中文摘要：

永磁球形电动机动力学系统是一个多变量、非线性、强耦合系统.外部扰动、参数估计误差以及模型的近似均会影响系统的控制效果.为了获得良好的静态和动态性能,改善轨迹跟踪性能,提出了一种基于计算力矩法的永磁球形电动机轨迹跟踪控制策略.仿真结果表明,此方法可有效地削弱各轴向间非线性交叉耦合的影响,对外部扰动和模型误差具有良好的鲁棒性,可实现理想的轨迹跟踪控制效果.

英文摘要：

The permanent magnet spherical motor（PMSM）is a multivariable,nonlinear and strong coupling system.The external disturbance,the evaluated error of parameters and model error all have a great influence on the control performance of the motor. In order to obtain a better static and dynamic performance,and improve the trajectory tracking performance,a trajectory tracking control strategy of PMSM based on a computed torque method was proposed. The simulation results indicate that the proposed method can effectively eliminate the influences of inter-axis nonlinear coupling,and has better robustness against the external disturbance and the model error. Furthermore on excellent tracking trajectory performance can also be realized.