motulator_bearingless
=====================

.. py:module:: motulator_bearingless

.. autoapi-nested-parse::

   
   Six-phase bearingless synchronous machine drives.

   This package provides the continuous-time model of a symmetrical six-phase bearingless
   synchronous machine drive, a direct radial force controller based on feedback
   linearization [#Das2026]_, a current-based force controller for comparison, a
   levitation controller, and the related utilities. The magnetic model is either linear
   or based on the gradient networks of :mod:`motulator_bearingless.gradnet`, trained on
   finite-element data. The six-phase converter model comes from
   `motulator_multiphase`, and the mechanical system models, the vector controllers, and
   the simulation class from `motulator`. The package is organized like
   `motulator.drive`::

       import motulator_bearingless.gradnet as gn
       from motulator_bearingless import control, model, utils

   .. rubric:: References

   .. [#Das2026] Das, Martin, Kontodinas, Hinkkanen, "Direct force control of six-phase
      bearingless synchronous machines," Proc. ICEM, 2026,
      https://doi.org/10.1109/ICEM68283.2026.11757980















   ..
       !! processed by numpydoc !!


Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/motulator_bearingless/control/index
   /autoapi/motulator_bearingless/gradnet/index
   /autoapi/motulator_bearingless/model/index
   /autoapi/motulator_bearingless/utils/index