Aiming at the problems of low precision and poor real-time of rotor attitude detection technology of permanent magnet spherical motor（PMSM）

a real-time attitude detection method of PMSM rotor based on optical sensor is proposed.Three optical sensors installed on the stator shell are used to detect speed information of rotor surface in real-time.Speed information is transmitted to the upper computer by the microcontroller

and the real-time angle information of the rotor is obtained by integral operation.On this basis

the real-time attitude information of any point on the rotor is obtained by coordinate transformation and initial attitude information.The experimental results show that the design method can detect the attitude information of the rotor in real-time and accurately

which provides reference for the next step to achieve high-precision tracking control of PMSM.