{"id":395,"date":"2026-06-10T22:29:34","date_gmt":"2026-06-10T14:29:34","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/inav-pid-tuning-ugv-ground-vehicle-farsi\/"},"modified":"2026-06-10T22:29:35","modified_gmt":"2026-06-10T14:29:35","slug":"inav-pid-tuning-ugv-ground-vehicle-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/inav-pid-tuning-ugv-ground-vehicle-farsi\/","title":{"rendered":"\u062a\u0646\u0638\u06cc\u0645 PID \u062f\u0631 INAV \u0628\u0631\u0627\u06cc UGV: \u067e\u0627\u06cc\u062f\u0627\u0631\u0633\u0627\u0632\u06cc \u0633\u0631\u0639\u062a \u0648 \u0641\u0631\u0645\u0627\u0646 \u0632\u0645\u06cc\u0646\u06cc (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u062a\u0646\u0638\u06cc\u0645 PID \u062f\u0631 INAV \u0628\u0631\u0627\u06cc UGV Rover\n<\/div>\n
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PID \u0648 INAV Rover \u06cc\u0639\u0646\u06cc \u0686\u0647\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

PID<\/strong> (Proportional-Integral-Derivative) \u06cc\u06a9 \u0627\u0644\u06af\u0648\u0631\u06cc\u062a\u0645 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0633\u062a \u06a9\u0647 \u0633\u06cc\u0633\u062a\u0645\u200c\u0647\u0627\u06cc \u062e\u0648\u062f\u06a9\u0627\u0631 \u0631\u0627 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f. \u062f\u0631 UGV \u0627\u0632 PID \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0633\u0631\u0639\u062a (Speed Controller) \u0648 \u0628\u0631\u0627\u06cc \u0646\u06af\u0647 \u062f\u0627\u0634\u062a\u0646 \u0645\u0633\u06cc\u0631 \u0645\u0633\u062a\u0642\u06cc\u0645 (Heading Hold) \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u062f\u0648\u0646 \u062a\u0646\u0638\u06cc\u0645 \u0635\u062d\u06cc\u062d PID\u060c \u0631\u0628\u0627\u062a \u06cc\u0627 \u062e\u06cc\u0644\u06cc \u06a9\u0646\u062f \u0648\u0627\u06a9\u0646\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f \u06cc\u0627 \u0646\u0648\u0633\u0627\u0646 (Oscillation) \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

INAV<\/strong> \u0646\u0647 \u0641\u0642\u0637 \u0628\u0631\u0627\u06cc \u067e\u0647\u067e\u0627\u062f\u060c \u0628\u0644\u06a9\u0647 \u0628\u0631\u0627\u06cc Rover (\u0632\u0645\u06cc\u0646) \u0648 Boat (\u0622\u0628) \u0647\u0645 \u06a9\u0627\u0645\u0644 \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f. \u062f\u0631 \u062d\u0627\u0644\u062a Rover \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u062f \u0645\u0633\u06cc\u0631 GPS \u062e\u0648\u062f\u06a9\u0627\u0631\u060c GPS Hold\u060c RTH\u060c \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0639\u0645\u0627\u0646 \u062a\u0639\u0631\u06cc\u0641 \u06a9\u0646\u06cc\u062f. Flight Controller \u0647\u0627\u06cc\u06cc \u0645\u062b\u0644 Matek F405-WING \u06cc\u0627 SpeedyBee F405 Wing \u0628\u0631\u0627\u06cc Rover \u0645\u0646\u0627\u0633\u0628\u200c\u0627\u0646\u062f.<\/p>\n

P<\/strong> (Proportional) \u0628\u0647 \u0627\u0646\u062f\u0627\u0632\u0647 \u062e\u0637\u0627\u06cc \u0641\u0639\u0644\u06cc \u0648\u0627\u06a9\u0646\u0634 \u0645\u06cc\u200c\u062f\u0647\u062f. I<\/strong> (Integral) \u062e\u0637\u0627\u06cc \u0627\u0646\u0628\u0627\u0634\u062a\u0647 \u0631\u0627 \u0627\u0635\u0644\u0627\u062d \u0645\u06cc\u200c\u06a9\u0646\u062f. D<\/strong> (Derivative) \u0627\u0632 \u062a\u063a\u06cc\u06cc\u0631 \u0633\u0631\u06cc\u0639 \u062e\u0637\u0627 \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0648 damping \u0627\u06cc\u062c\u0627\u062f \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

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\u0647\u062f\u0641 \u0627\u06cc\u0646 \u0631\u0627\u0647\u0646\u0645\u0627<\/h2>\n

\u062a\u0646\u0638\u06cc\u0645 PID \u062f\u0631 INAV \u0628\u0631\u0627\u06cc \u06cc\u06a9 UGV 4WD \u0628\u0627 \u0645\u0648\u062a\u0648\u0631 Skid-Steer \u062a\u0627 \u0631\u0641\u062a\u0627\u0631 \u0635\u0627\u0641 \u0648 \u062f\u0642\u06cc\u0642 \u062f\u0631 GPS Hold \u0648 Auto Mission \u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f.<\/p>\n

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  • \u067e\u06cc\u0634\u200c\u0646\u06cc\u0627\u0632:<\/strong> UGV \u0628\u0627 FC INAV 5+\u060c GPS\u060c RC<\/li>\n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f1 \u062a\u0627 \u06f2 \u0633\u0627\u0639\u062a \u062a\u0646\u0638\u06cc\u0645<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\u062e\u0637\u0627<\/text>\nSetpoint-Real<\/text>\nP \u00d7 Error<\/text>\nI \u00d7 \u222bError<\/text>\nD \u00d7 dError<\/text>\n\u062c\u0645\u0639<\/text>\nP+I+D<\/text>\n\u0645\u0648\u062a\u0648\u0631<\/text>\n\u06a9\u0646\u062a\u0631\u0644\u0631 PID \u2014 \u0633\u0647 \u062c\u0632\u0621 P, I, D = \u062e\u0631\u0648\u062c\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631<\/text>\n<\/svg><\/p>\n

    \u062a\u0646\u0638\u06cc\u0645 INAV \u0628\u0631\u0627\u06cc Rover<\/h2>\n\n\n\n\n\n\n\n\n
    \u0645\u0631\u062d\u0644\u0647<\/th>\n\u0645\u0633\u06cc\u0631 \u062f\u0631 INAV Configurator<\/th>\n<\/tr>\n<\/thead>\n
    \u0627\u0646\u062a\u062e\u0627\u0628 Platform Type<\/td>\nConfiguration \u2192 Platform Type \u2192 Rover<\/td>\n<\/tr>\n
    \u062a\u0646\u0638\u06cc\u0645 Mixer<\/td>\nMixer \u2192 Differential Thrust (Skid-Steer)<\/td>\n<\/tr>\n
    PID \u067e\u0627\u06cc\u0647<\/td>\nPID Tuning \u2192 Heading Hold P=20, I=5, D=3<\/td>\n<\/tr>\n
    GPS Nav PID<\/td>\nAdvanced Tuning \u2192 Nav Pos P=0.8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u0631\u0648\u0634 \u062a\u0646\u0638\u06cc\u0645 \u062a\u062c\u0631\u0628\u06cc PID<\/h2>\n
    \n\/\/ \u0645\u0631\u062d\u0644\u0647 \u06f1: P \u0631\u0627 \u0627\u0632 \u0635\u0641\u0631 \u0628\u0627\u0644\u0627 \u0628\u0628\u0631\u06cc\u062f\n\/\/ - P=0 \u2192 \u0631\u0628\u0627\u062a \u0648\u0627\u06a9\u0646\u0634 \u0646\u0645\u06cc\u200c\u062f\u0647\u062f\n\/\/ - P=\u0628\u0627\u0644\u0627 \u2192 \u0646\u0648\u0633\u0627\u0646 \u0634\u0631\u0648\u0639 \u0645\u06cc\u200c\u0634\u0648\u062f\n\/\/ - P \u0628\u0647\u06cc\u0646\u0647 = \u0646\u06cc\u0645\u06cc \u0627\u0632 \u0645\u0642\u062f\u0627\u0631 \u0646\u0648\u0633\u0627\u0646\n\n\/\/ \u0645\u0631\u062d\u0644\u0647 \u06f2: I \u0631\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f\n\/\/ - I \u0628\u0647 \u0631\u0628\u0627\u062a \u06a9\u0645\u06a9 \u0645\u06cc\u200c\u06a9\u0646\u062f \u062e\u0637\u0627\u06cc \u0645\u0627\u0646\u062f\u06af\u0627\u0631 \u0631\u0627 \u062d\u0630\u0641 \u06a9\u0646\u062f\n\/\/ - I=\u0628\u0627\u0644\u0627 \u2192 \u06a9\u0646\u062f\u06cc \u06cc\u0627 oscillation \u067e\u0627\u06cc\u06cc\u0646\u200c\u0641\u0631\u06a9\u0627\u0646\u0633\n\/\/ - \u0634\u0631\u0648\u0639 \u0628\u0627 I = P\/10\n\n\/\/ \u0645\u0631\u062d\u0644\u0647 \u06f3: D \u0631\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\u06cc\u062f\n\/\/ - D \u0646\u0648\u0633\u0627\u0646\u0627\u062a \u0631\u0627 \u0645\u06cc\u0631\u0627 \u0645\u06cc\u200c\u06a9\u0646\u062f\n\/\/ - D=\u0628\u0627\u0644\u0627 \u2192 \u0646\u0648\u06cc\u0632 \u0645\u0648\u062a\u0648\u0631 \u0648 \u0635\u062f\u0627\n\/\/ - \u0634\u0631\u0648\u0639 \u0628\u0627 D = P\/20\n\n\/\/ \u062a\u0646\u0638\u06cc\u0645 GPS Hold Nav_Pos_P:\n\/\/ - \u062e\u06cc\u0644\u06cc \u06a9\u0645 \u2192 \u0631\u0628\u0627\u062a \u0633\u0633\u062a \u0627\u0633\u062a\n\/\/ - \u062e\u06cc\u0644\u06cc \u0632\u06cc\u0627\u062f \u2192 \u0631\u0628\u0627\u062a zigzag \u0645\u06cc\u200c\u0631\u0648\u062f\n\/\/ - \u0645\u0642\u062f\u0627\u0631 \u067e\u06cc\u0634\u0646\u0647\u0627\u062f\u06cc: 0.7-1.2 \u0628\u0631\u0627\u06cc \u0633\u0631\u0639\u062a \u0645\u062a\u0648\u0633\u0637\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u062a\u0646\u0638\u06cc\u0645<\/h2>\n\n\n\n\n\n\n\n\n
    \u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647 \u0645\u0637\u0644\u0648\u0628<\/th>\n<\/tr>\n<\/thead>\n
    ANGLE Mode \u2014 \u0631\u0628\u0627\u062a \u0645\u0633\u062a\u0642\u06cc\u0645 \u0645\u06cc\u200c\u0631\u0648\u062f\u061f<\/td>\n\u0628\u0644\u0647 \u0628\u062f\u0648\u0646 \u0627\u0646\u062d\u0631\u0627\u0641<\/td>\n<\/tr>\n
    GPS Hold \u2014 \u062f\u0631 \u06f1 \u0645\u062a\u0631 \u062b\u0627\u0628\u062a \u0645\u06cc\u200c\u0645\u0627\u0646\u062f\u061f<\/td>\n\u0628\u0644\u0647<\/td>\n<\/tr>\n
    Auto Mission \u2014 \u0645\u0633\u06cc\u0631 \u0631\u0627 \u062f\u0646\u0628\u0627\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u062e\u0637\u0627\u06cc \u0645\u0633\u06cc\u0631 < \u06f1 \u0645\u062a\u0631<\/td>\n<\/tr>\n
    \u0633\u0631\u0639\u062a \u0628\u0627\u0644\u0627 \u2192 \u0646\u0648\u0633\u0627\u0646 \u0646\u06cc\u0633\u062a\u061f<\/td>\n\u062d\u0631\u06a9\u062a \u0635\u0627\u0641<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nGPS + Compass<\/text>\n\u0645\u0648\u0642\u0639\u06cc\u062a \u0648\u0627\u0642\u0639\u06cc<\/text>\nINAV FC<\/text>\nPID \u0645\u062d\u0627\u0633\u0628\u0647<\/text>\nESC \/ L298N<\/text>\n\u062a\u0648\u0627\u0646 \u0645\u0648\u062a\u0648\u0631<\/text>\nUGV \u062d\u0631\u06a9\u062a<\/text>\n\u067e\u0627\u06cc\u062f\u0627\u0631 + \u062f\u0642\u06cc\u0642<\/text>\n\u062d\u0644\u0642\u0647 \u06a9\u0646\u062a\u0631\u0644 PID \u2014 GPS \u2192 FC \u2192 \u0645\u0648\u062a\u0648\u0631 \u2192 UGV<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
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