The rules are usually set with mouse operation on this window.
The consequent rules can be freely set at any position of 13 labels.
The actual control and inference result can be checked on this window.
Rules for Swing-up Inverted Pendulum
1.Legend
In this Rule-Setting window, three input data such as the pendulum angle (Ant-1), pendulum angular velocity (Ant-2) and arm velocity (Ant-3) are used. The output data (Cnsq.) is converted into two signals of motor rotary direction and motor speed. In other words, the rules of this position-type Fuzzy control consists of 3 inputs and 1 output.
NB
: Negative Big
NM
: Negative Medium
NS
: Negative Small
ZR
: Zero
PS
: Positive Small
PM
: Positive Medium
PB
: Positive Big
(N = Left-side / P = Right-side)
2.Swing-up Tilted Pendulum toward TDP
The rules 6 and 7 work to move the arm opposite to the pendulum tilting direction.
3.Stopping Swing-up Pendulum at TDP
The rules 9 and 10 work to move the arm away from the approaching pendulum as well as the rules 8 and 11 work to the arm further away from the approaching pendulum to kill its momentum.
4.Stabilizing Inverted Pendulum at TDP
The rules 1 - 3 work to move the arm toward the pendulum tilting direction as well as the rules 4 and 5 work to move the arm faster so as to stop the arm not to reach to the mechanical stopper.
Initial-Settting Window
Result-Check Window
The number and title of the antecedent (Inputs) and consequent (Outputs) sectors as well as the control cycle time can be set on this window.
The relationship between the inputs and outputs can be checked on this window. In addition, the inference can be checked based on the inputs used for the actual control.
(C) 2004 ADWIN Corp.