{"id":502,"date":"2026-06-11T10:59:30","date_gmt":"2026-06-11T02:59:30","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/brushless-motor-esc-agv-selection-tuning-speed-control-farsi\/"},"modified":"2026-06-11T10:59:30","modified_gmt":"2026-06-11T02:59:30","slug":"brushless-motor-esc-agv-selection-tuning-speed-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/brushless-motor-esc-agv-selection-tuning-speed-control-farsi\/","title":{"rendered":"\u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u0645\u0648\u062a\u0648\u0631 Brushless \u0648 ESC \u0628\u0631\u0627\u06cc AGV: \u0627\u0646\u062a\u062e\u0627\u0628\u060c \u062a\u0646\u0638\u06cc\u0645 \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0639\u062a (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0645\u0648\u062a\u0648\u0631 Brushless ESC AGV \u0631\u0628\u0627\u062a \u0632\u0645\u06cc\u0646\u06cc\n<\/div>\n
\n

\u0645\u0648\u062a\u0648\u0631 Brushless \u0628\u0631\u0627\u06cc AGV \u0686\u06cc\u0633\u062a\u061f (\u0628\u0631\u0627\u06cc \u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc Brushless DC (BLDC)<\/strong> \u062f\u0631 \u0645\u0642\u0627\u06cc\u0633\u0647 \u0628\u0627 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc DC \u0628\u0631\u0627\u0634\u200c\u062f\u0627\u0631 \u0645\u0632\u0627\u06cc\u0627\u06cc \u0628\u0632\u0631\u06af\u06cc \u062f\u0627\u0631\u0646\u062f: \u0639\u0645\u0631 \u0628\u06cc\u0634\u062a\u0631\u060c \u0628\u0627\u0632\u062f\u0647\u06cc \u0628\u0627\u0644\u0627\u062a\u0631 (\u062a\u0627 \u06f9\u06f5%)\u060c \u0648 \u06af\u0634\u062a\u0627\u0648\u0631 \u06cc\u06a9\u0646\u0648\u0627\u062e\u062a\u200c\u062a\u0631. \u0628\u0631\u0627\u06cc AGV \u0648 \u0631\u0628\u0627\u062a\u200c\u0647\u0627\u06cc \u0632\u0645\u06cc\u0646\u06cc \u06a9\u0647 \u0646\u06cc\u0627\u0632 \u0628\u0647 \u062f\u0642\u062a \u0648 \u06a9\u0646\u062a\u0631\u0644\u200c\u067e\u0630\u06cc\u0631\u06cc \u0628\u0627\u0644\u0627 \u062f\u0627\u0631\u0646\u062f\u060c \u0627\u06cc\u062f\u0647\u200c\u0622\u0644 \u0647\u0633\u062a\u0646\u062f.<\/p>\n

\u067e\u0627\u0631\u0627\u0645\u062a\u0631 KV<\/strong> \u062a\u0639\u062f\u0627\u062f \u062f\u0648\u0631 \u0628\u0631 \u062f\u0642\u06cc\u0642\u0647 \u0628\u0647 \u0627\u0632\u0627\u06cc \u0647\u0631 \u0648\u0644\u062a \u0631\u0627 \u0646\u0634\u0627\u0646 \u0645\u06cc\u200c\u062f\u0647\u062f. \u0628\u0631\u0627\u06cc AGV \u06a9\u0647 \u0628\u0647 \u06af\u0634\u062a\u0627\u0648\u0631 \u0628\u0627\u0644\u0627 \u0648 \u0633\u0631\u0639\u062a \u06a9\u0645 \u0646\u06cc\u0627\u0632 \u062f\u0627\u0631\u062f\u060c \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 KV \u067e\u0627\u06cc\u06cc\u0646 (\u06f1\u06f0\u06f0-\u06f5\u06f0\u06f0 KV) \u0645\u0646\u0627\u0633\u0628\u200c\u062a\u0631 \u0627\u0633\u062a. \u06cc\u06a9 ESC<\/strong> (Electronic Speed Controller) \u0633\u06cc\u06af\u0646\u0627\u0644 PWM \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0631\u0627 \u0628\u0647 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0647\u200c\u0641\u0627\u0632 \u0645\u0648\u062a\u0648\u0631 \u062a\u0628\u062f\u06cc\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n

\u0628\u0631\u0627\u06cc AGV \u062f\u0648\u0637\u0631\u0641\u0647 (\u067e\u06cc\u0634 \u0648 \u067e\u0633)\u060c \u0628\u0627\u06cc\u062f \u0627\u0632 ESC \u0628\u0627 \u0642\u0627\u0628\u0644\u06cc\u062a Bidirectional<\/strong> \u06cc\u0627 \u062d\u0627\u0644\u062a Crawler ESC \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0631\u062f \u2014 ESC \u0647\u0627\u06cc \u0645\u0639\u0645\u0648\u0644 FPV \u0641\u0642\u0637 \u06cc\u06a9\u200c\u0637\u0631\u0641\u0647 \u0647\u0633\u062a\u0646\u062f.<\/p>\n<\/div>\n

\n

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

\u0627\u0646\u062a\u062e\u0627\u0628 \u0645\u0648\u062a\u0648\u0631 BLDC \u0645\u0646\u0627\u0633\u0628\u060c \u062a\u0646\u0638\u06cc\u0645 ESC Bidirectional\u060c \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0627\u0632 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u0631\u0627\u06cc AGV.<\/p>\n

    \n
  • \u0632\u0645\u0627\u0646:<\/strong> \u06f3 \u062a\u0627 \u06f5 \u0633\u0627\u0639\u062a<\/li>\n
  • \u0633\u0627\u0632\u06af\u0627\u0631\u06cc:<\/strong> \u0647\u0631 AGV \u0628\u0627 \u0648\u0632\u0646 \u06f1 \u062a\u0627 \u06f5 \u06a9\u06cc\u0644\u0648\u06af\u0631\u0645<\/li>\n<\/ul>\n<\/div>\n

    \n\n\n\n\n\n\n\nArduino<\/text>\nPWM 1000-2000\u03bcs<\/text>\nESC Bidir<\/text>\n3-Phase Driver<\/text>\nBLDC Motor<\/text>\nOutrunner<\/text>\n\u0686\u0631\u062e AGV<\/text>\n\u06af\u0634\u062a\u0627\u0648\u0631 \u0628\u0627\u0644\u0627<\/text>\nBLDC AGV \u2014 Arduino PWM \u2192 ESC \u2192 BLDC \u2192 \u0686\u0631\u062e<\/text>\n<\/svg><\/p>\n

    \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u0648\u062a\u0648\u0631 \u0645\u0646\u0627\u0633\u0628 \u0628\u0631\u0627\u06cc AGV<\/h2>\n
    \n\/\/ AGV \u0641\u0631\u0636\u06cc:\n\/\/ \u0648\u0632\u0646 = 3kg\u060c \u0642\u0637\u0631 \u0686\u0631\u062e = 15cm\u060c \u0634\u06cc\u0628 = 10\u00b0\n\n\/\/ \u0646\u06cc\u0631\u0648\u06cc \u0645\u0642\u0627\u0648\u0645\u062a:\n\/\/ F_grade = m \u00d7 g \u00d7 sin(\u03b8) = 3 \u00d7 9.8 \u00d7 sin(10\u00b0) \u2248 5.1 N\n\/\/ F_roll   = m \u00d7 g \u00d7 \u03bc     = 3 \u00d7 9.8 \u00d7 0.05  \u2248 1.5 N\n\/\/ F_total  = 6.6 N\n\n\/\/ \u06af\u0634\u062a\u0627\u0648\u0631 \u0645\u0648\u0631\u062f \u0646\u06cc\u0627\u0632 (\u06f2 \u0686\u0631\u062e \u0645\u062d\u0631\u06a9):\n\/\/ T_wheel  = F \u00d7 r = 6.6 \u00d7 0.075 = 0.50 N.m = 500 mN.m\n\/\/ T_motor  = T_wheel \/ gear_ratio (\u0628\u062f\u0648\u0646 \u06af\u06cc\u0631\u0628\u06a9\u0633 = 1:1)\n\n\/\/ \u0627\u0646\u062a\u062e\u0627\u0628: \u0645\u0648\u062a\u0648\u0631 \u0628\u0627 \u06af\u0634\u062a\u0627\u0648\u0631 \u2265 300 mN.m \u0647\u0631 \u06a9\u062f\u0627\u0645\n\/\/ \u067e\u06cc\u0634\u0646\u0647\u0627\u062f: NE8308 (KV=150) \u06cc\u0627 T-Motor GB54-2 (Gimbal Motor)\n\n\/\/ \u0628\u0627 \u06af\u06cc\u0631\u0628\u06a9\u0633 \u06f1:\u06f5:\n\/\/ T_motor = 500 \/ 5 = 100 mN.m \u2192 \u0645\u0648\u062a\u0648\u0631 KV=500 \u06a9\u0627\u0641\u06cc \u0627\u0633\u062a\n<\/code><\/pre>\n
    \u062a\u0646\u0638\u06cc\u0645 ESC Bidirectional \u062f\u0631 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/h2>\n
    \n#include <Servo.h>\nServo leftESC, rightESC;\n\nvoid setup() {\n  leftESC.attach(9);\n  rightESC.attach(10);\n\n  \/\/ Calibration: max \u067e\u0627\u0644\u0633\n  leftESC.writeMicroseconds(2000);\n  rightESC.writeMicroseconds(2000);\n  delay(2000);\n  \/\/ min \u067e\u0627\u0644\u0633\n  leftESC.writeMicroseconds(1000);\n  rightESC.writeMicroseconds(1000);\n  delay(2000);\n  \/\/ Neutral = 1500\u03bcs (\u0628\u0631\u0627\u06cc Bidirectional)\n  leftESC.writeMicroseconds(1500);\n  rightESC.writeMicroseconds(1500);\n  delay(3000);  \/\/ \u0645\u0646\u062a\u0638\u0631 \u0628\u06cc\u067e \u062a\u0623\u06cc\u06cc\u062f ESC\n}\n\nvoid setSpeed(int left, int right) {\n  \/\/ -100 \u062a\u0627 +100 \u2192 1000 \u062a\u0627 2000 \u03bcs\n  leftESC.writeMicroseconds(1500 + left * 5);\n  rightESC.writeMicroseconds(1500 + right * 5);\n}\n\nvoid loop() {\n  setSpeed(80, 80);   \/\/ \u067e\u06cc\u0634\n  delay(2000);\n  setSpeed(0, 0);     \/\/ \u062a\u0648\u0642\u0641\n  delay(500);\n  setSpeed(-80, -80); \/\/ \u0639\u0642\u0628\n  delay(2000);\n  setSpeed(0, 0);\n  delay(1000);\n}\n<\/code><\/pre>\n
    \u062c\u062f\u0648\u0644 \u0645\u0642\u0627\u06cc\u0633\u0647 ESC \u0628\u0631\u0627\u06cc AGV<\/h2>\n\n\n\n\n\n\n\n\n
    ESC<\/th>\nBidirectional<\/th>\n\u0645\u0646\u0627\u0633\u0628 \u0628\u0631\u0627\u06cc<\/th>\n<\/tr>\n<\/thead>\n
    Hobbywing QuicRun 1060<\/td>\n\u2713<\/td>\nAGV\u060c RC Car<\/td>\n<\/tr>\n
    Hobbywing EZRun 35A<\/td>\n\u2713<\/td>\nAGV \u0633\u0631\u06cc\u0639<\/td>\n<\/tr>\n
    BLHeli_32 (FPV)<\/td>\n\u0628\u0627 \u062a\u0646\u0638\u06cc\u0645<\/td>\nAGV \u0633\u0628\u06a9<\/td>\n<\/tr>\n
    ODrive<\/td>\n\u2713 Full FOC<\/td>\nAGV \u0635\u0646\u0639\u062a\u06cc<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\nKV \u067e\u0627\u06cc\u06cc\u0646<\/text>\n100-500KV<\/text>\n\u06af\u0634\u062a\u0627\u0648\u0631 \u0628\u0627\u0644\u0627<\/text>\n\u0633\u0631\u0639\u062a \u06a9\u0645<\/text>\n\nKV \u0645\u062a\u0648\u0633\u0637<\/text>\n500-1500KV<\/text>\n\u0645\u062a\u0639\u0627\u062f\u0644<\/text>\n\u0628\u0627 \u06af\u06cc\u0631\u0628\u06a9\u0633<\/text>\n\nKV \u0628\u0627\u0644\u0627<\/text>\n2000+KV<\/text>\n\u0628\u0631\u0627\u06cc \u067e\u0647\u067e\u0627\u062f<\/text>\nAGV: \u0646\u0647!<\/text>\n\u0627\u0646\u062a\u062e\u0627\u0628 KV \u0645\u0648\u062a\u0648\u0631 \u0628\u0631 \u0627\u0633\u0627\u0633 \u06a9\u0627\u0631\u0628\u0631\u062f \u2014 AGV \u0646\u06cc\u0627\u0632 \u0628\u0647 KV \u067e\u0627\u06cc\u06cc\u0646 \u062f\u0627\u0631\u062f<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n