Pd is moving to detect the power of the laser , a simulated switch is selected to realize the divide control of the two photo - detectors ; incremental encoder is used to built the closed - loop control of the step - motor ; base on the characteristic parameter of the laser diode , built the mathematics model between the beam divergence and the temperature , to measure the result to carry on the temperature compensation 步进电机带动光电探测器进行光强检测,用来探测边界点;两个光电探测器之间的分时控制通过模拟开关来实现;选用光电编码器,搭建步进电机的闭环控制系统;根据半导体激光器本身的参数特性,建立发散角和温度的数学模型,对测量结果进行温度补偿。
The algorithm can not only eliminate the influence of the cumulative errors of the photoelectric code recorder , but also it can satisfy the requirement of the real - time control . a direct inverse model controller of fuzzy neural network with changeable structure based on takagi - sugeno inference is presented and it is used to the motion control of mobile robot . in order to avoid the obstacles successfully , detection results from ccd and ultrasonic sensors are fused by a fuzzy neural network , which acts as an avoidance controller 包括移动机器人的融合自定位问题：移动机器人利用光电编码器进行自定位，同时用扩展卡尔曼滤波器融合多个超声波传感器的测量值，采用回朔算法将融合值用于复位光电编码器，消除了光电编码器累积误差的影响，并能满足实时控制的要求：并提出一种基于takagi - sugeno模型的变结构模糊神经网络直接逆模型控制器，并应用于移动机器人的运动控制；利用模糊神经网络避障控制器融合ccd摄象机与超声波传感器探测到的环境信息，以实现机器人的安全避障。
Abstract : regarding the practical problems in applications of photoelectric encoder and the solutions a detecting method for displacement with higher accuracy and the implementing circuit are stated and designed . with the control of underdrived robot arm as an example the concrete application is introduced 文摘:就光电编码器的实际应用问题及解决方法，提出并设计了一套适用于精度要求较高的位移检测方法及实现电路，文末以欠驱动机器臂的控制为例，介绍其具体应用。
The closed loop control mode including position feedback , velocity feedback and current feedback is adopted for the driver motor so that high precision and steady running can be realized . the closed loop control mode including velocity feedback and current feedback is adopted for the momentum balance motor so that fast and accurate trace can be realized 其中驱动伺服电机采用绝对位置光电编码器作为位置反馈确保系统的精度要求，实现了位置、速度、电流三环控制，达到了伺服电机的高精度、稳速运行；平衡电机采用电流和速度双闭环控制，实现平衡电机快速、精确的跟踪。
There are five parameters need to be measured . there are five channels for input : the displacement of casting - roller , the rotate speed of casting - roller , the pressure of casting and rolling , the casting temperature and the water - speed of cooling water . they are measured by raster , photoelectric coder , strain pressure sensor , thermocouple and turboflowmeter 系统需要进行监测的参数有五个，即有五路输入信号：铸辊位移、铸辊转速、铸轧压力、浇铸温度、冷却水流速，分别采用光栅、光电编码器、应变式压力传感器、热电偶和涡轮流量计作为检测元件。
