https://cygnusyang.github.io/posts/02-%E5%B7%A5%E7%A8%8B%E9%82%A3%E4%BA%9B%E4%BA%8B/01-%E7%94%B5%E6%9C%BA%E6%8E%A7%E5%88%B6/01-%E5%9F%BA%E7%A1%80%E7%90%86%E8%AE%BA/01-%E7%94%B5%E6%9C%BA%E5%8E%9F%E7%90%86/技术 × 产品 × 机器人Hugo 0.160.1 & FixIt v0.4.6-20260517062719-ed8ec5c2zh-CNruohuyang@163.com (Cygnus Yang)ruohuyang@163.com (Cygnus Yang)Sat, 23 May 2026 00:00:00 +0800https://cygnusyang.github.io/posts/02-%E5%B7%A5%E7%A8%8B%E9%82%A3%E4%BA%9B%E4%BA%8B/01-%E7%94%B5%E6%9C%BA%E6%8E%A7%E5%88%B6/01-%E5%9F%BA%E7%A1%80%E7%90%86%E8%AE%BA/01-%E7%94%B5%E6%9C%BA%E5%8E%9F%E7%90%86/01-%E6%97%A0%E5%88%B7%E7%94%B5%E6%9C%BA%E5%9F%BA%E7%A1%80/Sat, 23 May 2026 00:00:00 +0800ruohuyang@163.com (Cygnus Yang)https://cygnusyang.github.io/posts/02-%E5%B7%A5%E7%A8%8B%E9%82%A3%E4%BA%9B%E4%BA%8B/01-%E7%94%B5%E6%9C%BA%E6%8E%A7%E5%88%B6/01-%E5%9F%BA%E7%A1%80%E7%90%86%E8%AE%BA/01-%E7%94%B5%E6%9C%BA%E5%8E%9F%E7%90%86/01-%E6%97%A0%E5%88%B7%E7%94%B5%E6%9C%BA%E5%9F%BA%E7%A1%80/<h2 class="heading-element" id="电机类型对比"><span>电机类型对比</span> <a href="#%e7%94%b5%e6%9c%ba%e7%b1%bb%e5%9e%8b%e5%af%b9%e6%af%94" class="heading-mark"> <svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg> </a> </h2><table> <thead> <tr> <th>特性</th> <th>有刷直流电机</th> <th>无刷直流电机 (BLDC)</th> </tr> </thead> <tbody> <tr> <td>换向方式</td> <td>机械换向（电刷+换向器）</td> <td>电子换向（功率器件+控制器）</td> </tr> <tr> <td>寿命</td> <td>受电刷磨损限制</td> <td>轴承寿命为主，寿命更长</td> </tr> <tr> <td>效率</td> <td>70-80%</td> <td>85-95%</td> </tr> <tr> <td>维护</td> <td>需更换电刷</td> <td>无需维护</td> </tr> <tr> <td>噪声</td> <td>较高</td> <td>较低</td> </tr> <tr> <td>成本</td> <td>较低</td> <td>较高</td> </tr> <tr> <td>控制复杂度</td> <td>简单</td> <td>复杂（需电子换向）</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="bldc-基本结构"><span>BLDC 基本结构</span> <a href="#bldc-%e5%9f%ba%e6%9c%ac%e7%bb%93%e6%9e%84" class="heading-mark"> <svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg> </a> </h2><pre><code>定子 (Stator) ├── 三相绕组 (U、V、W) │ ├── 星形连接 (Y型) │ └── 三角形连接 (Δ型) └── 铁心 转子 (Rotor) ├── 永磁体 │ ├── 表贴式 (SPM) │ └── 内嵌式 (IPM) └── 轴</code></pre><hr> <h2 class="heading-element" id="工作原理"><span>工作原理</span> <a href="#%e5%b7%a5%e4%bd%9c%e5%8e%9f%e7%90%86" class="heading-mark"> <svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg> </a> </h2><h3 class="heading-element" id="反电动势-back-emf"><span>反电动势 (Back-EMF)</span> <a href="#%e5%8f%8d%e7%94%b5%e5%8a%a8%e5%8a%bf-back-emf" class="heading-mark"> <svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path d="m7.775 3.275 1.25-1.25a3.5 3.5 0 1 1 4.95 4.95l-2.5 2.5a3.5 3.5 0 0 1-4.95 0 .751.751 0 0 1 .018-1.042.751.751 0 0 1 1.042-.018 1.998 1.998 0 0 0 2.83 0l2.5-2.5a2.002 2.002 0 0 0-2.83-2.83l-1.25 1.25a.751.751 0 0 1-1.042-.018.751.751 0 0 1-.018-1.042Zm-4.69 9.64a1.998 1.998 0 0 0 2.83 0l1.25-1.25a.751.751 0 0 1 1.042.018.751.751 0 0 1 .018 1.042l-1.25 1.25a3.5 3.5 0 1 1-4.95-4.95l2.5-2.5a3.5 3.5 0 0 1 4.95 0 .751.751 0 0 1-.018 1.042.751.751 0 0 1-1.042.018 1.998 1.998 0 0 0-2.83 0l-2.5 2.5a1.998 1.998 0 0 0 0 2.83Z"></path></svg> </a> </h3><p>当电机旋转时，转子磁场切割定子绕组，产生反电动势：</p>