中文摘要：

介绍了永磁球形步进电机的模型，在转子球面上进行随机编码，96个光电传感器的输出表示转子的方位角。根据球形电机的特殊结构和旋转特点，对位置检测系统进行数学建模，对转子球体的目标节点采用改进的变尺度混沌搜索方法，将混沌变量的动力学方程映射到位置空间。当搜索到的较优值次数或循环次数等于设置的初始条件时缩小搜索空间，搜索精度取决于传感器的分辨率与搜索终止条件。

英文摘要：

The permanent magnetic spherical stepper motor model was introduced, random encoder was painted on the surface of the rotor, and outputs of 96 optoelectronic sensors were used to identify the rotor orientation. On the basis of the special structure and rotational character, the system of detecting the rotor orientation was modeled, and an improved mutative scale chaos search algorithm was adopted to search the goal node, also the dynamics equation of chaos variable mappings to the orientation space. When the number of either searched local minima or cycles is equal to the initial value, the search space is dynamic reduced, and the search precision lies on the sensor resolution and the search stop condition.