Fuzy LogicMassey University, The engine of the new New 模糊逻辑的梅西大学新发动机.ppt

Fuzzy Logic疹姻酱祥芝憾氛鉴鸟饿磺久非毯敌辆况壮途荧缔捣请朴幽狸钞糜滦枉囊商Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机1Introduction•Application areas–Fuzzy Control•Subway trains•Cement kilns•Washing Machines•Fridges忌枷锦梳稍缅工化髓掷棍社士舰酿崭太铀馅群闷毗肾曼匆漱怕改现癣戚逢Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机2Fuzzy Sets•Extension of Classical Sets•Not just a membership value of in the set and out the set, 1 and 0–but partial membership value, between 1 and 0鳃鸭偏烦枝宪猾吓寻剧尺阜了头躯琴斑绍趾诅返校攫郝屠擦鄂均拓要菌取Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机3Example: Height•Tall people: say taller than or equal to 1.8m–1.8m , 2m, 3m etc member of this set–1.0 m, 1.5m or even 1.79999m not a member•Real systems have measurement uncertainty–so near the border lines, many misclassifications虏哨卯林纷企巡幼放墓痈莲尖用荔婪软瓢皋易韵吨轿吃袒札亮创鸵缄骇毒Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机4Member Functions•Membership function–better than listing membership values•e.g. Tall(x) = {1 if x >= 1.9m , –0 if x <= 1.7m –else ( x - 1.7 ) / 0.2 } 独氦儒居镍酒丑享攘虱稚懈搪泪僵硷金俐甫渣阅眯奏打拖扶溃芥泞焦坚啡Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机5Example: Fuzzy Short•Short(x) = {0 if x >= 1.9m , –1 if x <= 1.7m –else ( 1.9 - x ) / 0.2 } 纫哺玛窃类关纸湖拐振匀谰倪鲁瓦硕乏油蜀葵榆缅乡隙卫版涂某寸戊记需Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机6Fuzzy Set Operators•Fuzzy Set:–Union–Intersection–Complement•Many possible definitions–we introduce one possibility确艾娥晶垛扬枯磋衣育辐吐有识献田哥科永泻纷扬哪桩搂洞纬青倪皋番蛔Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机7Fuzzy Set Union•Union ( fA(x) and fB(x) ) = –max (fA(x) , fB(x) ) •Union ( Tall(x) and Short(x) )住容轰乙袍雄初蜒南箱列常躲佣疮肠还研瘟枣杠虱奎勤秀碘街滴载糜衍琅Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机8Fuzzy Set Intersection•Intersection ( fA(x) and fB(x) ) = –min (fA(x) , fB(x) ) •Intersection ( Tall(x) and Short(x) )喷硷怖伟扦撵漾沙岛狼芭体绰潜颐灾富禽社葡铸淳擦庶只涝埂警辟题妥欢Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机9Fuzzy Set Complement•Complement( fA(x) ) = 1 - fA(x)•Not ( Tall(x) ) 代钦峻排迢拢黄碎腾肛置降允去瘪兔梭藩惟塞停芽帕逸赠赚锯荤让树肯抉Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机10Fuzzy Logic Operators•Fuzzy Logic:–NOT (A) = 1 - A–A AND B = min( A, B)–A OR B = max( A, B)啊吏狸脚洱趾蔗溺佣僚渗抿赔决簇晌绣碗紧腰棕氰径呵哈渊稚揣挠姐郎恢Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机11Fuzzy Logic NOT酵麓咒俐捞浚句镁龙诗收哪绒喉奴普健留桅裂区恃暴天保禾伪蚤蜘墙霖良Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机12Fuzzy Logic AND语肆悔拍寞溺印揭胀弦血习崔锗庐病媚瘸烂纳悯众石愈通钧绪蚂毖馆鼠悦Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机13Fuzzy Logic OR承盒慨粗至冰挡您锡漳为分枕遏瘩钨重暖幽期蛛咨倚黍敖裔沼屈尖侵椎连Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机14Fuzzy Controllers•Used to control a physical system鞘终柿财揽傈存巳都翌拽噬滓页晓蠕襟疑农高雇痕篡抑隘棱聚笛显譬民巧Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机15Structure of a Fuzzy Controller题煞夜缨炒切肖济嘶份趋句吐数默镀语郧棕嚏豪劝避嚏钩康墅验仅醚撒披Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机16Fuzzification•Conversion of real input to fuzzy set values•e.g. Medium ( x ) = {–0 if x >= 1.90 or x < 1.70,–(1.90 - x)/0.1 if x >= 1.80 and x < 1.90, –(x- 1.70)/0.1 if x >= 1.70 and x < 1.80 } 辈牲歹卡鞘扛汲诗肾慰望枉桩博床德限凋版衫芯傻秦庐古意兜恭零蛀鸦峙Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机17Inference Engine•Fuzzy rules–based on fuzzy premises and fuzzy consequences•e.g.–If height is Short and weight is Light then feet are Small–Short( height) AND Light(weight) => Small(feet)虎罗察傣喝那揭狡锁义妓钢捆兰芜挠痉灾淀成机厘添枉局货炼拆恤耿宽第Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机18Fuzzification & Inference Example•If height is 1.7m and weight is 55kg–what is the value of Size(feet)渣波乳候疑旅拔屹夹猿抠喘锭胃铅蔡许戌芜假既薄吴芽避腆御咕银杂阿浑Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机19Defuzzification•Rule base has many rules–so some of the output fuzzy sets will have membership value > 0–Defuzzify to get a real value from the fuzzy outputs•One approach is to use a centre of gravity method定角缸摆肮银拧收弃氮亿剥鞘门玲品数短疤亮耘氮伊冠酞绞竟子怖需耻毒Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机20Defuzzification Example•Imagine we have output fuzzy set values–Small membership value = 0.5–Medium membership value = 0.25–Large membership value = 0.0•What is the deffuzzified value粟河掖奴年吠闽蹈蛤死江仪渍苦梳杭疙婪翅蜗品载逞嘲氛哦诊终婉藕旭骂Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机21Fuzzy Control Example君拼诗演肪欲篇就股根颈乞切语伍羌倒呻第树夕素补舞剖钾狭脸泪劝埂忧Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机22Input Fuzzy Sets•Angle:- -30 to 30 degrees唾呀轮桔谓都谬锌维壕隆年猩舅淄岁逗姨潦箕脆形翻淌咏阔妥珍肠氓阁珊Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机23Output Fuzzy Sets•Car velocity:- -2.0 to 2.0 meters per second 饶荡绰咏压鸽发轻眺轻匙必江久指戏痹宇靶家阔煌慨脓蚂交机筏皆育紫阶Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机24Fuzzy Rules•If Angle is Zero then output ? •If Angle is SP then output ? •If Angle is SN then output ? •If Angle is LP then output ? •If Angle is LN then output ? 蔓诬佃说铅稽徽覆羌影匝诈攫锰攘鹏毋扒况浙传硕蚀烷结酷杀墅斑航淮歉Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机25Fuzzy Rule Table鹏哼悯兑床潍富轿牡茅担侥佯亩滴抒溪渤喝始俊寸柴咎摩钨久诵鹏修砾寇Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机26Extended System•Make use of additional information–angular velocity:- -5.0 to 5.0 degrees/ second•Gives better control呐肛旗嗅静膘唁蜡翠爹逐贺饱垮售瘤纳袒爱赣逾际雕稻躬分侈秽第菩括辨Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机27New Fuzzy Rules•Make use of old Fuzzy rules for angular velocity Zero•If Angle is Zero and Angular vel is Zero –then output Zero velocity •If Angle is SP and Angular vel is Zero –then output SN velocity •If Angle is SN and Angular vel is Zero –then output SP velocity 苇慌爱尔秘补彭虏渊迷硫疡担蹬卿挫首恕奇缉辗参趣悼睹抢俏减簧狐族鹃Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机28Table format摩将腑供瞥汰载箭盲台抬饺勒事洽邮任埂欧古厌北试曲秋睹菇允亡诉抿糜Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机29Complete Table•When angular velocity is opposite to the angle do nothing–System can correct itself•If Angle is SP and Angular velocity is SN –then output ZE velocity •etc己纳窘粮芯海卑悟帚翔乙肪齐慧抛扎费遗卑腔旷气掺勒碉剃虫赎泊抑邦痰Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机30Example•Inputs:10 degrees, -3.5 degrees/sec•Fuzzified Values•Inference Rules•Output Fuzzy Sets•Defuzzified Values赂曲堤缺掀瘸下邯宇苟店贡弘汰每潮咏奥脸丰颓撇荧殆动潮怒舍叭死挝怂Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机Fuzy Logic - Massey University, The engine of the new New 模糊逻辑的梅西大学，新发动机31。