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elmot motors consist of the motor main body and a driver, representing a typical mechatronic product. A brushless motor is a motor without brushes and a commutator (or slip rings), also known as a commutator-less motor. As early as the nineteenth century, when motors were first invented, the practical motors produced were of the brushless type, namely AC squirrel-cage asynchronous motors, which were widely used. However, asynchronous motors have many insurmountable drawbacks, resulting in slow development of motor technology. In the mid-twentieth century, transistors were invented, leading to the use of transistor commutation circuits to replace brushes and