中文摘要：

提出了一种控制球形电机的简便方法,利用四元数作为描述电机转动的数学工具,分析了电机定子线圈换向与转动的规律,求解出当前位置下符合旋转条件的永磁体对/线圈对,记录在表中,查找能产生与给定转轴相近的旋转的永磁体对/线圈对。多次旋转的误差为累积误差,当误差超出某角度阈值,进行一次位置修正。MATLAB仿真表明,利用四元数的数学工具简化了球形电机的计算与控制过程,可以使电机按预定轨迹转动,是一种行之有效的方法。

英文摘要：

This paper presents a simple method of controlling spherical motor,quaternion is the mathematical tool to describe the motor rotation,the stator commutation and rotation rules are analyzed to calculate the stator/rotor pairs which meet commands of rotation in the current position,and record them.In these,the stator/rotor pairs nearest to the given axis are looked up.Error of several rotation-combination is cumulation error,when error is beyond the angle threshold,position correction is needed.MATLAB simulat...