中文摘要：

针对Stein等人设计研制的永磁球形步进电机，在运用卡尔丹角旋转建立转子固连坐标系下动力学模型的基础上设计了转子三维运动电流控制的方案．在转子分别作定点（PTP）运动和连续轨迹（CP）运动的情况下整定控制参数，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运动控制的稳定性．最后按照期望运动的要求，结合已得的转矩模型，利用广义逆计算16个定平线圈的通电电流．进行了仿真实验．

英文摘要：

In view of the permanent magnet spherical stepper motor designed by Stein et al, a current control strategy was designed based on the dynamic model in rotor-fixed coordinates frame expressed with Cardan angle rotation. The rotor was expected to track the point-to-point motion or the 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 the Lyapunov method, and the currents in sixteen stator coils to accomplish the desired motion task were calculated using the generalized inverse matrix based on the acquired torque model. Finally the simulation experiments were presented.