SugenoFuzzySystem CreateSystem()
{
//
// Create empty Sugeno Fuzzy System
//
SugenoFuzzySystem fsCruiseControl = new SugenoFuzzySystem();
//
// Create input variables for the system
//
FuzzyVariable fvSpeedError = new FuzzyVariable("SpeedError", -20.0, 20.0);
fvSpeedError.Terms.Add(new FuzzyTerm("slower", new TriangularMembershipFunction(-35.0, -20.0, -5.0)));
fvSpeedError.Terms.Add(new FuzzyTerm("zero", new TriangularMembershipFunction(-15.0, -0.0, 15.0)));
fvSpeedError.Terms.Add(new FuzzyTerm("faster", new TriangularMembershipFunction(5.0, 20.0, 35.0)));
fsCruiseControl.Input.Add(fvSpeedError);
FuzzyVariable fvSpeedErrorDot = new FuzzyVariable("SpeedErrorDot", -5.0, 5.0);
fvSpeedErrorDot.Terms.Add(new FuzzyTerm("slower", new TriangularMembershipFunction(-9.0, -5.0, -1.0)));
fvSpeedErrorDot.Terms.Add(new FuzzyTerm("zero", new TriangularMembershipFunction(-4.0, -0.0, 4.0)));
fvSpeedErrorDot.Terms.Add(new FuzzyTerm("faster", new TriangularMembershipFunction(1.0, 5.0, 9.0)));
fsCruiseControl.Input.Add(fvSpeedErrorDot);
//
// Create output variables for the system
//
SugenoVariable svAccelerate = new SugenoVariable("Accelerate");
svAccelerate.Functions.Add(fsCruiseControl.CreateSugenoFunction("zero", new double[] { 0.0, 0.0, 0.0 }));
svAccelerate.Functions.Add(fsCruiseControl.CreateSugenoFunction("faster", new double[] { 0.0, 0.0, 1.0 }));
svAccelerate.Functions.Add(fsCruiseControl.CreateSugenoFunction("slower", new double[] { 0.0, 0.0, -1.0 }));
svAccelerate.Functions.Add(fsCruiseControl.CreateSugenoFunction("func", new double[] { -0.04, -0.1, 0.0 }));
fsCruiseControl.Output.Add(svAccelerate);
//
// Create fuzzy rules
//
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "slower", "slower", "faster");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "slower", "zero", "faster");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "slower", "faster", "zero");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "zero", "slower", "faster");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "zero", "zero", "func");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "zero", "faster", "slower");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "faster", "slower", "zero");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "faster", "zero", "slower");
AddSugenoFuzzyRule(fsCruiseControl, fvSpeedError, fvSpeedErrorDot, svAccelerate, "faster", "faster", "slower");
//
// Adding the same rules in text form
//
///////////////////////////////////////////////////////////////////
//SugenoFuzzyRule rule1 = fsCruiseControl.ParseRule("if (SpeedError is slower) and (SpeedErrorDot is slower) then (Accelerate is faster)");
//SugenoFuzzyRule rule2 = fsCruiseControl.ParseRule("if (SpeedError is slower) and (SpeedErrorDot is zero) then (Accelerate is faster)");
//SugenoFuzzyRule rule3 = fsCruiseControl.ParseRule("if (SpeedError is slower) and (SpeedErrorDot is faster) then (Accelerate is zero)");
//SugenoFuzzyRule rule4 = fsCruiseControl.ParseRule("if (SpeedError is zero) and (SpeedErrorDot is slower) then (Accelerate is faster)");
//SugenoFuzzyRule rule5 = fsCruiseControl.ParseRule("if (SpeedError is zero) and (SpeedErrorDot is zero) then (Accelerate is func)");
//SugenoFuzzyRule rule6 = fsCruiseControl.ParseRule("if (SpeedError is zero) and (SpeedErrorDot is faster) then (Accelerate is slower)");
//SugenoFuzzyRule rule7 = fsCruiseControl.ParseRule("if (SpeedError is faster) and (SpeedErrorDot is slower) then (Accelerate is faster)");
//SugenoFuzzyRule rule8 = fsCruiseControl.ParseRule("if (SpeedError is faster) and (SpeedErrorDot is zero) then (Accelerate is slower)");
//SugenoFuzzyRule rule9 = fsCruiseControl.ParseRule("if (SpeedError is faster) and (SpeedErrorDot is faster) then (Accelerate is slower)");
//fsCruiseControl.Rules.Add(rule1);
//fsCruiseControl.Rules.Add(rule2);
//fsCruiseControl.Rules.Add(rule3);
//fsCruiseControl.Rules.Add(rule4);
//fsCruiseControl.Rules.Add(rule5);
//fsCruiseControl.Rules.Add(rule6);
//fsCruiseControl.Rules.Add(rule7);
//fsCruiseControl.Rules.Add(rule8);
//fsCruiseControl.Rules.Add(rule9);
///////////////////////////////////////////////////////////////////
return fsCruiseControl;
}
void AddSugenoFuzzyRule(
SugenoFuzzySystem fs,
FuzzyVariable fv1,
FuzzyVariable fv2,
SugenoVariable sv,
string value1,
string value2,
string result)
{
SugenoFuzzyRule rule = fs.EmptyRule();
rule.Condition.Op = OperatorType.And;
rule.Condition.ConditionsList.Add(rule.CreateCondition(fv1, fv1.GetTermByName(value1)));
rule.Condition.ConditionsList.Add(rule.CreateCondition(fv2, fv2.GetTermByName(value2)));
rule.Conclusion.Var = sv;
rule.Conclusion.Term = sv.GetFuncByName(result);
fs.Rules.Add(rule);
}
private void btnRun_Click(object sender, EventArgs e)
{
//
// Create new fuzzy system
//
if (_fsCruiseControl == null)
{
_fsCruiseControl = CreateSystem();
if (_fsCruiseControl == null)
{
return;
}
}
//
// Get variables from the system (for convinience only)
//
FuzzyVariable fvSpeedError = _fsCruiseControl.InputByName("SpeedError");
FuzzyVariable fvSpeedErrorDot = _fsCruiseControl.InputByName("SpeedErrorDot");
SugenoVariable svAccelerate = _fsCruiseControl.OutputByName("Accelerate");
//
// Fuzzify input values
//
Dictionary<FuzzyVariable, double> inputValues = new Dictionary<FuzzyVariable, double>();
inputValues.Add(fvSpeedError, (double)nudInputSpeedError.Value);
inputValues.Add(fvSpeedErrorDot, (double)nudInputSpeedErrorDot.Value);
//
// Calculate the result
//
Dictionary<SugenoVariable, double> result = _fsCruiseControl.Calculate(inputValues);
tbAccelerate.Text = (result[svAccelerate] * 100.0).ToString("f1");
}
