采用matlab2013的smulink自己搭建的坐标变换模块，经测试可用，包括park变换、clark变换、park逆变换、clark逆变换、三相静止直接变换到两相旋转坐标系、两相旋转坐标系变换到三相静止坐标系。-The coordinate transformation module of matlab2013 smulink to build their own, can be tested, including Park transform, Clark transform, park

机器人动作编程中可能会用到的知识：空间立体坐标系的旋转和动态变换一定角度，新的坐标在原始坐标上的投影。(The knowledge that may be used in robot action programming: the rotation and dynamic transformation of a spatial coordinate system, the projection of a new coordinate in the original coordinate)