上海电力学院自动化专业英语句子

1、PAGE PAGE 25A: 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，/

2、When the measured 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 annalogtodigittal coonvertter(ADDC) iss usedd

3、to cconverrt a ccontinnuouslly varriablee signnal too a coorresppondinng diggital form whichh can take any oone off a fiixed nnumberr of ppossibble biinary valuees.一模拟拟-数字转转换器（ADDC）用来将将连续变换信信号编程相应应的数字量，这这数字量可是是可能的二进进制数值中的的一固定值。3：A neww phasse in robott appllicatiions hhas beeen oppened with the ddev

4、eloopmentt of “intellligennt robbot ” . 一个个机器人应用用的新局面随随着“智能机器人人”的发展而已已近打开。4：An exxamplee is tthe sppeed ccontrool sysstem oof a tturbinne-genneratoor sett in aa poweer staation ,whosse maiin purrpose is too mainntain the ggeneraator sspeed as neearly consttant aas posssiblee 。电厂涡涡轮发电机组组就是一个例例子，它的主主要

5、目的是维维持发电机的的转速尽可能能的接近于恒恒值。5：An exxamplee of tthis ttype oof sennsors wouldd be aa visiion seensor uses to loocate and iidentiify obbjectss and posittion oof thee roboot itsself ,combiined wwith aa tacttile ssensorr usedd to ddetectt the distrributiion off forcce andd presssure ,and deterrmine torquue

6、 ,weeight ,centter off masss and complliancee of tthe maateriaal it handlles .这这类传感器的的一例是视觉觉传感器，用用于对物体和和机器人本身身的定位和辨辨别；并结合合触觉传感器器用于探测力力和压力的分分布和确定力力矩，质量，重重心，按所抓抓取的材料决决定握持力。/The hand-eye ccoordiinatioon forr geneeral-ppurposse mannipulaation will be exxtremeely poowerfuul in the iindusttrial worldd .这种

7、用用于通用的手手眼配合操作作在工业界将将会变得极为为有效力。 6：A roobot , oncee propperly progrrammedd ,willl nott put a chiip in the wwrong placee .一旦适适当地编程，机机器人就不会会将芯片发错错地方。C: 1：CCare mmust bbe takken whhen coonnectting llogic circuuits tto enssure tthat ttheir logicc leveels annd currrent ratinngs arre commpatibble连接逻逻辑电路时，必必

8、须小心翼翼翼，以保证它它们的逻辑电电平和电流额额定值是兼容容的。/TThe ouutput voltaages pproducced byy a loogic ccircuiit aree normmally speciified in teerms oof thee worsst casse vallues wwhen ssourciing orr sinkking tthe maaximumm rateed currrentss.由逻辑电电路产生的输输出电压通以以拉出或灌入入最大额定电电流时，按最最弱情况下数数值说定义。2：Consiider tthe arrmaturre-conntro

9、llled D.C .mootor sshown schemmaticaally iin Figg.25.11. 图255.1是电枢枢控制的直流流电机。/Such motorrs aree fairrly coommon compoonentss in ssystemms of interrest tto conntrol enginneers . 这种电电机是控制工工程师在系统统中应用的比比较普遍的元元件。/TThe toorque m(t) develloped by thhe mottor annd hennce itts anggular veloccity ww(t) (or inn

10、 somee appllicatiions ,its aangulaar possitionn) aree conttrolleed by varyiing thhe volltage v(t) appliied too the armatture wwindinng . 可可以靠改变电电枢绕组上的的电压v (t) 去控控制电机的转转矩m (tt) ,从而而控制角速度度 w (tt) ( 在在某些应用中中为角位移) 。/TThe sttator (fielld) wiindingg is cconneccted tto a cconstaant vooltagee sourrce ,sso t

11、haat thee currrent aand heence tthe maagnetiic fluux f in the ffield windiing arre appproximmatelyy consstant .定子（磁磁场）绕组接接到恒压电源源上，因此其其电流所产生生的磁场中的的磁通f 是接近近于常数的。D: 1：DDenotiing thhe masss momment oof ineertia of thhe armmaturee as JJ ,andd assuuming that theree is aan extternallly apppliedd loadd torq

12、que mLL(t) aand a viscoous frrictioon torrque CCw(t) oppossing tthe mootion ,we mmay wrrite 设电枢的转转动惯量为JJ，外加负载载转矩为mLL (t) ,摩擦转矩矩为Cw(tt),两者都都是阻碍运动动的，于是得得E: 1：EEvery time the iinterfface iis useed to read a traansduccer ,tthe saame opperatiions mmust bbe carrried out tto connvert the iinput numbeer int

13、to a mmore cconvennient form.接口总是用用于读取传感感器的值，同同时还要将输输入数值转换换成更容易的的形式。F: 1：Fiig1.4 showss voltt-ampeere cuurves for aa metaal fillamentt lampp ,V1()，andd for a carrbonfiilamennt lammp V2()，图1.4中的曲线线V1()和V2()分别表示示-金属丝灯灯泡和碳丝灯灯泡的伏-安安特性曲线，/As is seen , the relation between the voltage and the current in e

14、ach 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 increase 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：Figurre 21.1 shoows a commoon appplicattion oof auttomatiic conntrol foundd in m

15、many iindusttrial plantts.图211.1显示出出了在许多工工业工厂所见见到的常用的的自动控制应应用。 3：Fig.37.1 is a generral reepreseentatiion off an oopen-lloop ccontrool sysstem . 图37.1是对开环环控制系统的的一般性表示示。/Thhe inpput orr conttrol uu(t) iis sellectedd baseed on the ggoals for tthe syystem and aall avvailabble a priorri knoowledgge aboo

16、ut thhe sysstem .输入变量或或控制作用uu（ t）是是根据本系统统的目标以及及所有可获取取的先验知识识而选定的。/The inputt is iin no way iinflueenced by thhe outtput oof thee systtem ,rrepressentedd by yy(t) . 输入变量量绝不会受到到y(t) 所表示的系系统输出变量量的影响。/If uunexpeected distuurbancces acct upoon an open-loop systeem ,orr if iits beehavioor is not ccompleete

17、ly underrstoodd ,theen thee outpput wiill noot behhave pprecissely aas exppectedd .如果有有不期望的扰扰动作用在开开环系统上，或或者如果其行行为不能完全全掌握的话，则则该系统的输输出就不会完完全如预期般般动作。4：Finallly ,tthe coomputeer intterpreets orr undeerstannds whhat thhe imaage reepreseents iin terrms off knowwledgee abouut thee scenne andd givees thee r

18、oboot a ssymbollic deescripption of itts envvironmment .最后，计算算机能就场景景的辨别，理理解图像所表表示的含义或或作出解释，并并使机器人用用符号对环境境的描述。5：For eevery proceess thhere mmust bbe finnal acctuatoor thaat reggulatees thee suppply off enerrgy orr mateerial to thhe proocess and cchangees thee meassuremeent siignal . 对每一一过程，均必必须由最终的的控

19、制器来调调节过程中能能量或材料的的供给量，并并且改变测量量值。/MMost ooften this is inn somee kindd of vvalve , butt it mmight also be a belt or mootor sspeed ,louvver poositioon ,annd so on .最最常见的是由由某种阀来完完成，但这也也可能是一条条皮带，或者者是马达速度度，口径位置置等等。6：For eexamplle ,maany trransduucers have variaable rresisttance whichh mustt be cconverrted

20、 tto a vvoltagge by a speecial circuuit. 举举例来说，许许多传感器具具有电阻变换换，这必须由由一专门电路路转换成电压压。/Thhis prrocesss of cconverrting the ttransdducer outpuut intto a vvoltagge siggnal wwhich can bbe connnecteed to the rrest oof thee systtem iss callled siignal condiitioniing.这种种将传感器输输出转换成电电压信号，并并与系统的其其它电路相连连接的过程，称称为信号调

21、整整。7：For nnegatiive feeedbacck to existt ,eitther AA or BB mustt be aa negaative quanttity tto givve thee loopp phasse invversioon , aand thhe retturn ddifferrence is allways (1+ABB) forr negaative feedbback .为了形成反反馈，A或BB必须为负量量以使得环路路形成倒向，因因而对于负反反馈深度恒等等于（1+aab）.H: 1：Hooweverr ,thiis advvantagge is mo

22、re than outweeighedd by tthe diisadvaantagees of open-loop contrrol annd thee inheerent advanntagess of ffeedbaack syystemss . 然而，这这一优点比不不上开环控制制的缺点和反反馈系统的固固有优点。/Firsst ,inn manyy casees thee impllementtationn of tthe oppen-looop coontroll sugggestedd abovve wouuld reequiree a veery soophistticateed

23、(annd hennce exxpensiive) ccomputting ddevicee to ddetermmine tthe innputs requiired tto couunteraact thhe preedicteed dissturbaance eeffectts .首先先，在许多情情况下，实现现上面所提到到的开环控制制需要一台非非常完善的（因因而很费钱的的）计算装置置，一边用它它算出抵消预预估扰动影响响所需的输入入量。/SSecondd , a feedbback ssystemm turnns outt to bbe inhherenttly faar lesss se

24、nnsitivve to the aaccuraacy wiith whhich aa mathhematiical mmodel of thhe sysstem hhas beeen deetermiined.其其次，反馈系系统对数学模模型的精度并并不是很敏感感。I: 1：Iff all elemeental equattions are ffor alll timme ,thhen thhe sysstem iis a ccontinnuous time systeem . 如如果所有的基基础方程都定定义整个时间间过程，那么么，该系统也也是连续时间间系统。/If ,aas in sampl

25、ling oor diggital systeems ,ssome eelemenntal eequatiions aare deefinedd or uused oonly aat disscretee poinnts inn timee ,a ddiscreete-tiime syystem is thhe ressult . 而假如，在在采样问题或或数字系统中中常见这种情情况，有些基基础方程仅定定义于，或仅仅能应用于离离散的时间点点上，这就导导致了离散时时间系统。/Conttinuouus-timme sysstem aare deescribbed byy diffferenttial

26、 eequatiion ,ddiscreete-tiime syystemss by ddifferrence equattion.连连续时间系统统用微分方程程描述，而离离散时间系统统则用于差分分方程描述。2：If alll eleementaal equuationns aree lineear ,sso is the ssystemm .如果所所有的基础方方程都是线性性的，那么该该系统也是如如些。/IIf onee or mmore eelemenntal eequatiions aare noonlineear ,aas is the ccase ffor a diodee ,theen

27、 thee overrall ssystemm is nnonlinnear .如果一个或或多个基础方方程是非线性性的，例如在在应用二极管管的场合，那那么整个系统统也就成了非非线性的的。/Whenn all elemeental equattions can bbe desscribeed by a sett of cconstaant paarametter vaalues ,as iin thee famiiliar RLC ccircuiit ,thhe sysstem iis saiid to be sttationnary oor timme-invvariannt or const

28、tant ccoeffiicientt .当所有有的基础方程程都能用一组组定常参数值值来描述，正正如熟知的RRLC电路的的情况，就称称该系统是稳稳态的，或时时不变的，或或常系数的。/If oone orr moree paraameterrs ,orr the very form of ellementtal eqquatioon ,vaary inn a knnown ffashioon witth timme ,thhe sysstem iis saiid to be tiime-vaaryingg .如果有有一个或多个个参数，甚至至连基础方程程本身都以一一种已知方式式随时间而变变化，则此

29、系系统就称为时时变系统。/Finaally ,if thhere aare noo exteernal inputts andd the systeem behhaviorr is ddetermmined entirrely bby itss inittial ccondittions ,the systeem is said to bee homoogeneoous orr unfoorced . 最后，如如果没有外部部输入信号，系系统的行为完完全由自已的的初始条件确确定，该系统统就称为齐次次或非强迫系系统。/WWith fforcinng funnctionns actting ,a n

30、onnhomoggeneouus sysstem mmust bbe connsiderred .有有强迫函数作作用于上的，则则系统必须作作为非齐次的的来考虑。3：In eaach caase ,tthe innput ccircuiit of the aampliffier ccan bee reprresentted byy an eequivaalent passiive immpendeence ZZi deffined as thhe rattio off Vi/IIi or admitttancee Yi ,definned ass Ii/vvi. 在每每种情况下，放放大器的输入入

31、回路都可以以用一个等值值无源阻抗ZZi（Zi 是vi与IIi的比值）oor 等值导导纳Yi（YYi是Ii与与Vi比值）来来表示。4：In prracticce ,a RTD mmay bee usedd withh as mmuch aas 5000 feett of tthree-conduuctor cablee withhout ccreatiing a perceeptiblle errror .实实践中，热电电阻探测器可可使用至多5500英尺的的三导线电缆缆，而不会产产生任一可察察觉的误差。5: In tthe prrocesss plannt ,itt is iimpracctic

32、all to llocatee the contrrol innstrumments out iin thee placce neaar thee proccess .在过程工厂厂中，将控制制仪器安装在在室外靠近过过程的地方是是不现实的。6：In thhis caase thhe siggnal ccondittioninng secction must conveert thhe inccomingg signnal too a foorm whhich ccan bee connnectedd direectly to thhe nexxt parrt of the iinterfface

33、 ,the iinput/outpuut secction of thhe miccrocommputerr itseelf.这种种情况下，信信号调理单元元必须将输入入信号变换成成为另一信号号，也可直接接与接口的下下一部分，即即微计算机本本身的输入输输出单元相连连接。7：It iss assuumed iin eacch casse thaat thee forwward-ppath aampliffier oof a nnegatiive feeedbacck sysstem iis uniilaterral ,sso thaat siggnals can ppass ffrom iinpu

34、t or ouutput ,but not iin thee reveerse ddirecttion ffrom ooutputt to iinput ,and the oonly ffeedbaack paath iss throough tthe neetworkk B。而有有种情况下，均均假定负反馈馈网络中的放放大器是单向向的。于是信信号只能从输输入端到输出出端，而不能能反方向传递递。于是唯一一的反馈路径径即通过网络络B。8：It iss hopeed thaat theese wiill noot onlly givve thee readder soome faamiliaarit

35、y with the pprocesss of modell-buillding but aalso ssatisffy himm thatt lineear diiffereentiall equaationss are ,in ffact ,reasoonablee modeels foor a wwide rrange of reeal syystemss .希望这这些工作不单单是使读者熟熟悉模型建立立的过程，而而且也使大家家确信，线性性微分方程是是各种实际系系统的合理模模型。I: 9：Itt is uusuallly posssiblee to vvary tthe seet vall

36、ue inn suchh a syystem by maanual adjusstmentt of aa conttrol kknob oor by meanss of aan auxxiliarry auttomatiic conntrol systeem.通过手手动调节控制制旋钮或者用用辅助的自动动控制系统可可以改变这个个设定值。10: It shoulld be underrstoodd thatt any divission oof conntrol enginneerinng intto “regullatorss ”,”servoo-mechhanismms” and “proce

37、ess-coontroll systtems” is vvery aartifiicial and iis reaally ddue too histtoric ratheer thaat loggical reasoons , A proocess-contrrol syystemss is ooften a reggular .我们应该该了解到:把把控制工程分分成调节器、伺伺服机构与过过程控制系统统是由人为因因素造成的，这这是由于历史史上的原因而而不是逻辑上上的原因。过过程控制系统统通常是一个个调节器。/Howeever ,a commplicaated pprocesss-conntro

38、l systeems maay posssiblyy conttain ddevicees whiich coould bbe deffined as seervo-mmechannisms .The folloowing are eexamplles off conttrol pprobleems ussuallyy classsifieed as proceess coontroll。然而一个个复杂的过程程控制系统可可能包含好几几个被称作伺伺服机构的装装置。11：Its standdard rrange is frrom 4 to 200mA DCC for the ccurrennt s

39、iggnal oor froom 1 tto 5V DC foor thee volttage ssignall .其标准准范围对电流流来说是4-20mA DC,对电电压力信号来来说是1-55V DC。M: 1：Meeasureement must be maade too indiicate the ccurrennt vallue off the variaable ccontrooller by thhe looop . 必必须具有测量量环节，以指指示被测回路路所控制的变变量当前值。/Commmon meeasureement used in inndustrry incclude fl

40、ow rate, presssure , levvel, ttemperraturee ,anaalyticcal meeasureement (suchh as ppH ,ORRP andd condductivvity ),and many otherrs parrticullar too speccial iindusttries.在工业中所所使用的常规规测量包括流流量，压力，物物位，温度，分分析测量参数数，如PH值值，ORP 和电导率 ，以及许多多其他特殊工工业中的特殊殊参数。2: Moree precciselyy ,it is appproxiimatelly prooportii

41、onal to thhe prooduct of thhe fieeld deensityy and the ccurrennt ,soome noonlineearityy beinng inttroducced byy the distoortionn of tthe sttator fieldd due to thhe fluux gennerateed by the aarmatuure cuurrentt .Thiis so-calleed “armatture rreactiion” is kkept ssmall by caarefullly mootor ddesignn .更

42、确切切的说,转矩矩接近正比于于场强与电流流的乘积。电电枢电流产生生的磁通使定定子磁场畸变变，所以产生生了某些非线线性，这叫做做“电枢反应”。在经周密密设计的典籍籍中，这种电电枢反应可以以很小。3：Most classsical contrrol teechniqques wwere ddevelooped ffor liinear consttant ccoeffiicientt systtems wwith oone innput aand onne outtput (perhaaps a few iinput and ooutputts) .大大多数经典控控制技术都是是带有一个输输入、一个

43、输输出（也可有有数个输入和和输出）的线线性、常系数数系统而发展展起来的。/The languuage oof claassicaal tecchniquues iss the Laplaace orr z-trransfoorm annd traansferr funcction . 经典技技术的表达语语言室拉普拉拉斯或者z变变换以及传递递函数。/When nonliineariities and ttime vvariattions are ppresennt ,thhe verry bassic foor theese cllassiccal teechniqques iis remmov

44、ed .一旦出现现非线性和时时变性，经典典技术最根本本的基础就不不复存在了。/Somee succcessfuul tecchniquues suuch ass phasse-plaane meethodss ,desscribiing fuunctioons ,aand otther aad hocc methhods ,have been develloped to allleviaate thhis shhortcooming . 诸如相相平面方法、描描述函数法和和其它有关方方法这样一些些很成功的技技术能够得以以发展的原因因就是为了弥弥补这一短处处。/Hooweverr ,thee gr

45、eaatest succeess haas beeen limmited to loow-ordder syystemss . 然而经典典控制理论的的最大成功也也是局限于低低阶系统中。/The state variable approach of modern control theory provides a uniform and power-varying or constant coefficients . 现代控制理论的状态变量法提供了一种统一、高效的方法来描述具有任意阶次、线性或非线性、时变或常系数的各种系统。/It provides an ideal formulation fo

46、r computer implementation and is responsible for much of the progress in optimization theory .它也为计算机处理提供了一种理想的表示方法，并引起了许多方面最优化理论的进展。4：Most practtical circuuits mmay bee classsed aas linnear .Thereefore ,a sttudy iinto tthe prropertties aand annalysiis of lineaar cirrcuitss is oof botth theeoretiical

47、 aand apppliedd inteerest.大多数实际际电路可归类类为线性电路路。因此，对对线性电路性性能和线性电电路分析的研研究就具有理理论和实践的的双重意义。N: 1:Neegativve feeedbackk alsoo incrreasess the frequuency bandwwidth of thhe ampplifieer to whichh it iis appplied , beccause the ggainbaandwiddth prroductt of aa lineear ammplifiier iss a coonstannt , aand neegat

48、ivve feeedbackk reduuces tthe efffectiive gaain. 由由于线性放大大器的增益带带宽积是个常常数，而负反反馈的运用减减小了有效增增益，因此，负负反馈还能拓拓宽运用了负负反馈的放大大器的頻带宽宽度。2: Negaative feedbback ooccurss whenn a poortionn of tthe ouutput signaal of an ammplifiier iss fed back and ssubtraacted from the iinput signaal, caausingg a reeductiion inn the e

49、ffecctive inputt signnal. 所所谓负反馈是是指输出信号号的一部分被被送回输入端端，与输入信信号相减，从从而削弱了有有效输入信号号，/Thhe mosst impportannt efffect oof thiis is to maake thhe oveerall ampliifier gain almosst immmune tto chaanges in thhe ampplifieer uniit gaiin, annd deppendennt almmost eentireely onn the feedbback nnetworrk commponennts.

50、负反反馈的最重要要作用在于使使放大器总增增益不至于因因基本放大器器增益的改变变而变化，其其总增益的大大小完全取决决于反馈网络络的元件参数数。3: Now ,anotther ttype oof eleectriccal siignal ,whicch is becomming ccommonn , iss the digittal orr disccrete signaal .当今今，另一种电电信号形式变变得越来越常常用，就是数数字或者是离离散信号。O: 1：Onne addditionnal diistincction not sshown in Fiig.38.1 couuld bee m

51、adee betwween llarge-scalee systtem annd smaall-sccale ssystemm . 图338.1中没没有表示出来来的另一种分分类是大规模模系统与小规规模系统。/The degreee of diffiicultyy in aanalyssis vaaries greattly ammong tthese systeem claassifiicatioon . 不不同系统类型型，对其进行行分析难度相相差很大。 /Theese diiffereences have motivvated diffeerent methoods off apprroac

52、h . 这些差差别已经促进进了不同的方方法的发展。/Modeern coontroll theoory prrovidees onee of tthe moost geenerall apprroachees .现代代控制理论提提供了一种最最一般性的方方法。2：One oof thee condductorrs is commoon to both sidess of tthe brridge whilee the otherr two conneect onne to each side of thhe briidge . 三导线中中，其中一根根对电桥两臂臂是相同的，而而其它两根连连在电桥的

53、两两臂上。/Any cchangee in ccable tempeeraturre willl be canceelled as booth siides oof thee briddge arre chaanged a likke amoount .由于两桥臂臂的变化是一一样的，所以以电缆上的任任何温度变化化就会被抵消消。3：Operaationaal ampplifieers wiith veery hiigh gaains aare reeadilyy avaiilablee , maaking the aappliccationn of nnegatiive feeedbacck o

54、n a larrge sccale ppractiical aand innexpennsive. 高增益益的运算放大大器是容易得得到的，这便便使负反馈的的使用现实而而经济。4：Outpuut intterfacce takke a ssimilaar forrm (Fiig.18.2) ,tthe obbviouss diffferencce beiing thhat heere thhe floow of inforrmatioon is in thhe opppositee direectionn. it is paassed from the pprograam to the oout

55、sidde worrld .输输出接口采用用相似的形式式（图18.2）,明显显的差别在于于信息流的方方向相反，是是从程序到外外部世界。S: 1：Seeverall facttors pprovidded thhe stiimuluss for the ddeveloopmentt of mmodernn conttrol ttheoryy :(1)The nnecesssity oof deaaling with more realiistic modells of systeems .(2)Thee shifft in emphaasis ttowardds opttimal contrro

56、l annd opttimal systeem dessign .(3)Thhe conntinuiing deeveloppmentss in ddigitaal commputerr techhnologgy .(44)The shorttcominngs off prevvious approoachess .(5)A reccognittion oof thee appllicabiility of weell-knnow meethodss in oother fieldds of knowlledge .有几个因因素激励了现现代控制理论论的发展：(1)处理更更加真实的系系统模型的必

57、必要性.(22)研究重点点朝向最优控控制和最有系系统设计的转转移.(3)数字计算机机技术的不断断发展 (44)原有方法法的短缺.(5)对于将将熟知方法在在其它知识领领域中应用的的广泛认同2Shoulld theere bee an uuncomppensatted vaariatiion inn the referrence juncttion ttemperraturee ,theere wiill bee a coorresppondinng chaange iin milllivollt witth a rresulttant eerror in teemperaature measuu

58、remennt .例如如参考端温度度的变化没被被补偿，就会会有相应的毫毫伏电压变化化，结果会导导致温度测量量的误差。3：Simplle putt ,robbot haands-llike rrobotss legss ,or eyes ,or rreasonning ppowerss-havee longg way to goo befoore thhey caan appproachh whatt the bioloogicall evollutionn has achieeved oover bby thee courrse off hunddreds of miillionns of y

59、earss .简单来来说，机器人人的手-如如同机器人的的腿，眼睛或或推理能力，在在接近经过成成亿年生物进进化所获得的的能力之前，还还有很长时间间的路要走。4：Singlle-looop feeedbackk systtems wwith tthe sttructuure off Fig.27.2 are ooften calleed serrvomecchanissms beecausee the contrrollerr usuaally iincluddes a devicce givving cconsidderablle powwer ammplifiicatioon.具有图图27.2

60、结结构的单回路路反馈系统,通常称为伺伺服机件,因因为这种控制制器中常常包包括了一个能能给出相当大大功率的放大大装置.5：Systeem moddels ccan bee deveelopedd by ttwo diistincct metthods .系统的模模型可以通过过两类截然不不同的方法来来建立。/Analyyticall modeeling consiists oof a ssystemmatic appliicatioon of basicc physsical laws to syystem compoonentss and the iintercconnecction of th