中文摘要：

以磁悬浮开关磁阻电动机为对象，研究了其转子径向两自由度悬浮力系统的解耦和控制。根据电磁场理论的虚位移定理，建立了磁悬浮开关磁阻电动机径向悬浮力的数学模型。针对该模型具有非线性、多变量和强耦合的特点，采用非线性控制的微分几何方法来设计出解耦规律，通过该解耦规律的补偿，将原系统解耦和完全线性化。对解耦得到的线性子系统，应用滑模变结构控制理论来设计控制器，以获得转子的高精度稳定悬浮。仿真结果验证了该控制策略的有效性。

英文摘要：

A decoupling control method has been presented for the radial suspending force model of bearingless switched reluctance motors. The mathematical equation describing the dynamic behavior of the radial force model has been transformed according to the theory of nonlinear differential geometry , so that the nonlinear system with strong coupled motion is reduced to two decoupled linear subsystem. Furthermore, sliding model control theory has been applied to these subsystems to obtain the desired response. The simulation results show that the proposed method is effective and the system has good robustness.