Keywords Permanent magnet;Spherical stepper motor;IEM;FE analysis;Maxwell stress tensor;Virtual work;Dynamic model;Thermal analysis;Motion Control;Robust control;

• 永磁;球形步进电动机;积分方程法;有限元分析;麦克斯韦张量;虚位移;力学模型;热分析;运动控制;鲁棒控制;