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The paper presents a new magnetic levitation spherical driving joint. It analyses the theory of air-gap magnetic of the driving joint and the mechanism of the generation of the magnetic levitation force and electromagnetic torque which based on the principle of reluctance motor. The mathematical model and the inverse system decoupling model of the driving joint have been established. The decoupling linearization and the state feedback closed-loop control system also have been achieved in it. The research of the result of system simulation provides us the decoupling characteristic, the dynamic characteristic and capacity of resisting disturbance of the driving joint system. Keywordsspherical electric machines; magnetic levitation; spherical driving joint; mathematical model; decoupling control; capacity of resisting disturbance

Mathematical Model and Simulation of Magnetic Levitation Spherical Driving Joint with Inverse System Decoupling Control