online communication certain conditions must be met e The fuzzy AOI is generated by FuzzyDesigner e The fuzzy AOI is imported to an RSL
107. ppears Select the file where you want to save the history and click Save e Clear History Click this button to clear the memory e Help Click this button to show the information about the Watch dialog FuzzyDesigner Projects 115 e Close button Click this button to close the Watch dialog Watch Dialog A Watch ball gt al E eX 2 Input Ports Intermediate Components Output Ports Mame Project Value Mame Project Value Mame Project Value pos error velocity 0 000 Watch Data History Dialog 4 Watch Data History ball E xj Watch Data History Limit data samples to last OU Watch History Data Dialog 2 Watch History Data ball OCx Check History Data for Watch Dialog os Data Intermediate Data Output Data velocity Publication LOGIX UM004A EN P March 2007 116 FuzzyDesigner Projects Watch History Graph Properties Dialog 1 Watch History Graph Properties ball E x Available Watch History Data Input History Data Intermediate History Data Output History Data od Show Cancel Watch Save History Data Dialog 2 Watch Save History Data ball x Available Watch History Data Input History Data Intermediate History D ata Output History Data o T d Additional Watch Data e Zero Based Sample Time e Sample Time cel Monitored data is saved in the ASCII format The struct
108. priate type from the project Component Type Tree View Node Context Menu Delete All There are component nodes of the applied components under the appropriate component type node of each opened project When you right click the component node a context menu with the following commands appears see Component Tree View Node Context Menu e Delete deletes the selected component from the project e Properties shows the properties dialog of the selected component see section Fuzzy System Components Component Tree View Node Context Menu Delete Properties Creating a Project Create a new project by using the Project New main menu command or the New context menu command of the Projects tree view node When a new project is created the appropriate tree view node and project window will be added A new project is not automatically saved To save a recently created project use the Save As command see section Saving a Project in the Project menu Opening an Existing Project Follow these steps to open the existing project 1 Select the Project Open main menu command or the Open context menu command of the Projects tree view node 2 From the Open dialog choose the appropriate file type fsp and click or type the name of the project file Publication LOGIX UMO04A EN P March 2007 70 FuzzyDesigner Projects Publication LOGIX UMO04A EN P March 2007 3 When you select a fsp file type a file
109. rid density of the graph Select the density by clicking a point on the slider e Create button Create the required 3D graph see 3D Graph e Cancel button Close the 3D Graph Properties dialog No graph will be created You can also click Close at the top right corner of the dialog Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 127 3D Graph 2 3D Graph No 0 ball e O loj x a AYADMIASE 0 2 pos_error The 3D graph can be controlled either from the context menu or tool bar buttons You can rotate the graph by using the mouse Publication LOGIX UMO0O4A EN P March 2007 128 FuzzyDesigner Projects 3D Graph Control Context Menu Right click to display the context menu The menu structure see 3D Graph Context Menu is explained below 3D Graph Context Menu Visible Color Default Setting Single Color e Gradient oor ln a oom Out O None oom To Fit window Color 1 Rotate Het Color 2 Rotate Right Rotate Up Default Setting Rotate Down Rotate Cw w Bounds Visible Rotate CLM Bounds Color Graph Grid w arid Visible Graph Texture b Brid Color Graph Axi a Y Values Visible Path b Values Color Default Setting Graph Properties Active Point Visible Active Point Color w Path Visible Path Color Clear Path Default Setting e Zoom In Zoom in on the graph e Zoom Out Zoom out of the grap
110. rms can be changed for example count and names e OK button Accept the entered properties for the project e Cancel button Click this button to leave the OLV properties dialog Any changes made are not applied You can also click Close at the top right corner of the dialog Output Takagi Sugeno Variable Use the Edit New Variable New Output Takagi Sugeno Variable main menu command or the New Output Takagi Sugeno Variable tool bar button to add a new Output Takagi Sugeno Variable OTSV to the active project Alternatively use the New Output Takagi Sugeno Variable project window context menu command to add a variable The Output Takagi Sugeno Variable properties dialog appears and a default name is assigned to the component Click OK to add the component to the appropriate project All Output Takagi Sugeno Variable names must be unique in the same project FuzzyDesigner Projects 89 e General tab dialog Specify the main properties of a new or existing OTSV Output Takagi Sugeno Variable Properties Dialog General Tab Dialog 210 x General Unit Range Description arable General Variable Mame Takagis ugenoY ariablel Applied Input Links Pin Link Available Input Links none Add Pin Remove Pin Connect Term Editor Cancel Variable Name Specify the variable name Applied Input Links All pins and applied input links of the OTSV are shown here
111. rojects Publication LOGIX UMO0O4A EN P March 2007 Selecting a Block Click an existing block to select it Other previously selected objects are automatically unselected To select multiple graphical objects draw a bounding box around them with your mouse or hold the CTRL key while clicking them To select all graphical objects blocks and texts use the Select All item from Fuzzy System Project Window Context Menu see section Fuzzy System Project Window You can also select a block through the Tree View Removing a Block A block can be removed from the graphical model using the keyboard or the Tree View Select a block and press the Delete key Blocks are removed from the project completely Moving a Block Graphical objects can be moved by using a drag and drop operation with your mouse or by using the CTRL and directional arrow keys on a selected object The final position of the object must lie inside the working area If one or more dragged objects are moved out of the permitted area then the objects are moved by default to the nearest permitted position Resizing a Block Select an object and move your mouse over to any corner of object Resize the object by clicking and dragging on a corner You can resize only one block at a time Block Properties A block has two sets of parameters the graphical and the internal parameters All the parameters are accessible from the block context menu see Blocks
112. rs Shows or hides the window with base window parameters Publication LOGIX UMO04A EN P March 2007 122 FuzzyDesigner Projects 2D Graph Publication LOGIX UMO0O4A EN P March 2007 History Graph Control Mouse Dragging You can change the size of the displayed graph by using your mouse You can choose to zoom bidirectionally horizontally or vertically 2D and 3D graphs are useful tools for off line validation of a fuzzy system Assume that the project deals with crisp inputs and outputs which is the case in most control applications The inference realized by the designed fuzzy system generates static input output mapping 2D graphs and 3D mesh plots are graphical representations of the mapping IMPORTANT Dynamic components such as input ports with filters and PID controllers resulting in a dynamic fuzzy system give 2D and 3D plots different meaning and use When the 2D 3D Graph is opened and the related project is manually simulated the system behavior is traced in yellow To trace the system behavior for another simulated input the 2D 3D graph must be regenerated When you click the Tools 2D Graph main menu command the 2D Graph Properties dialog see 2D Graph Properties Dialog appears and you can specify the 2D graph properties e General group box Specify the general properties of the 2D eraph 2D Graph Properties Dialog 1 2D Graph Properties ball cel FuzzyDesigner Projects 1
113. rs and may be as simple as turning a valve or knob Rockwell Automation is introducing a tool for building smart instructions that encode If Then rules and use fuzzy logic internally to describe vague and incomplete knowledge in a natural way Fuzzy Logic may serve in situations where e the process has not been automated and is running in Manual mode e a well tuned PID controller does not provide the desired response however the expert knowledge is available to define the rules for a fuzzy algorithm Let s look at an example where we will discuss building a Heat Ventilation and Air Conditioning HVAC system that manipulates the compressor speed based on room temperature and humidity In HVAC systems room comfort is often associated with vague fuzzy values of temperature and humidity that are more suitable for describing the problem than numerical crisp values Fuzzy rules used in this example might be as follows lf Then Temperature is high and humidity is Speed is medium high Temperature is medium and humidity Speed is high is very high Consider these factors when developing fuzzy rules e How do I specify High and other fuzzy values in fuzzy rules e How do the rules process numerical inputs provided by tags associated with sensors e How do the rules derive outputs from inputs e If the output generated is vague fuzzy how do I get the numerical crisp value at the output when needed Publication
114. rted with FuzzyDesigner 11 A Fuzzy Add On instruction does not typically compete against standard controls found in Proportional Integral Derivative Controllers PID Fuzzy logic is a complementary tool and fills functional gaps not addressed in standard controllers such as PIDs or Model Predictive Controllers A development cycle of fuzzy logic solutions for Logix applications consists of multiple steps 1 Design the fuzzy system in FuzzyDesigner 2 Generate the fuzzy Add On Instruction 3 Integrate import and instantiate the fuzzy AOI to your RSLogix 5000 project 4 Monitor and tune the fuzzy AOI running in Logix online by using FuzzyDesigner Using FuzzyDesigner with RSLogix 5000 Software mE RStogix 5000 0 FuzzyDesigner MM c00770600 En pa i i z T phn eeri tone 1 0 iii 1 Add On s LSX cer pe ear lt kuali rom bi ae 00 00 ty eh ee iar rarai ee alaf dapat ir Ce Ge shot td a e ra yo Tice TET TEET ET pirmie pe er neS CDATA sanee i pt anal ml aii ima rbd GG 0 Markel aaa er t mter mars oi Plow uta ButaTyal cheater ip Taree ry jactat erata fell USE be g a pe aa TT RSLinx Classic 4 Logix If you are unfamiliar with fuzzy logic the next section introduces fuzzy logic terms and principles you might use in your fuzzy system Publication LOGIX UMO04A EN P March 2007 12 Get Started with FuzzyDesigner P
115. rtical range of the selected curve see Curve Vertical Range Dialog This range is used to map curves if the graph is relative and is valid only for this graph Curve Vertical Range Dialog Set Vertical Range E loj x Variable Description Mame angle Unit Range Minimum E Masimum f Default Cancel FuzzyDesigner Projects 121 History Graph Control Tool Bar The tool bar see History Graph Tool Bar has these three categories of buttons e Changing the nature of graph range relative or absolute e Zooming in and out of a graph e Working with graph main window The buttons are explained below History Graph Tool Bar Bidirectionally Horizontally Vertically e Relative Absolute Graph Switches the graph from relative to absolute and vice versa e Zoom In Zooms in on the graph You can select one of three zoom methods Zoom Bidirectionally Zoom Horizontally and Zoom Vertically The zoom method selected also applies to a zoom operation from dragging the mouse see section History Graph Control Mouse Dragging e Zoom Out Zooms out the graph See Zoom In for more details e Zoom To Fit Window Changes the graph size to best fit the window e Zoom To Fit Base Vertical Range Changes the graph size to best fit the base vertical range in the window e Show Hide Legend Shows or hides the legend window e Show Hide Base Curve Paramete
116. rule as active checked or inactive unchecked When you click the cell of the premise or consequent variable choose the required term from the visualized combo box All relevant terms of the respective variables are offered including their inverses The rule base is the only place where you can apply the fuzzy logic NOT operator Inversed terms are marked by NOT followed by the term name In the rule base table the OR operator can also be used 1 Select OR in the combo box then check the terms that you want to use in the OR expression see OR Expression Editor Publication LOGIX UMO0O4A EN P March 2007 110 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 2 When you want to apply a NOT operator to the whole OR expression check Apply NOT for the expression 3 Click OK OR Expression Editor OR Expression pendulum Rules O xj Apple NOT for the expression Select Terms Connected by OR C Mean zero cence _ When you set up a term in the consequent variable cell you can select the weight of the consequent variable All visible changes are stored in the appropriate Rule Block of the project immediately Deleting a Rule When you click the first column the appropriate rule will be marked as selected and the rule background will turn blue You can also selection multiple rules To delete the selection press the Delete key on the keyboard Rule Editor Tool Bar From this to
117. s PUDNCANON Y 5 he 48 bee baba leido 7 Who Should Use This Publication 7 CONE ONS sad Ne e e N 7 Chapter 1 Introduction 0 ee 9 Understanding FuzzyDesigner 0 0 0 0 0000 ooo 9 Fuzzy Logic and Fuzzy Control Essentials Ez Potential Use of Fuzzy LOSE paritaria aa 16 Specifications and Features o o ooo ooo 18 Integrated Design Environment IDE screen captures 22 Chapter 2 IMMOdUCHIOLS as bach a a ee be ra eee ada 29 Component Ineditos criar pasiones dando 29 Library of Components crisi do de de 30 Supported Membership Functions oo ooo 30 OPT OR sao sra dE 32 User Denned Filter ceder dvd eaaa 33 Butterworth Low Pass Filter 33 COMNCCHONG es a 28 errantes She a OME ra RS 43 PAra Meter ta coo eh eth ke he dea hehe beet 34 loput Lost uc Vara Ole eses tada 34 COnneccionS sd e red bal E E 36 Parameters oona aaa eee 36 Output Linguistic Variable ts ooann aaua 36 DEZA eTO el ai an de See e ne S 37 CONNECUOAS vi sel ar era BM ad ri e acicate 42 PATAINCIElS 5 3 0 34 4 oot So ia da da a a a 42 Output Takagi Sugeno Variable vetar dd wee a 42 Connection gt ad O IR eee 45 Parameters 0 0 0 0 0 0000 ee ee eee 46 Intermediate Linguistic Variable o 46 Connections ooa aia w we Oe E oe Ee A 47 Parameters tias rd atada ds da eves 47 Rule Bloc 2 2d dad bet ed ue BA ed eld det 47 Supported Format of
118. s the term of the consequent variables addressed by the rules of the selected Rule Block Rule weights are also shown The column with the weight of the consequent variable marked by the consequent variable name and RW Rule Weight FuzzyDesigner Projects 109 Operations with Rules You can add create or delete rules Adding a Rule To add a rule click the first available blank row and a new rule with the correct index will be created Repeat this if you want to add more rules Creating a Rule With the Rule Editor you can make or modify the rule base of the selected Rule Block Each rule has the following assigned to it e Index the position of the rule in the rule base usually greater than zero e Activity flag check box if checked the rule is enabled otherwise it is disabled e DOF An active rule is evaluated during the inference process and might influence the fuzzy system output Inactive rules remain in the database but are not evaluated Temporarily enabling and disabling rules can help you fine tune your fuzzy system The rule specification contains the premise variables and weighted consequent variables The rule base columns in the Rule Editor are arranged in the same order as the related variable links are applied If you want to create a rule then use a mouse Select the table cell you want to modify and choose the required parameter By clicking on the cell with the rule activity you can set the
119. s to be in the interval 0 001 1 Value g 1 corresponds to exact parameter tracking no forgetting factor is applied and g 0 001 corresponds to very slow parameter tracking The default value is 1 Connections The Input links of the PID component can be connected to all components providing crisp values such as e Input Port component e Output Takagi Sugeno Variable component e Output Linguistic Variable component e PID component theoretically The output link of the PID component can be connected to all components expecting a crisp value such as e Output Port component e Input Linguistic Variable component e Output Takagi Sugeno Variable component theoretically e PID component theoretically Publication LOGIX UMO04A EN P March 2007 56 FuzzyDesigner Component Library Output Port lan Publication LOGIX UMO04A EN P March 2007 Parameters e Name of the component e Controller Gain parameters P I D Bias specified by links to components providing crisp values or by user defined constant values e Setpoint value SP specified by links to components providing crisp values or by user defined constant values e Sampling period T e Output limiting of control variable YES or NO e Output limits CV nin CVmax Gf YES e Equation format dependent or independent gains e Derivative input format error or process variable e Manual control None or the link to component
120. selected variable to s functions Input Linguistic Variable only Convert Terms To Singletons Transfer all applied terms of the selected variable to the singletons Output Linguistic Variable only Next Term Selects the term adjacent to the current term TIP You can select a previous or next term from the currently selected one with the keyboard cursor keys lo select a term directly click the term name area in the membership function editor Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 103 Term Properties Show the Term Properties dialog see section Term Properties Dialog of the currently selected term IMPORTANT To show the Term Properties dialog of an already selected term double click anywhere in the membership function editor To change the parameters of the selected term membership function only right click the term parameter and in a click and drag operation move It to the new position Repeat as needed This applies to the Input Linguistic Variable and Output Linguistic Variable only Shift Selected Term Left Shift the currently selected term to the left Shift Selected Term Right Shift the currently selected term to the right Term DOFs Table Auto Arrange Optimize the width of the Term DOFs table columns Zoom Out Restore the membership function editor window setting IMPORTANT To zoom in or out in th
121. system into L5X file Changing parameters of a fuzzy system downloaded to the controller dynamically is enabled Exact copy of the fuzzy system running on the PLC allows FuzzyDesigner to monitor all internal variables on the computer when both copies are fed with the identical inputs Some of the FuzzyDesigner features summarized in the preceding tables are shown in this section Get Started with FuzzyDesigner 23 FuzzyDesigner Environment in Brief J FuzzyDesigner 16 00 EggW ashController Project Edit View Tools Window Help QR amp 4iBIiGBERBE Se EBRE Y Dae lx ece Aeg Tree View Bl EggWashController SS ik Ioj 2 Term Editor EggWashControles Mie xi gt o TEN PRA a al o gt f Input Ports AY egg_dirt conveyor_speed_dif 3 A A na ative zero positive on Man conweyor_speed_dif CQ water_flow_rate neal conveyor_speed_dif 0 0326 05 3 oil_flow_rate A Man i Mon a0 0 0326 E A Input Linguistic Variat conveyor_speed conveyor_speed MA al ry A 0 0 A egg dirt 0 426 AA Lo a3 0 3000 01500 00000 01500 0 3000 E RuleBlock1 lar Man at dif 7 conveyor_speed at i dif water_vave_pos_ 7 water_flow_rate ACA water_va ve POS 0 0109 man aie OH eS 4 0 0109 Output Value 0 03261 Parameter Ea oil_flow_rate z4 E E Output Ports water_flow_rate water_flow_rele Term DOFs 0 412 I Mod ol Nan oil_valve_pos_dif m ED conveyor_speed nega
122. t is by the membership function and the name There are four supported membership functions e Trapezoidal membership function e S shaped membership function e Inverse trapezoidal membership function e Inverse S shaped membership function inverse trapezoid s shape inverse s shape b oc a d Linguistic terms are defined on specified range x x universe min ieee of discourse The component crisp input is fuzzified The result of fuzzification of the crisp input value x is a degree of fulfillment DOF of the terms which is computed for each term given by the membership function A x as follows A x if x X nin A DOF A A X nin if x lt X min FuzzyDesigner Component Library 35 This value is simply membership degree of value x to fuzzy set A and can be interpreted as a degree to which the proposition x IS A is true An example of fuzzification of the crisp input value x is shown in the figure Process of Crisp Input Fuzzification The component input value is 0 3191 The component consists of three linguistic terms negative zero and positive The output of the component is the vector 0 6383 0 3617 0 where 0 6383 is a degree of fulfillment of the term negative 0 3617 is a degree of fulfillment of the term zero and O is a degree of fulfillment of the term positive This value is simply membership degree of value x to fuzzy set A and can be interpreted as a degree to which the propos
123. te or relative You can select the graph type by clicking the first button on the history graph tool bar and you can see this from a status bar at the top right corner of the graph window Publication LOGIX UMO0O4A EN P March 2007 118 FuzzyDesigner Projects Publication LOGIX UMO0O4A EN P March 2007 If the graph is absolute then the displayed scaling of vertical axis is valid for all curves otherwise the scaling is valid only for the labelled base curve Its parameters are written in the separate window located in the left bottom corner of the graph main window In the relative mode all curves are scaled to share the vertical range with the base curve The vertical range of each curve can be changed in the legend context menu This range is valid only for the current graph It is not the same as the range defined in the Linguistic Variable Editor Only the default range is the same The main graph window consists of three parts see History Graph the Real graph window the Legend and the Base Variable Property Real graph window This window is located on the right side of the graph main window and it cannot be hidden Measured historical samples are plotted here Adjacent data points are linked by a line no interpolation is applied The number of curves displayed is limited to 1000 The grid of both axes is set automatically Range of displayed data can be changed by zooming in and out The units of the horizontal axis are written
124. tes resets the internal states of all Input Port filters and PID Controllers in the just active project e Process Membership Functions appropriate output variables process according to fuzzy sets in the just active project e Set Port Order see section Port Order Editor e Watch see section Watch e Simulation simulate your process by entering values for the variables defined on input ports see Fuzzy System Simulation e 2D Graph see section 2D Graph e 3D Graph see section 3D Graph e Add On Instruction create or monitor fuzzy Add On Instructions see RSLogix 5000 Add On Instruction FuzzyDesigner Graphical User Interface 65 Window FuzzyDesigner Main Menu Window Tile Cascade Arrange Icons Minimize ll Maximize All Restore All 1 ball e Tile tiles all open windows in the application workplace e Cascade cascades all open windows in the application workplace e Arrange Icons arranges icons in the application workplace e Minimize All minimizes all windows in the application workplace e Maximize All maximizes all windows in the application workplace e Restore All restores all windows to their normal size in the application workplace Help FuzzyDesigner Main Menu Help Contents ShiFE F 1 Index ShiFE F2 Search ShiFt F3 Product Activation About e Contents shows the help contents e Index
125. tive zero positive lt default gt 0 6739 0 3261 0 0000 Bee D water_valve_pos i Non oil_valve_pos_dif 0 0117 E oll_valve_pos_dif 0 0117 E F Output Linguistic Vari RuleBlock2 O watervalve_pos EPR EggWashCo tro le 10 49 J Rule Editor EggWashController RuleBlock1 C conveyor_speed 7 oil_valve_pos_dif NARNARA ae 8 2 z 3 3 Tf B a Rule Blocks gg_dirt IF THEN BB Ruleblock1 low acceptable hextra_high E RuleBlock2 1 0 Index Active RuleDOF egg dit conveyor_speed water_flow_rate conveyor_speed_dif 05 1 7 0 0000 high low zero 0 0 2 mz 0 0000 i high high high negative 0 0000 0 1250 0 2500 0 3750 0 5000 E 3 fw 01871 g low high Input Value 0 11739 Parameter 4 0 3261 low low positive Term DOFs M low acceptable high extra_high 5 py 06733 acceptable zero 0 3261 0 6739 0 0000 0 0000 4 gt El For Help press F1 Status Design Mode Publication LOGIX UM004A EN P March 2007 24 Get Started with FuzzyDesigner Input Linguistics Variable Input Port Publication LOGIX UMO0O4A EN P March 2007 Project Tree view Tree View Se ml Projecte E E Eqg ashController Ela Input Ports a 9 egg_dirt ae C9 conveyor speed ve C4 water flow_rate 3 ol flow rate Se Input Linguistic Wariat ef egg_dirt i conveyor speed ie water flow rate if oil flowrate 2 6 Output Ports O conveyor
126. ts name Degrees of fulfillment of all terms are results of previous logic inference in preceding rule blocks connected to this component Rule Block FuzzyDesigner Component Library 47 If the component input link is connected to a single rule block the output degrees of fulfillment just copy inputs If the component input is connected to several rule blocks the output degrees of fulfillment of stored linguistic terms are computed as a maximum of the corresponding input degrees of fulfillment Connections The input logical link of the Intermediate Linguistic Variable can be connected to a component providing a DOF value as result of fuzzy inference in a rule block that is the Rule Block component The output logical link of the Intermediate Linguistic Variable can be connected to components expecting a DOF value as result of fuzzification or fuzzy inference in a rule block such as the Rule Block component Parameters e Name of the component e List of terms defined by their names The fuzzy system Rule Block component stores rules performs fuzzy logic inference based on fuzzy rules and computes degrees of fulfillment of linguistic terms for consequent variables output logical links from degrees of fulfillment of linguistic terms used in the rule for premise variables input logical links Publication LOGIX UMO0O4A EN P March 2007 48 FuzzyDesigner Component Library Publication LOGIX UMO0O4A EN P March 2007
127. ublication LOGIX UMO0O4A EN P March 2007 Fuzzy Logic and Fuzzy Control Essentials This section introduces basic concepts used in a Fuzzy Add On Instruction The designer should know how to deal with an instruction s inputs outputs and fuzzy If Then rules that will be used to define input output mapping There are quite a number of systems or processes that are highly nonlinear not well understood from the formal description point of view or for which a mathematical model is not readily available For these systems or processes there is often an expert that is capable of supervising or controlling the process in a satisfactory manner The figure Nonlinear System Example illustrates the difference between linear and nonlinear systems Nonlinear System Example 100 Su Flow Linear System Linear output gives a linear response 0 O Command 100 100 l Flow Non Linear System Linear output does not give a linear response 0 o 0 10 50 80 100 Command The decision making the expert uses in control system supervision can be expressed as a set of Fuzzy Logic If Then rules Get Started with FuzzyDesigner 13 An expert may be an operator a maintenance person or a control engineer who knows what adjustments are needed during process instability These adjustments may include defining setpoints for process variables defining control action in feedforward or feedback contro l or setting gains of conventional controlle
128. uistic terms defined with each input linguistic variable fuzzy number A convex fuzzy set with maximum membership degree equaling 1 Hierarchical Fuzzy System HFS A fuzzy system with chained rules and hierarchical structure of the rule base Inference An application of linguistic rules on input values in order to generate output values Input Linguistic Variable ILV Stores linguistic terms and is used for classification of the actual component input represented by a crisp value into the fuzzy sets defined for the respective linguistic terms Input Port CIP Preprocesses and stores values of a fuzzy system s input variables Intermediate Linguistic Variable MLV Bridges logical chaining of rule blocks Glossary 151 largest of maximum LOM A discontinuous defuzzification technique linguistic rule IF THEN rule with condition and conclusion one or both linguistic linguistic term In the context of fuzzy control linguistic terms are defined by fuzzy sets linguistic variable A variable that takes values in the range of linguistic terms link A type of connection between fuzzy system components specifying format of data transferred Maximum Center Average MCA A continuous defuzzification technique Mean of Maximum MOM A discontinuous defuzzification technique Membership Function ME Function which defines the degree of membership over the universe of discourse for a given fuzzy set Multiple Document
129. ultiple output systems with complex hierarchical structure of rules FuzzyDesinger Component Library Icons Icon Name Description H Input Port Preprocesses and stores values of a fuzzy system s input variables Output Port stores values of a fuzzy system s output a a variables Input Linguistic Stores linguistic terms and is used for Variable classification of the actual component Input represented by a crisp value into the fuzzy sets defined for the respective linguistic terms In fuzzy control the process where the input is converted from a crisp value is commonly called Intermediate Linguistic Variable fuzzification Stores rules and computes degree of fulfillment of rule conditions Bridges logical chaining of rule blocks Output Linguistic Stores linguistic terms and computes the output Variable value from degrees of fulfillment of stored terms defuzzification It implements the process of activation of output linguistic terms defined as fuzzy sets Output Stores parameters of functional terms and Takagi Sugeno computes the output value from degrees of Variable fulfillment of terms PID Controller Allows intelligent supervision of a built in PID controller Library blocks let you work with fuzzy sets as defined by membership functions Let x be the linguistic variable and A x be the degree of membership of x to the fuzzy set A defined by the sketched membership function FuzzyDesigner wor
130. ure of the file is shown in the following table where e Ny is the history depth e 7 is the sampling period e tolapsed S the relative time elapsing from the monitoring start t cta is the absolute computer time Publication LOGIX UMO04A EN P March 2007 FuzzyDesigner Projects 117 Sample Time Time Output Name 1 mn ms lelapsed Ny 1 T actual Ny 1 T Ultelapsed Ny 1 15 Un telapsed Ny 1 15 A Vil telapsea Ny 1 Ts lelapsed i I actual ls n 15 u lelapsed 15 A y 1telapsed 15 telapsed Uy telapsedl Un telapsedl E y1 felapsed EXAMPLE The monitored fuzzy system is the Ball The data saved to the file are ball position error pos_error velocity of the ball velocity and the beam angle angle Every output variable has two columns the first one stores values computed by FuzzyDesigner the second one stores values loaded from the RSLogix 5000 project Data was saved at 12 37 27 4 time elapsed from the monitoring start was 37 seconds The defined history depth was 100 samples The both Sample Time CheckBox and Zero Based Sample Time in milliseconds CheckBox were checked Data was saved in the following form ms Controller de co eN aa OU O TA ee History Graph The History Graph is a Watch Tool component that displays measured or simulated data The creating and setting of initial parameters are explained in the section Watch The created graph can be either absolu
131. utton and move the slider to the desired position then release the right mouse button The actual slider position of the Input Linguistic Variable is seen in the Input Value text box below the membership function editor The input value is immediately stored in the appropriate project which is then statically evaluated e Close button Click this button to close the Term Editor dialog Input Term Editor for Input Linguistic Variable Term Editor ball pos error o O x EEEIEE E R pos error re negative Zero positive 1 5 0 0 1 000 0 500 0 000 0 500 1 000 Input Value 0 0000 Parameter Term DOF negative Zero positive 1 0000 0 0000 _ Publication LOGIX UMO04A EN P March 2007 Term Properties Dialog FuzzyDesigner Projects 105 Output Term Editor for The Output Linguistic Variable Term Editor ball angle E Ioj xj ODO AE El R angle negative Zero positive 0 700 0 350 0 000 0 350 0 700 Output Value 0 0000 Parameter Term DOF negative Zero positive lt default 1 0000 0 0000 0 0000 E a When you click the Add Term tool bar button of a variable Term Editor dialog the Term Properties dialog see Input Term Properties Dialog or Output Term Properties Dialog appears A default name is assigned to a new term e General group box Specify the main properties of the term Term Name Enter the term name
132. wo supported functions e Linear function Xx X2 Xy7 do di X1 d X2 Paot dn Xn e Constant function x X gt Xy dp Where xj X gt X are outputs from preceding components providing crisp values The component calculates an inference result as a crisp value y 2 dof f Xy X25 gt X y lt i Lay i where dof is DOF of i th term This value is finally limited to the range Wim Ymax If no term is activated DOF 0 the inference result is a user defined crisp default value FuzzyDesigner Component Library 45 Emig Different linear state feedback controllers are to be smoothly activated for different process states and setpoints scheduling controller gains There are three rules e F x1 IS A1 AND x2 IS B1 THEN y KO K1 x1 K2 x2 y1 e F x1 IS A2 AND x2 IS B2 THEN y GO G1 x1 G2 x2 y2 e F x1 IS A3 AND x2 IS B3 THEN y CO y3 setpolmts Defined functional terms K type LINEAR parameters KO K1 K2 G type LINEAR parameters GO G1 G2 C type CONSTANT parameters CO Evaluation weighted average of functions ___ yt DOF K y2 DOF G y3 DOF C X from a rule block di y Default Value if all DOFs 0 Connections The input logical link of the output Takagi Sugeno variable can be connected to a component providing a DOF value as result of fuzzy inference that is the Rule Block component Publication LOG
133. ws 2D Graph Context Menu a Thin Thick Color Default Setting oom ln e Bounds Visible oom Ut Bounds Color oom To Fik window PAS SAN rid Visible Graph Line Grid Color Graph Ari ES Y Values Visible Path Values Color Default Setting Graph Properties e Active Point Visible Active Point Color w Path Visible Path Color Clear Path Default Setting e Zoom In Zoom in on the graph e Zoom Out Zoom out of the graph e Zoom To Fit Window Zoom in or out of the graph to best fit the window e Graph Line Change the thickness and color of the graph line Click the Default Setting option to restore the default settings e Graph Axis Change the bounds grid and values parameters for the graph axis If the bounds are not displayed no other axis parameter is accessible The grid step is automatic and is equal to 1 10 of the interval specified by bounds The value item of the Graph Axis includes both values and names Click the Default Setting option to restore the default settings 3D Graph FuzzyDesigner Projects 125 e Path Change the visibility and color of the path trace see section 2D Graph You can also delete the complete path e Graph Properties Open the 2D Graph Properties Dialog see section 2D Graph 2D Graph Control Tool Bar The tool bar see 2D Graph Tool Bar has three buttons Zoom In Zoom Out and Zoom To Fit
134. ximum Center Average Mean of Maximum Smallest of Maximum and Largest of Maximum y output variable Y universe of output variable defined by an interval AQ WV y crisp output value after defuzzification A membership function the output term that is its fuzzy set A fuzzy set which is being defuzzified obtained as a union of all clipped output membership functions Aly membership degree of variable y in fuzzy set A Publication LOGIX UMO0O4A EN P March 2007 38 FuzzyDesigner Component Library Term Editor ball angle O negative zero Centroid Average CA generally An output value computed by this method is equal to the weighted average of the positions of the centroids of the output membership functions A weighted by their actual activation levels The output value is computed as follows where A c G e A cj is the maximum of the degrees of fulfillment over all y P c the rules with the consequent A gt A c Cjis a position of the centroid of the membership function A which is calculated in advance e Mis a number of fuzzy sets A This method is used for applications when output is to be a continuous function of inputs for example a control system Maximum Center Average MCA generally This method is similar to the Centroid Average method except that c the center of maxima of B is calculated in advance This method is
135. zy PD Controller of Ball Beam System Ela Input Ports 3 pos_ermor PORN E velocity EE Input Linguistic Variables e pos_ error ER EM Non velocity For Help press F1 Status Design Mode a Setting Options There are some FuzzyDesigner features that can be configured according to personal preferences and for particular projects You can access the customization options from the View and Options menu commands Publication LOGIX UMO04A EN P March 2007 58 FuzzyDesigner Graphical User Interface D Publication LOGIX UM004A EN P March 2007 Tool Bar The Tool Bar see FuzzyDesigner Tool Bar submenu on the View menu enables access to the commands for customizing the FuzzyDesigner tool bar A tool bar button can be set as visible or invisible by clicking the appropriate Tool Bar submenu commands FuzzyDesigner Tool Bar H e ASRA nE DnE i e Status Bar The Status Bar see FuzzyDesigner Status Bar menu command on the View menu enables you to set the status bar of FuzzyDesigner as visible or as invisible The status bar shows FuzzyDesigner modes see FuzzyDesigner Control Basics and error messages FuzzyDesigner Status Bar For Help press Fl Status Design Mode E Iree View The Tree View see FuzzyDesigner Tree View menu command on the View menu enables you to set the Tree View tab control page visible or invisible see Working with Projects You can also do this by clicking the tool bar button with

LOGIX-UM004A-EN-P RSLogix 5000 Fuzzy Designer User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents