The hybrid magnetic circuit linear and rotary permanent magnet (HMC-LRPM) motor is a novel type of permanent magnet motor with two-degree-of-freedom (2-DOF) drive. However

with the hybrid magnetic circuit structure

the mechanical coupling between linear and rotary motion in such motors results in significant mutual disturbance between the 2-DOF drive control

making helical thrust control challenging. To address this issue

this paper proposes a model predictive helical thrust control (MPHTC) strategy. Considering the structural characteristics of the HMC-LRPM motor

the 2-DOF motion characteristics are analyzed

and a mathematical model for helical thrust is derived. On this basis

a helical thrust prediction model is constructed by dividing the voltage vector tables into linear and rotary components and deriving the vector action time. Then

this study introduces a mode selection term into the value function to form a variable value function

and constructs a flux amplitude constraint term to eliminate the weight function

achieving optimal voltage vector selection under multiple modes. Finally

the effectiveness and feasibility of the proposed control method are validated through the establishment of the HMC-LRPM motor experimental system.