IEC 61131-7 : 1.0

PROGRAMMABLE CONTROLLERS - PART 7: FUZZY CONTROL PROGRAMMING

International Electrotechnical Committee

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FOREWORD
INTRODUCTION
1 Scope and object
2 Normative references
3 Definitions
4 Integration into the programmable controller
5 Fuzzy Control Language FCL
      5.1 Exchange of fuzzy control programs
      5.2 Fuzzy Control Language elements
      5.3 FCL example
      5.4 Production rules and keywords of the Fuzzy
             Control Language (FCL)
6 Compliance
      6.1 Conformance classes of Fuzzy Control Language
             FCL
      6.2 Data check list
Annex A (informative) Theory
      A.1 - Fuzzy Logic
      A.2 - Fuzzy Control
      A.3 - Performance of Fuzzy control
Annex B (informative) Examples
      B.1 - Pre-control
      B.2 - Parameter adaptation of conventional PID
            controllers
      B.3 - Direct fuzzy control of a process
Annex C (informative) Industrial example - Container crane
Annex D (informative) Example for using variables in the
                      rule block
Annex E (informative) Symbols, abbreviations and synonyms
Figure 1 - Example of a fuzzy control Function Block in FBD
           representation
Figure 2 - Data exchange of Programs in Fuzzy Control
           Language (FCL)
Figure 3 - Example of a Function Block interface declaration
           in ST and FBD languages
Figure 4 - Example of ramp terms
Figure 5 - Example of usage of variables for membership
           functions
Figure 6 - Example of singleton terms
Figure 7 - Example for fuzzy function block
Figure 8 - Levels of conformance
Figure A.1 - Membership functions of the terms 'full legal
             age' and 'adult'
Figure A.2 - Description of the linguistic variable 'Age' by
             linguistic terms and their hierarchy on the time
             scale (age in years)
Figure A.3 - Commonly used shapes of membership functions
Figure A.4 - Algorithms for implementing operations between
             two membership functions
Figure A.5 - Structure and functional elements of fuzzy
             control
Figure A.6 - The principle of fuzzification (as an example)
Figure A.7 - Representation of the knowledge base in
             linguistic form
Figure A.8 - Matrix representation of two variables
Figure A.9 - Elements of inference
Figure A.10a - An example showing the principles of
               aggregation
Figure A.10b - The principles of activation (as an example)
Figure A.10c - The principles of accumulation (as an example)
Figure A.11a - Methods of defuzzification
Figure A.11b - Difference between Left Most Maximum and Right
               Most Maximum
Figure A.11c - Difference between Center of Area and Center
               of Gravity
Figure A.11d - Methods of defuzzification
Figure A.12 - Examples of Fuzzy Control Language
              characteristic curves
Figure A.13a - Fuzzy-based controller: Fundamental structure
Figure A.13b - Example of a Fuzzy-based controller
Figure B.1 - Example of a pre-control
Figure B.2 - Example of a parameter adaptation
Figure B.3 - Example of a direct fuzzy control
Figure C.1 - Industrial example - Container crane
Figure C.2 - Linguistic variable 'Distance' between crane
             head and target position
Figure C.3 - Linguistic variable 'Angle' of the container to
             the crane head
Figure C.4 - Linguistic variable 'Power'
Figure C.5 - Rule base
Figure C.6 - Fuzzification of the linguistic variable
             'distance'
Figure C.7 - Fuzzification of the linguistic variable 'angle'
Figure C.8 - Subset of three rules
Figure C.9 - Elements of aggregation
Figure C.10 - Principles of aggregation
Figure C.11 - Elements of activation
Figure C.12 - Principles of activation
Figure C.13 - Elements of accumulation
Figure C.14 - Principles of accumulation
Figure C.15 - Defuzzification
Figure C.16 - Example in SCL
Figure D.1 - Principle of the controlled system
Figure D.2 - Principle of the fuzzy based control of the oven
Figure D.3 - Rule block
Figure D.4 - Example in FCL
Table 1 - Defuzzification methods
Table 2 - Formulae for defuzzification methods
Table 3 - Paired algorithms
Table 4 - Activation methods
Table 5 - Accumulation methods
Table 6 - Priority of operators
Table 7 - Reserved keywords for FCL
Table 8 - FCL Basic Level language elements (mandatory)
Table 9 - FCL Extension Level language elements (optional)
Table 10 - Examples of a list with Open Level language
           elements
Table 11 - Data check list
Table A.1 - Inference steps and commonly used algorithms
Table C.2 - Inference steps and assigned operator
Table E.1 - Symbols and abbreviations
Table E.2 - Synonyms

Abstract

Specifies a language for the programming of Fuzzy Control applications used by programmable controllers. It offers the manufacturers and users a well-defined common understanding of the basic means to integrate fuzzy control applications in the Programmable Controller languages in accordance with IEC 61131-3, along with the possibility to exchange portable fuzzy control programs among different programming systems.