Automating Manufacturing Systems - Process Control and ...

plc fuzzy - 26.4
v desired v error
Fuzzy V
v actual
motor
Motor I motor
Logic
Power
Servo
+
- Controller Amplifier Motor
The rules for the fuzzy logic controller are;
1. If v error is LP and d / dt v error is any then V motor is LP.
2. If v error is SP and d / dt v error is SP or ZE then V motor is SP.
3. If v error is ZE and d / dt v error is SP then V motor is ZE.
4. If v error is ZE and d / dt v error is SN then V motor is SN.
5. If v error is SN and d / dt v error is SN then V motor is SN.
6. If v error is LN and d / dt v error is any then V motor is LN.
The sets for v error , d / dt v error , and V motor are;
v error
d / dt v error
V motor
1
1
1
LN
0
-100 -50 0 50 100
rps
0
-6 -3 0 3 6
rps/s
0
0 6 12 18 24
V
1
1
1
SN
0
-100 -50 0 50 100
rps
0
-6 -3 0 3 6
rps/s
0
0 6 12 18 24
V
1
1
1
ZE
0
-100 -50 0 50 100
rps
0
-6 -3 0 3 6
rps/s
0
0 6 12 18 24
V
SP
1
0
-100 -50 0 50 100
rps
1
0
-6 -3 0 3 6
rps/s
1
0
0 6 12 18 24
V
LP
1
0
-100 -50 0 50 100
1
rps 0
-6 -3 0 3 6
1
rps/s 0
0 6 12 18 24
V
Figure 26.4
A Fuzzy Logic Servo Motor Controller
Consider the case where v error = 30 rps and d / dt v error = 1 rps / s . Rule 1to 6 are calculated
in Figure 26.5.
www.PAControl.com