  In this work a design is proposed for an active, permanent magnet based,
self-propelled magnetic bearing i.e. levitating motor having the following
features : (a) simple winding structure, (b) high load supporting capacity, (c)
no eccentricity sensors, (d) stable confinement in all translational
dimensions, (e) stable confinement in all rotational dimensions and (f) high
efficiency. This design uses an architecture consisting of a helically wound
three-phase stator, and a rotor with the magnets also arranged in a helical
manner. Active control is used to excite the rotor at a torque angle lying in
the second quadrant. This torque angle is independent of the rotor's position
inside the stator cavity hence the control algorithm is similar to that of a
conventional permanent magnet synchronous motor. It is motivated through a
physical argument that the bearing rotor develops a lift force proportional to
the output torque and that it remains stably confined in space. These
assertions are then proved rigorously through a calculation of the magnetic
fields, forces and torques. The stiffness matrix of the system is presented and
a discussion of stable and unstable operating regions is given.
