FEEDBACK Fdbck CYCLE_TIME 0.05 ! Name MIN MAX INOUT Movement (-50.0, 50.0) IN Current (-1.

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FEEDBACK Fdbck CYCLE_TIME 0.05 ! Name MIN MAX INOUT Movement (-50.0, 50.0) IN Current (-1.0, 1.0) INOUT Position (0.0, 70.0) OUT Pos_error(-70.0, 70.0) IN Reference(0.0, 70.0) LOCAL Last_move(-50.0, 50.0) INITIALIZATION Pos_error = 0; Last_move = Movement; Position = 0; Movement = 0; BEGIN Pos_error = Reference - Position; Position = DELTA_TIME * ( Movement + Last_move ) / 2 + Position; Last_move = Movement; END; PRESET ! 0 ! Reference = 70; Position = 0; END; PRESET ! 1 ! Reference = 35; Position = 40; END; PRESET ! 2 ! Reference = 35; Position = 0; END; PRESET ! 3 ! Reference = 35; Position = 70; END; PRESET ! 4 ! Reference = 35; Position = 25; END; ! Name Below Low High Above Max_truth Symbol Very_low OF Position ( 0.0, 0.0, 3.0, 8.0, 1.0) Symbol Low OF Position ( 0.0, 0.0, 25.0, 30.0, 1.0) Symbol Medium_low OF Position ( 25.0, 30.0, 30.0, 35.0, 1.0) Symbol Medium OF Position ( 30.0, 35.0, 35.0, 40.0, 1.0) Symbol Medium_high OF Position ( 35.0, 40.0, 40.0, 45.0, 1.0) Symbol High OF Position ( 40.0, 45.0, 70.0, 70.0, 1.0) Symbol Very_High OF Position ( 60.0, 65.0, 70.0, 70.0, 1.0) ! Name Below Low High Above Truth Center Symbol Down_large OF Movement (-50.0, -50.0, -20.0, -10.0, 1.0, -50.0) 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, 50.0) Symbol Down_medium OF Movement (-25.0, -15.0, -15.0, -5.0, 1.0) Symbol Down_creep OF Movement (-10.0, -5.0, -5.0, 0.0, 1.0) Symbol Up_creep OF Movement ( 0.0, 5.0, 5.0, 10.0, 1.0) Symbol Up_medium OF Movement ( 5.0, 15.0, 15.0, 25.0, 1.0) ! Name Below Low High Above Truth Center Symbol Negative_large ( -1.0, -1.0, -0.4, -0.2, 1.0, -1.0) Symbol Negative_small ( -0.4, -0.2, -0.2, 0.0, 1.0) Symbol Zero ( -0.2, 0.0, 0.0, 0.2, 1.0) Symbol Positive_small ( 0.0, 0.2, 0.2, 0.4, 1.0) Symbol Positive_large ( 0.2, 0.4, 1.0, 1.0, 1.0, 1.0) Symbol Negative ( -1.0, -1.0, 0.0, 0.0, 1.0) Symbol Positive ( 0.0, 0.0, 1.0, 1.0, 1.0) !!!!! Rules for output movement ! ! -------------- Current -------------- ! -L -S ZERO +S +L !-----|------------------------------------- ! UL | ZERO US UL UM UL ! US | DS ZERO US US UM ! Z | DS DS ZERO US US ! DS | DM DS DS ZERO US ! DL | DL DM DL DS ZERO ! IF Position IS Very_low AND Current IS Positive THEN Movement IS Up_creep IF Position IS Very_low AND Current IS Negative THEN Movement IS Down_creep IF Position IS Very_high AND Current IS Positive THEN Movement IS Up_creep IF Position IS Very_high AND Current IS Negative THEN Movement IS Down_creep IF Movement IS up_large AND Current IS Negative_large THEN Movement IS Zero IF Movement IS up_large AND Current IS Negative_small THEN Movement IS Up_small ! this rule will cause a peak Movement !IF Movement IS up_large AND Current IS Zero !THEN Movement IS Up_large IF Movement IS up_large AND Current IS Positive_small THEN Movement IS Up_medium IF Movement IS up_large AND Current IS Positive_large THEN Movement IS Up_large IF Movement IS Up_small AND Current IS Negative_large THEN Movement IS Down_small IF Movement IS Up_small AND Current IS Negative_small THEN Movement IS Zero IF Movement IS Up_small AND Current IS Zero THEN Movement IS Up_small IF Movement IS Up_small AND Current IS Positive_small THEN Movement IS Up_small IF Movement IS Up_small AND Current IS Positive_large THEN Movement IS Up_medium IF Movement IS Zero AND Current IS Negative_large THEN Movement IS Down_creep IF Movement IS Zero AND Current IS Negative_small THEN Movement IS Down_creep IF Movement IS Zero AND Current IS Zero THEN Movement IS Zero IF Movement IS Zero AND Current IS Positive_small THEN Movement IS Up_creep IF Movement IS Zero AND Current IS Positive_large THEN Movement IS Up_small IF Movement IS Down_small AND Current IS Negative_large THEN Movement IS Down_medium IF Movement IS Down_small AND Current IS Negative_small THEN Movement IS Down_small IF Movement IS Down_small AND Current IS Zero THEN Movement IS Down_small IF Movement IS Down_small AND Current IS Positive_small THEN Movement IS Zero IF Movement IS Down_small AND Current IS Positive_large THEN Movement IS Up_small IF Movement IS Down_large AND Current IS Negative_large THEN Movement IS Down_large IF Movement IS Down_large AND Current IS Negative_small THEN Movement IS Down_medium IF Movement IS Down_large AND Current IS Zero THEN Movement IS Down_large IF Movement IS Down_large AND Current IS Positive_small THEN Movement IS Down_small IF Movement IS Down_large AND Current IS Positive_large THEN Movement IS Zero END Fdbck;

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