fuzzy logic 2

Now we create three output matrixs

cnt = 1


for x=1:100



if x>=50

little(cnt,1:2)=[x, 0];

else if x>=0&&x<=25

little(cnt,1:2)=[x ,1];

else if x>=25&&x<=50

little(cnt,1:2)=[x, -0.04*x+2];

end

end

end

cnt=cnt+1

end



mnt =1

for y=1:100



if y>=50&&y<=75

some (mnt,1:2)=[y, -0.04*y+3];

else if y>=0&&y<=25

some(mnt,1:2)=[y ,0];

else if y>=25&&y<=50

some(mnt,1:2)=[y, 0.04*y-1];

else if y>75

some (mnt,1:2)=[y, 0];

end

end

end

end



mnt=mnt+1

end



bnt=1

for z=1:100

if z<=50

max(bnt,1:2)=[z 0];

else if z>=50&&z<=75

max(bnt,1:2)=[z, 0.04*z-2]

else if z>=75

max(bnt,1:2)=[z 1]

end

end

end

bnt=bnt+1

end





plot(little(:,1),little(:,2))

hold on



plot(some(:,1),some(:,2))

hold on

plot(max(:,1),max(:,2))
 
The figure is the same as input:

We gave the real input speed i.e50

To build a combine output matrix

max them

Create a ultimate result

Then you can use command "min","max" or "mean" to get the result that the system want to be .

Industry Automation -------Denavit and Hartenberg Method

this is a traditional way to describe the part of robert move frome one location to another location by matrix .

It is the first step to design the programm in Industry Automation.

State transition matrix and Fundamental solution matrices

   The FSM is a nice trick to solve high order differential equations .http://www.staff.ncl.ac.uk/damian.giaouris/pdf/CS/Supplementary%20material%20for%20Fundamental%20solution%20matrices.pdf

GOOD luck

The Future of Industrial Automation

The Future of Industrial Automation



By : Jim Pinto,

San Diego, CA.

USA





Since the turn of the century, the global recession has affected most businesses, including industrial automation. After four years of the new millennium, here are my views on the directions in which the automation industry is moving.





This article was published by:



Automation.com, December 2004







Since the turn of the century, the global recession has affected most businesses, including industrial automation. After four years of the new millennium, here are my views on the directions in which the automation industry is moving.

The rear-view mirror

Because of the relatively small production volumes and huge varieties of applications, industrial automation typically utilizes new technologies developed in other markets. Automation companies tend to customize products for specific applications and requirements. So the innovation comes from targeted applications, rather than any hot, new technology.

Over the past few decades, some innovations have indeed given industrial automation new surges of growth: The programmable logic controller (PLC) - developed by Dick Morley and others - was designed to replace relay-logic; it generated growth in applications where custom logic was difficult to implement and change. The PLC was a lot more reliable than relay-contacts, and much easier to program and reprogram. Growth was rapid in automobile test-installations, which had to be re-programmed often for new car models. The PLC has had a long and productive life - some three decades - and (understandably) has now become a commodity.



At about the same time that the PLC was developed, another surge of innovation came through the use of computers for control systems. Mini-computers replaced large central mainframes in central control rooms, and gave rise to "distributed" control systems (DCS), pioneered by Honeywell with its TDC 2000. But, these were not really "distributed" because they were still relatively large clumps of computer hardware and cabinets filled with I/O connections. The arrival of the PC brought low-cost PC-based hardware and software, which provided DCS functionality with significantly reduced cost and complexity. There was no fundamental technology innovation here - rather, these were innovative extensions of technology developed for other mass markets, modified and adapted for industrial automation requirements.



On the sensor side were indeed some significant innovations and developments which generated good growth for specific companies. With better specifications and good marketing, Rosemount's differential pressure flow-sensor quickly displaced lesser products. And there were a host of other smaller technology developments that caused pockets of growth for some companies. But few grew beyond a few hundred million dollars in annual revenue.



Automation software has had its day, and can't go much further. No "inflection point" here. In the future, software will embed within products and systems, with no major independent innovation on the horizon. The plethora of manufacturing software solutions and services will yield significant results, but all as part of other systems.



So, in general, innovation and technology can and will reestablish growth in industrial automation. But, there won't be any technology innovations that will generate the next Cisco or Apple or Microsoft.



We cannot figure out future trends merely by extending past trends; it’s like trying to drive by looking only at a rear-view mirror. The automation industry does NOT extrapolate to smaller and cheaper PLCs, DCSs, and supervisory control and data acquisition systems; those functions will simply be embedded in hardware and software. Instead, future growth will come from totally new directions.



New technology directions

Industrial automation can and will generate explosive growth with technology related to new inflection points: nanotechnology and nanoscale assembly systems; MEMS and nanotech sensors (tiny, low-power, low-cost sensors) which can measure everything and anything; and the pervasive Internet, machine to machine (M2M) networking.

Real-time systems will give way to complex adaptive systems and multi-processing. The future belongs to nanotech, wireless everything, and complex adaptive systems.



Major new software applications will be in wireless sensors and distributed peer-to-peer networks – tiny operating systems in wireless sensor nodes, and the software that allows nodes to communicate with each other as a larger complex adaptive system. That is the wave of the future.



The fully-automated factory

Automated factories and processes are too expensive to be rebuilt for every modification and design change – so they have to be highly configurable and flexible. To successfully reconfigure an entire production line or process requires direct access to most of its control elements - switches, valves, motors and drives - down to a fine level of detail.

The vision of fully automated factories has already existed for some time now: customers order online, with electronic transactions that negotiate batch size (in some cases as low as one), price, size and color; intelligent robots and sophisticated machines smoothly and rapidly fabricate a variety of customized products on demand.



The promise of remote-controlled automation is finally making headway in manufacturing settings and maintenance applications. The decades-old machine-based vision of automation - powerful super-robots without people to tend them - underestimated the importance of communications. But today, this is purely a matter of networked intelligence which is now well developed and widely available.



Communications support of a very high order is now available for automated processes: lots of sensors, very fast networks, quality diagnostic software and flexible interfaces - all with high levels of reliability and pervasive access to hierarchical diagnosis and error-correction advisories through centralized operations.



The large, centralized production plant is a thing of the past. The factory of the future will be small, movable (to where the resources are, and where the customers are). For example, there is really no need to transport raw materials long distances to a plant, for processing, and then transport the resulting product long distances to the consumer. In the old days, this was done because of the localized know-how and investments in equipment, technology and personnel. Today, those things are available globally.



Hard truths about globalization

The assumption has always been that the US and other industrialized nations will keep leading in knowledge-intensive industries while developing nations focus on lower skills and lower labor costs. That's now changed. The impact of the wholesale entry of 2.5 billion people (China and India) into the global economy will bring big new challenges and amazing opportunities.

Beyond just labor, many businesses (including major automation companies) are also outsourcing knowledge work such as design and engineering services. This trend has already become significant, causing joblessness not only for manufacturing labor, but also for traditionally high-paying engineering positions.



Innovation is the true source of value, and that is in danger of being dissipated – sacrificed to a short-term search for profit, the capitalistic quarterly profits syndrome. Countries like Japan and Germany will tend to benefit from their longer-term business perspectives. But, significant competition is coming from many rapidly developing countries with expanding technology prowess. So, marketing speed and business agility will be offsetting advantages.



The winning differences

In a global market, there are three keys that constitute the winning edge:

Proprietary products: developed quickly and inexpensively (and perhaps globally), with a continuous stream of upgrade and adaptation to maintain leadership.

High-value-added products: proprietary products and knowledge offered through effective global service providers, tailored to specific customer needs.

Global yet local services: the special needs and custom requirements of remote customers must be handled locally, giving them the feeling of partnership and proximity.

To implementing these directions demands management and leadership abilities that are different from old, financially-driven models. In the global economy, automation companies have little choice - they must find more ways and means to expand globally. To do this they need to minimize domination of central corporate cultures, and maximize responsiveness to local customer needs. Multi-cultural countries, like the U.S., will have significant advantages in these important business aspects.

In the new and different business environment of the 21st century, the companies that can adapt, innovate and utilize global resources will generate significant growth and success.

the design of fuzzy logic----input

   Let's design a car -brake system ^_^. firstly ,we would be sure that how speed is now ,if it is slow,medium or fast .then ,we can judge the brake level .
   Assurm that we just have one input-----speed .and it will between0 and 100 miles .if it is 0-25,the impression is slow that appeared in our mind ,if it is 50-75, medium ..if it is 75-100,oh ,very fasr ,we should take a higher lever brake .
   we can transfer our ideas about speed into math words.Like that :
cnt = 1


for x=1:100



if x>=50

slowly(cnt,1:2)=[x, 0];

else if x>=0&&x<=25

slowly(cnt,1:2)=[x ,1];

else if x>=25&&x<=50

slowly(cnt,1:2)=[x, -0.04*x+2];

end

end

end

cnt=cnt+1

end



mnt =1

for y=1:100



if y>=50&&y<=75

medium (mnt,1:2)=[y, -0.04*y+3];

else if y>=0&&y<=25

medium(mnt,1:2)=[y ,0];

else if y>=25&&y<=50

medium(mnt,1:2)=[y, 0.04*y-1];

else if y>75

medium (mnt,1:2)=[y, 0];

end

end

end

end



mnt=mnt+1

end



bnt=1

for z=1:100

if z<=50

fast(bnt,1:2)=[z,0];

else if z>=50&&z<=75

fast(bnt,1:2)=[z 0.04*z-2];

else if z>=75

fast(bnt,1:2)=[z ,1]

end

end

end

bnt=bnt+1

end



plot(fast(:,1),fast(:,2))

hold on

plot(medium(:,1),medium(:,2))

hold on

plot(slowly(:,1),slowly(:,2))


And the graph of speed idea is

It is very simple ,hehe .the first step.

Basic Solution Matrices and Solution of Linear System

  Every system that make up by matrices has the reflection in the real world . We can describe a system in two differernt ways ; one is state space aspect ,the other is math aspect .The latter one we can only see the behavier of system ,the first one we can see more characters into this system . each system has three conditions .If we want to control the system ,we must know these deeply.

   Let's see it step by step.
  
   state space :
   1 numericual method

we can solve this system by matlab ,it is quite easy .

   Or we can do it in analytical way ,but this way is more complex than numeriual way .Because it must be calculated first ,get the result ,then you can simlink it by MATLAB .

 

     
See ,it is much complicated .

Also there are three results of roots : differernt roots ,the same roots and complex roots .But the method to solve them are the same .

In the space state ,we can see the controllability and observability in the system .

If the ans equals order ,it controllability  ,or uncontrollability.

The other way to describe the same system is in math ,it can be like

And there are two ways to slove it by MATLAB

numerical :

analytical(we should use math knowledge to solve it before):

This is the whole basic idea to do with linear Control system .We should know these 100 percent to keep on in deep study .

Medium Access Control

In large networks there are many differernt paths for communication and if two or more nodes wish to transmit at the same time they can use different network paths, thus avoid collisions.
In a Bus or Ring topology all notes share the same transmission media and therefore they use MAC methods to prevent data collision.

MAC is used to arbitrate which transmitter in a network gain access to the transmission media

It is used to prevent two or more nodes from trying to transmit information at the same time --interfering electrical signals may cause data loss or corruption.

  Poll/Select

MASTER

In a poll/Select mechanism only one station on the network is allowed to transmittions.

The master polls devices for information and will only request information from a device once its previous request has been successfully completed.

An error detecion machanism is inherernt with this method of communication: a note failing to reply to a request after a certain period time --out period may have failed.

This type of communication can be made quite fast to small networks.
 There have some disadvantages to this system:
1,time ,if note B is broken ,no respone to B
2,large number of data,to the master.

Carrier Sense Multiple Access with Collision Detection (CSMA/CD)
The CSMA/CD method is illustrated in
In a CSMA/CD MAC network, transmitting nodes first check the network to see if the bus is clear  i .e there are no electrical signals on the bus (Carrier sense)

If the bus is idle,  a node begins transmittion of its frame or message , other nodes will see this transmission and will not transmit themselves .

The transmitting node also'listen' to the bus at the same time. Therefore, if two nodes try to transmit data smultaneously ,remember propagation delays may have an effect  the actual signal on the bus will differ from the transmitted one (intended signal)

Both transmitting nodes will detect this variation and stop their transmission.

After a certain period, the nodes will try to re-transmitt again,provided the bus is free, this period is sometimes randomly defined, as in the case of Ethernet.


Token Ring and Token Bus MAC
 A control token is a special kind of frame used to arbitrate bus access. In this scheme the control token is passed from one node to the next and only when a node has possession of the token may it transmit data.

In a real time control enviroment small amounts of data need to be transmitted at regular intervals.

To prevent a node from continually transmitting data and monopolising the token each node is configured to hold the token for a limited period of time ,known as Token Hold Time.

Care must be taken to make the THT small enought to give the network fast response times but large enough to allow node to tramsmit its data;otherwise a data build up can occur on the node(profibus).


Slotted Ring
Slotted Ring MAC is primarily used in Ring networkss.
A slotted Ring MAC is initialised with a fixed number of bits for transmission by a special mode known as the Monitor.

The bits stream is continually shifted around the ring from one node to another.The ring contains a fixed number of transmission slots . each made up of  singal frame of information.


Initial all slots are marked as empty.

When a note detects an empty slot it fills in the frame with data and destination address for the data it then marks the slot as full.

The slot is then circulated through each node until the destination address match the address if the noteIf the address do not match ,the node simply ignores the slot. If the address match, the node reads the data and sets the acknowledge field.

Then the slot re-circuit until it reaches the source which detects the acknowledge and marks the slot as emptyIf there is no acknowledge, an error has occurred .