ijab
138 linhas
4.4 KiB
PHP
138 linhas
4.4 KiB
PHP
<?php
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require_once ('../fuzzy_logic.php');
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/*--------------------------- start tank demo controll --------*/
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$x = new Fuzzy_Logic();
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$x->clearMembers();
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/* ---------- set input members ---------*/
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$x->setInputNames(array('ERROR','RATE'));
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$x->addMember($x->getInputName(0),'E_NEG',-1 ,-0.9 , 0 ,LINFINITY);
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$x->addMember($x->getInputName(0),'E_OK' ,-0.1 , 0 , 0.1,TRIANGLE);
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$x->addMember($x->getInputName(0),'E_POS', 0 , 0.9 , 1 ,RINFINITY);
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$x->addMember($x->GetInputName(1),'R_NEG',-0.10,-0.07 ,0 ,LINFINITY);
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$x->addMember($x->GetInputName(1),'R_OK', -0.07, 0 ,0.07 ,TRIANGLE);
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$x->addMember($x->GetInputName(1),'R_POS', 0 , 0.07 ,0.1 ,RINFINITY);
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/* ---------- set output members ---------*/
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$x->setOutputNames(array('OUT'));
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$x->addMember($x->getOutputName(0),'CF',-1.0, -0.9 ,-0.8 ,TRIANGLE);
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$x->addMember($x->getOutputName(0),'CS',-0.6, -0.5 ,-0.4 ,TRIANGLE);
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$x->addMember($x->getOutputName(0),'NC',-0.1, 0.0 , 0.1 ,TRIANGLE);
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$x->addMember($x->getOutputName(0),'OS', 0.4, 0.5 , 0.6 ,TRIANGLE);
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$x->addMember($x->getOutputName(0),'OF', 0.8, 0.9 , 1.0 ,TRIANGLE);
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/* ---------- set rule table ------------ */
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/* ---------- set rule table ------------ */
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/* ---------- set rule table ------------ */
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$x->clearRules();
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$x->addRule('IF ERROR.E_NEG THEN OUT.CF');
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$x->addRule('IF ERROR.E_OK THEN OUT.NC');
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$x->addRule('IF ERROR.E_POS THEN OUT.OF');
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$x->addRule('IF ERROR.E_OK AND RATE.R_POS THEN OUT.CS');
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$x->addRule('IF ERROR.E_OK AND RATE.R_NEG THEN OUT.OS');
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$x->setFuzzyTable(array(
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// IN(0,0) IN(0,1) OUT(0)
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// ------ ------- -------
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array('E_NEG', NULL , 'CF'),
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array('E_OK' , NULL , 'NC'),
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array('E_POS', NULL , 'OF'),
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array('E_OK' , 'R_POS', 'CS'),
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array('E_OK' , 'R_NEG', 'OS')
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));
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/*------------ Tank parameters----------------*/
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$Theight = 1.0 ; // tank max level
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$TEmergencyRange = array(0.1,0.1,0.1,0.1);
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$Tinit = 0.1 ; // tank init
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$IitA = 0.1 ;
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$IitB = 0.1 ;
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$IitC = 0.1 ;
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$IitD = 0.1 ;
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$InputValve = 1.0 ;
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$Tdemand = 0.7 ; // tank demand level
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$Toverflow = 0.9 ; // tank overflow signal
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/*------------- Valve parameters -------------*/
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$Tout_stream = 0.03 ; // output stream by time period
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$Vinp_max = 0.05 ; // max input stream for power valve
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/*-------------- Initialise ------------------*/
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$Level = $Tinit;
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$LastLevel = $Level;
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$elevel = $Tinit;
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$erate = 0;
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$Vinput = 0;
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$Valve = 0;
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$Fuzzy = 0;
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$WaterInput = 0;
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echo "<pre>\n";
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echo "This is a simulation of fuzzy-logic controller. The controller controls the desired level of water in the tank.
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The controller closes the water inlet valve so as to offset the amount of water flowing from the water flowing.
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Parameters
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------------
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Valve adjustment range 0 to 1
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The amount of water input flowing per unit time: $Vinp_max
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The amount of water output flowing per unit time: $Tout_stream
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Startup water level: $Tinit
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Desired level of water: $Tdemand
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------------
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Plot Values:
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------------
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L - current level
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V - the level of the valve opening
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F - error output controller
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--------------
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";
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/* ----------- Controll Loop ----------------*/
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for ($i=1;$i<=80;$i++) {
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//if ($i>40) $Tout_stream = 0.0;
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//if ($i>40) $WaterInput = 0;
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list($erate,$elevel) = getLastErrors($Tdemand,$Level,$LastLevel);
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$x->SetRealInput('ERROR', $elevel );
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$x->SetRealInput('RATE' , $erate );
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//$fuzzy_arr = $x->calcFuzzyAlt();
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//
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//$Fuzzy = $fuzzy_arr[0];
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$fuzzy_arr = $x->calcFuzzy();
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$Fuzzy = $fuzzy_arr['OUT'];
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//print_r($fuzzy_arr);
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$LastLevel = $Level;
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$Level = $Level - $Tout_stream + $WaterInput;
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list($Valve,$WaterInput) = getValve($Fuzzy,$Valve,$Vinp_max,0,1);
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$dotline = str_repeat('.',100);
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$dotline[round($Level*99)]='#';
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echo $dotline,sprintf("L:%1.3f F:%1.3f V:%1.3f",$Level,$Fuzzy,$Valve),"\n";
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}
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print_r($x->StateOutput);
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echo "</pre>\n";
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/*---- required additional function ------------*/
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function getValve($Fuzzy,$Valve,$inpMax,$lb,$ub) {
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$xdot = $Valve+$Fuzzy;
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if ($xdot<=$lb) $Valve = $lb;
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elseif ($xdot>=$ub) $Valve = $ub;
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else $Valve=min(max($xdot,$lb),$ub);
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return array($Valve,$Valve * $inpMax);
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}
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function getLastErrors($demandLevel,$currentLevel,$lastLevel) {
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$erate = $currentLevel-$lastLevel;
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if ($erate < -0.1) $erate =-0.1;
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if ($erate > 0.1) $erate = 0.1;
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$elevel = $demandLevel-$currentLevel ;
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return array($erate,$elevel);
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}
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?>
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