motulator-bearingless: Six-Phase Bearingless Machine Drives for motulator

This package extends motulator with models and control of symmetrical six-phase bearingless synchronous machines, whose two three-phase sets produce both the torque and the radial force of the rotor. The machine model uses the vector-space decomposition [Ahmed et al., 2023]. The magnetic model is either linear or a gradient network [Li et al., 2026], trained on finite-element data, which represents magnetic saturation, the rotor displacement, and the spatial harmonics. The radial force is controlled by a direct force controller based on feedback linearization [Das et al., 2026] or, for comparison, by a current-based force controller. The rotor displacement can be controlled by an outer levitation controller.

This documentation covers only the extension. The conventions, the simulation environment, and the common models and control methods are those of motulator, and the six-phase converter model comes from motulator-multiphase. The names of the classes follow motulator, see Usage.

Getting Started

• Installation
• Usage

Examples

• Examples

Theory

• System Model
• Gradient-Network Magnetic Maps
• Control
• Relation to motulator-multiphase

Data

• Finite-Element Data

Reference

• API
• Bibliography
• motulator
• motulator-multiphase

Acknowledgment

This project has been sponsored by the Research Council of Finland through the Centre of Excellence in High-Speed Electromechanical Energy Conversion Systems and the Academy Project 355651.