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1、A: 1: A feedback system is often better able to cope with unexpected disturbances and uncertainties about the systems dynamic behavior.一个反馈系统经常能更好的应付不期望的扰动作用以及系统动态性能的不确定性，/However ,it need not be true that closed-loop control is always superior to open-loop control .然而，闭环控制并不一定总是优于开环控制，/When the mea
2、sured output has errors which are sufficiently large ,and when unexpected disturbances are relatively unimportant ,closed-loop control can have a performance which is inferior to open-loop control.当输出的测量误差足够大或不期望的扰动无关紧要时，闭环控制的性能就会比开环控制的差2：An analog-to-digital converter(ADC) is used to convert a cont
3、inuously variable signal to a corresponding digital form which can take any one of a fixed number of possible binary values.一模拟-数字转换器（ADC）用来将连续变换信号编程相应的数字量，这数字量可是可能的二进制数值中的一固定值。3：A new phase in robot applications has been opened with the development of “intelligent robot ” . 一个机器人应用的新局面随着“智能机器人”的发展而
4、已近打开。4：An example is the speed control system of a turbine-generator set in a power station ,whose main purpose is to maintain the generator speed as nearly constant as possible 。电厂涡轮发电机组就是一个例子，它的主要目的是维持发电机的转速尽可能的接近于恒值。5：An example of this type of sensors would be a vision sensor uses to locate and
5、identify objects and position of the robot itself ,combined with a tactile sensor used to detect the distribution of force and pressure ,and determine torque ,weight ,center of mass and compliance of the material it handles .这类传感器的一例是视觉传感器，用于对物体和机器人本身的定位和辨别；并结合触觉传感器用于探测力和压力的分布和确定力矩，质量，重心，按所抓取的材料决定握持
6、力。/The hand-eye coordination for general-purpose manipulation will be extremely powerful in the industrial world .这种用于通用的手眼配合操作在工业界将会变得极为有效力。 6：A robot , once properly programmed ,will not put a chip in the wrong place .一旦适当地编程，机器人就不会将芯片发错地方。C: 1：Care must be taken when connecting logic circuits to
7、ensure that their logic levels and current ratings are compatible连接逻辑电路时，必须小心翼翼，以保证它们的逻辑电平和电流额定值是兼容的。/The output voltages produced by a logic circuit are normally specified in terms of the worst case values when sourcing or sinking the maximum rated currents.由逻辑电路产生的输出电压通以拉出或灌入最大额定电流时，按最弱情况下数值说定义。2：
8、Consider the armature-controlled D.C .motor shown schematically in Fig.25.1. 图25.1是电枢控制的直流电机。/Such motors are fairly common components in systems of interest to control engineers . 这种电机是控制工程师在系统中应用的比较普遍的元件。/The torque m(t) developed by the motor and hence its angular velocity w(t) (or in some applic
9、ations ,its angular position) are controlled by varying the voltage v(t) applied to the armature winding . 可以靠改变电枢绕组上的电压v (t) 去控制电机的转矩m (t) ,从而控制角速度 w (t) ( 在某些应用中为角位移) 。/The stator (field) winding is connected to a constant voltage source ,so that the current and hence the magnetic flux f in the fi
10、eld winding are approximately constant .定子（磁场）绕组接到恒压电源上，因此其电流所产生的磁场中的磁通f 是接近于常数的。D: 1：Denoting the mass moment of inertia of the armature as J ,and assuming that there is an externally applied load torque mL(t) and a viscous friction torque Cw(t) opposing the motion ,we may write 设电枢的转动惯量为J，外加负载转矩为m
11、L (t) ,摩擦转矩为Cw(t),两者都是阻碍运动的，于是得E: 1：Every time the interface is used to read a transducer ,the same operations must be carried out to convert the input number into a more convenient form.接口总是用于读取传感器的值，同时还要将输入数值转换成更容易的形式。F: 1：Fig1.4 shows volt-ampere curves for a metal filament lamp ,V1()，and for a c
12、arbonfilament lamp V2()，图1.4中的曲线V1()和V2()分别表示-金属丝灯泡和碳丝灯泡的伏-安特性曲线，/As is seen , the relation between the voltage and the current in each lamp is other than linear . 如图所示每个灯泡的电流和电压之间的关系并不是线性的，/The resistance of the metal-filament lamp increases ,and that of the carbon-filament lamp decreases with incr
13、ease of current.随着电流的增加，金属丝灯泡的电阻是增加的，而碳丝灯泡的电阻是减少的。2：Figure 21.1 shows a common application of automatic control found in many industrial plants.图21.1显示出了在许多工业工厂所见到的常用的自动控制应用。 3：Fig.37.1 is a general representation of an open-loop control system . 图37.1是对开环控制系统的一般性表示。/The input or control u(t) is sel
14、ected based on the goals for the system and all available a priori knowledge about the system .输入变量或控制作用u（ t）是根据本系统的目标以及所有可获取的先验知识而选定的。/The input is in no way influenced by the output of the system ,represented by y(t) . 输入变量绝不会受到y(t) 所表示的系统输出变量的影响。/If unexpected disturbances act upon an open-loop s
15、ystem ,or if its behavior is not completely understood ,then the output will not behave precisely as expected .如果有不期望的扰动作用在开环系统上，或者如果其行为不能完全掌握的话，则该系统的输出就不会完全如预期般动作。4：Finally ,the computer interprets or understands what the image represents in terms of knowledge about the scene and gives the robot a
16、symbolic description of its environment .最后，计算机能就场景的辨别，理解图像所表示的含义或作出解释，并使机器人用符号对环境的描述。5：For every process there must be final actuator that regulates the supply of energy or material to the process and changes the measurement signal . 对每一过程，均必须由最终的控制器来调节过程中能量或材料的供给量，并且改变测量值。/Most often this is in some kind of valve , but it might also be a belt or motor speed ,louver position ,and so on .最常见的是由某种阀来完成，但这也可能是一条皮带，或者是马达速度，口径位置等等。6：For exa
