In order to solve the influence of uncertainties such as unknown external environment disturbance and internal parameter perturbation on bearingless switched reluctance motors, a direct instantaneous torque and direct suspension force control strategy based on an adaptive terminal sliding mode controller is proposed. Firstly, the mathematical model of the motor is analyzed and the state equation is established. Direct instantaneous torque control and direct suspension force control are used in the control system to reduce the fluctuation of the system. Then, the non-singular terminal sliding surface is designed to avoid the singular problem in the conventional terminal sliding mode control, and the adaptive law is introduced. The control system combines the terminal sliding mode controller to suppress the disturbance of uncertain factors and ensure the fast convergence and strong robustness of the system. Finally, the effectiveness of the method is verified by comparing the traditional sliding mode controller. The simulation results show that the method can quickly and accurately track the speed and displacement of the control system, effectively improve the convergence rate of state, and has strong anti-disturbance ability and good dynamic performance.