I. Introduction
As the bearingless permanent magnet synchronous motor (BPMSM) has the merits of no mechanical contact, wear-free, energy-saving and high environment adaptability, it has great potential applications in the fields of high-speed, high precision and other special electric drive. The main research point of BPMSM at present is how to realize the stable suspension of rotor. With the continuous innovation of the multi-degree-of-freedom motor structure [1–2], the establishment of the different accurate mathematical models [3–4] and the rational use of control strategies [5–6], the ability of stable suspension of rotor has been continuously improved. And the change of the arrangement of suspension windings [7] and the optimization of the design parameters [8] could further reduce the fluctuation of the suspension force.