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Zero [-q, q]
Positive [0, r]
where p, q and r are real numbers, typically between 0 and 15. The above
expression means that fuzzy set negative is active from -p to 0 , otherwise it is
zero. Similarly, fuzzy set zero is active from -q to qand fuzzy set positive is
between 0 to r. The membership function is shown in Figure 8.3.
Suppose the fuzzy set negative is defined from 0 to -15, zero fuzzy set from -5 to
+5 and positive fuzzy set from 0 to 15 as shown in Figure 8.3. Let the actual water
volume be 96.5 m3 and the volume setpoint be 100 m3, then the error is -3.5%. The
fuzzified output for the three fuzzy sets is given by
The rules associated with the controller are shown in Table 8.1.
Table 8.1 Fuzzy control rules
Rule
Error, e
Control Action, u
negative
open
zero
close
positive
close
Thus three rules associated with the controller are used to control the water level in
the reservoir. The defuzzified output controls the proper operation of valve A. The
defuzzification is done with the centroid method. The process of centroid
defuzzification is shown in the Excel simulation.
8.6 Rule Implication
The Mamdani implication rule is used to map the input to the output. The
Mamdani implication rule is given as
(8.1)
where A(x) is the input membership function and B(y) is the output membership
function. The implication result is a fuzzy set, which is a minimum of the
membership function of the input (error) and output (control action). The input is
the fuzzified error signal. The minimum membership values for the antecedent
(input) propagates through to the consequent and truncates the membership
function for the consequent (output) of each rule.
Example 8.2
Here the data from Example 8.1 is used with Rule 2 to demonstrate the Mamdani
implication procedure. Rule 2 states that "if the error between the actual volume of
water and the volume setpoint is zero, then the control action is close." First, the
minimum of the antecedent (error) is given by
This example shows the centroid defuzzification procedure for the fuzzy controller.
The actual volume of water is 97.5 m3 and the volume setpoint is 100 m3, which
equates to an error of -2.5 %. The result of the Mamdani implication is shown in
Figure 8.7. The fuzzified error can be written as
The Mamdani implication applied to each rule given in Table 8.1 can be written as
For Rule 1:
For Rule 2:
For Rule 3:
The above results are shown graphically in Figure 8.7. The result obtained for each
rule from the Mamdani implication operator is aggregated together as shown in
Figure 8.8. The result of Figure 8.8 is defuzzified to obtain the crisp output. The
centroid of the plot shown in Figure 8.8 is taken to obtain the centroid
defuzzification. The centroid defuzzification is given by
The defuzzified output is found to be 34%, which means that the inlet valve is
open by only 34% of its full capacity. The inflow is known to be 1 m 3/min of water
when the valve is fully open. Thus, for an error -2.5%, the inflow is 0.34 m 3/min.
11. Execute the Excel simulation for the sinusoidal outflow pattern and give the
values of inflow, outflow, water volume and error at time = 100 min.
12.Change the universe of discourse for negative error fuzzy set in the ErrorFuzzification worksheet of the Excel simulation to the following values.
Error
(Negative)
Error
(Zero)
Error
(Positive)
-15
-15
-5
-5
10
15
15
Repeat Exercises 8.8, 8.9, 8.10 and 8.11 using the above error fuzzy set.
13.Change the universe of discourse for zero error fuzzy set in the ErrorFuzzification worksheet of the Excel simulation to the following values
Error
(Negative)
Error
(Zero)
Error
(Positive)
-15
-15
-10
-2.5
10
2.5
15
15
Repeat Exercises 8.8, 8.9, 8.10 and 8.11 using the above error fuzzy set.
14.Change the universe of discourse for positive error fuzzy set in the ErrorFuzzification worksheet of the Excel simulation to the following values
Error
(Negative)
Error
(Zero)
Error
(Positive)
-15
-15
-10
-5
15
15
Repeat Exercises 8.8, 8.9, 8.10 and 8.11 using the above error fuzzy set.
15.Change the universe of discourse for the open control action fuzzy set in
the Rule-Activation worksheet of the Excel simulation into the following
values
Control
Action
(close)
Control
Action
(open)
-25
-20
25
20
100
100
Repeat Exercises 8.8, 8.9, 8.10 and 8.11 using the above control
action fuzzy set.
16.Change the universe of discourse for the close control action fuzzy set in
the Rule-Activation worksheet of the Excel simulation to the following
values
Control
Action
(close)
Control
Action
(open)
-25
-10
50
10
100
100
Repeat Exercises 8.8, 8.9, 8.10 and 8.11 using the above control
action fuzzy set.
17.In this exercise, the user will add a new outflow pattern in
the Measurement-Deviation worksheet of the Excel simulation. The user
should add a sawtooth outflow, which is defined as follows:
Outflow = 0
=
for t < 20
for 20 min
=0
t 100 min
Give the inflow, outflow, water volume and error at time = 75 min.