Control and Implementation of a Three-degree-of-freedom Bearingless Switched Reluctance Motor

LIU Zeyuan; LI Ang; CAI Jun; CHEN Xiaoyuan

doi:10.13334/j.0258-8013.pcsee.250880

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Control and Implementation of a Three-degree-of-freedom Bearingless Switched Reluctance Motor

更新时间：2026-10-19

- Control and Implementation of a Three-degree-of-freedom Bearingless Switched Reluctance Motor
- Vol. 46, Issue 13, Pages: 5635-5647(2026)
- 作者机构：
  
  1. 1 南京邮电大学自动化学院,江苏省,南京市,210023
  2. 2 南京信息工程大学自动化学院,江苏省,南京市,210044
  3. 3 湖州学院智能制造学院,浙江省,湖州市,313000
- 作者简介：
- 基金信息：
- DOI：10.13334/j.0258-8013.pcsee.250880
  CLC：
- Published：2026
- 稿件说明：
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LIU Zeyuan, LI Ang, CAI Jun, et al. Control and Implementation of a Three-degree-of-freedom Bearingless Switched Reluctance Motor[J]. 2026, 46(13): 5635-5647.
DOI：

LIU Zeyuan, LI Ang, CAI Jun, et al. Control and Implementation of a Three-degree-of-freedom Bearingless Switched Reluctance Motor[J]. 2026, 46(13): 5635-5647. DOI： 10.13334/j.0258-8013.pcsee.250880.

摘要

为解决传统无轴承开关磁阻电机(bearingless switched reluctance motors，BSRM)仅能两自由度径向悬浮运行的问题，提出一种具有轴向和径向悬浮功能的永磁偏置型18/16极三自由度BSRM及其控制方法。首先，分析现有混合定子型BSRM解耦拓扑的优缺点；其次，简介新型电机的结构特点和悬浮机理，并给出其轴向、径向悬浮力表达式；然后，基于空间矢量脉宽调制(space vector pulse width modulation，SVPWM)技术，分别建立轴向、径向悬浮电流的单周期数字控制模型，并利用电流跟踪仿真证明其可行性；接着，根据三自由度BSRM转矩与悬浮力的自解耦特性，设计包括径向、轴向和旋转等3个独立通道的系统控制方案；最后，研制实验样机及其控制系统实验平台，通过静态和动态三自由度悬浮实验，证明所提控制方法的正确性。

Abstract

To solve the problem that conventional bearingless switched reluctance motors (BSRMs) can only operate in two-degree-of-freedom (2DOF) radial suspension

this paper proposes a permanent magnet (PM) biased 18/16-pole three-degree-of- freedom (3DOF) BSRM with axial and radial levitation and develops its control algorithm. Firstly

the characteristics of the existing hybrid-stator-type BSRM decoupled topologies are briefly analyzed. Secondly

the structure and principle of the PM-biased 3DOF BSRM are introduced and the expressions for its axial and radial levitation forces are given. Further

based on the space vector pulse width modulation (SVPWM) technique

the one-cycle digital control models of axial and radial currents are established respectively and proven effective by the current tracking simulation. According to the self-decoupling characteristic of the 3DOF BSRM

a system control scheme including three independent channels

such as radial force

axial force and torque

is designed. Finally

this paper develops a prototype and its control system platform to prove the correctness of the proposed control method through static and dynamic 3DOF levitation experiments.

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