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%B6/05-%E5%8F%82%E8%80%83%E8%B5%84%E6%96%99/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%B6/05-%E5%8F%82%E8%80%83%E8%B5%84%E6%96%99/01-%E5%8F%82%E8%80%83%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/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%B6/05-%E5%8F%82%E8%80%83%E8%B5%84%E6%96%99/01-%E5%8F%82%E8%80%83%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/<h2 class="heading-element" id="在线文档"><span>在线文档</span> <a href="#%e5%9c%a8%e7%ba%bf%e6%96%87%e6%a1%a3" 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="官方文档"><span>官方文档</span> <a href="#%e5%ae%98%e6%96%b9%e6%96%87%e6%a1%a3" 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><table> <thead> <tr> <th>项目</th> <th>链接</th> <th>描述</th> </tr> </thead> <tbody> <tr> <td>SimpleFOC</td> <td><a href="https://docs.simplefoc.com/" target="_blank" rel="external nofollow noopener noreferrer">https://docs.simplefoc.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>完整的 FOC 学习和实现文档</td> </tr> <tr> <td>VESC 项目</td> <td><a href="https://vesc-project.com/" target="_blank" rel="external nofollow noopener noreferrer">https://vesc-project.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>VESC 官方网站和文档</td> </tr> <tr> <td>STM32 电机控制</td> <td><a href="https://www.st.com/" target="_blank" rel="external nofollow noopener noreferrer">https://www.st.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>STM32 官方电机控制 SDK</td> </tr> <tr> <td>TI 电机控制</td> <td><a href="https://www.ti.com/motor-control" target="_blank" rel="external nofollow noopener noreferrer">https://www.ti.com/motor-control<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>TI 电机控制培训和资料</td> </tr> </tbody> </table> <h3 class="heading-element" id="学术论文"><span>学术论文</span> <a href="#%e5%ad%a6%e6%9c%af%e8%ae%ba%e6%96%87" 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><table> <thead> <tr> <th>论文</th> <th>链接</th> </tr> </thead> <tbody> <tr> <td>SimpleFOC JOSS 论文</td> <td><a href="https://doi.org/10.21105/joss.04232" target="_blank" rel="external nofollow noopener noreferrer">https://doi.org/10.21105/joss.04232<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>FOC 经典文献</td> <td>搜索 &ldquo;field oriented control&rdquo;</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="开源项目"><span>开源项目</span> <a href="#%e5%bc%80%e6%ba%90%e9%a1%b9%e7%9b%ae" 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="github-仓库"><span>GitHub 仓库</span> <a href="#github-%e4%bb%93%e5%ba%93" 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><table> <thead> <tr> <th>项目</th> <th>语言</th> <th>Star</th> <th>描述</th> </tr> </thead> <tbody> <tr> <td><a href="https://github.com/simplefoc/Arduino-FOC" target="_blank" rel="external nofollow noopener noreferrer">simplefoc/Arduino-FOC<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>C++</td> <td>3.2k</td> <td>SimpleFOC 主仓库</td> </tr> <tr> <td><a href="https://github.com/vedderb/bldc" target="_blank" rel="external nofollow noopener noreferrer">vedderb/bldc<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>C</td> <td>3.1k</td> <td>VESC 固件</td> </tr> <tr> <td><a href="https://github.com/simplefoc/SimpleFOCStudio" target="_blank" rel="external nofollow noopener noreferrer">simplefoc/SimpleFOCStudio<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>Python</td> <td>500+</td> <td>SimpleFOC 调试工具</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="书籍推荐"><span>书籍推荐</span> <a href="#%e4%b9%a6%e7%b1%8d%e6%8e%a8%e8%8d%90" 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="中文书籍"><span>中文书籍</span> <a href="#%e4%b8%ad%e6%96%87%e4%b9%a6%e7%b1%8d" 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><table> <thead> <tr> <th>书名</th> <th>作者</th> <th>难度</th> </tr> </thead> <tbody> <tr> <td>《电机学》</td> <td>汤蕴璆 等</td> <td>入门</td> </tr> <tr> <td>《现代电机控制技术》</td> <td>辜承林 等</td> <td>进阶</td> </tr> <tr> <td>《电机拖动与运动控制系统》</td> <td>阮毅 等</td> <td>进阶</td> </tr> </tbody> </table> <h3 class="heading-element" id="英文书籍"><span>英文书籍</span> <a href="#%e8%8b%b1%e6%96%87%e4%b9%a6%e7%b1%8d" 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><table> <thead> <tr> <th>书名</th> <th>作者</th> <th>难度</th> </tr> </thead> <tbody> <tr> <td>&ldquo;Electric Motors and Drives&rdquo;</td> <td>Austin Hughes</td> <td>入门</td> </tr> <tr> <td>&ldquo;Electric Machinery Fundamentals&rdquo;</td> <td>Stephen Chapman</td> <td>入门</td> </tr> <tr> <td>&ldquo;Permanent Magnet Motor Technology&rdquo;</td> <td>Jacek F. Gieras</td> <td>进阶</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="视频教程"><span>视频教程</span> <a href="#%e8%a7%86%e9%a2%91%e6%95%99%e7%a8%8b" 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="bilibili"><span>Bilibili</span> <a href="#bilibili" 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><table> <thead> <tr> <th>系列</th> <th>搜索关键词</th> </tr> </thead> <tbody> <tr> <td>FOC 原理</td> <td>&ldquo;FOC 磁场定向控制&rdquo;</td> </tr> <tr> <td>BLDC 控制</td> <td>&ldquo;无刷电机控制&rdquo;</td> </tr> <tr> <td>STM32 FOC</td> <td>&ldquo;STM32 电机控制&rdquo;</td> </tr> </tbody> </table> <h3 class="heading-element" id="youtube"><span>YouTube</span> <a href="#youtube" 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><table> <thead> <tr> <th>频道</th> <th>链接</th> <th>内容</th> </tr> </thead> <tbody> <tr> <td>Benjamin Vedder</td> <td><a href="https://www.youtube.com/c/Vedder" target="_blank" rel="external nofollow noopener noreferrer">https://www.youtube.com/c/Vedder<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>VESC 开发者</td> </tr> <tr> <td>TI Precision Labs</td> <td><a href="https://www.youtube.com/playlist?list=PLCZ2_7aCZLzZxQ3kXh1jVWQ3vQ3vQ3vQ3" target="_blank" rel="external nofollow noopener noreferrer">https://www.youtube.com/playlist?list=PLCZ2_7aCZLzZxQ3kXh1jVWQ3vQ3vQ3vQ3<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>电机控制培训</td> </tr> <tr> <td>STMicroelectronics</td> <td><a href="https://www.youtube.com/user/stmicroelectronics" target="_blank" rel="external nofollow noopener noreferrer">https://www.youtube.com/user/stmicroelectronics<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>STM32 培训</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="工具软件"><span>工具软件</span> <a href="#%e5%b7%a5%e5%85%b7%e8%bd%af%e4%bb%b6" 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="开发工具"><span>开发工具</span> <a href="#%e5%bc%80%e5%8f%91%e5%b7%a5%e5%85%b7" 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><table> <thead> <tr> <th>工具</th> <th>用途</th> <th>链接</th> </tr> </thead> <tbody> <tr> <td>Arduino IDE</td> <td>SimpleFOC 开发</td> <td><a href="https://www.arduino.cc/" target="_blank" rel="external nofollow noopener noreferrer">https://www.arduino.cc/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>PlatformIO</td> <td>高级 Arduino 开发</td> <td><a href="https://platformio.org/" target="_blank" rel="external nofollow noopener noreferrer">https://platformio.org/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>STM32CubeIDE</td> <td>STM32 官方 IDE</td> <td><a href="https://www.st.com/" target="_blank" rel="external nofollow noopener noreferrer">https://www.st.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>Keil MDK</td> <td>ARM 开发</td> <td><a href="https://www.keil.com/" target="_blank" rel="external nofollow noopener noreferrer">https://www.keil.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> </tbody> </table> <h3 class="heading-element" id="调试工具"><span>调试工具</span> <a href="#%e8%b0%83%e8%af%95%e5%b7%a5%e5%85%b7" 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><table> <thead> <tr> <th>工具</th> <th>用途</th> <th>链接</th> </tr> </thead> <tbody> <tr> <td>SimpleFOCStudio</td> <td>SimpleFOC 调试</td> <td>GitHub 仓库</td> </tr> <tr> <td>VESC Tool</td> <td>VESC 配置</td> <td><a href="https://vesc-project.com/vesc-tool" target="_blank" rel="external nofollow noopener noreferrer">https://vesc-project.com/vesc-tool<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>STM32 Motor Workbench</td> <td>STM32 电机配置</td> <td>ST 官网</td> </tr> </tbody> </table> <h3 class="heading-element" id="仿真工具"><span>仿真工具</span> <a href="#%e4%bb%bf%e7%9c%9f%e5%b7%a5%e5%85%b7" 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><table> <thead> <tr> <th>工具</th> <th>用途</th> <th>链接</th> </tr> </thead> <tbody> <tr> <td>MATLAB/Simulink</td> <td>系统仿真</td> <td><a href="https://www.mathworks.com/" target="_blank" rel="external nofollow noopener noreferrer">https://www.mathworks.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>PSIM</td> <td>电力电子仿真</td> <td><a href="https://powersimtech.com/" target="_blank" rel="external nofollow noopener noreferrer">https://powersimtech.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> <tr> <td>LTspice</td> <td>电路仿真</td> <td><a href="https://www.analog.com/en/design-center/design-tools-and-calculators/ltspice-simulator.html" target="_blank" rel="external nofollow noopener noreferrer">https://www.analog.com/en/design-center/design-tools-and-calculators/ltspice-simulator.html<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="实验板推荐"><span>实验板推荐</span> <a href="#%e5%ae%9e%e9%aa%8c%e6%9d%bf%e6%8e%a8%e8%8d%90" 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="arduino-平台"><span>Arduino 平台</span> <a href="#arduino-%e5%b9%b3%e5%8f%b0" 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><table> <thead> <tr> <th>开发板</th> <th>特点</th> <th>价格</th> </tr> </thead> <tbody> <tr> <td>Arduino Uno</td> <td>入门首选</td> <td>~¥50</td> </tr> <tr> <td>ESP32</td> <td>高性能、WiFi/BLE</td> <td>~¥50</td> </tr> <tr> <td>STM32 Bluepill</td> <td>STM32 入门</td> <td>~¥20</td> </tr> <tr> <td>SimpleFOC Shield</td> <td>专用驱动板</td> <td>~¥150</td> </tr> </tbody> </table> <h3 class="heading-element" id="stm32-官方板"><span>STM32 官方板</span> <a href="#stm32-%e5%ae%98%e6%96%b9%e6%9d%bf" 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><table> <thead> <tr> <th>开发板</th> <th>特点</th> <th>价格</th> </tr> </thead> <tbody> <tr> <td>Nucleo-F401</td> <td>开发板</td> <td>~¥150</td> </tr> <tr> <td>Nucleo-G431</td> <td>FOC 专用</td> <td>~¥150</td> </tr> <tr> <td>B-G431B-ESC1</td> <td>原型 ESC 板</td> <td>~¥300</td> </tr> </tbody> </table> <h3 class="heading-element" id="vesc-硬件"><span>VESC 硬件</span> <a href="#vesc-%e7%a1%ac%e4%bb%b6" 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><table> <thead> <tr> <th>型号</th> <th>特点</th> <th>价格</th> </tr> </thead> <tbody> <tr> <td>Flipsky Mini</td> <td>小尺寸</td> <td>~¥400</td> </tr> <tr> <td>VESC 6</td> <td>标准版</td> <td>~¥1000</td> </tr> <tr> <td>VESC 75/300</td> <td>大功率</td> <td>~¥2000+</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="社区资源"><span>社区资源</span> <a href="#%e7%a4%be%e5%8c%ba%e8%b5%84%e6%ba%90" 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="论坛"><span>论坛</span> <a href="#%e8%ae%ba%e5%9d%9b" 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><table> <thead> <tr> <th>论坛</th> <th>链接</th> <th>语言</th> </tr> </thead> <tbody> <tr> <td>SimpleFOC 社区</td> <td><a href="https://community.simplefoc.com/" target="_blank" rel="external nofollow noopener noreferrer">https://community.simplefoc.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>英文</td> </tr> <tr> <td>VESC 论坛</td> <td><a href="https://vesc-project.com/forum" target="_blank" rel="external nofollow noopener noreferrer">https://vesc-project.com/forum<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>英文</td> </tr> <tr> <td>ST 官方论坛</td> <td><a href="https://community.st.com/" target="_blank" rel="external nofollow noopener noreferrer">https://community.st.com/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>多语言</td> </tr> <tr> <td>Arduino 论坛</td> <td><a href="https://forum.arduino.cc/" target="_blank" rel="external nofollow noopener noreferrer">https://forum.arduino.cc/<i class="fa-solid fa-external-link-alt fa-xs ms-1 text-secondary" aria-hidden="true"></i></a></td> <td>多语言</td> </tr> </tbody> </table> <h3 class="heading-element" id="中文社区"><span>中文社区</span> <a href="#%e4%b8%ad%e6%96%87%e7%a4%be%e5%8c%ba" 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><table> <thead> <tr> <th>平台</th> <th>关键词</th> </tr> </thead> <tbody> <tr> <td>Bilibili</td> <td>FOC, 无刷电机</td> </tr> <tr> <td>知乎</td> <td>磁场定向控制</td> </tr> <tr> <td>CSDN</td> <td>BLDC 控制算法</td> </tr> <tr> <td>立创开源广场</td> <td>无刷电机项目</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="数据手册速查"><span>数据手册速查</span> <a href="#%e6%95%b0%e6%8d%ae%e6%89%8b%e5%86%8c%e9%80%9f%e6%9f%a5" 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="电机参数测量"><span>电机参数测量</span> <a href="#%e7%94%b5%e6%9c%ba%e5%8f%82%e6%95%b0%e6%b5%8b%e9%87%8f" 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><table> <thead> <tr> <th>参数</th> <th>测量方法</th> <th>注意事项</th> </tr> </thead> <tbody> <tr> <td>相电阻</td> <td>万用表测量两相</td> <td>阻值小，精度要求高</td> </tr> <tr> <td>相电感</td> <td>电桥测量</td> <td>或使用数据手册</td> </tr> <tr> <td>KV 值</td> <td>空载转速/电压</td> <td>需要转速测量工具</td> </tr> <tr> <td>极对数</td> <td>物理数极数</td> <td>极对数 = 极数 / 2</td> </tr> <tr> <td>惯量</td> <td>查数据手册或实测</td> <td>需要专业设备</td> </tr> </tbody> </table> <h3 class="heading-element" id="控制参数经验值"><span>控制参数经验值</span> <a href="#%e6%8e%a7%e5%88%b6%e5%8f%82%e6%95%b0%e7%bb%8f%e9%aa%8c%e5%80%bc" 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><table> <thead> <tr> <th>参数</th> <th>典型值</th> <th>调整范围</th> </tr> </thead> <tbody> <tr> <td>PWM 频率</td> <td>20kHz</td> <td>10-50kHz</td> </tr> <tr> <td>电流环采样</td> <td>20kHz+</td> <td>≥ PWM 频率</td> </tr> <tr> <td>速度环采样</td> <td>1-5kHz</td> <td>电流环/5</td> </tr> <tr> <td>位置环采样</td> <td>100-1kHz</td> <td>速度环/5</td> </tr> <tr> <td>电流环带宽</td> <td>2-5kHz</td> <td>视电感而定</td> </tr> <tr> <td>速度环带宽</td> <td>100-500Hz</td> <td>视负载而定</td> </tr> <tr> <td>位置环带宽</td> <td>10-50Hz</td> <td>视应用而定</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="公式速查"><span>公式速查</span> <a href="#%e5%85%ac%e5%bc%8f%e9%80%9f%e6%9f%a5" 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="基本公式"><span>基本公式</span> <a href="#%e5%9f%ba%e6%9c%ac%e5%85%ac%e5%bc%8f" 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><pre><code>反电动势：E = k_e × ω 转矩：τ = k_t × I 最大力：F_max = B × I × L KV 值：KV = 60 / (2π × k_e)</code></pre><h3 class="heading-element" id="坐标变换"><span>坐标变换</span> <a href="#%e5%9d%90%e6%a0%87%e5%8f%98%e6%8d%a2" 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><pre><code>Clarke: i_α = i_a i_β = (i_b - i_c) / √3 Park: i_d = i_α·cos(θ) &#43; i_β·sin(θ) i_q = -i_α·sin(θ) &#43; i_β·cos(θ) 逆 Park: u_α = u_d·cos(θ) - u_q·sin(θ) u_β = u_d·sin(θ) &#43; u_q·cos(θ)</code></pre><h3 class="heading-element" id="pi-控制器"><span>PI 控制器</span> <a href="#pi-%e6%8e%a7%e5%88%b6%e5%99%a8" 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><pre><code>output = Kp × error &#43; Ki × ∫error dt 离散化： u[n] = Kp × e[n] &#43; Ki × T_s × Σe[k]</code></pre><hr> <h2 class="heading-element" id="学习路径建议"><span>学习路径建议</span> <a href="#%e5%ad%a6%e4%b9%a0%e8%b7%af%e5%be%84%e5%bb%ba%e8%ae%ae" 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="第一阶段2-3周"><span>第一阶段（2-3周）</span> <a href="#%e7%ac%ac%e4%b8%80%e9%98%b6%e6%ae%b52-3%e5%91%a8" 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><ol> <li>阅读《电机学》基础章节</li> <li>学习 SimpleFOC 理论文档</li> <li>搭建 Arduino + 简单驱动器 + BLDC</li> <li>实现开环速度控制</li> </ol> <h3 class="heading-element" id="第二阶段3-4周"><span>第二阶段（3-4周）</span> <a href="#%e7%ac%ac%e4%ba%8c%e9%98%b6%e6%ae%b53-4%e5%91%a8" 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><ol> <li>学习 Clarke/Park 变换</li> <li>实现 FOC 控制</li> <li>添加编码器反馈</li> <li>整定电流环 PID</li> </ol> <h3 class="heading-element" id="第三阶段4-6周"><span>第三阶段（4-6周）</span> <a href="#%e7%ac%ac%e4%b8%89%e9%98%b6%e6%ae%b54-6%e5%91%a8" 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><ol> <li>研究三环控制</li> <li>实现速度环和位置环</li> <li>学习 SVPWM 原理</li> <li>迁移到 STM32</li> </ol> <h3 class="heading-element" id="第四阶段持续"><span>第四阶段（持续）</span> <a href="#%e7%ac%ac%e5%9b%9b%e9%98%b6%e6%ae%b5%e6%8c%81%e7%bb%ad" 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><ol> <li>研究无传感器 FOC</li> <li>实现观测器算法</li> <li>研究多电机协同</li> <li>产品化开发</li> </ol> <hr> <h2 class="heading-element" id="常见问题汇总"><span>常见问题汇总</span> <a href="#%e5%b8%b8%e8%a7%81%e9%97%ae%e9%a2%98%e6%b1%87%e6%80%bb" 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="硬件问题"><span>硬件问题</span> <a href="#%e7%a1%ac%e4%bb%b6%e9%97%ae%e9%a2%98" 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><table> <thead> <tr> <th>问题</th> <th>可能原因</th> <th>解决方法</th> </tr> </thead> <tbody> <tr> <td>电机不转</td> <td>接线错误、电流限太低</td> <td>检查接线、增加电流限制</td> </tr> <tr> <td>电机抖动</td> <td>PID 不当、噪声</td> <td>重新整定 PID、添加滤波</td> </tr> <tr> <td>电机过热</td> <td>电流过大、散热不良</td> <td>降低电流、改善散热</td> </tr> <tr> <td>驱动器烧毁</td> <td>短路、过压</td> <td>检查电路、增加保护</td> </tr> </tbody> </table> <h3 class="heading-element" id="软件问题"><span>软件问题</span> <a href="#%e8%bd%af%e4%bb%b6%e9%97%ae%e9%a2%98" 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><table> <thead> <tr> <th>问题</th> <th>可能原因</th> <th>解决方法</th> </tr> </thead> <tbody> <tr> <td>编译错误</td> <td>头文件未包含、库路径错误</td> <td>检查包含路径</td> </tr> <tr> <td>控制不稳定</td> <td>参数整定不当</td> <td>使用阶跃响应调试</td> </tr> <tr> <td>性能不足</td> <td>采样率不够、算法优化</td> <td>提高采样率、优化代码</td> </tr> <tr> <td>震荡振荡</td> <td>增益太大、反馈延迟</td> <td>降低增益、检查传感器延迟</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="技术术语对照"><span>技术术语对照</span> <a href="#%e6%8a%80%e6%9c%af%e6%9c%af%e8%af%ad%e5%af%b9%e7%85%a7" 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>中文</th> <th>英文</th> <th>缩写</th> </tr> </thead> <tbody> <tr> <td>磁场定向控制</td> <td>Field Oriented Control</td> <td>FOC</td> </tr> <tr> <td>无刷直流电机</td> <td>Brushless DC Motor</td> <td>BLDC</td> </tr> <tr> <td>永磁同步电机</td> <td>Permanent Magnet Synchronous Motor</td> <td>PMSM</td> </tr> <tr> <td>表贴式永磁</td> <td>Surface Permanent Magnet</td> <td>SPM</td> </tr> <tr> <td>内嵌式永磁</td> <td>Interior Permanent Magnet</td> <td>IPM</td> </tr> <tr> <td>空间矢量脉宽调制</td> <td>Space Vector PWM</td> <td>SVPWM</td> </tr> <tr> <td>电角度</td> <td>Electrical Angle</td> <td>-</td> </tr> <tr> <td>机械角度</td> <td>Mechanical Angle</td> <td>-</td> </tr> <tr> <td>极对数</td> <td>Pole Pairs</td> <td>P</td> </tr> </tbody> </table> <hr> <h2 class="heading-element" id="更新日志"><span>更新日志</span> <a href="#%e6%9b%b4%e6%96%b0%e6%97%a5%e5%bf%97" 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>2025-05-07：初始版本创建</li> </ul> <hr> <p><em>本资源汇总将随学习进展持续更新</em></p>