1、STD-BSI BS EN 61L31-7-ENGL 2001 B 1624bb9 0903027 212 BRITISH STANDARD Programmable controllers - Part 7: Fuzzy control programming The European Standard EN 61131-72000 has the status of a British Standard ICs 25.040.40; 35.060; 35.240.50 BS EN 61131-7:2001 IEC 61131-7:2000 NO COPYING WITHOUT BSI PE
2、RMISSION EXCEPT AS PERMMTED BY COPYRIGHT LAW COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN hLL31-7-ENGL 2OOL 1624669 0901028 159 E BS EN 61131-7:2001 Amd. No. This British Standard, having been prepared under the direction of
3、the Electrotechnid Sector Committee, was published under the authority of the Standards Committee and comes into effect on 15 April 2001 Date Comments O BSI 04-2001 ISBN O 580 36843 2 National foreword This British Standard is the official English language version of EN 61131-72000. It is identical
4、with IEC 61311-72000. The UK participation in its preparation was entnisted by Technical Committee GEY65, Measurement and control, to Subcommittee GEU5/2, Elements of systems, which has the responsibiiity to: - aid enquirers to understand the text; - present to the responsible international/ Europea
5、n committee any enquiries on the interpretation, or proposals for change, and keep the UK interests informed; - monitor related intemational and European developments and promulgate them in the UK. A list of organizations represented on this subcommittee can be obtained on request to its secretary.
6、From 1 January 1997, all IEC publications have the number 60000 added to the old number. For instance, IEC 27-1 has been renumbered as IEC 60027-1. For a period of time during the change over from one numbering system to the other, publications may contain identifiers from both systems. Cross-refere
7、nces Attention is drawn to the fact that CEN and CENELEC Standards normally include an annex which lists nodve references to international publications with their corresponding European publications. The British Standards which implement these international or European publications may be found in t
8、he BSI Standards Catalogue under the seciion entitled “International Standards Correspondence Index”, or by using the “Find” facility of the BSI Standards Eleckonic Catalogue. A British Standard does not purport to include ail the necessary provisions of a contract. Users of British Standards are re
9、sponsible for their correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. Summary of pages This document comprises a front cover, an inside front cover, the EN title page, pages 2 to 57 and a back cover. The BSI copyright notice displayed
10、in this document indicates when the document was last issued. COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling Services STDOBSI BS EN b1131-7-ENGL 2001 W Lb24bb9 0901029 095 EUROPEAN STANDARD NORME EUROPEENNE EUROPISCHE NORM EN 61131-7 Decem ber 2000
11、ICs 35.240.50;25.040.40 English version Programmable controllers Part 7: Fuzzy control programming (IEC 61 131-712000) Automates programmables Speicherprogrammierbare Steuerungen Partie 7: Programmation en logique floue Teil 7: Fuzzy-Control-Programmierung (CE1 61 131 -712000) (IEC 61 131-712000) Th
12、is European Standard was approved by CENELEC on 2000-11-01. CENELEC members are bound to comply with the CENKENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical ref
13、erences concerning such national standards may be obtained on application to the Central Secretariat or to any CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC
14、 member into its own language and notified to the Central Secretariat has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Iceland, Ireland, Italy, Luxembourg, Nether
15、lands, Norway, Portugal, Spain, Sweden, Switzerland and United Kingdom. CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung Central Secretariat: rue de Stassart 35, B - I050 Brussels O 2000 C
16、ENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61131-7:2000 E COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN 61131-7-ENGL 2004 E Lb24b69 0704030 807 Page 2 E
17、N 61131-7:ZOOO Foreword The text of document 65B/406/FDIS, future edition 1 of IEC 61 131-7, prepared by SC 65B, Devices, of IEC TC 65, Industrial-process measurement and control, was submitted to the IEC-CENELEC parallel vote and was approved by CENELEC as EN 61 131-7 on 2000-1 1-01. The following
18、dates were fixed: - latest date by which the EN has to be implemented at national level by publication of an identical national standard or by endorsement - latest date by which the national standards conflicting with the EN have to be withdrawn (dop) 2001-08-01 (dow) 2003-1 1-01 Annexes designated
19、“normative“ are part of the body of the standard. Annexes designated “informative“ are given for information only. In this standard, annex ZA is normative and annexes A, B, C, D and E are informative. Annex ZA has been added by CENELEC. Endorsement notice The text of the International Standard IEC 6
20、1 131-7:2000 was approved by CENELEC as a European Standard without any modification. COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling Services STDeBSI BS EN bLL31-7-ENGL 2001 = Lb24bb9 090L03L 743 Page 3 EN 61131-7:2000 CONTENTS Page INTRODUCTION 6 C
21、lause 1 Scope and object . 8 2 Normative references . 8 3 Definitions 8 4 Integration into the programmable controller 10 5 5.1 Exchange of fuzzy control programs . 11 5.2 5.3 FCL example . 21 5.4 6 Compliance . 25 Data check list . 27 Fuzzy Control Language FCL 11 Fuzzy Control Language elements 12
22、 Production rules and keywords of the Fuzzy Control Language (FCL) . 21 Conformance classes of Fuzzy Control Language FCL . 25 6.1 6.2 Annex A (informative) Theory . 29 A.l Fuzzy Logic . 29 A.2 Fuzzy Control 33 A.3 Performance of Fuzzy control 40 Annex B (informative) Examples . 42 B.l Pre-control 4
23、2 B.2 Parameter adaptation of conventional PID controllers 43 B.3 Direct fuzzy control of a process 43 Annex C (informative) Industrial example - Container crane . 44 Annex D (informative) Example for using variables in the rule block 54 Annex E (informative) Symbols, abbreviations and synonyms 56 A
24、nnex ZA (normative) Normative references to international publications with their corresponding European publications 57 Figure 1 - Example of a fuzzy control Function Block in FBD representation 11 Figure 2 - Data exchange of Programs in Fuzzy Control Language (FCL) 12 Figure 3 - Example of a Funct
25、ion Block interface declaration in ST and FBD languages . 13 Figure 4 - Example of ramp terms . 14 Figure 5 - Example of usage of variables for membership functions . 14 Figure 6 - Example of singleton terms . 15 Figure 7 - Example for fuzzy function block . 21 Figure 8 - Levels of conformance 25 O
26、BSI 04-2001 COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling ServicesFigure A.l . Membership functions of the terms “full legal age“ and “adult“ 30 and their hierarchy on the time scale (age in years) . 30 Figure A.2 . Description of the linguistic va
27、riable “Age“ by linguistic terms Figure A.3 - Commonly used shapes of membership functions 31 Figure A.4 . Algorithms for implementing operations between two membership functions . 33 Figure A.5 . Structure and functional elements of fuzzy control 34 Figure A.6 - The principle of fuzzification (as a
28、n example) . 34 Figure A.7 - Representation of the knowledge base in linguistic form . 35 Figure A.8 - Matrix representation of two variables 35 Figure A.9 - Elements of inference 36 Figure A.l Oa - An example showing the principles of aggregation 37 Figure A.lOc - The principles of accumulation (as
29、 an example) . 38 Figure A.lOb - The principles of activation (as an example) . 37 Figure A.l la - Methods of defuzzification 38 Figure A.ll b - Difference between Left Most Maximum and Right Most Maximum . 39 Figure A.l IC - Difference between Centre of Area and Centre of Gravity . 39 Figure A.l Id
30、 - Methods of defuzzification 40 Figure A.12 - Examples of fuzzy control characteristic curves 41 Figure A.13b - Example of a Fuzzy-based controller 41 Figure 8.2 - Example of a parameter adaptation 43 Figure 8.3 - Example of a direct fuzzy control 43 Figure C.l - Industrial example - Container cran
31、e . 44 Figure C.3 - Linguistic variable “Angle“ of the container to the crane head . 45 Figure C.4 - Linguistic variable “Power“ . 45 Figure C.5 - Rule base 46 Figure C.6 - Fuzzification of the linguistic variable “distance“ . 46 Figure C.8 - Subset of three rules . 47 Figure A . 13a - Fuzzy-based c
32、ontroller: Fundamental structure . 41 Figure 8.1 - Example of a pre-control 42 Figure C.2 - Linguistic variable “Distance“ between crane head and target position 45 Figure C.7 - Fuzzification of the linguistic variable “angle“ . 47 Figure C.9 - Elements of aggregation 47 Figure C.l O - Principles of
33、 aggregation . 48 Figure C.13 - Elements of accumulation 49 Figure C.14 - Principles of accumulation . 50 Figure C.15 - Defuzzification . 51 Figure C.1 I - Elements of activation 48 Figure C.12 - Principles of activation . 49 Figure C.16 - Example in SCL . 52 Figure D.l - Principle of the controlled
34、 system 54 O BSI 04-2001 COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN bLL3L-7-ENGL 2001 D Lb24bb9 0901033 516 Page 5 EN 61131-7:2000 Figure 0.2 . Principle of the fuzzy based control of the oven 54 Figure D.3 . Rule block . 5
35、4 Figure D.4 . Example in FCL . 55 Table 1 . Defuzzification methods . 15 Table 2 . Formulae for defuzzification methods . 16 Table 3 . Paired algorithms . 17 Table 4 - Activation methods . 17 Table 5 - Accumulation methods . 18 Table 6 - Priority of operators 18 Table 7 - Reserved keywords for FCL
36、. 24 Table 8 - FCL Basic Level language elements (mandatory) . 26 Table 10 - Examples of a list with Open Level language elements . 27 Table 9 - FCL Extension Level language elements (optional) . 27 Table 11 - Data check list . 28 Table A.l - Inference steps and commonly used algorithms 37 Table C.l
37、 - Inference steps and assigned operator 46 Table E.l - Symbols and abbreviations . 56 Table E.2 - Synonyms . 56 Q BSI 04-2001 COPYRIGHT European Committee for Electrotechnical StandardizationLicensed by Information Handling ServicesSTD-BSI BS EN bLL31-7-ENGL 2OOL m 1624669 0903034 452 Page 6 EN 611
38、31-72000 INTRODUCTION The theory of fuzzy logic in the application of control is named fuzzy control. Fuzzy control is emerging as a technology that can enhance the capabilities of industrial automation, and is suitable for control level tasks generally performed in Programmable Controllers (PC). Fu
39、zzy control is based upon practical application knowledge represented by so-called linguistic rule bases, rather than by analytical (either empirical or theoretical) models. Fuzzy control can be used when there is an expertise that can be expressed in its formalism. That allows to take available kno
40、wledge to improve processes and perform a variety of tasks, for instance - control (closed or open loop, single or multi-variable, for linear or non-linear systems), - on-line or off-line setting of control systems parameters, - classification and pattern recognition, - real-time decision making (se
41、nd this product to machine A or B ?), - helping operators to make decisions or tune parameters, - detection and diagnosis of faults in systems. Its wide range of applications and natural approach based on human experience makes fuzzy control a basic tool that should be made available to programmable
42、 controller users as a standard. Fuzzy control can also, in a straightforward way, be combined with classical control methods. The application of fuzzy control can be of advantage in such cases where there is no explicit process model available, or in which the analytical model is too difficult to e
43、valuate or when the model is too complicated to evaluate in real time. Another advantageous feature of fuzzy control is that human experience can be incorporated in a straightforward way. Also, it is not necessary to model the whole controller with fuzzy control: sometimes fuzzy control just interpo
44、lates between a series of locally linear models, or dynamically adapts the parameters of a “linear controller“, thereby rendering it non-linear, or alternatively just “zoom in“ onto a certain feature of an existing controller that needs to be improved. Fuzzy control is a multi-valued control, no lon
45、ger restricting the values of a control proposition to “true“ or “false“. This makes fuzzy control particularly useful to model empirical expertise, stating which control actions have to be taken under a given set of inputs. The existing theory and systems already realized in the area of fuzzy contr
46、ol differ widely in terms of terminology (definitions), features (functionalities) and implementation (tools). Fuzzy control is used from small and simple applications up to highly sophisticated and complex projects. To cover all kinds of usage in this part of IEC 61131, the features of a compliant
47、fuzzy control system are mapped into defined conformance classes. The basic class defines a minimum set of features which has to be achieved by all compliant systems. This facilitates the exchange of fuzzy control programs. Q BSI 04-2001 COPYRIGHT European Committee for Electrotechnical Standardizat
48、ionLicensed by Information Handling Services STD-BSI BS EN bL231-7-ENGL ZOO2 U Lb24669 0903035 399 Page 7 EN 61131-7:2000 Optional standard features are defined in the extension class. Fuzzy control programs applying these features can only be fully ported among systems using the same set of feature
49、s, otherwise a partial exchange may be possible only. This standard does not force all compliant systems to realize all features in the extension class, but it supports the possibility of (partial) portability and the avoidance of the usage of non-standard features. Therefore, a compliant system should not offer non-standard features which can be meaningfully realized by using standard features of the basic class and the extension class. In order not to exclude systems using their own highly sophisticated features from complying with this part of IEC 61 131 and not to hinder the
