Training systems for basic and future oriented education

in natural science and engineering

in 96

Conventional Automatic Control

and
Fuzzy Control
combined in one System!
Summary

What is WinFACT ? configurated in such a way can be used e.g. as a

WinFACT is a new, modular software system which
on the one hand disposes of tools for the analysis,
synthesis and simulation of conventional control
systems and on the other hand contains components
for the treatment of fuzzy systems. The graphical
user surface WINDOWS guarantees an extremely
low training effort while offering a very high oper-
ating comfort. Numerous program interfaces and
data formats enable to communicate with various
peripherals, external processes, the user’s own soft-
ware products as well as external software. For this
reason, WinFACT will be of great interest for the
fields
education and training
research
development.
Along with the software, a powerful variety of hard-
ware modules based on micro-controller technology
is available and can be programmed directly out of
WinFACT via a serial interface. Depending on the
installed firmware, the hardware which had been
conventional PID controller, as a fuzzy controller,
as a (fuzzy)adapted controller or as a universal
distance simulator.
What does WinFACT offer ?
WinNFACT consists of individual and generally
independent program modules that can be combined
as you like and between which data can be easily
transmitted via various communication channels.
First of all, the software system contains all compo-
nents which are necessary for the analysis and syn-
thesis of conventional control systems, such as:
The identification of linear systems by means of
measured curves of the input and output values.
The identification algorithm is very robust
against interferences, as e.g. noise due to mea-
suring, and can be used for any type of input
signal.
Analysis of linear transmission systems by
calculating the step response, Bode’s-diagram,
locus curve, root locus curve and pole-zero char-
acteristic.

Standard - MSR Fuzzy - Control

Linear system
analysis Presentation
Fuzzy - Shell Design of Fuzzy
LISA module PID systems
INGO FLOP FuzzyPID
Design of conven- Identification
tional controller
RESY IDA
Fuzzy adapted C - Code
PID controller generator
Simulation and FaPID FALCO
synthesis state
space system
SUSY Block oriented
simulation
self
BORIS C-Code programmed
routines
generation
Driver
Software

Compiler / Linker
Software

Hardware
RS 232 Interface

Micro 4/6/8/10
A/D - D/A converter card (68HC11 resp. 80C537) User own hardware

P R O C E S S
Coordination of the individual software and hardware components of WINFACT

2
 Summary

The synthesis of linear controllers. All conven-
tional standard elements can be used as control
components.
The simulation and optimization of control sy-
stems.
Beside conventional methods, one crucial point of
the software concept can be found in the field of new
processes as fuzzy logic and fuzzy control. Win-
FACT therefor offers modules which cover all le-
vels beginning with the performance of fuzzy-logic
experiments via the interactive design of control
systems getting to the synthesis and simulation of
complex fuzzy-control systems. Moreover, all de-
grees of freedom offered by the fuzzy logic can be
utilized to their full extend:
different types of fuzzy sets
several logic operators and inference mecha-
nisms
each WinFACT module: when selecting the
respective menu items a respective short
description is displayed in the status line of the
program window.
Toolbar help
The toolbar help is an essential facilitation
especially for WinFACT beginners. When it is
activated, a help window containing an explana-
tion of the button function will automatically be
displayed if the cursor is located on the button
for more than approx. one second. Thus, it is
easy to learn all the functions of the various
buttons. The experienced user can naturally dis-
engage this help function.
Toolbar help function

a great number of defuzzying methods

The design and the analysis of hybrid systems con-
sisting of conventional and fuzzy components is
possible on the basis of block diagrammatic sim-
ulation. Components, e.g. for the graphical evalua-
tion of measuring and simulation results based on
the WINDOWS-MDI standard, round up the program
system.
The program system has the user surface which is
typical for WINDOWS. For the user it particularly
manifests in the characteristic menu structure with
the optional selection via keywords or toolbars and
the comfortable input dialogues which almost ex-
clude incorrect inputs.
Data ranges of numeric parameters
When entering numeric values via a respective
input dialog it is often desirable to know the
permissible data range beforehand in order to be
prevented from possible error messages and
warnings. Therefore, an automatic range infor-
mation has been integrated: in case of numeric
input fields in parameter dialogs it is sufficient
to click the right mouse button once to display a
message window declaring the permissible data
range.

Help? Help!
WinFACT helps the user with a range of various
on-line help functions:
Extensive help texts
All components contain detailed help texts.
Explanation of menu items
Typical input dialog
All menu options are explained automatically in

3
CONVENTIONAL AUTOMATIC CONTROL ...

WinFACT helps the user in every phase when Design of control system according to the me-
designing a control system beginning with the de- thod using the frequency response characteristic
sign of a model via the analysis of the controlled Design of control system by numeric parameter
system until the design of a controller and the sim- optimization
ulation of a closed circuit loop. Design of state controllers
Model construction and identification
The WinFACT module IDA enables to generate
linear system models (with time delay if desired)
with a computer by means of the measured curves
of process input and output parameters. The model
will be specified in form of a fractionally rational
transfer function whose order will be determined
automatically by the program. Beside the real model
design, the IDA is also suitable for solving problems
of model reduction.

System analysis Design of control systems according to the method using

For the analysis of linear systems WinFACT offers,
for example, the following options:
Calculating the step response
Calculating the frequency response and illustra-
ting it in form of a Bode’s diagram or a Nyquist
plot
Calculating the root locus curve
Calculating pole and zero configurations
the frequency response characteristic
Simulation
Some WinFACT modules have an integrated sim-
ulation option so that the designed control systems
can be analysed immediately. For more complex
simulations, the simulation module BORIS is very
suitable.

Simulation of state space systems with LISA

Analysis of linear systems with LISA
Design of a control system
WinFACT offers several methods for the actual
design of control systems:
Design of control system according to setting
rules (“rules of thumb”)
Presentation
The module INGO serves for presenting results in
an optically pretentious manner and for subsequent
treatment. It allows the graphical representation of
all WinFACT data types, as e.g.simulation results,
trajectories, Bode’s diagrams, contours or three-di-
mensional characteristic diagrams.

4
 ... AND FUZZY CONTROL

Design of fuzzy systems

In WinFACT, fuzzy-systems are designed by means
of a comfortable fuzzy-shell. It allows to define the
fuzzy-sets and the control base graphically via the
mouse. The rules can be entered either in form of
tables, matrixes or texts whereas it is possible to
change between the different types of representation
at any time. If desired, the rules can be additionally
supplied with an importance factor. The fuzzy-sets
can be specified as singletons or in form of a triangle
or a trapezium. WinFACT disposes of a large
number of different mechanisms for the inference
and defuzzying processes. Three-dimensional representation of the transfer response

C-code generation
After designing the fuzzy controller it can, in case
of need, be converted into the ANSI-C-code, which
can then be transfered to the respective hardware.
The data types used for this process can be selected
by the user in order to guarantee an optimum adap-
tation to the object hardware.

The WINFACT fuzzy-shell FLOP

The fuzzy-controller can be analysed in different

ways:
by single-step inference
by calculating characteristics or characteristic
diagrams
by simulation on the basis of external data sets
C-code generating with FALCO

Simulation of fuzzy control systems

The fuzzy controllers which have been designed
with the fuzzy shell can be directly integrated in the
block diagrammatic simulation BORIS. Thus, even
extremely complex hybrid control systems can be
easily simulated. During the simulation process, a
special fuzzy debugger continually shows the user
exactly what is going on inside of the fuzzy control-
ler.
Performance of inference steps

5
BORIS block diagrammatic simulation and more ...

The block diagrammatic simulation system BORIS choise of several numeric integration methods is
is the basic module of WinFACT. Due to its concept, available for the actual simulation process.
it is not only predestinated for an application as a
simulation tool but can also be applied in the fields
of recording and processing of measured data and
control. In contrast to traditional simulation sys-
tems, BORIS allows the direct integration of fuzzy
systems in the simulation process and, thus, is suit-
able specially for applications in the field of fuzzy
logic and fuzzy control.
Super blocks and user-defined blocks

BORIS contains an extensive library of system

Block diagrammatic simulation with BORIS
blocks. This library can be extended by the user with
his own system blocks. Subsystems can be com-
bined to macro-systems, so-called super blocks,
which can also be nested. Consequently, it is possi-
ble to create reusable modules in an easy and com-
fortable way which can then be applied for the most
distinctive simulation functions. The parameters of
the system blocks are set via comfortable input
masks. The parameters of most system blocks can
also be changed during the simulation process.

Beyond its application as a pure software tool, The optimization modul is an ideal supplement to
BORIS offers numerous possibilities of connecting the simulation possibilities and enables an automat-
hardware. In connection with A/D-D/A-converter ic numeric optimization of system components (e.g.
boards it is possible to realize a direct process inter- PID controllers) by means of effectiveness crite-
facing which allows to test a control system that has rions which are freely selectable by the user. Pow-
been projected with a PC. A later transfer to the erful methods of parameter optimization on the basis
object hardware can, on the one hand, be achieved of evolution concepts are used for the optimization
via C-sourcecode generation and, on the other hand, process.
via the WinFACT micro-controller system.
The simulation pattern can be simply configurated
by placing system specific icons to any place on the
screen and by connecting them. The integrated
autorouter has the function to position the connect-
ing lines automatically and in the best possible
manner. The virtual worksheet can be scrolled thus
enabling a clear and extremely fast structuring of
even complex systems. A general function gives a
survey of the total pattern of the system whenever
needed. The complexity of the simulation pattern is
only restricted by the memory capacity of the PC. A
Virtual instruments..

6

Input blocks
• Generator
• File
• Constant
• Travel characteristic
• Controllable sine-wave
generator (VCO)
• Simulation time
• Signal source
Dynamic blocks
• P-element
• PT1-element
• PT2-element
• PT1T2-element
• PTn-element
• Limited integrator (I-element)
• Resettable limited integrator
• Derivative unit
• PID controller
• Adaptive PID controller with
controllable limiting
• All-pass network, first order
• All-pass network, second order
• Dead-time element
• Lead/lag element
• Transfer function G(s)
• User-defined differential
equation system
• Basic delay z-1
• z-transfer function H(z)
Static blocks
• Limiter
• Threshold characteristic
• Dead zone
• Two-point characteristic
• Three-point characteristic
• Hysteresis characteristic
• Three-point element with
hysteresis
• Fuzzy controller
• User-defined characteristic
Final controlling elements
• Final control element with
slew rate delimitation
The BORIS library of system blocks
• Final control element with
constant slew rate
Functional blocks
• Logic elements
• Function of one variable
• Function of several variables
• Determination of extreme values
• Minimum/maximum
• Statistical functions
• Sample-and-hold element
• Controllable sample-and-hold
element
• Analog switch
• Analog changeover switch
Digital modules
• Logic circuit with one input
• Logic circuit with two inputs
• RS-flip-flop
• D-flip-flop
• JK-flip-flop
• Mono-flop
• Forward-backward counter
• Digital comparator
• Analog comparator
• Zero crossing sensor
Control elements
• Simulation stop
• Simulation delay
Output blocks
• Time characteristic
• Oscillograph
• Analog display
• Digital display
• Bar instrument (bar graph)
• Trajectory display
(x-y graphic chart)
• State indication
• FFT
• File (File-Output)
• Table file (Excel formate) A small variety of BORIS
• Signal depression system block types
Micro-controller blocks
7
 Lehrsysteme für die zukunftsorientierte Aus- und Weiterbildung
in Naturwissenschaft und Technik

Liquid level control Ship stabilization

by means of the measuring interface "Comenius-E" by means of the measuring interface "Comenius-E"
and the WinFACT96-Software and the WinFACT96-Software

WinFACT 96 can also be used to link real control loop ele- Equipment 14 00 330
ments, such as controlled systems to the structure of the Measuring interface "Comenius-E"
control loop. The measuring interface "Comenius E" devel- incl. Measuring software under Win-
dows
oped by ELWE is used as the interface between the PC and
the real control loop elements. The connection to the PC is 4 analog inputs, 0 ... ±100 V
established via the RS232 connection cable which is part of 2 analog outputs, 12 bit, 0 ... ±10 V
the delivery. 8 digital inputs, TTL level
The ELWE experimental panel system "Control engineering" 8 digital outputs, TTL level
contains an extensive program or real control loop elements.
The rocker (a position-controlled system with a ball, art. no. P 9.12 10 09 112
10 09 141, not illustrated), the level-controlled system and the Level controlled system
ship stabilizing system are controlled systems that very suit- A closed liquid system with one
able for fuzzy-logic control processes. measuring transducer each for
the measurement of flow and
WinFACT 96, Type A . . . . . . . . . . . . . . . 50 09 002 level.
consisting of BORIS und INGO.

WinFACT 96, Type B . . . . . . . . . . . . . . . 50 09 012 P 9.11 10 09 111

consisting of BORIS, INGO and FLOP. Ship stabilizing system
A model of a ship with two ballast
WinFACT 96, Type C (full version) . . . . . . . 50 09 022 containers (closed liquid system)
consisting of BORIS, INGO, FLOP, LISA, FALCO, SUSY, and sea-wave simulator.
RESY, IDA and FuzzyPID. Two feedback variables.

Demo diskette WinFACT 96 . . . . . . . . . . . 50 09 000

free of charge, in German

For offers and prices please contact:

Factory / Head office: ELWE-Lehrsysteme GmbH • Elwestraße 6 • Tel. (05306) 930-412 • eMail: vt@elwe.com
D - 38162 Cremlingen / Schandelah • Fax (05306) 930-404 • Internet: http://www.elwe.com

Subject matter to change! wp 09 01 20 - 01/03 Printed in Germany