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三相无刷电机的PWM控制，通过改变下桥臂的占空比来改变电机的转速。-PWM three-phase brushless motor control, by changing the duty cycle under the bridge arm to change the motor speed.

无刷直流电动机模型 包括：逆变器模块、电源模块、换相逻辑模块、PWM信号产生模块、电动机本体模块、转速测量模块和磁极位置测量模块。-Brushless DC motor model includes: inverter module, power module, commutation logic module, PWM signal generation module, motor body module, speed measurement modules, and pole posi