对系统中的永磁体，采用了等效电流模型。
As for the permanent magnet in the system, the (equivalent) current model is adopted.
将置于机器人内的圆柱型永磁体等效为磁偶极子，建立了基于磁偶极子模型的磁定位方程。
The cylindrical permanent magnet inside micro-robot was equivalent to magnetic dipole. The magnetic orientation equation based on magnetic dipole model was established.
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