{"id":596,"date":"2026-06-11T13:17:30","date_gmt":"2026-06-11T05:17:30","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/bldc-foc-simplefoc-arduino-ugv-smooth-control-farsi\/"},"modified":"2026-06-11T13:17:30","modified_gmt":"2026-06-11T05:17:30","slug":"bldc-foc-simplefoc-arduino-ugv-smooth-control-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/bldc-foc-simplefoc-arduino-ugv-smooth-control-farsi\/","title":{"rendered":"\u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u062a\u0648\u0631 BLDC \u0628\u0627 FOC \u0648 SimpleFOC \u0631\u0648\u06cc Arduino: \u0646\u0631\u0645\u200c\u062a\u0631\u06cc\u0646 \u062d\u0631\u06a9\u062a \u0628\u0631\u0627\u06cc UGV (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nFOC SimpleFOC BLDC \u0645\u0648\u062a\u0648\u0631 UGV \u06a9\u0646\u062a\u0631\u0644\n<\/div>\n
\n

FOC \u0648 SimpleFOC \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc BLDC<\/strong> (Brushless DC) \u062f\u0631 \u06a9\u0648\u0627\u062f\u06a9\u0648\u067e\u062a\u0631\u0647\u0627\u060c \u0645\u0627\u0634\u06cc\u0646\u200c\u0647\u0627\u06cc \u0628\u0631\u0642\u06cc\u060c \u0648 UGV\u0647\u0627\u06cc \u062d\u0631\u0641\u0647\u200c\u0627\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f. \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u06a9\u0646\u062a\u0631\u0644 \u0622\u0646\u200c\u0647\u0627 \u0628\u0627 ESC \u0633\u0627\u062f\u0647 \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f \u06a9\u0647 \u0641\u0642\u0637 \u0633\u0631\u0639\u062a \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u0627\u0645\u0627 FOC<\/strong> (Field Oriented Control \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u062f\u0627\u0646\u200c\u06af\u0631\u0627) \u0631\u0648\u0634\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0628\u0627 \u0628\u06cc\u0634\u062a\u0631\u06cc\u0646 \u06af\u0634\u062a\u0627\u0648\u0631 \u0648 \u06a9\u0645\u062a\u0631\u06cc\u0646 \u0627\u062a\u0644\u0627\u0641 \u0627\u0646\u0631\u0698\u06cc \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u0646\u062a\u06cc\u062c\u0647: \u062d\u0631\u06a9\u062a \u0646\u0631\u0645\u200c\u062a\u0631\u060c \u062a\u0648\u0642\u0641 \u062f\u0642\u06cc\u0642\u200c\u062a\u0631\u060c \u0648 \u06a9\u0646\u062a\u0631\u0644 \u0645\u0648\u0642\u0639\u06cc\u062a.<\/p>\n

\u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 SimpleFOC<\/strong> \u0627\u06cc\u0646 \u06a9\u0646\u062a\u0631\u0644 \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0631\u0627 \u0628\u0631\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0633\u0627\u062f\u0647 \u06a9\u0631\u062f\u0647. \u0628\u0627 \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 DRV8302\/DRV8305 (\u062d\u062f\u0648\u062f \u06f1\u06f5-\u06f3\u06f0 \u062f\u0644\u0627\u0631) \u0648 \u06cc\u06a9 \u0627\u0646\u06a9\u0648\u062f\u0631 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc AS5600 (\u06f5 \u062f\u0644\u0627\u0631)\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 FOC \u0631\u0627 \u0631\u0648\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u062c\u0631\u0627 \u06a9\u0631\u062f. UGV \u0628\u0627 FOC \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u062f \u0633\u0631\u0639\u062a \u062f\u0642\u06cc\u0642 \u0631\u0627 \u062d\u0641\u0638 \u06a9\u0646\u062f \u062d\u062a\u06cc \u062f\u0631 \u0633\u0631\u0628\u0627\u0644\u0627\u06cc\u06cc.<\/p>\n<\/div>\n

\n

\u0645\u062d\u0635\u0648\u0644\u06cc \u06a9\u0647 \u0645\u06cc\u200c\u0633\u0627\u0632\u06cc\u062f<\/h2>\n

\u06cc\u06a9 UGV \u0628\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0639\u062a FOC \u2014 \u0645\u0648\u062a\u0648\u0631 BLDC + AS5600 + SimpleFOC.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647 \u062f\u0631\u0627\u06cc\u0648\u0631:<\/strong> SimpleFOC Shield \u2248 \u06f2\u06f5 \u062f\u0644\u0627\u0631<\/li>\n
  • \u0627\u0646\u06a9\u0648\u062f\u0631:<\/strong> AS5600 \u2248 \u06f5 \u062f\u0644\u0627\u0631<\/li>\n
  • \u062f\u0642\u062a \u0633\u0631\u0639\u062a:<\/strong> \u00b1\u06f0.\u06f5 RPM<\/li>\n<\/ul>\n<\/div>\n

    \n\nArduino + SimpleFOC<\/text>\nPID Velocity<\/text>\nAS5600 \u2190 \u0641\u06cc\u062f\u0628\u06a9<\/text>\n\n\nDRV8302 Driver<\/text>\n3-phase PWM<\/text>\n\n\nBLDC Motor<\/text>\nAS5600 \u0627\u0646\u06a9\u0648\u062f\u0631<\/text>\nUGV \u0686\u0631\u062e<\/text>\nFOC \u2014 Arduino \u2192 DRV8302 \u2192 BLDC \u2192 AS5600 \u0641\u06cc\u062f\u0628\u06a9<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f SimpleFOC \u2014 Velocity Control<\/h2>\n
    \n#include <SimpleFOC.h>\n\n\/\/ \u0645\u0648\u062a\u0648\u0631: 7 \u062c\u0641\u062a \u0642\u0637\u0628 (BLDC \u0645\u0639\u0645\u0648\u0644\u06cc)\nBLDCMotor motor = BLDCMotor(7);\nBLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);  \/\/ 3PWM + Enable\n\n\/\/ \u0627\u0646\u06a9\u0648\u062f\u0631 \u0645\u063a\u0646\u0627\u0637\u06cc\u0633\u06cc AS5600 \u0631\u0648\u06cc I2C\nMagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);\n\nfloat target_velocity = 10.0;  \/\/ rad\/s\n\nvoid setup() {\n  sensor.init();\n  motor.linkSensor(&sensor);\n\n  driver.voltage_power_supply = 12;  \/\/ \u0648\u0644\u062a\u0627\u0698\n  driver.init();\n  motor.linkDriver(&driver);\n\n  motor.controller = MotionControlType::velocity;\n\n  \/\/ PID \u062a\u0646\u0638\u06cc\u0645 Velocity:\n  motor.PID_velocity.P = 0.2;\n  motor.PID_velocity.I = 20;\n  motor.PID_velocity.D = 0.001;\n\n  motor.voltage_limit = 6;  \/\/ \u062d\u062f\u0627\u06a9\u062b\u0631 \u0648\u0644\u062a\u0627\u0698 \u0627\u0639\u0645\u0627\u0644\u06cc\n\n  motor.init();\n  motor.initFOC();\n}\n\nvoid loop() {\n  motor.loopFOC();\n  motor.move(target_velocity);\n\n  \/\/ \u062f\u0633\u062a\u0648\u0631 \u0627\u0632 Serial:\n  if(Serial.available()) {\n    target_velocity = Serial.parseFloat();\n  }\n}\n<\/code><\/pre>\n
    \u0645\u0642\u0627\u06cc\u0633\u0647 FOC \u0628\u0627 L298N<\/h2>\n\n\n\n\n\n\n\n\n\n
    \u0645\u0634\u062e\u0635\u0647<\/th>\nL298N + \u0645\u0648\u062a\u0648\u0631 DC<\/th>\nSimpleFOC + BLDC<\/th>\n<\/tr>\n<\/thead>\n
    \u0646\u0631\u0645\u06cc \u062d\u0631\u06a9\u062a<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n\u0639\u0627\u0644\u06cc \u2713<\/td>\n<\/tr>\n
    \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0633\u0631\u0639\u062a<\/td>\n\u0636\u0639\u06cc\u0641<\/td>\n\u0639\u0627\u0644\u06cc (\u00b10.5RPM) \u2713<\/td>\n<\/tr>\n
    \u0647\u0632\u06cc\u0646\u0647<\/td>\n\u06f5 \u062f\u0644\u0627\u0631<\/td>\n\u06f3\u06f0 \u062f\u0644\u0627\u0631<\/td>\n<\/tr>\n
    \u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc<\/td>\n\u0633\u0627\u062f\u0647<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n<\/tr>\n
    \u0631\u0627\u0646\u062f\u0645\u0627\u0646<\/td>\n\u06f6\u06f0-\u06f7\u06f0%<\/td>\n\u06f9\u06f0-\u06f9\u06f5% \u2713<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nSimpleFOC<\/text>\nVelocity PID<\/text>\nDRV8302<\/text>\n3-phase PWM<\/text>\nBLDC Motor<\/text>\n\u0646\u0631\u0645 \u0648 \u062f\u0642\u06cc\u0642<\/text>\nAS5600<\/text>\n\u0641\u06cc\u062f\u0628\u06a9 \u0627\u0646\u06a9\u0648\u062f\u0631<\/text>\nSimpleFOC \u2014 \u06a9\u0646\u062a\u0631\u0644 BLDC \u0628\u0627 Loop \u0628\u0633\u062a\u0647\u060c UGV \u0646\u0631\u0645<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n