CONFIGURATION EVAL_SAMPLE = 3; GENE_WEIGHT_INC = 2; MAX_BEST_ITEM = 10; ! range 1 - 100 TE

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CONFIGURATION EVAL_SAMPLE = 3; GENE_WEIGHT_INC = 2; MAX_BEST_ITEM = 10; ! range 1 - 100 TEST_TIME = 2.2; ! second MIN_SCORE = 0.600; EVAL_NULL_BAND = 0.02; MAX_RULE = 12; MAX_CYCLE_RATE = 0.100; ! in second MIN_CYCLE_RATE = 0.035; ! in second END_CONFIGURATION; SEGMENT Evaluation Cycle_time 0.05 ! Name MIN MAX IN Pos_error (-70.0, 70.0) IN Current (-1.0, 1.0) OUT Eval_result (0, 1) OUT Reference(0, 70); !OUT Position (0, 70); Local Done (0, 1) Local Rising_time (0, 3) Local Err_oscilate (0, 10) Local Cur_oscilate (0, 10) Local err (0, 70) Local cur (0, 1) Local Err_dir (-1, 1) Local Old_err_dir (-1, 1) Local Cur_dir (-1, 1) Local Old_cur_dir (-1, 1) ! Name Below Low High Above Truth Symbol Very_good OF Rising_time ( 0.0, 0.0, 1.0, 2.0, 1.0) Symbol Good OF Rising_time ( 1.0, 2.0, 2.0, 3.0, 1.0) Symbol OK OF Rising_time ( 2.0, 3.0, 3.0, 4.0, 1.0) Symbol Bad OF Rising_time ( 3.0, 4.0, 4.0, 5.0, 1.0) Symbol Very_bad OF Rising_time ( 4.0, 5.0, 10.0, 10.0, 1.0) Symbol Under_shoot OF Pos_error (-70.0, -70.0, -2.0, -1.0, 1.0) Symbol Neg_small OF Pos_error ( -2.0, -1.0, -1.0, 0.0, 1.0) Symbol On_target OF Pos_error ( -1.0, 0.0, 0.0, 1.0, 1.0) Symbol Pos_small OF Pos_error ( 0.0, 1.0, 1.0, 2.0, 1.0) Symbol Over_shoot OF Pos_error ( 1.0, 2.0, 70.0, 70.0, 1.0) Symbol Very_good OF Eval_result ( 0.7, 0.8, 1.0, 1.0, 1.0, 1.0) Symbol Good OF Eval_result ( 0.5, 0.7, 0.8, 1.0, 1.0) Symbol Mid OF Eval_result ( 0.2, 0.4, 0.6, 0.8, 1.0) Symbol Bad OF Eval_result ( 0.1, 0.2, 0.3, 0.4, 1.0) Symbol Very_bad OF Eval_result ( 0.0, 0.0, 0.1, 0.2, 1.0, 0.0) Symbol No_oscil ( 0, 0, 1, 1, 1.0) Symbol Few_oscil ( 1, 2, 3, 4, 1.0) Symbol Mid_oscil ( 2, 3, 4, 5, 1.0) Symbol Lot_oscil ( 3, 4, 5, 6, 1.0) Symbol Unstable ( 4, 5, 10, 10, 1.0) Initialization Rising_time = 0; Err_Oscilate = 0; Cur_Oscilate = 0; Eval_result = 0; Done = 0; Old_err_dir = 0; Old_cur_dir = 0; Reference = 35; BEGIN err = pos_error; IF pos_error < 0 THEN err = - pos_error; ENDIF; IF Done = 0 THEN IF err > 2 THEN Rising_time = Rising_time + Delta_time; ELSE Done = 1; ENDIF; ENDIF; IF Pos_error = 0 THEN Err_dir = 0; ELSE IF Pos_error > 0 THEN Err_dir = 1; ELSE Err_dir = -1; ENDIF; ENDIF; IF Old_err_dir <> 0 THEN IF Err_dir <> Old_err_dir THEN IF err > 0.5 THEN Err_Oscilate = Err_Oscilate + 1; ENDIF; ENDIF; ENDIF; Old_err_dir = Err_dir; cur = current; IF current < 0 THEN cur = - current; ENDIF; IF current = 0 THEN cur_dir = 0; ELSE IF current > 0 THEN cur_dir = 1; ELSE cur_dir = -1; ENDIF; ENDIF; IF Old_cur_dir <> 0 THEN IF cur_dir <> Old_cur_dir THEN IF cur > 0.25 THEN cur_Oscilate = cur_Oscilate + 1; ENDIF; ENDIF; ENDIF; Old_cur_dir = cur_dir; 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; IF Pos_error IS Under_shoot THEN Eval_result IS Very_bad IF Pos_error IS Neg_small THEN Eval_result IS Bad IF Pos_error IS On_target THEN Eval_result IS Very_good IF Pos_error IS Pos_small THEN Eval_result IS Mid IF Pos_error IS Over_shoot THEN Eval_result IS Very_bad !--------------------------- IF Rising_time IS Very_good THEN Eval_result IS Very_good IF Rising_time IS Good THEN Eval_result IS Good IF Rising_time IS OK THEN Eval_result IS Mid IF Rising_time IS Bad THEN Eval_result IS Very_bad IF Rising_time IS Very_bad THEN Eval_result IS Very_bad !--------------------------- IF Err_Oscilate IS No_oscil !AND Cur_Oscilate IS No_oscil THEN Eval_result IS Very_good IF Err_Oscilate IS Few_oscil !AND Cur_Oscilate IS Few_oscil THEN Eval_result IS Good IF Err_Oscilate IS Mid_oscil !AND Cur_Oscilate IS Mid THEN Eval_result IS Mid IF Err_Oscilate IS Lot_oscil OR Cur_Oscilate IS Lot_oscil THEN Eval_result IS Bad IF Err_Oscilate IS Unstable OR Cur_Oscilate IS Unstable THEN Eval_result IS Very_bad END Evaluation;

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