CHEN L. Deeply understand and grasp the origin, connotation and essence of the new development concept [ J] . Contemporary World and Socialism, 2021(3) : 4-21.

 [2] NAIK A U, VADDE A. A review on rotary-linear motors for biopsies [ C] ∥2020 2nd International Conference on Innovative Mechanisms for Industry Applications ( ICIMIA) . Piscataway: IEEE, 2020: 30-35. 

[3] 杨尚奎. 面向肩腕关节的单电机驱动两自由度变刚度 执行器研究[D] . 沈阳: 东北大学,2020.

 YANG S K. Research on single motor driven two-DOF variable stiffness actuator for shoulder and wrist joints [D] . Shenyang: Northeastern University,2020. 

[4] 叶宇豪, 彭飞, 黄允凯. 多电机同步运动控制技术综 述[ J] . 电工技术学报, 2021, 36(14) :2922-2935. YE Y H, PENG F, HUANG Y K. Overview of multi-motor synchronous motion control technology [ J] . Transactions of China Electrotechnical Society, 2021, 36 ( 14) : 2922-2935. 

[5] 司纪凯, 司萌, 封海潮, 等. 两自由度直驱电机的研究 现状及发展[J]. 电工技术学报, 2013, 28(2): 97-107. SI J K, SI M, FENG H C, et al. Research status and development of two-degree-of-freedom direct drive motor [ J ] . Transactions of China Electrotechnical Society, 2013, 28(2) : 97-107. 

[6] 付兴贺, 林明耀. 基于电磁感应原理的两自由度直线 旋转电 机 研 究 综 述 [ J ] . 电 工 技 术 学 报, 2015, 30 (2) : 1-13.

 FU X H, LIN M Y. Development of two-degrees-of-freedom linear-rotary motor based on the principle of electromagnetic induction [ J ] . Transactions of China Electrotechnical Society, 2015, 30(2) : 1-13.

 [7] XIE L J, SI J K, HU Y H, et al. Overview of 2-degree-offreedom rotary-linear motors focusing on coupling effect[J]. IEEE Transactions on Magnetics, 2019, 55(4): 1-11. 

[8] SI J K, XIE L J, HAN J B, et al. Mathematical model of two-degree-of-freedom direct drive induction motor considering coupling effect [ J] . Journal of Electrical Engineering and Technology, 2017, 12(3) : 1227-1234.

 [9] FLESZAR J, MENDRELA E A. Twin-armature rotarylinear induction motor [ J] . IEE Proceedings B Electric Power Applications, 1983, 130(3) : 186. 

[10] MENDRELA E A, GIERCZAK E. Performance of rotarylinear induction motor with rotating-traveling field[J]. Electric Machines & Power Systems, 1984, 9(2/ 3): 171-178. 

[11] MENDRELA E A, GIERCZAK E. Double-winding rotary-linear induction motor [ J] . IEEE Power Engineering Review, 1987, 7(3) : 32.

[12] AMIRI E, JAGIELA M, DOBZHANSKI O, et al. Modeling dynamic end effects in rotary armature of rotary-linear induction motor [ C ] ∥2013 International Electric Machines & Drives Conference. Piscataway: IEEE, 2013: 1088-1091.

 [13] SI J K, FENG H C, AI L W, et al. Design and analysis of a 2-DOF split-stator induction motor [ J]. IEEE Transactions on Energy Conversion, 2015, 30(3): 1200-1208. 

[14] 司纪凯, 韩俊波, 司萌, 等. 两自由度直驱感应电机 优化设计及特性分析[ J] . 电机与控制学报, 2015, 19 (2) :75-82. 

SI J K, HAN J B, SI M, et al. Optimization and characteristic analysis of 2-DOF direct drive induction motor[J]. Electric Machines and Control, 2015, 19(2):75-82. [15] 司纪凯, 韩俊波, 谢璐佳, 等. 两自由度直驱感应电 机耦合效应分析和矢量控制建模[ J] . 电气工程学报, 2015, 10(12) :7-12. SI J K, HAN J B, XIE L J, et al. Coupling analysis and field orientation control for two degree of freedom direct drive induction motor[ J] . Journal of Electrical Engineering, 2015, 10(12) :7-12.

 [16] 司纪凯, 王培欣, 谢璐佳, 等. 两自由度直驱感应电 机旋转部分对直线部分的耦合效应[ J] . 电机与控制 学报, 2018, 22(12) : 85-92. SI J K, WANG P X, XIE L J, et al. Coupling effect of rotary part on linear part of 2-degree-of-freedom direct drive induction motor [ J ] . Electric Machines and Control, 2018, 22(12) : 85-92. [17] XIE L J, SI J K, WU T F, et al. Analysis and suppression techniques of helical motion coupling effect for the 2DoF direct drive induction machine [ J]. IEEE Transactions on Industrial Electronics, 2022, 69(2): 1200-1210. [18] JANG S M, LEE S H, CHO H W, et al. Design and analysis of helical motion permanent magnet motor with cylindrical Halbach array [ J] . IEEE Transactions on Magnetics, 2003, 39(5) : 3007-3009. [19] TURNER A, RAMSAY K, CLARK R, et al. Directdrive rotary-linear electromechanical actuation system for control of gearshifts in automated transmissions[C]∥2007 IEEE Vehicle Power and Propulsion Conference. Piscataway: IEEE, 2008: 267-272. [20] FUJIMOTO Y, KOMINAMI T, HAMADA H. Development and analysis of a high thrust force direct-drive linear actuator[ J] . IEEE Transactions on Industrial Electronics, 2009, 56(5) : 1383-1392. [21] PAKDELIAN S, DESHPANDE Y, TOLIYAT H A. An electric machine integrated with trans-rotary magnetic gear [C]∥2012 IEEE Energy Conversion Congress and Exposition (ECCE) . Piscataway:IEEE, 2012: 3356-3362. 10 郑 州 大 学 学 报 (工 学 版) 2023 年 [22] XU L, LIN M Y, FU X H, et al. Analysis of a double stator linear rotary permanent magnet motor with orthogonally arrayed permanent magnets[ J] . IEEE Transactions on Magnetics, 2016, 52(7) : 1-4.

 [23] XU L, LIN M Y, FU X H. End-effects analysis and experimental study of a double stator linear-rotary permanent magnet motor with long mover [ J] . IET Electric Power Applications, 2017, 11(9) : 1601-1609.

 [24] 徐磊, 林明耀, 付兴贺. 双定子直线旋转永磁电机特 性分析与实验研究[ J] . 中国电机工程学报, 2017, 37 (16) : 4791-4799. XU L, LIN M Y, FU X H. Characteristics analysis and experimental study of a double stator linear and rotary permanent magnet motor[ J] . Proceedings of the CSEE, 2017, 37(16) : 4791-4799. [25] GUO K K, LI J Z, FANG S H. Design and analysis of flux reversal linear rotary permanent magnet actuator[ C] ∥2018 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices ( ASEMD ) . Piscataway: IEEE, 2018: 1-2. 

[26] GUO K K, GUO Y G. Key parameter design and analysis of flux reversal linear rotary permanent magnet actuator [ J] . IEEE Transactions on Applied Superconductivity, 2019, 29(2) : 1-5. [27] 马瑞. 交替极定子两自由度直线旋转电机设计与电磁 特性分析[D] . 沈阳: 沈阳工业大学, 2020. MA R. Design and electromagnetic characteristics analysis of two-degree-of-freedom linear rotating motor with alternating pole stator[D] . Shenyang: Shenyang University of Technology,2020. [28] JIANG G Y, ZHOU H W, TAO W G, et al. Design and analysis of a linear-rotary fault-tolerant consequent-pole PM actuator[ C]∥2021 13th International Symposium on Linear Drives for Industry Applications ( LDIA) . Piscataway: IEEE, 2021: 1-5. [29] SATO Y. Development of a 2-degree-of-freedom rotational / linear switched reluctance motor [ J] . IEEE Transactions on Magnetics, 2007, 43(6) : 2564-2566. [30] PAN J F, CHEUNG N C, CAO G Z. A rotary-linear switched reluctance motor [ C ] ∥2009 3rd International Conference on Power Electronics Systems and Applications ( PESA) . Piscataway: IEEE, 2009: 1-4. [31] PAN J F, CHEUNG N C, CAO G Z. Investigation of a rotary-linear switched reluctance motor[C]∥The XIX International Conference on Electrical Machines-ICEM. Piscataway: IEEE, 2010: 1-4. [32] PAN J F, ZOU Y, CHEUNG N C. Performance analysis and decoupling control of an integrated rotary-linear machine with coupled magnetic paths [ J ] . IEEE Transactions on Magnetics, 2014, 50(2) : 761-764. [33] SZABÓ L, BENTIA I, RUBA M. A rotary-linear switched reluctance motor for automotive applications [ C] ∥2012 XXth International Conference on Electrical Machines. Piscataway: IEEE, 2012: 2615-2621. [34] LI S Y, CHENG K W E, CHEUNG N, et al. Design and control of a decoupled rotary-linear switched reluctance motor [ J ] . IEEE Transactions on Energy Conversion, 2018, 33(3) : 1363-1371. [35] LUO M Z, ZHOU H B, DUAN J, et al. Design and analysis of a servo control system for a novel linear-rotary voice coil motor[C]∥2016 19th International Conference on Electrical Machines and Systems ( ICEMS) . Piscataway: IEEE, 2017:1-5. [36] ZHANG Z J, LUO M Z, ZHOU H B, et al. Design and analysis of a novel two-degree-of-freedom voice coil motor [ J] . IEEE / ASME Transactions on Mechatronics, 2019, 24(6) : 2908-2918. [37] XING F Z, KWON B I. Design of a rotary-linear motor with unipolar SPM and voice coil structure[ J] . IEEE Access, 2020, 8: 150291-150300. [38] XING F Z, KWON J W, LI M J, et al. A rotary-linear SPM voice coil motor with PM flux bridges for output performance improvement [ J ] . IEEE Access, 2021, 9: 57054-57063. [39] 闫纪朋. 面向可旋转式套筒伸展机构的两自由度压电 超声电机研究[D] . 哈尔滨: 哈尔滨工业大学,2017. YAN J P. Research on two-degree-of-freedom piezoelectric ultrasonic motor for rotatable sleeve extension mechanism [D]. Harbin: Harbin Institute of Technology, 2017. [40] FATEMI A, LAHR D. A comparative study of cycloidal reluctance machine and switched reluctance machine[ J] . IEEE Transactions on Energy Conversion, 2021, 36(3) : 1852-1860. [41] ONUKI T, JEON W J, TANABIKI M. Induction motor with helical motion by phase control[ J] . IEEE Transactions on Magnetics, 1997, 33(5) : 4218-4220. [42] CARUSO M, CECCONI V, DIO V D, et al. Speed control of a two-degrees of freedom induction motor with rotor Helical Motion for industrial applications[C]∥2014 AEIT Annual Conference-From Research to Industry: the Need for a More Effective Technology Transfer (AEIT) . Piscataway: IEEE, 2015: 1-6. [43] 张成杰, 封海潮, 李祎博, 等. 两自由度直驱感应电 机矢量控制系统建模与仿真分析[ J] . 磁性材料及器 件, 2022, 53(1) :35-40. ZHANG C J, FENG H C, LI Y B, et al. Modeling and simulation analysis of two degree of freedom direct drive induction motor vector control system [ J ] . Journal of Magnetic Materials and Devices, 2022, 53(1) :35-40. [44] SMADI I A, OMORI H, FUJIMOTO Y. Development, analysis, and experimental realization of a direct-drive helical motor[ J] . IEEE Transactions on Industrial Electronics, 2012, 59(5) : 2208-2216. [45] KOYAMA M, FUJIMOTO Y. Proposal of current integral 第 6 期 司纪凯,等:两自由度电机控制策略综述及发展动态分析 11 zero power control with force feedforward for helical motor [C] ∥2014 IEEE 13th International Workshop on Advanced Motion Control (AMC). Piscataway: IEEE, 2014: 663-668. [46] PAKDELIAN S, MOOSAVI M, HUSSAIN H A, et al. Control of an electric machine integrated with the trans-rotary magnetic gear in a motor drive train [ J ] . IEEE Transactions on Industry Applications, 2017, 53 ( 1 ) : 106-114. [47] BOLOGNESI P, LANDI A, TAPONECCO L. Control of an unconventional rotary-linear brushless machine [ C] ∥ 2004 IEEE International Symposium on Industrial Electronics. Piscataway: IEEE, 2006: 1387-1392. [48] BOLOGNESI P, BRUNO O, PAPINI F, et al. A lowcomplexity rotary-linear motor useable for actuation of active wheels[C]∥Power Electronics Electrical Drives Automation and Motion ( SPEEDAM) . Piscataway: IEEE, 2010: 331-338. [49] BOLOGNESI P, BIAGINI V. Modeling and control of a rotary-linear drive using a novel isotropic brushless machine[C]∥The XIX International Conference on Electrical Machines-ICEM. Piscataway: IEEE, 2010: 1-6. [50] JIN P, YUAN Y, JIAN G, et al. Static characteristics of novel air-cored linear and rotary halbach permanent magnet actuator[ J] . IEEE Transactions on Magnetics, 2014, 50(2) : 977-980. [51] 金平. 直线旋转永磁作动器及其控制系统研究[ D] . 南京: 东南大学, 2012. JIN P. Research on linear rotary permanent magnet actuator and its control system [ D] . Nanjing: Southeast University, 2012. [52] 郭凯凯. 磁通反向直线旋转永磁作动器的设计及其控 制系统研究[D] . 南京: 东南大学, 2017. GUO K K. Design and control system research of permanent magnet actuator with reverse linear rotation of flux [D] . Nanjing: Southeast University, 2017. [53] 徐磊. 双定子直线旋转永磁电机的设计、分析与控制 [D] . 南京: 东南大学, 2017. XU L. Design, analysis and control of double stator linear rotating permanent magnet motor[D] . Nanjing: Southeast University, 2017. [54] 徐磊, 朱孝勇, 张超, 等. 直线旋转永磁电机及其控 制技术综述与新发展[ J] . 中国电机工程学报, 2020, 40(6) : 1972-1984. XU L, ZHU X Y, ZHANG C, et al. Overview and new development of linear and rotary permanent MagnetMachines and control technologies [ J] . Proceedings of the CSEE, 2020, 40(6) : 1972-1984. [55] GOBEL L, HOFMANN W. Control of a rotation-thrust drive with helical motor[ C]∥Proceedings of the IECON′ 97 23rd International Conference on Industrial Electronics, Control, and Instrumentation. Piscataway: IEEE, 2002: 1343-1348. [56] PAN J F, MENG F J, CAO G Z. Decoupled control for integrated rotary-linear switched reluctance motor[J]. IET Electric Power Applications, 2014, 8(5): 199-208. [57] BENTIA I, RUBA M, SZABÓ L. On the control of a rotary-linear switched reluctance motor[C]∥2011 5th International Symposium on Computational Intelligence and Intelligent Informatics ( ISCIII) . Piscataway: IEEE, 2011: 41-46. [58] 白洋, 王剑, 王班, 等. 新型旋转-直线超声波电机的 机理与特性[ J] . 浙江大学学报(工学版) , 2013(10) : 1852-1856, 1888. BAI Y, WANG J, WANG B, et al. Mechanism and characteristic of novel rotary-linear ultrasonic motor [ J] . Journal of Zhejiang University ( Engineering Science ) , 2013(10) : 1852-1856, 1888. [59] 白洋. 一种旋转-直线运动的两自由度超声波电机的 研究[D] . 杭州: 浙江大学, 2013. BAI Y. Research on a two-degree-of-freedom ultrasonic motor with rotation-linear motion [ D] . Hangzhou: Zhejiang University, 2013. [60] 何航, 徐衍亮, 鲁炳林. 新型球形结构两自由度混合 式步进 电 机 二 维 等 效 模 型 分 析 方 法 [ J ] . 微 电 机, 2018, 51(8) :12-16. HE H, XU Y L, LU B L. 2-dimensional equivalent model analysis method of a novel spherical 2-DOF hybrid stepping motor[ J] . Micromotors, 2018, 51(8) :12-16. [61] 何航. 仿生眼用两自由度混合式步进电机及其驱动系 统研究[D] . 济南: 山东大学, 2019. HE H. Research on two-degree-of-freedom hybrid stepping motor and its driving system for bionic eye[ D] . Jinan: Shandong University, 2019. [62] ZHAO F Y, LUO Y Y, LI C R. Kinematic simulation of a two-dof joint actuated by one single motor [ C]∥ The 3rd International Conference on Computational Intelligence and Industrial Application. Piscataway: IEEE, 2010:121-124. [63] 聂瑞, 司纪凯, 张国振, 等. 海上风浪结合发电系统 用两自由度发电机研究综述及展望[ J] . 电力自动化 设备, 2022, 42(11) : 135-146. NIE R, SI J K, ZHANG G Z, et al. Overview and prospect of research on two-degree-of-freedom generator for offshore wind-wave combined energy conversion system [ J] . Electric Power Automation Equipment, 2022, 42 (11) : 135-146. [64] FRETES H, RODAS J, DOVAL-GANDOY J, et al. Pareto optimal weighting factor design of predictive current controller of a six-phase induction machine based on particle swarm optimization algorithm [ C]∥IEEE Journal of Emerging and Selected Topics in Power Electronics. Piscataway: IEEE, 2021: 207-219