For a hybrid magnetically suspended flywheel (MSFW) rotor suspended by permanent magnet biased active magnetic bearing (AMB) and passive magnetic bearing (PMB), the dynamic functions are nonlinear and coupling among different degrees of freedom (DOFs). In this article, the nonlinear dynamic functions in two controllable DOFs of the hybrid MSFW rotor are developed based on the equivalent magnetic circuit, and then the nonlinear dynamic function is linearized by using the state feedback exact linearization (SFEL) in order to minimize the coupling in two controllable DOFs. Furthermore, an optimal control based on the SFEL model is designed to reduce displacement runout and coupling among two controllable DOFs of the hybrid MSFW rotor at the rated speed. Finally, the simulation and experimental results validate the effectiveness of the optimal control based on SFEL model, and the stability of the hybrid MSFW rotor with an impulse-type disturbance is improved.

对于由永磁偏压主动磁轴承（AMB）和被动磁轴承（PMB）悬挂的混合磁悬浮飞轮（MSFW）转子，动态函数是非线性的并且不同自由度（DOF）之间存在耦合。本文基于等效磁路开发了混合 MSFW 转子两个可控自由度的非线性动态函数，然后使用状态反馈精确线性化（SFEL）对非线性动态函数进行线性化，以最小化耦合在两个可控自由度中。此外，基于SFEL模型的优化控制旨在减少额定速度下混合MSFW转子的两个可控自由度之间的位移跳动和耦合。最后，仿真和实验结果验证了基于SFEL模型的最优控制的有效性，提高了带有脉冲型扰动的混合MSFW转子的稳定性。