中文摘要：

针对一种新型永磁球形步进电机,运用卡尔丹角旋转建立了转子固连坐标系下转子动力学模型。在此基础上按照转子作连续轨迹运动的要求用计算力矩法设计了一种伺服控制策略,进行控制参数整定的同时获得转子运动的期望转矩,并使用李亚普诺夫方法分析了该运动控制的稳定性。最后结合已得的转矩模型,提出了一种定子线圈电流控制的控制方案,并进行了仿真实验。

英文摘要：

The dynamic model for a novel permanent magnet spherical stepper motor based on Cardan angle rotation in rotor-fixed coordinates frame was set up. The servo control strategy based on torque calculation was designed to track continuous path motion. The desired torque for the motion of the rotor was derived when the control parameter was adjusted. Meanwhile the stability of the kinematic control was analyzed by using Lyapunov method, A current control method using the acquired torque model and the simulation experiment were proposed.