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Tutorial and Workshop Constantin von Altrock Inform Software Corporation 2001 Midwest Rd. Oak Brook, IL 60521, U.S.A. German Version Available! Phone 630-268-7550 Fax 630-268-7554 Email: fuzzy@informusa.com Internet: www.fuzzytech.com
INFORM 1990-1998
Fuzzy Logic Primer History, Current Level and Further Development of Fuzzy Logic Technologies in the U.S., Japan, and Europe Types of Uncertainty and the Modeling of Uncertainty The Basic Elements of a Fuzzy Logic System Types of Fuzzy Logic Controllers
Slide 1
1970 1975 1980 1985 1990 Today, Fuzzy Logic Has Already Become the Standard Technique for MultiMulti-Variable Control !
INFORM 1990-1998
1995 2000
Lexical Uncertainty: "Tall Men", "Hot Days", or "Stable Currencies" We Will Probably Have a Successful Business Year. The Experience of Expert A Shows That B Is Likely to Occur. However, Expert C Is Convinced This Is Not True.
Most Words and Evaluations We Use in Our Daily Reasoning Are Not Clearly Defined in a Mathematical Manner. This Allows Humans to Reason on an Abstract Level!
INFORM 1990-1998 Slide 4
... a person suffering from hepatitis shows in 60% of all cases a strong fever, in 45% of all cases yellowish colored skin, and in 30% of all cases suffers from nausea ...
INFORM 1990-1998
Slide 5
38.7C 41.4C
39.3C
More-orMore-or-Less Rather Than Either-Or ! Either INFORM 1990-1998
37.2C
Slide 6
0
36C 37C 38C 39C 40C 41C 42C
INFORM 1990-1998
Slide 7
Linguistic Variable
...Terms, Degree of Membership, Membership Function, Base Variable...
(x)
1
low temp normal raised temperature
pretty much raised
strong fever
0
36C
INFORM 1990-1998
37C
38C
39C
40C
41C
42C
Slide 8
Measured Variables
(Linguistic Values)
2. Fuzzy-Inference
Measured Variables
(Numerical Values)
INFORM 1990-1998
Plant
Command Variables
(Numerical Values)
Slide 9
Angle, Distance
(Numerical Values)
2. Fuzzy-Inference
Power
(Linguistic Variable)
Angle, Distance
(Numerical Values)
INFORM 1990-1998
Container Crane
Power
(Numerical Values)
Slide 11
1. Fuzzification: - Linguistic Variables The Linguistic Term Definitions: Variables Are the Distance := {far, medium, close, zero, neg_close} Angle := {pos_big, pos_small, zero, neg_small, neg_big} Vocabulary of a Fuzzy Logic System ! Power := {pos_high, pos_medium, zero, neg_medium, neg_high} Membership Function Definition: neg_close zero close medium zero far
neg_big neg_small pos_small pos_big
0.9
0.8
0.2 0.1
0 -90 -45 0
0
45 90
-10
Angle
10
20
30
INFORM 1990-1998
Slide 12
2. Fuzzy-Inference: - IF-THEN-Rules Computation of the IF-THEN-Rules: #1: IF Distance = medium AND Angle = pos_small THEN Power = pos_medium #2: IF Distance = medium AND Angle = zero THEN Power = zero #3: IF Distance = far AND Angle = zero THEN Power = pos_medium Aggregation: Composition: Computing the IF-Part Computing the THEN-Part
The Rules of the Fuzzy Logic Systems Are the Laws It Executes !
INFORM 1990-1998
Slide 13
2. Fuzzy-Inference: - Aggregation Boolean Logic Only Defines Operators for 0/1: A 0 0 1 1 B 0 1 0 1 AvB 0 0 0 1 Fuzzy Logic Delivers a Continuous Extension: AND: AvB = min{ A; B } OR: A+B = max{ A; B } NOT: -A = 1 - A
Aggregation of the IF-Part: #1: min{ 0.9, 0.8 } = 0.8 #2: min{ 0.9, 0.2 } = 0.2 #3: min{ 0.1, 0.2 } = 0.1 Aggregation Computes How Appropriate Each Rule Is for the Current Situation !
INFORM 1990-1998
Slide 14
2. Fuzzy-Inference: Composition
Result for the Linguistic Variable "Power":
with the degree 0.0 with the degree 0.8 with the degree 0.2 with the degree 0.0 with the degree 0.0 ( = max{ 0.8, 0.1 } )
INFORM 1990-1998
Slide 15
3. Defuzzification
Finding a Compromise Using Center-of-Maximum:
neg_high
pos_high
15
30
6.4 KW
Slide 16
Types of Fuzzy Controllers: - Direct Controller The Outputs of the Fuzzy Logic System Are the Command Variables of the Plant:
Command Variables
Plant
Defuzzification
Fuzzification
Inference
Measured Variables
Types of Fuzzy Controllers: - Supervisory Control Fuzzy Logic Controller Outputs Set Values for Underlying PID Controllers:
Set Values
PID PID
Plant
Fuzzification
Inference
Defuzzification
PID
Measured Variables
Types of Fuzzy Controllers: - PID Adaptation Fuzzy Logic Controller Adapts the P, I, and D Parameter of a Conventional PID Controller:
Set Point Variable
P I D
Defuzzification
Command Variable
PID
Plant
Fuzzification
Inference
Measured Variable
The Fuzzy Logic System Analyzes the Performance of the PID Controller and Optimizes It !
INFORM 1990-1998 Slide 19
Types of Fuzzy Controllers: - Fuzzy Intervention Fuzzy Logic Controller and PID Controller in Parallel:
Set Point Variable
Command Variable
Fuzzification
Inference
Defuzzification
PID
Plant
Measured Variable