A:1:Afeedbacksystemisoftenbetterabletocopewithunexpecteddisturbancesanduncertaintiesaboutthesystem’sdynamicbehavior.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,itneednotbetruethatclosed-loopcontrolisalwayssuperiortoopen-loopcontrol.然而，闭环控制并不一定总是优于开环控制，//Whenthemeasuredoutputhaserrorswhicharesufficientlylarge,andwhenunexpecteddisturbancesarerelativelyunimportant,closed-loopcontrolcanhaveaperformancewhichisinferiortoopen-loopcontrol.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：Ananalog--to--digitalconverter(ADC)isusedtoconvertacontinuouslyvariablesignaltoacorrespondingdigitalformwhichcantakeanyoneofafixednumberofpossiblebinaryvalues.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：Anewphaseinrobotapplicationshasbeenopenedwiththedevelopmentof“intelligentrobot”.一个机器人应用的新局面随着“智能机器人”的发展而已近打开。14：Anexampleisthespeedcontrolsystemofaturbine-generatorsetinapowerstation,whosemainpurposeistomaintainthegeneratorspeedasnearlyconstantaspossible。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：Anexampleofthistypeofsensorswouldbeavisionsensorusestolocateandidentifyobjectsandpositionoftherobotitself,combinedwithatactilesensorusedtodetectthedistributionofforceandpressure,anddeterminetorque,weight,centerofmassandcomplianceofthematerialithandles.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力。//Thehand-eyecoordinationforgeneral-purposemanipulationwillbeextremelypowerfulintheindustrialworld.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：Arobot,onceproperlyprogrammed,willnotputachipinthewrongplace.一旦适当地编程，机器人就不会将芯片发错地方。C:1：Caremustbetakenwhenconnectinglogiccircuitstoensurethattheirlogiclevelsandcurrentratingsarecompatible连接逻辑电路时，必须小心翼翼，以保证它们的逻辑电平2和电流额定值是兼容的。//Theoutputvoltagesproducedbyalogiccircuitarenormallyspecifiedintermsoftheworstcasevalueswhensourcingorsinkingthemaximumratedcurrents.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：Considerthearmature-controlledD.C.motorshownschematicallyinFig.25.1.图25.1是电枢控制的直流电机。//Suchmotorsarefairlycommoncomponentsinsystemsofinteresttocontrolengineers.这种电机是控制工程师在系统中应用的比较普遍的元件。//Thetorquem(t)developedbythemotorandhenceitsangularvelocityw(t)(orinsomeapplications,itsangularposition)arecontrolledbyvaryingthevoltagev(t)appliedtothearmaturewinding.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)。//Thestator(field)windingisconnectedtoaconstantvoltagesource,sothatthecurrentandhencethemagneticfluxφfinthefieldwindingareapproximatelyconstant.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φf是接近于常数的。D:1：DenotingthemassmomentofinertiaofthearmatureasJ,andassumingthatthereisanexternallyappliedloadtorquemL(t)andaviscousfrictiontorqueCw(t)opposingthe3motion,wemaywrite设电枢的转动惯量为J，外加负载转矩为mL(t),摩擦转矩为Cw(t),两者都是阻碍运动的，于是得E:1：Everytimetheinterfaceisusedtoreadatransducer,thesameoperationsmustbecarriedouttoconverttheinput...
