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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/00-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95%E6%80%BB%E8%A7%88/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/00-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95%E6%80%BB%E8%A7%88/<h2 class="heading-element" id="目录"><span>目录</span> <a href="#%e7%9b%ae%e5%bd%95" 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><ul> <li><a href="#一传统控制算法">一、传统控制算法</a></li> <li><a href="#二现代控制算法">二、现代控制算法</a></li> <li><a href="#三算法对比总结">三、算法对比总结</a></li> <li><a href="#四前沿研究方向">四、前沿研究方向</a></li> </ul> <hr> <h2 class="heading-element" id="一传统控制算法"><span>一、传统控制算法</span> <a href="#%e4%b8%80%e4%bc%a0%e7%bb%9f%e6%8e%a7%e5%88%b6%e7%ae%97%e6%b3%95" 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="11-方波控制六步换相"><span>1.1 方波控制（六步换相）</span> <a href="#11-%e6%96%b9%e6%b3%a2%e6%8e%a7%e5%88%b6%e5%85%ad%e6%ad%a5%e6%8d%a2%e7%9b%b8" 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><h4 class="heading-element" id="原理"><span>原理</span> <a href="#%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> </h4><p>每 60° 电角度切换一次开关状态，产生梯形波反电动势。</p>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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/01-foc/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/01-foc/01 Fochttps://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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/03-%E5%89%8D%E6%B2%BF%E6%96%B9%E5%90%91/01-%E6%97%A0%E4%BC%A0%E6%84%9F%E5%99%A8%E6%8E%A7%E5%88%B6/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/03-%E5%89%8D%E6%B2%BF%E6%96%B9%E5%90%91/01-%E6%97%A0%E4%BC%A0%E6%84%9F%E5%99%A8%E6%8E%A7%E5%88%B6/01 无传感器控制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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/03-%E5%89%8D%E6%B2%BF%E6%96%B9%E5%90%91/02-ai%E6%B7%B1%E5%BA%A6%E5%AD%A6%E4%B9%A0/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/03-%E5%89%8D%E6%B2%BF%E6%96%B9%E5%90%91/02-ai%E6%B7%B1%E5%BA%A6%E5%AD%A6%E4%B9%A0/02 Ai深度学习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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/02-%E4%B8%89%E7%8E%AF%E6%8E%A7%E5%88%B6/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%B6/02-%E6%8E%A7%E5%88%B6%E7%AE%97%E6%B3%95/02-%E4%B8%89%E7%8E%AF%E6%8E%A7%E5%88%B6/02 三环控制