中文摘要：

介绍了一种新型永磁球形步进电动机的结构、工作原理,对电机的结构参数进行了深入分析.针对目前此类球形电机转矩计算的困难,基于麦克斯韦张量法推导并建立了有效的电机转矩计算模型,运用该方法对已知的电机模型进行分析,获得了典型的转矩特性.在此基础上对影响电机电磁转矩的主要结构参数进行了研究,并对典型的电机单步响应过程进行了仿真分析.通过合理设计电机的结构参数和电磁参数,可有效提高电机输出转矩,降低转动惯量,提高电机响应特性.所得结论为永磁球形步进电动机进一步的设计和优化提供了理论依据.

英文摘要：

The structure and operation principle of a PM spherical stepper motor are discussed and its configuration parameters are analyzed. Based on the Maxwell Stress Tensor method, an effective torque calculation model was developed to eliminate the difficulties in torque calculation. By means of the method, the typical torque characteristics of the known motor prototype are derived. Some of the main parameters that can influence the electromagnetic torque were studied and representative single step responses were simulated. By optimization design on the configuration and electromagnetism parameters, the output torque can be effectively enhanced with lower moment of inertia and faster response characteristics. The results provide the theoretical guide for the further design and optimization of the spherical stepper motor.