这些传感器的输出数据被反馈到一台电脑里，其中有专门的程序以简化了的方式模拟鱼脑的思维过程，通过这些输出数据来得出周围的情况。
The output from the sensors was fed into a computer that had been programmed to try to work out what was going on in a simplified version of the way that a fish brain would.
本文采用电压反馈的闭环控制方式，设计完成了数字PID调节器，使逆变器输出稳定的正弦波。
The paper takes advantage of a single close-loop control method based on voltage feedback, and enables the inverter to produce steady sine waves by the digital PID adjuster designed.
逆变控制采用SPWM方式，由数字PID调节器实现输出电压瞬时值反馈，并采用有效值调节实现稳压。
SPWM method is adopted to control the inverter model. Digital PID adjuster is used to realize voltage loop and the value modulation is used to maintain the value of output voltage.
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