一种永磁球形步进电动机的运动分析与仿真

介绍了一种永磁球形步进电动机的结构、工作原理及滑轨支架形式的位置检测系统。在对电机转子和滑轨支架进行运动学分析的基础上，给出了电机转子的单刚体运动学模型和带有滑轨支架的刚体系运动学模型。结合相应控制策略，在已知目标场点的情况下，对电机实际步进运动过程和位置检测系统输出进行了仿真研究。其结果为电机运动控制策略进一步的研究和实验方案设计提供了借鉴和参考。

Kinematic Analysis and Simulation of Permanent Magnet Spherical Stepper Motor

The structure and operation principle of a PM spherical stepper motor and its gimbal guideway orientation detection system were discussed. On the basis of kinematic analysis of rotor and gimbal guideway, the rigid body kinematic models of single rotor and rotor with the gimbal guideway were derived. Combined with the control strategy, simulations of actual stepping motions and the outputs of orientation detection system in the case of knowing targets points were carried out. Simulation results nrovide the references for the motion control strategy research and the experimentation design.