Internal Model Control Strategy for Bearingless Flux-Switching Permanent Magnet Motor in Small Unmanned Surface Vessel

Small unmanned surface vessel (USV) requires maneuverability and stealth, making them suitable for applications where bearingless motors offer high integration and low acoustic noise. However, the complex operating conditions of USVs pose significant challenges to rotor suspension. Herein, an internal model control strategy with motion compensation is proposed to address disturbances caused by multi-source excitation. The internal model of the bearingless motor with carrier motion is established, and an equation for controllable suspension force output under multi-source excitation disturbances is formulated. Simulation results indicate that compared to traditional PID controllers, superior dynamic and steady-state performance is achieved by the proposed method.