robotarm.gaf

王小平《遗传算法——理论、应用与软件实现》随书光盘

CONFIGURATION
    PLOT_DURATION = 5.0;        ! seconds
    SIM_SCHEDULE_RATE = 0.06;   ! second
    SIM_INC_RATE = 0.005;       ! second
END_CONFIGURATION;

SEGMENT Control

CYCLE_TIME    0.06

!     Name      MIN   MAX
IN    Position (0.0, 70.0)
IN    Movement (-50.0, 50.0)
IN    Pos_error(-70.0, 70.0)
OUT   Current  (-1.0, 1.0)

Initialization
    Current      = 0;
END;

!        Name                     Below    Low   High  Above  Truth
Symbol   Very_low    OF Position (  0.0,   0.0,  25.0,  30.0,  1.0)
Symbol   Medium_low  OF Position ( 25.0,  30.0,  30.0,  34.9,  1.0)
Symbol   Medium      OF Position ( 30.0,  35.0,  35.0,  40.0,  1.0)
Symbol   Medium_high OF Position ( 35.1,  40.0,  40.0,  45.0,  1.0)
Symbol   Very_High   OF Position ( 40.0,  45.0,  70.0,  70.0,  1.0)

Symbol   Neg_large   OF Pos_error(-70.0, -70.0, -15.0, -05.0,  1.0)
Symbol   Neg_small   OF Pos_error(-15.0, -05.0, -05.0,   0.0,  1.0)
Symbol   Zero        OF Pos_error( -5.0,   0.0,   0.0,   5.0,  1.0)
Symbol   Pos_small   OF Pos_error(  0.0,   5.0,   5.0,  15.0,  1.0)
Symbol   Pos_large   OF Pos_error(  5.0,  15.0,  70.0,  70.0,  1.0)

Symbol   Down_large  OF Movement (-50.0, -50.0, -20.0, -10.0,  1.0) 
Symbol   Down_small  OF Movement (-20.0, -10.0, -10.0,   0.0,  1.0) 
Symbol   Zero        OF Movement (-10.0,   0.0,   0.0,  10.0,  1.0) 
Symbol   Up_small    OF Movement (  0.0,  10.0,  10.0,  20.0,  1.0) 
Symbol   Up_large    OF Movement ( 10.0,  20.0,  50.0,  50.0,  1.0)

!        Name                       Below    Low   High  Above  Truth   Center
Symbol   Neg_large OF Current ( -1.0,  -1.0,  -0.4,  -0.2,   1.0,  -1.0)
Symbol   Neg_small OF Current ( -0.4,  -0.2,  -0.2,   0.0,   1.0)
Symbol   Zero_value OF Current ( -0.2,   0.0,   0.0,   0.2,   1.0)
Symbol   Pos_small OF Current (  0.0,   0.2,   0.2,   0.4,   1.0)
Symbol   Pos_large OF Current (  0.2,   0.4,   1.0,   1.0,   1.0,   1.0)

!!!!!!!! Rules for looper regulator (Current)
!       Pos    Pos              Neg     Neg
!      Large  Small    Zero    Small   Large
!--------------------------------------------
!  UL   +L      +S      -L      -S      -L
!  US   +L    ZERO/+S   -S      -S      -L
!  Z    +L      +S      ZERO    -S      -L
!  DS   +L      +S      +S    ZERO/-S   -L
!  DL   +L      +S      +L      -S      -L
!
!

IF Pos_error IS Neg_large
THEN Current IS Neg_large

IF Pos_error IS Neg_small
THEN Current IS Neg_small

IF Pos_error IS Neg_small AND Movement IS Down_small
THEN Current IS Zero_value

IF Pos_error IS Zero AND Movement IS Up_large
THEN Current IS Neg_small

IF Pos_error IS Zero AND Movement IS Up_small
THEN Current IS Neg_small

IF Pos_error IS Zero AND Movement IS Zero
THEN Current IS Zero_value

IF Pos_error IS Zero AND Movement IS Down_small
THEN Current IS Pos_small

IF Pos_error IS Zero AND Movement IS Down_large
THEN Current IS Pos_large

IF Pos_error IS Pos_small
THEN Current IS Pos_large

IF Pos_error IS Pos_small AND Movement IS Up_large
THEN Current IS Neg_large

IF Pos_error IS Pos_large
THEN Current IS Pos_large

END Control;