Introduction
1.1 Background
1.2 The State of the Art
1.2.1 Magnetic Modeling and Analysis
1.2.2 Orientation Sensing
1.2.3 Control Methods
1.3 Book Outline
References
Part I Modeling Methods
2 General Formulation of PMSMs
2.1 PMSM Electromagnetic System Modeling
2.1.1 Governing Equations of Electromagnetic Field
2.1.2 Boundary Conditions
2.1.3 Magnetic Flux Linkage and Energy
2.1.4 Magnetic Force/Torque
2.2 PMSM Rotor Dynamics
References
3 Distributed Multi-pole Models
3.1 Distributed Multi-pole Model for PMs
3.1.1 PM Field with DMP Model
3.1.2 Numerical Illustrative Examples
3.2 Distributed Multi-pole Model for EMs
3.2.1 Equivalent Magnetization of the ePM
3.2.2 Illustrations of Magnetic Field Computation .
3.3 Dipole Force/Torque Model
3.3.1 Force and Torque on a Magnetic Dipole
3.3.2 Illustration of Magnetic Force Computation..
3.4 Image Method with DMP Models
3.4.1 Image Method with Spherical Grounded Boundary
3.4.2 Illustrative Examples
3.4.3 Effects of Iron Boundary on the Torque
3.5 Illustrative Numerical Simulations for PMSM Design
3.5.1 Pole Pair Design
3.5.2 Static Loading Investigation
3.5.3 Weight-Compensating Regulator
References
4 PMSM Force/Torque Model for Real-Time Control
4.1 Force/Torque Formulation
4.1.1 Magnetic Force/Torque Based on the Kernel Functions
4.1.2 Simplified Model: Axis-Symmetric EMs/PMs
4.1.3 Inverse Torque Model
4.2 Numerical Illustrations
4.2.1 Axis-Asymmetric EM/PMs
4.2.2 Axis-Symmetric EM/PM
4.3 Illustrative PMSM Torque Modelling
Part II Sensing Methods
5 Field-Based Orientation Sensing
5.1 Coordinate Systems and Sensor Placement
5.2 Field Mapping and Segmentation
5.3 Artificial Neural Network Inverse Map
5.4 Experimental Investigation
References
6 A Back-EMF Method for Multi-DOF Motion Detection
6.1 Back-EMF for Multi-DOF Motion Sensing
6.1.1 EMF Model in a Single EM-PM Pair
6.1.2 Back-EMF with Multiple EM-PM Pairs
6.2 Implementation of Back-EMF Method on a PMSM
6.2.1 Mechanical and Magnetic Structure of the PMSM
6.2.2 Numerical Solutions for the MFL Model
6.2.3 Experiment and Discussion
6.2.4 Parameter Estimation of the PMSM with Back-EMF Method
References
Part III Control Methods
7 Direct Field-Feedback Control
7.1 Traditional Orientation Control Method for Spherical Motors
7.1.1 PD Control Law and Stability Analysis
7.1.2 Comments on Implementation of Traditional Control Methods
7.2 Direct Field-Feedback Control
7.2.1 Determination of Bijective Domain
7.2.2 DFC Control Law and Control Parameter Determination
7.2.3 DFC with Multi-sensors
7.3 Numerical 1-DOF Illustrative Example
7.3.1 Sensor Design and Bijective Domain Identification
7.3.2 Field-Based Control Law
7.3.3 Numerical Illustrations of Multiple Bijective Domains
7.4 Experimental Investigation of DFC for 3-DOF PMSM
7.4.1 System Description
7.4.2 Sensor Design and Bijective Domains
7.4.3 Bijective Domain
7.4.4 TCV Computation Using Artificial Neural Network(ANN)
7.4.5 Experimental Investigation
References
8 A Two-Mode PMSM for Haptic Applications
8.1 Description of the PMSM Haptic Device
8.1.1 Two-Mode Configuration Design for 6-DOF Manipulation
8.1.2 Numerical Model for Magnetic Field/Torque Computation
8.1.3 Field-Based TCV Estimation
8.2 Snap-Fit Simulation
8.2.1 Snap-Fit Performance Analyses
8.2.2 Snap-Fit Haptic Application
References

白坤、李国民著的这本《永磁球形电机（基于模型以及物理场的设计传感和控制英文版）》旨在介绍和说明用于设计和开发直接驱动驱动器的建模、传感和控制方法，这些直接驱动驱动器不仅限于传统的单自由度直接驱动电机，如扭矩或直线电机，还包括多自由度驱动器，如平面和球面。本书系统地提出了建立磁场、位置／方向和力／转矩之间关系的模型，给出了便于计算电磁系统设计过程中涉及的磁场／力／转矩的时效解，介绍了利用直接驱动作动器的结构和动态特性进行磁场传感与控制的方法，并用实例加以说明。此外，本书还对几种实际应用的致动器的设计和实验研究进行了阐述，不仅对所介绍的方法提供了直接的验证，而且对读者的设计和开发提供了启发。