摘要：循轨摩擦振动执行器是在电磁系统与机械弹簧共振系统的耦合作用下进行工作的，其内部系统非常复杂，难以用数学表达式来描述磁场与电磁力、电压、电流、速度之间的关系。为了能够准确计算永磁式循轨摩擦振动执行器的运行特性，采用三维有限元法计算电磁推力和磁链，通过数据网络法实现永磁式循轨摩擦振动执行器的场-路-运动的耦合仿真。分析了不同驱动方式下圆形运动轨迹的圆度误差和合成电磁力特性；研究了电压源驱动下的运行特性。

关键词：准Halbach阵列；运动分析；振动执行器；运行特性
Abstract: Permanent magnet orbital friction vibration actuator is working under the coupling action of the electromagnetic systems and mechanical resonance system of spring and its internal systems are very complicated. It is difficult to describe the mathematical relationships among the magnetic field, electromagnetic force, voltage, current and speed. In order to accurately calculate the operating characteristics of permanent magnet orbital friction vibration actuator, three-dimensional finite element method was adopted to calculate the thrust force and flux linkage produced, data network method was employed to achieve the coupling simulation of field-circuit-motion. Roundness error of circular motion trajectories and the characteristics of resulting electromagnetic force under different driving mode were analyzed, the operating characteristics under voltage source were studied.

Key words: quasi-Halbach magnetized；motion analysis；vibration actuator; operational characteristic