diff --git a/GSRL/Device/inc/dvc_motor.hpp b/GSRL/Device/inc/dvc_motor.hpp
index 213fcd9..e9b45ad 100644
--- a/GSRL/Device/inc/dvc_motor.hpp
+++ b/GSRL/Device/inc/dvc_motor.hpp
@@ -209,20 +209,16 @@ using MotorDM2325 = MotorDM4310;
  * @note 反馈帧: 反馈ID = 0x300 + 电机ID, 数据段为大端字节序
  * @note 控制电流为标幺值，含义参见达妙力位混控模式中的 i_des 说明
  */
-class MotorDMmulti : public Motor
+class MotorDMmulti : public MotorGM6020
 {
 protected:
-    uint8_t m_dmMotorID;          // 达妙电机ID [1,8]
-    uint16_t m_encoderHistory[2]; // 0:当前值 1:上一次值
-    int16_t m_currentRPMSpeed;    // 电机速度, 单位RPM(已除以100后的真实值)
-    uint8_t m_errorState;         // 反馈帧D[7]错误状态字节, 具体含义详见达妙错误状态说明书
-    uint8_t m_mergedData[8];      // getMergedControlData 输出缓冲区
+    uint8_t m_errorState; // 反馈帧D[7]错误状态字节, 具体含义详见达妙错误状态说明书
 
 public:
     MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t encoderOffset = 0);
     uint8_t getDmMotorID() const;
     uint8_t getErrorState() const;
-    const uint8_t *getMergedControlData(MotorDMmulti &otherMotor);
+    // getMergedControlData 继承自 MotorGM6020，控制ID不同的电机间调用会被ID守卫拦截
 
 protected:
     bool decodeCanRxMessage(const can_rx_message_t &rxMessage) override;
diff --git a/GSRL/Device/src/dvc_motor.cpp b/GSRL/Device/src/dvc_motor.cpp
index d720a81..a8173d0 100644
--- a/GSRL/Device/src/dvc_motor.cpp
+++ b/GSRL/Device/src/dvc_motor.cpp
@@ -713,16 +713,13 @@ void MotorDM4310::setMotorZeroPosition()
  * | 控制ID |             0x3FE             |             0x4FE             |
  */
 MotorDMmulti::MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t encoderOffset)
-    : Motor(dmMotorID <= 4 ? 0x3FE : 0x4FE,
-            0x300u + dmMotorID,
-            controller,
-            encoderOffset),
-      m_dmMotorID(dmMotorID),
-      m_currentRPMSpeed(0),
+    : MotorGM6020(dmMotorID, controller, encoderOffset),
       m_errorState(0)
 {
-    m_encoderHistory[0] = 0;
-    m_encoderHistory[1] = 0;
+    // 调用GM6020构造函数后修正为达妙一控四固件的发送和接收ID
+    m_motorControlMessageID    = dmMotorID <= 4 ? 0x3FE : 0x4FE;
+    m_motorFeedbackMessageID   = 0x300u + dmMotorID;
+    m_motorControlHeader.StdId = m_motorControlMessageID;
 }
 
 /**
@@ -732,7 +729,7 @@ MotorDMmulti::MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t e
 void MotorDMmulti::convertControllerOutputToMotorControlData()
 {
     int16_t giveControlValue = (int16_t)m_controllerOutput; // 控制电流标幺值
-    uint8_t offset           = (uint8_t)(((m_dmMotorID - 1) & 0x3) * 2);
+    uint8_t offset           = (uint8_t)(((m_djiMotorID - 1) & 0x3) * 2);
     m_motorControlData[offset]     = (uint8_t)(giveControlValue & 0xFF);        // 低 8 位
     m_motorControlData[offset + 1] = (uint8_t)((giveControlValue >> 8) & 0xFF); // 高 8 位
 }
@@ -769,7 +766,7 @@ bool MotorDMmulti::decodeCanRxMessage(const can_rx_message_t &rxMessage)
  */
 uint8_t MotorDMmulti::getDmMotorID() const
 {
-    return m_dmMotorID;
+    return m_djiMotorID;
 }
 
 /**
@@ -781,28 +778,6 @@ uint8_t MotorDMmulti::getErrorState() const
     return m_errorState;
 }
 
-/**
- * @brief 合并两个同控制ID的一控四固件达妙电机CAN控制数据, 同时触发双方掉线检测
- * @param otherMotor 另一个同控制ID的达妙一控四电机
- * @return const uint8_t* 合并后的8字节CAN控制数据
- * @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
- */
-const uint8_t *MotorDMmulti::getMergedControlData(MotorDMmulti &otherMotor)
-{
-    const uint8_t *selfData  = this->getMotorControlData();
-    const uint8_t *otherData = otherMotor.getMotorControlData();
-
-    if (m_motorControlMessageID != otherMotor.m_motorControlMessageID) {
-        return selfData;
-    }
-
-    memcpy(m_mergedData, selfData, 8);
-    uint8_t offset             = (uint8_t)(((otherMotor.m_dmMotorID - 1) & 0x3) * 2);
-    m_mergedData[offset]     = otherData[offset];
-    m_mergedData[offset + 1] = otherData[offset + 1];
-    return m_mergedData;
-}
-
 /******************************************************************************
  *                           瓴控MG系列电机类实现
  ******************************************************************************/