Since　the　winding　and　permanent　magnet　of　bearingless　flux-switching　permanent　magnet　motors　are　located　on　the　stator,　the　composition　of　the　air　gap　magnetic　field　is　complicated,　which　makes　the　mutual　coupling　problem　of　suspension　and　rotation　of　the　motors　prominent,　causing　the　control　performance　of　the　suspension　and　rotation　to　be　affected.　Therefore,　based　on　the　rotor　dynamics　model,　a　decoupling　control　strategy　based　on　finite　element　analysis　(FEA)　and　linear　active　disturbance　rejection　theory　is　proposed.　First,　according　to　the　structure　of　the　motors　and　the　FEA　results,　the　stiffness　matrix　of　the　motor　suspension　plane　coupling　itself　and　its　coupling　with　the　rotation　plane　was　obtained.　Then,　through　rotor　dynamics　analysis,　the　kinematics　model　of　the　suspension　system　was　obtained.　Furthermore,　the　coupling　stiffness　matrix　is　combined　with　the　active　disturbance　rejection　theory　to　construct　a　decoupling　control　strategy　for　online　self-tuning　of　key　system　parameters.　The　simulation　and　experimental　results　show　that　the　proposed　scheme　has　good　dynamic　performance　and　robustness　while　ensuring　the　precision　of　suspension　control.