{"id":605,"date":"2026-06-11T13:18:31","date_gmt":"2026-06-11T05:18:31","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/3axis-gimbal-arduino-mpu6050-fpv-stabilizer-farsi\/"},"modified":"2026-06-11T13:18:32","modified_gmt":"2026-06-11T05:18:32","slug":"3axis-gimbal-arduino-mpu6050-fpv-stabilizer-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/3axis-gimbal-arduino-mpu6050-fpv-stabilizer-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u06af\u06cc\u0645\u067e\u0627\u0644 \u06f3 \u0645\u062d\u0648\u0631\u0647 \u0628\u0627 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 MPU-6050: \u062a\u0635\u0648\u06cc\u0631 \u067e\u0627\u06cc\u062f\u0627\u0631 \u0628\u0631\u0627\u06cc FPV (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u06af\u06cc\u0645\u067e\u0627\u0644 \u06f3 \u0645\u062d\u0648\u0631\u0647 MPU-6050 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 FPV \u067e\u0627\u06cc\u062f\u0627\u0631\n<\/div>\n
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\u06af\u06cc\u0645\u067e\u0627\u0644 \u0648 \u067e\u0627\u06cc\u062f\u0627\u0631\u0633\u0627\u0632\u06cc \u062a\u0635\u0648\u06cc\u0631 \u0686\u06cc\u0633\u062a\u061f (\u0645\u0628\u062a\u062f\u06cc)<\/h2>\n

\u0648\u0642\u062a\u06cc \u06cc\u06a9 \u067e\u0647\u067e\u0627\u062f \u06cc\u0627 UGV \u062d\u0631\u06a9\u062a \u0645\u06cc\u200c\u06a9\u0646\u062f\u060c \u062f\u0648\u0631\u0628\u06cc\u0646 \u0647\u0645\u0631\u0627\u0647 \u0622\u0646 \u0645\u06cc\u200c\u0644\u0631\u0632\u062f \u2014 \u062a\u0635\u0648\u06cc\u0631 FPV \u0646\u0627\u067e\u0627\u06cc\u062f\u0627\u0631 \u0645\u06cc\u200c\u0634\u0648\u062f. \u06cc\u06a9 \u06af\u06cc\u0645\u067e\u0627\u0644<\/strong> (Gimbal) \u06cc\u06a9 \u067e\u0644\u062a\u0641\u0631\u0645 \u0645\u062a\u062d\u0631\u06a9 \u0627\u0633\u062a \u06a9\u0647 \u0644\u0631\u0632\u0634\u200c\u0647\u0627 \u0631\u0627 \u0628\u0627 \u0633\u0631\u0648\u0647\u0627 \u062c\u0628\u0631\u0627\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f \u2014 \u062f\u0648\u0631\u0628\u06cc\u0646 \u0647\u0645\u06cc\u0634\u0647 \u0635\u0627\u0641 \u0645\u06cc\u200c\u0645\u0627\u0646\u062f.<\/p>\n

\u0633\u0646\u0633\u0648\u0631 MPU-6050<\/strong> \u06cc\u06a9 IMU \u06f6 \u0645\u062d\u0648\u0631\u0647 (\u06f3 \u0645\u062d\u0648\u0631 \u0634\u062a\u0627\u0628\u200c\u0633\u0646\u062c + \u06f3 \u0645\u062d\u0648\u0631 \u0698\u06cc\u0631\u0648\u0633\u06a9\u0648\u067e) \u0628\u0627 \u0642\u06cc\u0645\u062a \u0632\u06cc\u0631 \u06f5 \u062f\u0644\u0627\u0631 \u0627\u0633\u062a. \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0628\u0627 \u06a9\u0646\u062a\u0631\u0644\u0631 PID<\/strong> \u062e\u0637\u0627\u06cc \u0632\u0627\u0648\u06cc\u0647 \u0631\u0627 \u0645\u06cc\u200c\u06af\u06cc\u0631\u062f \u0648 \u0633\u0631\u0648\u0647\u0627\u06cc MG996R<\/strong> \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u06a9\u0646\u062f. \u06af\u06cc\u0645\u067e\u0627\u0644 \u06f3 \u0645\u062d\u0648\u0631\u0647 \u0647\u0631 \u0633\u0647 \u0645\u062d\u0648\u0631 Roll\u060c Pitch\u060c \u0648 Yaw \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u062f.<\/p>\n<\/div>\n

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

\u06af\u06cc\u0645\u067e\u0627\u0644 \u06f3 \u0645\u062d\u0648\u0631\u0647 \u0628\u0627 MPU-6050 \u0648 \u06f3 \u0633\u0631\u0648 MG996R \u0628\u0631\u0627\u06cc \u062f\u0648\u0631\u0628\u06cc\u0646 FPV.<\/p>\n

    \n
  • \u0647\u0632\u06cc\u0646\u0647:<\/strong> \u06f5\u06f0\u06f0 \u0647\u0632\u0627\u0631 \u062a\u0627 \u06f1 \u0645\u06cc\u0644\u06cc\u0648\u0646 \u062a\u0648\u0645\u0627\u0646<\/li>\n
  • \u0645\u062d\u0648\u0631\u0647\u0627:<\/strong> Roll\u060c Pitch\u060c Yaw<\/li>\n
  • \u0633\u0631\u0639\u062a \u067e\u0627\u0633\u062e:<\/strong> \u06f2\u06f0\u06f0Hz \u0628\u0627 MPU-6050<\/li>\n<\/ul>\n<\/div>\n

    \n\n\u062f\u0648\u0631\u0628\u06cc\u0646 FPV<\/text>\nMPU-6050 \u0631\u0648\u06cc \u0622\u0646<\/text>\n\n\n\u0633\u0631\u0648 Roll<\/text>\n\n\n\n\u0633\u0631\u0648 Pitch<\/text>\n\n\n\n\u0633\u0631\u0648 Yaw (\u0632\u06cc\u0631)<\/text>\n\u06af\u06cc\u0645\u067e\u0627\u0644 \u06f3 \u0645\u062d\u0648\u0631\u0647 \u2014 PID \u0647\u0631 \u0645\u062d\u0648\u0631<\/text>\n<\/svg><\/p>\n

    \u06a9\u062f \u06af\u06cc\u0645\u067e\u0627\u0644 \u0628\u0627 PID<\/h2>\n
    \n#include <Wire.h>\n#include <MPU6050.h>\n#include <Servo.h>\n\nMPU6050 mpu;\nServo servoRoll, servoPitch, servoYaw;\n\nfloat rollAngle, pitchAngle, yawAngle;\nfloat rollTarget=90, pitchTarget=90, yawTarget=90;\n\n\/\/ PID \u0647\u0631 \u0645\u062d\u0648\u0631:\nfloat Kp=1.5, Ki=0.05, Kd=0.3;\nfloat errR,errP,errY;\nfloat intR=0,intP=0,intY=0;\nfloat prevR=0,prevP=0,prevY=0;\n\nvoid setup() {\n  Wire.begin();\n  mpu.initialize();\n  servoRoll.attach(9);\n  servoPitch.attach(10);\n  servoYaw.attach(11);\n}\n\nfloat pid(float err, float &integral, float &prev) {\n  integral += err;\n  float d = err - prev;\n  prev = err;\n  return Kp*err + Ki*integral + Kd*d;\n}\n\nvoid loop() {\n  int16_t ax,ay,az,gx,gy,gz;\n  mpu.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);\n\n  \/\/ \u0645\u062d\u0627\u0633\u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0627\u0632 \u0634\u062a\u0627\u0628\u200c\u0633\u0646\u062c:\n  rollAngle  = atan2(ay,az)*180\/PI;\n  pitchAngle = atan2(-ax,sqrt(ay*ay+az*az))*180\/PI;\n\n  \/\/ PID \u0648 \u062e\u0631\u0648\u062c\u06cc \u0633\u0631\u0648:\n  errR = rollTarget  - rollAngle;\n  errP = pitchTarget - pitchAngle;\n\n  int outR = 90 + pid(errR,intR,prevR);\n  int outP = 90 + pid(errP,intP,prevP);\n\n  servoRoll.write(constrain(outR,0,180));\n  servoPitch.write(constrain(outP,0,180));\n  delay(5);  \/\/ 200Hz\n}\n<\/code><\/pre>\n
    \u0686\u06a9\u200c\u0644\u06cc\u0633\u062a \u06a9\u0627\u0644\u06cc\u0628\u0631\u0627\u0633\u06cc\u0648\u0646 \u0648 \u062a\u0633\u062a<\/h2>\n\n\n\n\n\n\n\n\n
    \u0628\u0631\u0631\u0633\u06cc<\/th>\n\u0631\u0648\u0634<\/th>\n<\/tr>\n<\/thead>\n
    MPU-6050 \u0627\u0641\u0633\u062a \u06a9\u0627\u0644\u06cc\u0628\u0631\u0647 \u0634\u062f\u0647\u061f<\/td>\nmpu.calibrateGyro() \u0631\u0648\u06cc \u0645\u06cc\u0632 \u0635\u0627\u0641<\/td>\n<\/tr>\n
    \u0633\u0631\u0648 \u062f\u0631 \u06f9\u06f0\u00b0 \u0635\u0641\u0631 \u062f\u0631\u062c\u0647 \u0646\u06af\u0647 \u0645\u06cc\u200c\u062f\u0627\u0631\u062f\u061f<\/td>\nrollTarget=pitchTarget=90<\/td>\n<\/tr>\n
    \u06af\u06cc\u0645\u067e\u0627\u0644 \u062a\u06a9\u0627\u0646 \u0631\u0627 \u062c\u0628\u0631\u0627\u0646 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/td>\n\u067e\u0627\u06cc\u0647 \u0631\u0627 \u06a9\u062c \u06a9\u0646\u06cc\u062f \u2014 \u0628\u0627\u06cc\u062f \u062b\u0627\u0628\u062a \u0628\u0645\u0627\u0646\u062f<\/td>\n<\/tr>\n
    Oscillation (\u0644\u0631\u0632\u0634 PID) \u0648\u062c\u0648\u062f \u0646\u062f\u0627\u0631\u062f\u061f<\/td>\nKp \u0631\u0627 \u06a9\u0627\u0647\u0634 \u062f\u0647\u06cc\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n\n\n\n\n\n\n\nMPU-6050<\/text>\n200Hz IMU<\/text>\nArduino PID<\/text>\n\u06f3 \u0645\u062d\u0648\u0631<\/text>\n\u06f3\u00d7 MG996R<\/text>\n\u0633\u0631\u0648 \u0642\u0648\u06cc<\/text>\n\u062f\u0648\u0631\u0628\u06cc\u0646 \u062b\u0627\u0628\u062a<\/text>\nFPV \u067e\u0627\u06cc\u062f\u0627\u0631<\/text>\n\u06af\u06cc\u0645\u067e\u0627\u0644 \u2014 MPU-6050 \u2192 PID \u2192 \u0633\u0631\u0648 \u2192 \u062a\u0635\u0648\u06cc\u0631 FPV \u067e\u0627\u06cc\u062f\u0627\u0631<\/text>\n<\/svg><\/p>\n
    \u0648\u06cc\u062f\u0626\u0648\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc<\/h2>\n
    \n