diff --git a/Core/Bsp/bsp_motor.c b/Core/Bsp/bsp_motor.c
index 4ef1e09..a73d7fe 100644
--- a/Core/Bsp/bsp_motor.c
+++ b/Core/Bsp/bsp_motor.c
@@ -71,6 +71,11 @@ void motor_set_speed(motor_id_t motor_id, int16_t speed)
         default: return;
     }
 
+    /* 纠正左右电机物理方向差异 */
+    if (motor_id == MOTOR_3 || motor_id == MOTOR_4) {
+        speed = -speed;
+    }
+
     /* 限制速度范围 (ARR=3599) */
     if (speed > 3599) speed = 3599;
     if (speed < -3599) speed = -3599;