用最优控制原理来控制五自由度无轴承电机（竖立，转子的上、下部各放置四个电磁铁，z轴为竖立方向的控制先不考虑，只考虑，x，y轴方向的稳定)-Using optimal control theory to control the five degrees of freedom bearingless motor (erected on the rotor, the lower part of the placement of four electromagnets, z-axis direction