Fuzzy Logic Controller

Transkripsi

1 Fuzzy Logic Controller Dr. Ir. Ari Santoso,, DEA santoso 1

2 Direct Control Controller End-user Ref Rule Deviations base Actions Outputs Process Inference engine 2

3 Feedforward control and Gain Scheduling Disturbance Fuzzy compensator Deviation Controller u Controller parameters Fuzzy gain schedule Ref Controller Plant Outputs 3

4 Fuzzy + PID Configurations Fuzzy PID Process PID Process (a) (b) Fuzzy Fuzzy PID Process PID Process (c) (d) 4

5 Elements Of A Fuzzy Controller Fuzzy controller Fuzzification Preprocessing Postprocessing Rule base Inference engine Defuzzification 5

6 6 Fuzzification Membership Function Gaussian Triangle σ = µ exp ) ( x x x A 1 x σ µ(x) b a x x A 2 ) ( 1 ) ( = µ a 1 µ(x) b

7 Fuzzification Membership Function Trapezium 0 x < a (x-a) / (b-a) a < x < b µ(x) = 1 b < x < c 1 ((x-c) / (d-c)) c < x < d 0 x > d 7

8 8 Fuzzification Exp. Variable Linguistic Speed of Motor AC Low Speed Medium Speed High Speed b x x A 2 500) ( 1 ) ( = µ b x x A ) ( 1 ) ( = µ b x x A ) ( 1 ) ( = µ

9 Fuzzification Exp. Variable Linguistic ua (X) Low Medium High

10 Rule Based e Design of Rule Based e onsigne b c d e f g h i j k l a e e

11 Rule Based Design of Rule Based e \ e GN MN PN Zéro PP MP GP GN GN GN GN MN PN PN Zéro MN GN MN MN MN PN Zéro PP PN GN MN PN PN Zéro PP MP Zéro GN MN PN Zéro PP MP GP PP MN PN Zéro PP PP MP GP MP PN Zéro PP MP MP MP GP GP Zéro PP PP MP GP GP GP 11

12 Defuzzification Maximum Of Mean (MOM) v v o j J = = j = 1 max vεv v J v j µ ( v) V o = nilai keluaran J = jumlah harga maximum V j = nilai keluaran maksimum ke-j µ v (v) = derajat keanggotaan elemen pada fuzzy set v V = semesta pembicaraan 12

13 Defuzzification Centre Of Area (COA) v o = m k = 1 m v k = 1 k µ µ v v ( v ( v k k ) ) v o = nilai keluaran m = tingkat kuantisasi v k = elemen ke-k µ v (v k ) = derajat keanggotaan elemen pada fuzzy set v V = semesta pembicaraan 13

14 Defuzzification Exemple Sangat Lambat Lambat Cukup Cepat Cepat Sekali Kecepatan (km/jam) Sangat Dekat Sedang Agak Dekat Agak Jauh Jauh Sekali Jarak (m) 14

15 Rule Based Exemple Injak Penuh Injak Agak Penuh Injak Sedang Injak Sedikit Injak Sedikit Sekali Posisi pedal rem ( 0 ) 15

16 Rule Based Exemple Aturan 1: Bila kecepatan mobil cepat sekali dan jaraknya sangat dekat maka pedal rem diinjak penuh Aturan 2: Bila kecepatan mobil cukup dan jaraknya agak dekat maka pedal rem diinjak sedang Aturan 3: Bila kecepatan mobil cukup dan jaraknya sangat dekat maka pedal rem diinjak agak penuh 16

17 Rule Based Exemple Rule 1 Cepat Sekali Sangat Dekat Kecepatan (km/jam) Jarak (m) Posisi pedal rem ( 0 ) 17

18 Rule Based Exemple Rule 2 Cukup Agak Dekat Injak Sedang Kecepatan (km/jam) Jarak (m) Posisi pedal rem ( 0 ) 18

19 Rule Based Exemple Rule 3 Cukup Sangat Dekat Injak Agak Penuh Kecepatan (km/jam) Jarak (m) Posisi pedal rem ( 0 ) 19

20 Rule Based Exemple CO A MOM MOM : PPR = x0,2+20x0,4 COA : PPR = 0,2+0,4 = 16, Posisi pedal rem ( 0 ) 20

21 Fuzzy + PID Configurations 21

22 Fuzzy + PID Configurations 22

23 Fuzzy + PID Configurations 23

24 Fuzzy + PID Configurations 24

25 Fuzzy + PID Configurations 25

26 Fuzzy + PID Configurations 26