中文摘要：

双定子超环面电机是一种新型结构的空间电机，将动力和减速机构有机结合，在机器人和航空航天领域具有很好的应用前景。在对该电机的结构特点及运行原理进行分析的基础上，将其三维磁路分解为周向和环向磁路，并建立了简化的等效磁路模型。根据该电机的结构特点对磁路模型中各磁阻进行推导，并对其静态磁场的气隙磁密进行了解析求解。为了验证该磁路模型的准确性，运用有限元方法对其三维磁场进行仿真分析，并对研制实验样机的反电动势进行了测试实验。通过与仿真结果和实验结果进行对比分析表明，该等效磁路模型和参数计算方法是可行的．为进一步定量分析该电机的电磁性能提供了理论依据。

英文摘要：

Dual-stator toroidal motor is a novel machine with spacial structure, and power and decelerator are integrated with good application perspective in robot and aerospace fields. Based on the analysis of its structural characteristics and operating mechanism, the three-dimensional magnetic circuit was resolved into circumferential and toroidal components, and the simplified equivalent magnetic circuit model was built. The magnetic reluctances of the model were deduced according to the structure of the motor, and the analytical solution of the air-gap magnetic flux density was obtained. In order to verify the accuracy of the magnetic circuit model, the three-dimensional magnetic field was simulated with the finite element meth- od, and the measurement of back electromotive force for prototype was carried out. The comparison with the simulation and experimental results of the prototype machine shows that the equivalent magnetic cir- cuit model and the calculation method of parameters are feasible, and provide theoretical foundation for further analysis of the electromagnetic properties for the motor.