JPH02216501A - Method and device for generating control memory - Google Patents

Abstract

PURPOSE:To generate a control memory at a high speed by giving all the combinations of control variables outputted from an object to be controlled to a fuzzy controller and writing a signal showing the manipulated variable outputted in response to the combinations into the memory. CONSTITUTION:A control circuit 6 sequentially generates digital signals equivalent to controlled variable signals inputted from the object to be controlled 3 to the fuzzy controller 10 in the order of the address of the memory 5 into which they are written. Next, D/A conversion circuits 4B and 4C convert the digital signals into analog signals, and give them to the fuzzy controller 10 as the controlled variable signals. Furthermore, the signals showing the manipulated variables which are outputted from the fuzzy controller 10 in response to the inputs of the controlled variable signals and which are given to the object to be controlled 3 are converted into the digital signals in an A/D conversion circuit 4A, and the outputted digital signals are sequentially written into the addresses corresponding to the control variable signals of the memory 5.

Description

[Detailed Description of the Invention] Summary of the Invention In fuzzy control for a predetermined controlled object, the amount of operation to be applied to the controlled object for all combinations of controlled amounts is inferred in advance, and the result of this inference is stored in a control building memory. In a table reference method in which fuzzy control of a controlled object is performed using only memory access, fuzzy inference of manipulated variables for all combinations of controlled variables is performed by a high-speed fuzzy controller configured with hardware. This allows control memory to be created in a short time. Even when control conditions are changed, a control memory can be created in a short time in the same way, which greatly simplifies application development using fuzzy control based on the table reference method.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for creating a control memory in a system in which the function of a fuzzy φ controller is replaced by a control φ memory such as a ROM or RAM in which inference results are stored in advance.

Prior art and its problems In fuzzy control, input/output, inference method, and deterministic method are selected depending on the control object and control purpose, and the shape of the membership function and rules are adjusted to improve control performance.

If the controlled object and control purpose remain unchanged, there is no need to add or modify the shape of the membership function or rules after the target performance is achieved. At this point, the fuzzy controller becomes a device that always produces the same output for a certain combination of inputs.

Such a device can be replaced with a memory that generates a predetermined output (data) in response to a given input (address) (so-called table reference method).

Based on this idea, an example of a configuration for creating a memory for storing fuzzy inference results is shown in FIG.

A small computer (for example, a so-called personal computer) 31 includes a CRT 31A, a main body 31B1, a keyboard 31C1, and a mouse 31D, and is used to set the inference method and confirmation method for fuzzy inference, define input/output signals, and determine the shape of membership functions. Fuzzy inference condition setting function such as setting, fuzzy inference rule setting,
The ability to perform fuzzy inference based on those conditions,
It has a function of storing inference results and sending them to the FROM writer 35 (all of these are realized by software). The FROM writer 35 writes data resulting from inference (including definite operation) into the FROM in response to a signal output from the small computer 31.

Writing data to FROM is performed as follows. After the various conditions for fuzzy inference are set in the small computer 31, the two humans (each consisting of 8 bits) are changed by 1 bit (1/25B) each time, and fuzzy inference and confirmation processing are performed each time to obtain the inference result data. demand. As a result, fuzzy inference and confirmation processing are performed a total of 218 times, and 216 8-bit inference result data are obtained. The obtained inference result data is written into FROM by a FROM writer 35 connected via line 32.

FIG. 4 shows a block diagram in which a control object is actually controlled by the FROM written in the above manner.

In the device shown in FIG. 4, the control amount signal (for example, deviation and its differential value) output from the controlled object 3 is input to A/D converters 34A and 34B, converted to digital data, and then stored in FROM (0). The data at the address specified by this address signal is read from the FROM 30, converted to an analog signal by the D/A converter 33, and given as a manipulated variable to the control pair 13.This allows fuzzy control of the controlled object. is performed.The timing circuit 3B is a D/A
By controlling the timing of D/A conversion and A/D conversion of the converter 33 and A/D converters 34A and 34B, unnecessary signals due to transient responses are prevented from being applied to the controlled object 3.

The FROM, in which the data calculated in advance in this way is written, is incorporated into the control system, and the controlled object 3 is actually controlled and its performance is evaluated. When it is necessary to improve the control performance, consider additional modifications to the membership form and rules, reconfigure, configure, and reprogram the small computer 31, run the small computer 31 again, write to FROM 30, and write the FROM 30.
Perform actual control again using M and evaluate again.

However, as mentioned above, if there are two sets of 8-bit input data and 20 fuzzy rules, in order to obtain output data for all the input data on the small computer 31, processing of 216 x 20 rules is required, that is, about 1.3 million fuzzy rules. Requires multiple treatments. If 2ms is required to process one rule, the total time required is approximately 44
minutes. Furthermore, as the number of bits of the input signal and the number of rules increase, the required time will further increase. Further-
Even if the degree conditions are set and written to FROM, a lot of time is required each time the shape or rules of the membership function are changed, which is inefficient.

SUMMARY OF THE INVENTION OBJECTS OF THE INVENTION It is an object of the present invention to provide a method and apparatus that can quickly create a control memory with a function that replaces a fuzzy controller.

The control memory creation device according to the present invention includes an analog φ type fuzzy controller configured with hardware and configured to have a predetermined control performance for controlling a predetermined controlled object; Address generation means that sequentially generates digital signals equivalent to the control amount signal input to the controller in the order of memory addresses to be written, converting the digital signal into an analog signal and providing it to the fuzzy controller as the control amount signal. D/A conversion means, A/D conversion means for converting into a digital signal a signal representing a manipulated variable to be applied to a controlled object outputted from the fuzzy controller in response to the human power of the control amount signal;
The present invention is characterized by comprising a writing means for sequentially writing the digital signals outputted from the /D conversion means into the addresses corresponding to the control amount signals in the memory.

A control memory creation method according to the present invention uses a fuzzy controller configured with hardware, sets the fuzzy controller to have a predetermined control performance for controlling a predetermined controlled object, and A pseudo-side H amount signal equivalent to the control amount signal input to the fuzzy controller is generated sequentially in the order of the memory address to be written, and this is given to the fuzzy controller, and the pseudo side H amount signal is equivalent to the control amount signal input to the fuzzy controller. In response, a pseudo manipulated variable signal outputted from the fuzzy controller and representing the manipulated variable to be applied to the controlled object is given to the memory, and the pseudo manipulated variable signal is sequentially sent to an address corresponding to the pseudo controlled variable signal in the memory. Characterized by writing.

According to the present invention, a high-speed fuzzy controller configured by hardware is used, a combination of all controlled variables output from a controlled object is given to this fuzzy controller, and a manipulated variable outputted in response to the combination is expressed. Since the signal is stored in memory, writing to memory,
In other words, the control memory can be created at high speed. Therefore, even if it is necessary to rewrite the data in the control memory by changing the control conditions, this can be done in a short time, greatly simplifying the application and development of fuzzy control using the control memory. Ru.

DESCRIPTION OF EMBODIMENTS FIG. 1 is a block diagram showing an embodiment of a control-memory creation device according to the present invention.

The fuzzy controller 10 is composed of hardware, and there are two types: an analog type and a digital type. An example of an analog type fuzzy controller is shown in FIG.

In Figure 2, the set fuzzy inference (Modus
A number of inference units (individual inference units) 11 to 11 are provided, the number of which corresponds to the number of rules (rules, implications) of Bonnens. Each inference unit 11 (i-1 to n) includes a membership function circuit (hereinafter referred to as MFC) 21.22 for the number of fuzzy propositions (herein, two) in the antecedent part of the implication of the modus bonense. ing. These MFCs 21 and 22 output voltage signals representing membership functions representing the fuzzy set described in the antecedent part of the corresponding rules.

The Modus Bonens premise is the input, but since it is a controller, the input is represented by a fixed value, and the MF
C21 and C22 output membership function values corresponding to these input values. The output of M F C2L22 is MI
The signal is input to the N circuit 23, and its MIN calculation is performed.

On the other hand, a circuit (hereinafter referred to as MFG) 24 that generates a membership function representing a fuzzy set described in the consequent part of a rule (implication) is provided, and from this MFG 24, multiple (m) output lines are The membership function represented by the voltage distributed in is output, and the MINfEil path (truncation circuit) 2
given to 5. The MIN circuit 25 is M F G 24
M between each of the voltage values representing the membership function given by and the calculation result output from the MIN circuit
An IN calculation is performed and a membership function representing the inference result is output in the form of voltage signals distributed on m lines. In FIG. 2, m lines are illustrated in the form of a bus.

The inference results output from the inference units 11 to 1n are then MAX
After being applied to the circuit (general inference section) 26 and subjected to MAXeL calculation, the final inference result is obtained as a voltage signal similarly distributed over m lines. A definite value calculation circuit (for example, a center of gravity circuit) 27 is provided to obtain a definite value output from the inference result.

Such a fuzzy controller 1o is an MFC21
, 22, MF G There is also a type that has a function to set the form and rules of the membership function set in 24, and there is also a type that is connected to a small computer 1, and the membership function and rules can be changed by this computer 1. Some types are possible.

Small computer 1 is CRTIA, main body IB.

Equipped with keyboard IC and mouse ID.

The fuzzy controller 1o is connected to the controlled object 3 via the changeover switches 28 to 2C of the changeover switch device 2. When the changeover switches 2A to 2c are connected to the a side,
The controlled object 3 is directly connected by the fuzzy controller 10. The control amount output from the controlled object 3 is the changeover switch 2B.

2C to the controller 10 as its input. The inference result of the controller IO is the changeover switch 2A.
is given to the controlled object 3 as a manipulated variable through, and the controlled object 3 is controlled.

The control performance of the fuzzy controller 10 for the controlled object 3 is improved while setting, adjusting, and changing the inference format, membership function shape, rules, etc. of the fuzzy controller 10. Then, when the desired control performance is maintained, the changeover switches 2A to 2C are switched to the b side, and the FR
The process moves on to write processing to OM (controller memory creation processing).

The control circuit 6 outputs two inputs of the fuzzy controller 10, that is, address signals corresponding to the control amount of the controlled object 3 in a fixed address order, and also gives a reset command and a write command to the PROM writer 5. The two digital address signals (both 8 bits) output from the control circuit 6 are converted into analog signals by the D/A conversion circuits 4B and 4C, and are sent as input to the fuzzy controller 10 via the changeover switches 2B and 2C. Given.

On the other hand, the analog signal output from the fuzzy Φ controller is given to the A/D conversion circuit 4A via the changeover switch 2A, converted to a digital signal, and converted into data as P.
It is given to the ROM writer 5. The address signal output from the control circuit 6 represents a pseudo control amount. When this control amount is input, the controller l
The result inferred by O is outputted from the controller IO as a pseudo manipulated variable and given to the PROM writer 5. The address signal output from the control circuit 6 is PRO
It is also given to the M writer 5, and the inference result corresponding to that address is written to the memory storage location (the storage location of the buffer memory or buffer register in the FROM writer 5) specified by this address signal. It turns out.

The control circuit 6 outputs a reset signal for initializing the PROM writer 5 and also outputs a 16-bit FROM address signal (initially 0). Address signal is D/A
The data is D/A converted by 8 bits by conversion circuits 4B and 4C and input to the fuzzy controller 10. The output signal corresponding to this input signal is A/D converted by the A/D conversion circuit 4A and applied to the parallel input terminal of the PROM writer 5. At the timing when the signal has settled down, the control circuit 6
A write signal is given to the ROM writer 5. Next, the control circuit 6 increments the address by 1 and repeats the same operation until all address φ bits become 1. After data for all addresses have been written in the PROM writer 5 (for example, a buffer register in the FROM writer 5), the PROM writer 5 executes writing to the FROM.

According to the present invention, since the fuzzy control conditions are determined while actually controlling the fuzzy controller, it takes almost no time to change the conditions (about 1 minute at most). Further, writing to FROM only needs to be performed once. Therefore, the time required to complete FROM is significantly shortened.

Although the interface amplifier and driver are omitted in the description of the above embodiment, they can be used if necessary. Although the analog signal is assumed to be unipolar, even if the analog signal is bipolar, it can be easily accommodated by simply shifting the voltage level. Further, instead of using FROM, RAM can also be used. In this case, the fourth
Data will be written in the state shown in the figure.

Furthermore, in the above embodiment, data is written to the memory after the control performance of the fuzzy controller has been improved to best suit the specific control target. The controller memory may be written to create a controller memory, the controller memory may be used to actually control the controlled object, and the control test results may be used to further improve the fuzzy controller.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the control memory creation device according to this description, and FIG. 2 is a block diagram showing the internal configuration of an analog φ type fuzzy controller. FIG. 3 is a diagram showing an example of a conventional configuration for creating a memory for storing fuzzy inference results, and FIG. 4 is a block diagram when controlling a controlled object using written data. 2... Changeover switch device, 3... Controlled object, 4A... A/D conversion circuit, 4B, 4C... D/A conversion circuit, 5... PROM writer, 6... Control circuit , 10...fuzzy controller, 20...FROM.

Claims (6)

[Claims] (1) An analog type fuzzy controller configured with hardware and configured to have a predetermined control performance for controlling a predetermined controlled object; a controlled variable signal input from the controlled object to the fuzzy controller; address generating means for sequentially generating digital signals equivalent to the above in the order of memory addresses to be written; D/A converting means for converting the digital signal into an analog signal and providing it to the fuzzy controller as a control amount signal; A/D conversion means for converting into a digital signal a signal representing a manipulated variable to be applied to a controlled object output from the fuzzy controller in response to the input of the control amount signal; The digital signal that
A control memory creation device comprising: writing means for sequentially writing to addresses corresponding to the control amount signal of the memory. (2) comprising switching means for switching between the controlled variable output terminal of the controlled object and the output terminal of the D/A conversion means, and for switching between the manipulated variable input terminal of the controlled object and the input terminal of the A/D converting means; The control memory creation device according to claim (1). (3) Using a fuzzy controller configured with hardware, set the fuzzy controller to have a predetermined control performance for controlling a predetermined controlled object, and input input from the controlled object to the fuzzy controller. Pseudo control amount signals equivalent to the control amount signal are generated sequentially in the order of memory addresses to be written, and are given to the fuzzy controller, and in response to the input of the pseudo control amount signal, the fuzzy controller generates Creating a control memory that provides a pseudo manipulated variable signal representing a manipulated variable that should be output and given to a controlled object to a memory, and sequentially writes the pseudo manipulated variable signal to addresses corresponding to the pseudo controlled variable signal in the memory. Method. (4) A claim for performing a control test on a controlled object using the pseudo manipulated variable signal written in the memory, and writing the pseudo manipulated variable signal in a second memory after a predetermined control capability is confirmed. The method for creating the control memory described in item (3). (5) The fuzzy controller is of an analog type, and the pseudo control amount signal is a digital address signal, which is converted into an analog control amount signal and applied to the fuzzy controller. 4. The method for creating a control memory according to claim 3, wherein the pseudo operation amount signal output from the controller is converted into a digital signal and written into the memory. (6) The method for creating a control memory according to claim (3), wherein the Fiji controller is of a digital type, and the pseudo control amount signal and the pseudo operation amount signal are both digital signals.