1引言编码器是一种位置传感器,它是将位移信号转换为数字脉冲信号的一种装置。编码器可以测量物体所转过的角度、所经过的位移,被广泛应用于各种伺服控制中。自动化立体仓库中最重要的设备是堆垛机。对于堆垛机来说最重要的是速度和位置控制,在北京物资学院校博物馆的自动化立体仓库中,安装的是增量式编码器,这种编码器有时候会产生丢码现象,特别是货叉 1 Introduction Encoder is a position sensor, which is a device that converts a displacement signal into a digital pulse signal. The encoder can measure the angle that the object turns over, the displacement that passes, is widely used in various servo control. The most important piece of equipment in the automated warehouse is the stacker. For the stacker is the most important speed and position control in the Beijing Institute of Materials Museum Museum automated warehouse, the installation of incremental encoder, the encoder can sometimes produce a loss of code, in particular, Forks