Proceeding of International Conference on Electrical Machines and Systems 2007, Oct.
8~11, Seoul, Korea
Basic Characteristics of
a Permanent-magnet type Bearingless Motor
with Positive Salient Pole
Hirokazu Kusayanagi1, Masatsugu Takemoto1, Yasuhiro Tanaka1, Akira Chiba2, Tadashi Fukao3
1 2
Musashi Institute of Technology Tokyo University of Science
1-28-1 Tamazutsumi, Setagaya-ku 2641 Yamazaki, Noda-shi
Tokyo 158-8557, JAPAN Chiba 278-8510, JAPAN
Abstract— Various types of permanent-magnet type bearingless
motors, which have integrated magnetic bearings with permanent
magnet synchronous motors, have been developed actively.
However, these motors cannot effectively generate
electromagnetic suspension force for rotor shaft suspension,
because suspension flux is attenuated owing to passing through
high magnetic reluctance of permanent magnets. Accordingly, the
authors have proposed a novel permanent-magnet type
bearingless motor with positive salient pole that inductance Ld in
the d-axis direction is greater than inductance Lq in the q-axis
direction. In previous papers, it was shown with 2D-FEM that the
proposed motor can generate the suspension force effectively,
because the suspension flux does not pass through the permanent
magnets. This paper introduces basic characteristics of torque and
suspension force in the proposed motor with test results of a
prototype machine.
Index Terms—Permanent magnet motors, Synchronous motors,
Magnetic levitation, Magnetic bearings, Bearingless motors,
I. INTRODUCTION
Various types of bearingless motors (BelMs), which have
integrated magnetic bearings with electric motors, have been
developed actively [1]-[4]. Because the BelMs are equipped
with two kinds of stator windings composed of motor windings
and suspension windings in the same stator, not only torque but
also electromagnetic suspension force can be simultaneously
generated in the same stator. Therefore, rotor shaft suspension
can be realized without mechanical contacts or lubrication. In
addition to advantages of conventional magnetic bearings, these
motors are expected to have advantageous features such as
small size, low cost and high critical speed.
In various types of the BelMs, permanent-magnet type
BelMs (PM type BelMs) have attracted a lot of attention from
researchers and industrial engineers in particular, because the
PM type BelMs possess good characteristics such as high
efficiency and high output power [5]. Thus, many kinds of PM
type BelMs have been already proposed, for example,
surface-mounted PM type (SPM type) [6]-[7], inset-mounted
PM type (Inset PM type) [8], and interior PM type (IPM type)
[9]-[10], etc. However, the conventional PM type BelMs cannot
effectively generate suspension force for rotor shaft suspension,
because suspension flux is attenuated owing to passing through
high magnetic reluctance of permanent magnets [6]-[10].
- 1698 -
3
Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku
Tokyo 152-8552, JAPAN
In the conventional PM type BelMs with reverse salient pole
that inductance Lq in the q-axis direction is greater than
inductance Ld in the d-axis direction such as Inset PM type [8]
and IPM type [9]-[10], high torque flux is generated, because
torque flux doesn’t pass through flux barriers or permanent
magnets. These motors have a good torque characteristic;
however these motors often cause magnetic saturation by means
of the high torque flux. This magnetic saturation results in
decreasing suspension flux, that is, suspension force [10].
In addition, in the PM type BelMs with reverse salient pole,
torque is increased by field-weakening control with negative
exciting current. However, the field-weakening control means
decreasing suspension force because field flux, which is
essential to generate the suspension force, is weakened. On the
other hand, if positive exciting current is conducted, suspension
force is increased but torque is decreased. Thus, a relationship
between torque and suspension force is tradeoff for exciting
current. Consequently, these motors are hard to use current
phase control effectively.
Therefore, the authors have proposed a novel
permanent-magnet type bearingless motor with positive salient
pole (PPM type BelM) that Ld is greater than Lq. The proposed
motor can generate suspension force effectively, because
suspension flux does not pass through permanent magnets with
high magnetic reluctance. Furthermore, suspension force is not
decreased by torque flux owing to the following reason. The
generation of magnetic saturation caused by the torque flux is
restricted, because permanent magnet arrangement of the
proposed motor can block off the torque flux. Accordingly, the
suspension force can keep linearity under any torque condition.
In addition, the proposed motor can use current phase control
effectively by conducting positive exciting current because of
the positive salient pole that the Ld is greater than the Lq.
This paper introduces basic characteristics of torque and
suspension force in the proposed PPM type BelM with test
results of a prototype machine. Additionally, it is verified that
the proposed motor has good characteristics compared with the
conventional IPM type BelM.
II. PROBLEMS IN CONVENTIONAL PM TYPE BELMS
Fig. 1 shows rotor structure and winding configurations in a
conventional IPM type BelM. The two kinds of stator windings
composed of the 4-pole motor windings and the 2-pole
suspension windings in the same stator make the differential
 s2q Magnetic Decrease
saturation by torque flux
Permanent m4q
Magnet Nm4q
Nm4q
Ns2d
Ns2d
Nm4d Nm4d
S

N Nm4q
Ns2q Ns2q m4d
N S S N
Nm4q Nm4q s2d
N Nm4q

Flux barrier S Nm4d

Nm4d
Rotor Ns2d
y Ns2d
Stator y Ψm4q
x Nm4q Nm4q
x
Ψs2d

Fig. 1. Rotor structure and winding configurations of IPM type BelM. Fig. 3. Torque flux and suspension flux in IPM type.

Decrease of Increase of
flux density flux density Ψmag
Air gap 2 Ns2d Air gap 1
Ψm4d
Nm4d Nm4d
Fx

Nm4d Nm4d

y y
Ψs2d
x Ns2d
x
Ψmag

Fig. 2. Principle of generating suspension force in IPM type. Fig. 4. Fluxes in field-weakening control.

stator winding configuration in order to produce suspension
force. The stator windings Nm4d, Nm4q, Ns2d, and Ns2q are defined
in the rotational coordinates. .The motor winding Nm4d shows
4-pole exciting winding in the d-axis (m4d-axis) direction, the
motor winding Nm4q shows 4-pole torque winding in the q-axis
(m4a-axis) direction. The suspension windings Ns2d, Ns2q show
2-pole suspension windings in the d-axis (s2d-axis) direction
and the q-axis (s2q-axis) direction, respectively. The x- and
y-axes are defined as the perpendicular coordinates which are
fixed to the rotor. Thus, these axes rotate with the rotor rotation.
The rotor structure of IPM type is formed with the eight
permanent magnets and the eight flux barriers as shown in Fig.
1.
Fig. 2 shows the principle of generating the suspension force
Fx in the IPM type BelM. In general, the field flux Ψmag
generated by the permanent magnets are used as bias flux for
generating suspension force. If the suspension current is2d exists
in the suspension winding Ns2d, the 2-pole suspension flux Ψs2d
is generated. Therefore, the flux density of the airgap 1 is
increased, and the flux density of the airgap 2 is decreased. This
superimposed magnetic field results in the suspension force Fx
acting on the rotor toward the positive direction in the x axis.
However, the conventional PM type BelMs cannot generate
the suspension force effectively, because the suspension flux is
attenuated owing to passing through high magnetic reluctance
of the permanent magnets as shown in Fig. 2 [6]-[10].
Fig. 3 shows the magnetic path of the torque flux Ψm4q
generated by the torque current im4q in the Nm4q. The high torque
flux Ψm4q is often generated, because the torque flux Ψm4q goes
through the rotor york with low magnetic reluctance. Thus, the
nonlinear magnetic saturation is often caused by means of the
high torque flux Ψm4q. This magnetic saturation results in
decreasing the suspension flux, that is, the suspension force. It
is essential to compensate the reduction of the suspension force
with a complex calculation considering the nonlinear magnetic
saturation in order to realize the stable suspension control [10].
Fig. 4 shows the magnetic fluxes Ψmag and Ψm4d under
field-weakening control. If negative exciting current im4d exists,
the field flux Ψmag is weakened by the negative exciting flux
Ψm4d. Generally, torque is increased by the field-weakening
control in the PM synchronous motor with the reverse salient
pole. However, the field-weakening control means weakening
the bias flux Ψmag necessary for generating the suspension force.
Therefore, the suspension force is decreased under the
field-weakening control. On the other hand, under
field-strengthening control conducting the positive exciting
current, the suspension force is increased but the torque is
decreased. Consequently, the relationship between the torque
and the suspension force is tradeoff for the exciting current. The

- 1699 -
conventional PM type BelMs are hard to use the current phase s2q
control effectively. m4q
From above mention, there are the following problems in the Nm4q
conventional PM type BelMs. (1) Suspension force cannot be Ns2d
generated effectively, because suspension flux is attenuated S S Nm4d
Nm4d
owing to passing through high magnetic reluctance of N N
permanent magnets. (2) Suspension force is decreased by N N
Ns2q Ns2q m4d
magnetic saturation caused by high torque flux. (3) Current S S
phase control cannot be used effectively, because a relationship S S s2d
Nm4q N Nm4q
N
between torque and suspension force is tradeoff for exciting
NN
current. It is very important to solve these problems by means of ψ m4q
Nm4d Nm4d
developing a novel motor structure in the PM type BelMs. S S
y Ns2d
x Nm4q ψ mag
III. STRUCTURE AND ADVANTAGES
IN THE PROPOSED PPM TYPE BEARINGLESS MOTOR
Fig. 5. Rotor Structure and winding configurations of PPM type
A. Structure of PPM type Bearingless Motor
Decrease of Increase of
Fig. 5 shows rotor structure and winding configurations in a flux density flux density
novel permanent-magnet type bearingless motor with positive Air gap 2 Ns2d Air gap 1
salient pole (PPM type BelM). The proposed motor has the
same winding configuration as the conventional PM type Nm4d Nm4d
BelMs. The proposed rotor structure is equipped with the eight Fx
permanent magnets, and a set of two permanent magnets with
the magnetization direction in direct opposition is inserted into
hollows of a rotor in a synchronous reluctance motor with
salient-pole construction, respectively. Therefore, the field flux
Nm4d Nm4d
Ψmag generated by a set of two permanent magnets forms a
closed magnetic circuit between the adjacent two permanent y ψ m4d
magnets. Consequently, the Ψmag works as 4-pole field flux in x Ns2d
the proposed motor. Additionally, the proposed motor possess ψs2d
positive salient pole which the inductance Lm4d in the m4d-axis
Fig. 6. Principle of generating suspension force of PPM type
(d-axis) direction is greater than the inductance Lm4q in the
m4q-axis (q-axis) direction. suspension force can keep linearity under any torque condition.
B. Advantages of PPM type Bearingless Motor As generally known, torque in a PM synchronous motor can
be described by the following expression:
Fig. 6 shows the principle of generating the suspension force T = Pn {ψ mag im4 q + (Lm4d − Lm4q )im4d im4q } (1)
Fx on the x axis in the proposed PPM type BelM. If the positive
exciting current im4d exists in the exciting winding Nm4d, the where Pn is a pair of pole. Because the proposed PPM type
exciting flux Ψm4d shown by the solid line are generated. BelM possesses the positive salient pole which is Lm4d > Lm4q,
Additionally, if the suspension current is2d exists in the the field-strengthening control with the positive exciting current
im4d can increase the torque as derived from (1). Additionally,
suspension winding Ns2d, the suspension flux Ψs2d shown by the
the suspension force can be also increased, because the positive
broken line are generated. As a result, the flux density of the
exciting current im4d means strengthening bias flux necessary for
airgap 1 is increased. On the other hand, the flux density of the
generating the suspension force. Consequently, both the torque
airgap 2 is decreased. Therefore, the suspension force Fx is
and the suspension force can be improved with the
generated in the x axis.
field-strengthening control. Therefore, the current phase control
In the proposed PPM type BelM, the suspension flux is
regulating the positive exciting current im4d can be used actively
generated effectively, because the suspension flux does not pass
in the proposed motor.
through the permanent magnets with high magnetic reluctance.
Accordingly, the proposed motor can generate the suspension
IV. EXPERIMENTAL SYSTEM
force effectively.
Next, let us discuss influence of torque flux on suspension A. Structure of Experimental System
force. If the torque current im4q exists in the torque winding Nm4q,
the torque flux Ψm4q shown by the broken line in Fig. 5 is Fig. 7 shows an experimental system of a prototype machine
generated. Because the permanent magnets with high magnetic of the proposed PPM type BelM, which has dimensions shown
reluctance are arranged on the magnetic path of the torque flux on Table. I. The prototype machine was built in order to remove
Ψm4q, the torque flux Ψm4q is blocked off and the magnetic the influence of the gravity. The bottom of the rotor shaft is held
saturation caused by the torque flux is restricted. Therefore, the by the self-aligning ball bearing, and the rotor shaft is connected
with the torque meter and the induction generator through the

- 1700 -
 β α Motor speed controller
Pulley
Motor
i m4d* current
Bearingless
Motor

Stator

Stator
motor

Rotor
current PWM
+ i m4q* inverter
n* PI controller PPM type
Self-aligning -
ball bearing n θ BelM
Speed detector αr
Rotary encoder
Flexible coupling
Weight
βr
Torque meter + Fα* is2a*
αr * PID Modulator of Suspension
- PWM
Fβ* suspension is2b* current
βr* + inverter
Flexible coupling PID force controller
- Inverse (5)

Induction generator

Radial position controller Gap Sensor

(a) (b) Digital Controller

Fig.7. Experimental system of a prototype machine, Fig.8. Controller of PPM type BelM.
(a) Outline, (b) Photograph.
Suspension control
TABLE I. DIMENSIONS OF A PROTOTYPE MACHINE

Rotor material 35H360 Stator m aterial 35H360 100 µm

αr
Perm anent magnets NEOREC-38SH Stator outer diam eter 100 m m
Control center 100 µm
Thickness of PM 4 mm Stack length 50 m m
βr
Rotor outer diam eter 49 m m Num ber of stator slots 36 2000 r/min
Air gap length 0.5 mm Laminate thickness 50 m m n*
Touchdown
Num ber of turns on motor winding 0 r/min n
24 turns
(3phases, 0.6m mφ, 2parallels) 100 ms
Num ber of turns on suspension winding
6 turns
(3phases, 0.6m mφ, 2parallels) Fig.9. Suspension control from touchdown and under step acceleration

flexible coupling. On the other hand, the shaft top is
mechanically free in the α- and β-axes. Thus, the rotor shaft of
the prototype machine cannot stand by itself. The rotor radial
positions of the rotor shaft are suspended and controlled by the
proposed motor. In the experimental system, the weights are
hanged in the β-axis in order to add the radial load as shown in
Fig. 7. Therefore, the measured values of the suspension force
can be calculated from the weights, because the suspension
force is equal to the radial load caused by the weights under the
stable magnetic suspension.
Fig. 8 shows a drive system of the prototype machine. In the
motor speed controller, the rotational speed n is detected by the
rotary encoder and the speed detector. The torque current
command im4q* is generated with the PI controller from the
rotational speed n and the rotational speed command n*. The
positive exciting current command im4d* is established in order
to realize the field-strengthening control. The motor current
controller and the PWM inverter regulate the 3-phase motor
currents based on the current command im4d* and im4q*.
In the radial position controller, rotor displacements αr and βr
on the perpendicular coordinates α and β, which are fixed to the
stator, are detected by the gap sensors, respectively. These
displacements are compared to the displacement commands αr*
and βr*. The suspension force commands Fα* and Fβ* are
generated by the PID controller from these displacement errors.
The suspension force commands Fα* and Fβ* are modulated to
the suspension current commands is2a* and is2b* with the
modulator of suspension force. The suspension current
controller and the PWM inverter regulate the 3-phase
suspension currents based on the current command is2a* and
is2b*.
In PM type BelMs including the proposed PPM type BelM,
the suspension force Fx and Fy on the rotational coordinates can
be expressed with the following equation [9]:
 = 
( )
 Fx   K m 4 d (im4 d ) K m 4 q im 4q  is 2 d 
 (2)
   ( )
 Fy   K m 4 q im4 q − K m 4 d (im 4 d ) is 2 q 
 
K m 4 d (im 4 d ) = M m4 d ' im4 d + ψ mag '
(3)
( )
K m 4 q im 4 q = M m 4 q ' im 4 q (4)
where Mm4d’ is the derivative of mutual inductances between the
suspension windings Ns2d or Ns2q and the m4d-axis motor
winding Nm4d with respect to the rotor displacements, Ψmag’ is
the derivative of the field flux Ψmag linked in the suspension
windings with respect to the rotor displacements, Mm4q’ is the
derivative of mutual inductances between the suspension
windings and the m4q-axis motor winding Nm4q with respect to
the rotor displacements. Km4d (im4d) and Km4q (im4q) are called the
suspension force coefficients. These coefficients represents
suspension force per suspension current 1 A. Therefore, these
coefficients are useful indexes estimating a characteristic of
suspension force in the BelMs. Particularly, it is important to
estimate the suspension force coefficient Km4d(im4d), because the
suspension force generated by terms of the Km4d(im4d) in (2) is
dominant in the BelMs, that is, the suspension force generated

- 1701 -
by the field flux Ψmag and the exciting flux Ψm4d as expressed in Suspension force max
(3) is dominant. 35 i t
The modulator of suspension force used in the radial position

Coefficient of suspension
30 Proportional

force Km4d(im4d) [N/A]

controller of Fig. 8 can be derived by transforming (2) from the
rotational coordinates to the stationary coordinates as, 25
 Fa *   cos θ
 = 
( )
− sin θ  K m 4 d (im 4d ) K m 4 q im 4 q 

20 Km4d=32.2N/A
 F *   sin θ
 b  ( )
cos θ  K m 4 q im 4q − K m 4d (im 4 d ) 15
Equivalent of
252N
 cos θ − sin θ  is 2a *
10 Magnetic
  . (5) saturation
 sin θ cos θ  is 2b *  5
Fig. 9 shows a experimental result of rotor magnetic 0 3.5
suspension with the drive system. The constant weight is 0 2 4 6
hanged in the negative direction of the β-axis in order to add the Exciting current im4d Rated value
(7.84 A)
radial load 21.8 N which is about three times of rotor mass. The Fig.10. Characteristic of suspension force
area surrounded with the broken line shows the suspension
control from the touchdown under static condition. The rotor 30

Coefficient of suspension
radial positions can be suspended and controlled at the control 25

force Km4d(im4d) [N/A]

center by the proposed motor under radial load. Additionally,
The rotational speed command n* is accelerated from 0 r/min to
2000 r/min. The operation of the proposed motor is very stable
in about 20 µm in spite of the step acceleration generating the
maximum torque. It is evident that the suspension control with
(5) is not influenced by the motor speed control.
V. EXPERIMENTAL RESULTS
From Fig. 10 to Fig. 12 show the experimental results in the
prototype machine of the proposed PPM type BelM.
A. Characteristic of suspension force
Fig. 10 shows the measured suspension force coefficient
Km4d(im4d) versus the exciting current im4d. Under each exciting
current, the suspension force coefficient Km4d(im4d) is derived
with (2) from the relationship between the suspension force and
the suspension currents measured by varying the weights. The
Km4d(im4d) is directly proportional to the exciting current im4d in
im4d < 3.5 A. Although the increase of the Km4d(im4d) is restricted
by magnetic saturation resulting from the increase of the im4d,
the maximum value of the Km4d(im4d) is 32.2 N/A at im4d = 6.5 A.
The Km4d(im4d) of 32.2 N/A is equivalent to the very large
suspension force of 252 N which is about 34.7 times of rotor
mass. This characteristic of the suspension force is much better
than the conventional PM type BelMs [7]. Therefore, it is
verified that the proposed motor can generate suspension force
effectively, because suspension flux does not pass through
permanent magnets with high magnetic reluctance.
B. Influence of torque flux on suspension force
Fig. 11 shows the relationship between the torque current im4q
and the suspension force coefficient Km4d(im4d) at the exciting
current im4d = 4.0 A. As the im4q is increased, the Km4d(im4d) is
decreased. However, the reduction of the Km4d(im4d) is only 7.4%
at the rated value 6.74 A of the im4q. Additionally, in Fig. 9, the
proposed motor can realize the stable magnetic suspension in
spite of the step acceleration generating the maximum torque,
i.e., the maximum torque flux. Accordingly, the torque flux
almost never generates magnetic saturation in the proposed
motor because the permanent magnet arrangement of the
20 7.4% down only
15
10
im4d = 4.0 A
5 2
im 4 q = 7.842 − im 4 d
0
0 2 4 6 8
Torque current im4q [A] Rated value
(6.74 A)
Fig. 11. Relationship between im4q and Km4d
proposed motor can block off the torque flux as shown in Fig. 5.
Suspension force can keep linearity under any torque condition.
C. Characteristic in current phase control
Fig. 12 shows the experimental results and the analysis
results with 2D-FEM of the torque T and the suspension force
coefficient Km4d(im4d) versus the exciting current im4d. The
2D-FEM is carried out as to the proposed PPM type BelM and
the conventional IPM type BelM shown with Fig. 1. The
analysis models have the same stator, the same outer diameter
of the rotor, and the same permanent magnets as the prototype
machine shown with Table. I.
In the IPM type BelM with the reverse salient pole, the torque
is increased under the field-weakening control conducting the
negative exciting current. However, the suspension force is
decreased. On the other hand, the suspension force is increased
under the field-strengthening control conducting the positive
exciting current. However, the torque is decreased.
Consequently, the conventional IPM type BelM is hard to use
the current phase control effectively, and is generally controlled
at the exciting current im4d = 0 A. Thus, the torque is 1.89 Nm
and the suspension force coefficient is 4.0 N/A.
In the experimental results of the proposed motor, it is
verified that the relationship between the torque and the
suspension force is not tradeoff under the current phase control.
The torque is maximum value 1.67 Nm at the exciting current
im4d = 4.0 A, and the suspension force coefficient is 26.2 N/A.
Similarly, in the analysis results of 2D-FEM, the maximum

- 1702 -
 Torque max results of a prototype machine. As a result, it is verified that the
2.5 i t proposed motor has the following characteristics in a prototype
IPM(2D-FEM)
im 4 d 2
+i = Rated value
m4 q
2
machine of the proposed motor.
2.0 (1) The proposed motor can generate suspension force
effectively, because suspension flux does not pass
Torque T [Nm]

1.5 through permanent magnets with high magnetic

88.4% reluctance.
1.0 (2) Suspension force is not decreased by torque flux. The
generation of magnetic saturation caused by the torque
0.5 PPM(2D-FEM) flux is restricted, because permanent magnet
PPM(Experimental) arrangement of the proposed motor can block off the
0.0 torque flux. Accordingly, suspension force can keep
-8 -4 0 4 8 linearity under any torque condition.
-0.5 (3) The proposed motor can improve both torque and
Exciting current im4d [A]
suspension force by conducting positive exciting current
(a) Characteristic of torque
because of positive salient pole that Ld is greater than Lq.
40
(4) The proposed motor has good characteristics of torque
and suspension force compared with conventional PM
30 565% up type BelMs.
Coefficient of suspension
force Km4d(im4d) [N/A]

20
10
0
-8 -4 0 4
-10 PPM(Experimental)
PPM(2D-FEM)
-20
IPM(2D-FEM)
-30
Exciting current im4d [A]
(a) Characteristic of suspension force
Fig. 12. Characteristic in current phase control
torque is 1.75 Nm and the suspension force coefficient is 29.6
N/m. It is verified that the proposed motor with the positive
salient pole can improve both the torque and the suspension
force under the field-strengthening control by conducting the
positive exciting current.
Although the experimental results of the proposed motor are
a little lower than the analysis results of 2D-FEM, these data is
basically conformity. Therefore, it is important to compare the
experimental results of the proposed motor with the analysis
results of the IPM type BelM for clearing up an influence of the
distinction between the rotor structures. The proposed motor
and the IPM type BelM are almost comparable in the torque,
because the torque of the proposed motor is 88.4% of the torque
in the IPM type BelM. However, the proposed motor is much
better than the IPM type BelM in the suspension force, because
the suspension force of the proposed motor is 565% of the
suspension force in the IPM type BelM. Consequently, the
proposed PPM type BelM has good characteristics of the torque
and the suspension force compared with the conventional PM
type BelMs.
VII. REFERENCES
[1] A. O. Salazar, A. Chiba, and T. Fukao : “A Review of Developments in
Bearingless Motors”, in Proc. 7th Int. Symp. Magnetic Bearings (ISMB-7),
Zurich, Switzerland, pp. 335-340 (2000)
[2] R. Schoeb, N. Barletta, A. Fleischli, G. Foiera, T. Gempp, H. Reiter, V. Poirier, D.
8 Gernes, K. Bourque, H. Loree, and J. Richardson, “A bearingless motor for a left
ventricular assist device (LVAD)”, in Proc. 7th Int. Symp. Magnetic Bearings
(ISMB-7), Zurich, Switzerland, pp.383-388 (2000)
[3] M. Ooshima, S. Kitazawa, A. Chiba, T. Fukao, Dorrell, D.G. : “Design and
Analyses of a Coreless-Stator-Type Bearingless Motor/Generator for Clean
Energy Generation and Storage Systems “, IEEE Trans. on Magnetics, Vol. 42,
pp. 3461 - 3463 (2006)
[4] T. Hiromi, T. Katou, A.Chiba, M. A. Rahman, T. Fukao: “A Novel Magnetic
Suspension-Force Compensation in Bearingless Induction-Motor Drive With
Squirrel-Cage Rotor “, IEEE Trans. on Ind. Elec., Vol. 43, pp. 66 – 76 (2007)
[5] S. Yajima, Y. Kodama, M. Takemoto, Y. Tanaka, A. Chiba, and T. Fukao :
“Characteristics of Magnetic Rotor Suspension and Total efficiency in a
Deeply-Buried Permanent Magnet Type Bearingless Motor Equipped with 2-pole
Motor Windings and 4-pole Suspension Windings“, in Conf. Rec. of the 2006
International Conference on Electrical Machines and Systems(ICEMS2006),
Nagasaki, Japan, 2006, DS3E2-12, CD-ROM(2006)
[6] M. Oshima, S. Miyazawa, T. Deido, A. Chiba, F. Nakamura, and T. Fukao :
“Characteristics of a permanent magnet type bearingless motor”, IEEE Trans. on
Industry Applications, Vol.32, No.2, pp.363-370 (1996)
[7] M. Ooshima, A. Chiba, T. Fukao, and M.A. Rahman : “Design and analysis of
permanent magnet-type bearingless motors,” IEEE Trans. on Ind. Elec., Vol.43,
No.2, pp.292-299, (1996)
[8] K. Inagaki, A. Chiba, M.A. Rahman, and T. Fukao : “Performance characteristics
of inset-type permanent magnet bearingless motor drives,” in Proceedings of the
2000 IEEE Power Engineering Society Winter Meeting, Singapore, (2000)
[9] M. Ooshima, A. Chiba, A. Rahman, and T. Fukao : “An improved control method
of buried-type IPM bearingless motors considering magnetic saturation and
magnetic pull variation“, IEEE Trans. on Energy Conversion, Vol.19, pp.569-575
(2004)
[10] N. Fujie, R. Yoshimatsu, A. Chiba, M. Ooshima, M. A. Rhaman, and T. Fukao :
“A Decoupling Control Method of Buried Permanent Magnet Bearingless Motors
Considering Magnetic Saturation”, IPEC’2000, Tokyo, Japan,, pp.395-400
(2000)

VI. CONCLUSION
This paper introduced basic characteristics of torque and
suspension force in the proposed PPM type BelM with test

- 1703 -