摘要：轴向平行充磁的径向斥力型被动轴承径向无需控制，可降低磁悬浮转子系统的控制难度。然而，其在提供径向斥力的同时，也产生轴向的推力，使得径向被动轴承与轴向主动轴承产生力耦合。本文采用数字PID控制器对径向被动轴向主动混合悬浮轴承（HMB）进行控制，并分析了控制参数的设计过程，研制了控制器的软硬件。实验结果表明，控制器对HMB悬浮局部有效，轴向悬浮失控。
关键词：混合磁悬浮轴承；被动磁轴承；主动磁轴承；飞轮储能 ；数字控制器
Abstract: The radial repulsion type passive bearing by parallel axially magnetized don′t need to be controlled in the radial, can reduce the difficulty of control in the magnetic suspension rotor system. However, it doesn′t only provide the repulsive force in the radial, but also an axial thrust. So the active axial bearing and passive radial bearing is coupled. In this paper, a digital PID controller was designed for the radial passive axial active mixing magnetic bearing (HMB).And the design process of the control parameters was analyzed. Meanwhile, the software and hardware of the controller was developed. Experiment results show that the HMB is out of control, and digital controller is effective partially.
Key words: hybrid magnetic bearing；passive magnetic bearing；active magnetic bearing；flywheel energy storage system；digital controller