IEC 61131-7-2000 Programmable controllers - Part 7 Fuzzy control programming《可编程控制器 第7部分 模糊控制编程》.pdf

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1、NORME INTERNATIONALE CEI IEC INTERNATIONAL STANDARD 611317 Premiredition Firstedition 200008 Automatesprogrammables Partie7: Programmationenlogiquefloue Programmablecontrollers Part7: Fuzzycontrolprogramming Numroderfrence Referencenumber CEI/IEC611317:2000Numrosdespublications Depuisle1erjanvier199

2、7,lespublicationsdelaCEI sontnumrotespartirde60000. Publicationsconsolides Lesversionsconsolidesdecertainespublicationsde laCEIincorporantlesamendementssontdisponibles. Parexemple,lesnumrosddition1.0,1.1et1.2 indiquentrespectivementlapublicationdebase,la publicationdebaseincorporantlamendement1,etla

3、 publicationdebaseincorporantlesamendements1 et2. Validitdelaprsentepublication LecontenutechniquedespublicationsdelaCEIest constammentrevuparlaCEIafinquilreflteltat actueldelatechnique. Desrenseignementsrelatifsladatedereconfir mationdelapublicationsontdisponiblesdansle CataloguedelaCEI. Lesrenseig

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5、elaCEI DisponiblelafoisausitewebdelaCEI* etcommepriodiqueimprim Terminologie,symbolesgraphiques etlittraux Encequiconcernelaterminologiegnrale,lelecteur sereporteralaCEI60050: VocabulaireElectro techniqueInternational (VEI). Pourlessymbolesgraphiques,lessymboleslittraux etlessignesdusagegnralapprouv

6、sparlaCEI,le lecteurconsulteralaCEI60027: Symboleslittraux utiliserenlectrotechnique,laCEI60417:Symboles graphiquesutilisablessurlematriel.Index,relevet compilationdesfeuillesindividuelles, etlaCEI60617: Symbolesgraphiquespourschmas. * Voiradressesitewebsurlapagedetitre. Numbering Asfrom1January1997

7、allIECpublicationsare issuedwithadesignationinthe60000series. Consolidatedpublications ConsolidatedversionsofsomeIECpublications includingamendmentsareavailable.Forexample, editionnumbers1.0,1.1and1.2refer,respectively,to thebasepublication,thebasepublicationincor poratingamendment1andthebasepublica

8、tion incorporatingamendments1and2. Validityofthispublication ThetechnicalcontentofIECpublicationsiskept underconstantreviewbytheIEC,thusensuringthat thecontentreflectscurrenttechnology. Informationrelatingtothedateofthereconfirmation ofthepublicationisavailableintheIECcatalogue. Informationonthesubj

9、ectsunderconsiderationand workinprogressundertakenbythetechnical committeewhichhaspreparedthispublication,aswell asthelistofpublicationsissued,istobefoundatthe followingIECsources: IECwebsite* CatalogueofIECpublications Publishedyearlywithregularupdates (Onlinecatalogue)* IECBulletin Availablebothat

10、theIECwebsite*and asaprintedperiodical Terminology,graphicalandletter symbols Forgeneralterminology,readersarereferredto IEC60050:InternationalElectrotechnicalVocabulary (IEV). Forgraphicalsymbols,andlettersymbolsandsigns approvedbytheIECforgeneraluse,readersare referredtopublicationsIEC60027: Lette

11、rsymbolsto beusedinelectricaltechnology ,IEC60417: Graphical symbolsforuseonequipment.Index,surveyand compilationofthesinglesheets andIEC60617: Graphicalsymbolsfordiagrams. * Seewebsiteaddressontitlepage.NORME INTERNATIONALE CEI IEC INTERNATIONAL STANDARD 611317 Premiredition Firstedition 200008 Aut

12、omatesprogrammables Partie7: Programmationenlogiquefloue Programmablecontrollers Part7: Fuzzycontrolprogramming Commission Electrotechnique Internationale InternationalElectrotechnicalCommission Pourprix,voircatalogueenvigueur Forprice,seecurrentcatalogue IEC2000Droitsdereproductionrservs Copyrighta

13、llrightsreserved Aucunepartiedecettepublicationnepeuttrereproduiteni utilisesousquelqueformequecesoitetparaucunprocd, lectroniqueoumcanique,ycomprislaphotocopieetles microfilms,sanslaccordcritdelditeur. Nopartofthispublicationmaybereproducedorutilizedin anyformorbyanymeans,electronicormechanical, in

14、cludingphotocopyingandmicrofilm,withoutpermissionin writingfromthepublisher. InternationalElectrotechnicalCommission 3,ruedeVarembGeneva,Switzerland Telefax:+41229190300 email:inmailiec.ch IECwebsitehttp:/www.iec.ch CODEPRIX PRICECODE XA2 611317CEI:2000 SOMMAIRE Pages AVANTPROPOS .8 INTRODUCTION 12

15、Articles 1 Domainedapplicationetobjet 16 2 Rfrencesnormatives. 16 3 Dfinitions 16 4 Intgrationdanslautomateprogrammable . 20 5 LangagedecontrleflouFCL. 22 5.1 Echangedeprogrammesdecontrleflou 22 5.2 Elmentsdulangagedecontrleflou 24 5.3 ExempledeFCL . 42 5.4 Rglesdeproductionetmotsclsdulangagedecontr

16、leflou(FCL) 42 6 Conformit .50 6.1 ClassesdeconformitdulangagedecontrleflouFCL. 50 6.2 Listedecontrlededonnes. 54 AnnexeA(informative)Thorie 58 A.1 Logiquefloue . 58 A.2 Contrleflou . . 66 A.3 Performancesducontrleflou 80 AnnexeB(informative)Exemples 84 B.1 Prcontrle . . 84 B.2 Adaptationdesparamtre

17、sdautomatePIDconventionnel 86 B.3 Contrlefloudirectdunprocd 86 AnnexeC(informative)ExempledapplicationindustrielleGrueconteneurs 88 AnnexeD(informative)Exempledutilisationdevariablesdansleblocdergles 108 AnnexeE(informative)Symboles,abrviationsetsynonymes 112 Figure1Exempledeblocfonctiondecontrleflo

18、uenreprsentationFBD . 22 Figure2Echangededonnesentreprogrammesenlangagedecontrleflou(FCL) 24 Figure3DclarationdinterfacedeblocfonctionenlangageSTetFBD . 26 Figure4Exempledetermesderampe. 28 Figure5Exempledutilisationdevariablespourlesfonctionsdappartenance 28 Figure6Exempledetermessingletons 30 Figu

19、re7Exempledeblocfonctionflou. 42 Figure8Niveauxdeconformit 50 FigureA.1Fonctionsdappartenancepourlestermesgeadultelgaletadulte . 60 FigureA.2DescriptiondelavariablelinguistiqueAgepardestermeslinguistiques etparleurhirarchiesurlchelledetemps(annesdge) 60 FigureA.3Profilsdefonctionsdappartenancefrquem

20、mentutiliss 62611317IEC:2000 3 CONTENTS Page FOREWORD 9 INTRODUCTION 13 Clause 1 Scopeandobject . 17 2 Normativereferences. 17 3 Definitions 17 4 Integrationintotheprogrammablecontroller. 21 5 FuzzyControlLanguageFCL . 23 5.1 Exchangeoffuzzycontrolprograms 23 5.2 FuzzyControlLanguageelements. 25 5.3

21、FCL example43 5.4 ProductionrulesandkeywordsoftheFuzzyControlLanguage(FCL) 43 6 Compliance 51 6.1 ConformanceclassesofFuzzyControlLanguageFCL 51 6.2 Datachecklist 55 AnnexA(informative)Theory. 59 A.1 FuzzyLogic . . 59 A.2 FuzzyControl . 67 A.3 PerformanceofFuzzycontrol . 81 AnnexB(informative)Exampl

22、es 85 B.1 Precontrol. 85 B.2 ParameteradaptationofconventionalPIDcontrollers . 87 B.3 Directfuzzycontrolofaprocess. 87 AnnexC(informative)IndustrialexampleContainercrane. 89 AnnexD(informative)Exampleforusingvariablesintheruleblock . 109 AnnexE(informative)Symbols,abbreviationsandsynonyms. 113 Figur

23、e1ExampleofafuzzycontrolFunctionBlockinFBDrepresentation . 23 Figure2DataexchangeofProgramsinFuzzyControlLanguage(FCL) 25 Figure3ExampleofaFunctionBlockinterfacedeclarationinSTandFBDlanguages 27 Figure4Exampleoframpterms 29 Figure5Exampleofusageofvariablesformembershipfunctions 29 Figure6Exampleofsi

24、ngletonterms 31 Figure7Exampleforfuzzyfunctionblock 43 Figure8Levelsofconformance . 51 FigureA.1Membershipfunctionsoftheterms“fulllegalage“and“adult“ . 61 FigureA.2Descriptionofthelinguisticvariable“Age“bylinguisticterms andtheirhierarchyonthetimescale(ageinyears). 61 FigureA.3Commonlyusedshapesofme

25、mbershipfunctions . 634 611317CEI:2000 Pages FigureA.4Algorithmespourlimplmentationdoprationsentredeuxfonctions dappartenance. 66 FigureA.5Structureetlmentsfonctionnelsducontrleflou 68 FigureA.6Principedefuzzification(exemple) 68 FigureA.7Reprsentationdelabasedeconnaissancesousformelinguistique . 70

26、 FigureA.8Reprsentationdedeuxvariablessousformedematrice 70 FigureA.9Elmentsduneinfrence 72 FigureA.10aExemplemontrantlesprincipesdagrgation. 74 FigureA.10bPrincipesdactivation(exemple) 74 FigureA.10cPrincipesdaccumulation(exemple). 76 FigureA.11aMthodesdedfuzzification 76 FigureA.11bComparaisonentr

27、emaximumleplusgaucheetmaximumleplusdroite 78 FigureA.11c:ComparaisonentreCentredesurfaceetCentredegravit 78 FigureA.11dMthodesdedfuzzification 80 FigureA.12Exemplesdecourbesdecaractristiquesdecontrleflou . 82 FigureA.13aAutomatebasedelogiquefloue:structurefondamentale 82 FigureA.13bExempledautomateb

28、asedelogiquefloue. 82 FigureB.1Exempledeprcontrle 84 FigureB.2Exempledadaptationdunparamtre 86 FigureB.3Exempledecontrlefloudirect . 86 FigureC.1ExempledapplicationindustrielleGrueconteneurs . 88 FigureC.2VariablelinguistiqueDistanceentrettedegrueetpositionfinale . 90 FigureC.3VariablelinguistiqueAn

29、gleentreconteneuretttedegrue 90 FigureC.4VariablelinguistiquePuissance. 90 FigureC.5Basedergles . 92 FigureC.6FuzzificationdelavariablelinguistiqueDistance . 92 FigureC.7FuzzificationdelavariablelinguistiqueAngle 94 FigureC.8Sousensembledetroisrgles 94 FigureC.9Elmentsdagrgation 94 FigureC.10Princip

30、esdagrgation 96 FigureC.11Elmentsdactivation 96 FigureC.12Principesdactivation 98 FigureC.13Elmentsdaccumulation 98 FigureC.14Principesdaccumulation 100 FigureC.15Dfuzzification 102 FigureC.16ExempleenFCL. 104 FigureD.1Principedusystmecontrl 108 FigureD.2Principedecontrlefloudunfour. 108 FigureD.3Bl

31、ocdergles. 108 FigureD.4ExempleenFCL. 110611317IEC:2000 5 Page FigureA.4Algorithmsforimplementingoperationsbetweentwomembershipfunctions 67 FigureA.5Structureandfunctionalelementsoffuzzycontrol. 69 FigureA.6Theprincipleoffuzzification(asanexample) 69 FigureA.7Representationoftheknowledgebaseinlingui

32、sticform 71 FigureA.8Matrixrepresentationoftwovariables . 71 FigureA.9Elementsofinference . 73 FigureA.10aAnexampleshowingtheprinciplesofaggregation. 75 FigureA.10bTheprinciplesofactivation(asanexample) 75 FigureA.10cTheprinciplesofaccumulation(asanexample). 77 FigureA.11aMethodsofdefuzzification. 7

33、7 FigureA.11bDifferencebetweenLeftMostMaximumandRightMostMaximum 79 FigureA.11cDifferencebetweenCentreofAreaandCentreofGravity 79 FigureA.11dMethodsofdefuzzification. 81 FigureA.12Examplesoffuzzycontrolcharacteristiccurves. 83 FigureA.13aFuzzybasedcontroller:Fundamentalstructure 83 FigureA.13bExampl

34、eofaFuzzybasedcontroller . 83 FigureB.1Exampleofaprecontrol. 85 FigureB.2Exampleofaparameteradaptation. 87 FigureB.3Exampleofadirectfuzzycontrol. 87 FigureC.1IndustrialexampleContainercrane 89 FigureC.2Linguisticvariable“Distance“betweencraneheadandtargetposition. 91 FigureC.3Linguisticvariable“Angl

35、e“ofthecontainertothecranehead 91 FigureC.4Linguisticvariable“Power“ 91 FigureC.5Rulebase. 93 FigureC.6Fuzzificationofthelinguisticvariable“distance“ 93 FigureC.7Fuzzificationofthelinguisticvariable“angle“ 95 FigureC.8Subsetofthreerules 95 FigureC.9Elementsofaggregation . 95 FigureC.10Principlesofag

36、gregation 97 FigureC.11Elementsofactivation. 97 FigureC.12Principlesofactivation 99 FigureC.13Elementsofaccumulation . 99 FigureC.14Principlesofaccumulation 101 FigureC.15Defuzzification 103 FigureC.16ExampleinSCL 105 FigureD.1Principleofthecontrolledsystem 109 FigureD.2Principleofthefuzzybasedcontr

37、oloftheoven. 109 FigureD.3Ruleblock 10 9 FigureD.4ExampleinFCL 1116 611317CEI:2000 Pages Tableau1Mthodesdedfuzzification. 30 Tableau2Formulesdesdiffrentesmthodesdedfuzzification . 32 Tableau3Algorithmesapparis. 34 Tableau4Mthodesdactivation 34 Tableau5Mthodesdaccumulation 36 Tableau6Prioritdesoprate

38、urs 36 Tableau7MotsclsrservspourleFCL . 48 Tableau8ElmentsdelangagedecontrleflouFCLNiveauBase(obligatoires) 52 Tableau9ElmentsdelangagedecontrleflouFCLNiveauExtension(facultatifs) . 54 Tableau10ExempledelistedlmentsdelangageNiveauOuvert 54 Tableau11Listedecontrlededonnes . 56 TableauA.1Etapesdinfren

39、ceetalgorithmescourammentutiliss . 74 TableauC.1Etapesdinfrenceetoprateurscorrespondants . 92 TableauE.1SymbolesetAbrviations . 112 TableauE.2Synonymes 112611317IEC:2000 7 Page Table1Defuzzificationmethods 31 Table2Formulaefordefuzzificationmethods 33 Table3Pairedalgorithms 35 Table4Activationmethod

40、s 35 Table5Accumulationmethods 37 Table6Priorityofoperators. 3 7 Table7ReservedkeywordsforFCL 49 Table8FCLBasicLevellanguageelements(mandatory). 53 Table9FCLExtensionLevellanguageelements(optional) 55 Table10ExamplesofalistwithOpenLevellanguageelements 55 Table11Datachecklist 5 7 TableA.1Inferencest

41、epsandcommonlyusedalgorithms 75 TableC.1Inferencestepsandassignedoperator. 93 TableE.1Symbolsandabbreviations. 113 TableE.2Synonyms 1138 611317CEI:2000 COMMISSIONLECTROTECHNIQUEINTERNATIONALE _ AUTOMATESPROGRAMMABLES Partie7:Programmationenlogiquefloue AVANTPROPOS 1) LaCEI(CommissionlectrotechniqueI

42、nternationale)estuneorganisationmondialedenormalisationcompose delensembledescomitslectrotechniquesnationaux(ComitsnationauxdelaCEI).LaCEIapourobjetde favoriserlacooprationinternationalepourtouteslesquestionsdenormalisationdanslesdomainesde llectricitetdellectronique.Aceteffet,laCEI,entreautresactivits,publiedesNormesinternationales. Leurlaborationestconfiedescomitsdtudes,auxtravauxd