中文说明：永磁球形电动机系统具有多变量、非线性、强耦合的特点，外部扰动、摩擦转矩的存在严重影响了其控制的效果。针对摩擦项严重影响了其运动控制的效果这方面，提出两种动力学控制方法抑制摩擦对轨迹跟踪的干扰。针对动力学控制和电流控制的结合这方面，运用两种通电策略，分别实现了球形电动机任意位置的切换和最小定子线圈损耗下的永磁球形电动机自转和偏航的运行。
English Description：
Permanent magnet spherical motor system has the characteristics of multivariable, nonlinear and strong coupling. The external disturbance and friction torque seriously affect the control effect. In view of the friction term seriously affects the effect of its motion control, two dynamic control methods are proposed to suppress the interference of friction on trajectory tracking. Aiming at the combination of dynamic control and current control, two kinds of power on strategies are used to realize the switching of the spherical motor at any position and the rotation and yaw operation of the permanent magnet spherical motor with minimum stator coil loss.