diff --git a/GSRL/Device/inc/dvc_motor.hpp b/GSRL/Device/inc/dvc_motor.hpp
index 213fcd9..ab36960 100644
--- a/GSRL/Device/inc/dvc_motor.hpp
+++ b/GSRL/Device/inc/dvc_motor.hpp
@@ -60,8 +60,9 @@ class Motor
     Controller *m_controller; // 符合 Controller 接口的控制器
     fp32 m_controllerOutput;
     bool m_controllerOutputPolarity;
+    fp32 m_feedForward; // 一次性前馈, 任一闭环方法调用后自动清零
     uint16_t m_encoderOffset;
-
+    
 public:
     virtual ~Motor() = default;
     // 通信相关
@@ -88,6 +89,7 @@ class Motor
     // 控制器相关
     void setController(Controller *controller);
     void setControllerOutputPolarity(bool polarity);
+    void setFeedForwardOnce(fp32 feedForward);
     void openloopControl(fp32 controlValue);
     fp32 angleClosedloopControl();
     fp32 angleClosedloopControl(fp32 targetAngle);
@@ -106,6 +108,7 @@ class Motor
     fp32 updateCurrentRevolutions();
     inline void increaseMotorFeedbackErrorCount();
     inline void clearMotorFeedbackErrorCount();
+    inline void applyControllerOutputPostProcess();
 };
 
 /**
diff --git a/GSRL/Device/src/dvc_motor.cpp b/GSRL/Device/src/dvc_motor.cpp
index d720a81..dd720db 100644
--- a/GSRL/Device/src/dvc_motor.cpp
+++ b/GSRL/Device/src/dvc_motor.cpp
@@ -263,6 +263,18 @@ void Motor::openloopControl(fp32 controlValue)
     convertControllerOutputToMotorControlData();
 }
 
+/**
+ * @brief 设置前馈值
+ * @param feedForward 前馈变量
+ * @note 请在每次控制电机前调用，电机控制方法被调用后会自动清零前馈值
+ * @note 只对闭环方法生效，对硬件控制无效
+ * @note 前馈在极性反转后叠加
+ */
+void Motor::setFeedForwardOnce(fp32 feedForward)
+{
+    m_feedForward = feedForward;
+}
+
 /**
  * @brief 角度闭环控制
  * @return fp32 控制器输出
@@ -273,9 +285,7 @@ fp32 Motor::angleClosedloopControl()
     fp32 angleError      = GSRLMath::normalizeDeltaAngle(m_currentAngle - m_targetAngle);
     fp32 feedBackData[2] = {angleError, m_currentAngularVelocity};
     m_controllerOutput   = m_controller->controllerCalculate(0.0f, feedBackData, 2);
-    if (m_controllerOutputPolarity) {
-        m_controllerOutput = -m_controllerOutput;
-    }
+    applyControllerOutputPostProcess();
     convertControllerOutputToMotorControlData();
     return m_controllerOutput;
 }
@@ -299,9 +309,7 @@ fp32 Motor::angularVelocityClosedloopControl()
 {
     fp32 feedBackData[1] = {m_currentAngularVelocity};
     m_controllerOutput   = m_controller->controllerCalculate(m_targetAngularVelocity, feedBackData, 1);
-    if (m_controllerOutputPolarity) {
-        m_controllerOutput = -m_controllerOutput;
-    }
+    applyControllerOutputPostProcess();
     convertControllerOutputToMotorControlData();
     return m_controllerOutput;
 }
@@ -326,9 +334,7 @@ fp32 Motor::revolutionsClosedloopControl()
 {
     fp32 feedBackData[2] = {m_currentRevolutions, m_currentAngularVelocity};
     m_controllerOutput   = m_controller->controllerCalculate(m_targetRevolutions, feedBackData, 2);
-    if (m_controllerOutputPolarity) {
-        m_controllerOutput = -m_controllerOutput;
-    }
+    applyControllerOutputPostProcess();
     convertControllerOutputToMotorControlData();
     return m_controllerOutput;
 }
@@ -352,9 +358,7 @@ int16_t Motor::torqueCurrentClosedloopControl()
 {
     fp32 feedBackData[1] = {(fp32)m_currentTorqueCurrent};
     m_controllerOutput   = m_controller->controllerCalculate((fp32)m_targetTorqueCurrent, feedBackData, 1);
-    if (m_controllerOutputPolarity) {
-        m_controllerOutput = -m_controllerOutput;
-    }
+    applyControllerOutputPostProcess();
     convertControllerOutputToMotorControlData();
     return m_controllerOutput;
 }
@@ -379,9 +383,7 @@ int16_t Motor::torqueCurrentClosedloopControl(int16_t targetTorqueCurrent)
 fp32 Motor::externalClosedloopControl(fp32 setPoint, const fp32 *feedBackData, uint8_t feedBackSize)
 {
     m_controllerOutput = m_controller->controllerCalculate(setPoint, feedBackData, feedBackSize);
-    if (m_controllerOutputPolarity) {
-        m_controllerOutput = -m_controllerOutput;
-    }
+    applyControllerOutputPostProcess();
     convertControllerOutputToMotorControlData();
     return m_controllerOutput;
 }
@@ -415,6 +417,7 @@ Motor::Motor(uint32_t canControlID, uint32_t canFeedbackID, Controller *controll
       m_controller(controller),
       m_controllerOutput(0.0f),
       m_controllerOutputPolarity(false),
+      m_feedForward(0.0f),
       m_encoderOffset(encoderOffset)
 {
     m_motorControlHeader.DLC   = 8;
@@ -466,6 +469,21 @@ inline void Motor::clearMotorFeedbackErrorCount()
     m_isMotorConnected        = true;
 }
 
+/**
+ * @brief 电机接收到控制器输出的后处理
+ * @note 前馈自动归零
+ * @note 前馈在控制器极性调换之后应用
+ */
+inline void Motor::applyControllerOutputPostProcess()
+{
+    if (m_controllerOutputPolarity) {
+        m_controllerOutput = -m_controllerOutput;
+    }
+    m_controllerOutput += m_feedForward;
+    m_feedForward = 0.0f;
+}
+
+
 /******************************************************************************
  *                           GM6020电机类实现
  ******************************************************************************/