三自由度永磁球形电机的建模和电压控制
刘敬猛, 孟艳艳, 陈伟海, 吴星明

Model and control of a PM spherical actuator based on voltage model
LIU Jing-meng, MENG Yan-yan, CHEN Wei-hai, WU Xing-ming
图7 电压控制方框图
Fig.7 Voltage control block diagram