驱动器将数控装置送出的脉冲信号转化成电机信号，此信号控制伺服电机跟随脉冲信号而旋转。

Drives transform pulse signals sent out from CNC device into motor signals, which tell the serve motor to rotate with each pulse6.

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首先建立了具有脉冲干扰的变时滞车辆跟随系统的模型；

First the model of vehicle following system with varying time-delay and impulsive effort was established;

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