中文摘要：

介绍了永磁球形步进电机模型，在转子球面上按随机编码规则确定黑、白两种颜色，采用光电传感器对颜色进行识别，光电传感器的输出用来表示转子的位置。在随机编码：觇则下，对位置识别的分辨率进行研究，并建立产生式系统对光电传感器采集的信号进行检测，推理出当前转子所处的空间位置，求解的过程归结为对状态空间的搜索。对大空间问题，搜索策略是要解决组合爆炸的问题，建立评价函数进行启发式搜索，仿真表明该方法大大缩小了搜索范围，节省了搜索时间。

英文摘要：

The permanent magnetic spherical stepper motor model is introduced in this paper, two colors （black and white） are painted according to random encoder rules on the surface of the rotor, and optoelectronic sensors are used to detect the colors, then the outputs could express the rotor position. In this kind of encoder rules, the paper investigates the encoder resolution, and establishes production system to identify the signs picked by photoelectric sensors, and positions the rotor in space, the process comes down to the state-space search. For a great state-space search, strategy is to solve combination explosion, then evaluation function is established to start heuristic search, simulation results show it can reduce the search range greatly and save search time.