本文用积分方程法建立了永磁步进球形电动机磁场的数学模型，导出了用于计算其磁场分布的离散计算公式。
The model of magnetic field inside PMSS is developed using integral equation method (IEM) and discrete expressions on field distribution are also derived.
永磁步进球形电动机是一种新型的球形电动机，具有结构简单、体积小、重量轻、力能指标高、控制简单等优点。
Permanent magnetic spherical stepper (PMSS) is a novel kind of spherical motor, which has advantages of simple structure, small volume, light weight and high torque etc.
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