{"id":759,"date":"2026-06-12T15:16:02","date_gmt":"2026-06-12T07:16:02","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/diy-self-balancing-motorcycle-mpu6050-pid-arduino-motor-driver-farsi-part2\/"},"modified":"2026-06-12T15:16:03","modified_gmt":"2026-06-12T07:16:03","slug":"diy-self-balancing-motorcycle-mpu6050-pid-arduino-motor-driver-farsi-part2","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/diy-self-balancing-motorcycle-mpu6050-pid-arduino-motor-driver-farsi-part2\/","title":{"rendered":"\u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 DIY \u2014 \u0628\u062e\u0634 \u06f2: MPU-6050\u060c PID \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0648 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0627\u0644\u06a9\u062a\u0631\u0648\u0646\u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 MPU6050\n<\/div>\n
\n📌 \u0628\u062e\u0634 \u06f1\/\u06f2:<\/strong> \u0627\u0633\u06a9\u0644\u062a \u0648 \u0645\u06a9\u0627\u0646\u06cc\u06a9 ✅  |  \u0628\u062e\u0634 \u06f2\/\u06f2 (\u0647\u0645\u06cc\u0646):<\/strong> \u0627\u0644\u06a9\u062a\u0631\u0648\u0646\u06cc\u06a9\u060c PID\u060c \u06a9\u062f \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
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\u0686\u0631\u0627 \u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u0627\u0632 \u062a\u0639\u0627\u062f\u0644 \u062f\u0648\u0686\u0631\u062e\u0647 \u0633\u062e\u062a\u200c\u062a\u0631 \u0627\u0633\u062a\u061f<\/h2>\n

\u062f\u0648\u0686\u0631\u062e\u0647 \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 \u062f\u0648 \u0686\u0631\u062e \u0645\u0648\u0627\u0632\u06cc \u062f\u0627\u0631\u062f \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0622\u0646 \u0628\u0627 \u0686\u0631\u062e\u0634 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u062f\u0631 \u0633\u0631\u0639\u062a\u200c\u0647\u0627\u06cc \u0645\u062e\u062a\u0644\u0641 \u0627\u0646\u062c\u0627\u0645 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u0645\u0627 \u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u0631\u0648\u06cc \u06cc\u06a9 \u062e\u0637 \u0642\u0631\u0627\u0631 \u062f\u0627\u0631\u062f \u0648 \u062a\u0639\u0627\u062f\u0644 \u0641\u0642\u0637 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0641\u0631\u0645\u0627\u0646 \u0632\u062f\u0646 (\u0645\u062b\u0644 \u062f\u0648\u0686\u0631\u062e\u0647\u200c\u0633\u0648\u0627\u0631\u06cc \u0648\u0627\u0642\u0639\u06cc) \u062d\u0641\u0638 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u06cc\u0646 \u06cc\u0639\u0646\u06cc \u0628\u0631\u0627\u06cc \u062a\u0639\u0627\u062f\u0644 \u0628\u0627\u06cc\u062f \u0647\u0645\u0632\u0645\u0627\u0646 \u0633\u0631\u0639\u062a \u0686\u0631\u062e \u0639\u0642\u0628 \u0648 \u0632\u0627\u0648\u06cc\u0647 \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0631\u062f \u2014 \u062f\u0648 \u0645\u062a\u063a\u06cc\u0631 \u0628\u0647 \u062c\u0627\u06cc \u06cc\u06a9.<\/p>\n

\u062f\u0631 \u0627\u06cc\u0646 \u067e\u0631\u0648\u0698\u0647 \u06cc\u06a9 PID \u0628\u0631\u0627\u06cc \u0633\u0631\u0639\u062a (\u062d\u0641\u0638 \u062a\u0639\u0627\u062f\u0644) \u0648 \u06cc\u06a9 PID \u062c\u062f\u0627\u06af\u0627\u0646\u0647 \u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646 (\u0645\u0633\u06cc\u0631) \u062f\u0627\u0631\u06cc\u0645 \u2014 \u0647\u0631 \u06a9\u062f\u0627\u0645 \u0628\u0627 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc \u0645\u0633\u062a\u0642\u0644 \u062a\u0646\u0638\u06cc\u0645 \u0645\u06cc\u200c\u0634\u0648\u0646\u062f.<\/p>\n<\/div>\n

BOM \u0627\u0644\u06a9\u062a\u0631\u0648\u0646\u06cc\u06a9<\/h2>\n\n\n\n\n\n\n\n\n\n\n
\u0642\u0637\u0639\u0647<\/th>\n\u0645\u0634\u062e\u0635\u0627\u062a<\/th>\n\u0642\u06cc\u0645\u062a<\/th>\n<\/tr>\n<\/thead>\n
Arduino Nano<\/td>\n\u06cc\u0627 Uno<\/td>\n~\u06f1\u06f0\u06f0K<\/td>\n<\/tr>\n
MPU-6050 GY-521<\/td>\nI2C<\/td>\n~\u06f4\u06f0K<\/td>\n<\/tr>\n
L298N Motor Driver<\/td>\n\u062a\u0627 \u06f2A \/ \u06f4\u06f6V<\/td>\n~\u06f8\u06f0K<\/td>\n<\/tr>\n
\u0633\u0631\u0648 MG996R<\/td>\n\u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646<\/td>\n~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n
\u0628\u0627\u062a\u0631\u06cc LiPo 3S 2200mAh<\/td>\n\u06f1\u06f1.\u06f1V<\/td>\n~\u06f3\u06f5\u06f0K<\/td>\n<\/tr>\n
\u0645\u0628\u062f\u0644 DC-DC 7805 \u06cc\u0627 LM2596<\/td>\n\u06f5V \u0628\u0631\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648<\/td>\n~\u06f3\u06f0K<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc<\/h2>\n\n\n\n\n\n\n\n\n
\u0642\u0637\u0639\u0647<\/th>\n\u067e\u06cc\u0646<\/th>\nArduino<\/th>\n<\/tr>\n<\/thead>\n
MPU-6050<\/td>\nSDA\/SCL<\/td>\nA4 \/ A5<\/td>\n<\/tr>\n
L298N IN1\/IN2<\/td>\n\u062c\u0647\u062a \u0645\u0648\u062a\u0648\u0631<\/td>\nD7 \/ D8<\/td>\n<\/tr>\n
L298N ENA (PWM)<\/td>\n\u0633\u0631\u0639\u062a \u0645\u0648\u062a\u0648\u0631<\/td>\nD9 (PWM)<\/td>\n<\/tr>\n
\u0633\u0631\u0648 MG996R<\/td>\nSignal<\/td>\nD10 (PWM)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u06a9\u0627\u0645\u0644 PID \u062f\u0648\u06af\u0627\u0646\u0647 \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646<\/h2>\n
#include <Wire.h>\n#include <MPU6050.h>\n#include <Servo.h>\n\nMPU6050 mpu;\nServo steeringServo;\n\n\/\/ ===== \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc PID \u062a\u0639\u0627\u062f\u0644 =====\nfloat Kp_bal = 35.0, Ki_bal = 0.8, Kd_bal = 2.0;\n\/\/ ===== \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627\u06cc PID \u0641\u0631\u0645\u0627\u0646 =====\nfloat Kp_str = 3.0, Ki_str = 0.0, Kd_str = 0.5;\n\nfloat setpointAngle = 1.5;  \/\/ \u0632\u0627\u0648\u06cc\u0647 \u062a\u0639\u0627\u062f\u0644 (\u06a9\u0645\u06cc \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648)\nfloat setpointYaw   = 0.0;\n\nfloat angle = 0.0, yawAngle = 0.0;\nfloat errBal=0, sumBal=0, lastErrBal=0;\nfloat errStr=0, sumStr=0, lastErrStr=0;\nunsigned long lastTime;\n\n\/\/ \u067e\u06cc\u0646\u200c\u0647\u0627\u06cc \u0645\u0648\u062a\u0648\u0631\n#define IN1 7\n#define IN2 8\n#define ENA 9\n#define SERVO_PIN 10\n\nvoid setMotor(int speed) {\n  speed = constrain(speed, -255, 255);\n  if (speed >= 0) { digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW); }\n  else            { digitalWrite(IN1,LOW);  digitalWrite(IN2,HIGH); speed = -speed; }\n  analogWrite(ENA, speed);\n}\n\nvoid setup() {\n  pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(ENA,OUTPUT);\n  steeringServo.attach(SERVO_PIN);\n  steeringServo.write(90);   \/\/ \u0648\u0633\u0637\n  Wire.begin();\n  mpu.initialize();\n  lastTime = millis();\n}\n\nvoid loop() {\n  int16_t ax,ay,az,gx,gy,gz;\n  mpu.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);\n\n  float dt = (millis() - lastTime) \/ 1000.0;\n  lastTime = millis();\n\n  \/\/ \u0641\u06cc\u0644\u062a\u0631 \u0645\u06a9\u0645\u0644 \u2014 pitch\n  float accelAngle = atan2(ay, az) * 180.0 \/ PI;\n  angle = 0.98*(angle + (gx\/131.0)*dt) + 0.02*accelAngle;\n\n  \/\/ yaw \u062a\u062c\u0645\u06cc\u0639\u06cc \u0627\u0632 \u0698\u06cc\u0631\u0648 Z\n  yawAngle += (gz\/131.0)*dt;\n\n  \/\/ ===== PID \u062a\u0639\u0627\u062f\u0644 =====\n  errBal = setpointAngle - angle;\n  sumBal += errBal*dt; sumBal = constrain(sumBal,-100,100);\n  float outBal = Kp_bal*errBal + Ki_bal*sumBal + Kd_bal*(errBal-lastErrBal)\/dt;\n  outBal = constrain(outBal,-255,255);\n  lastErrBal = errBal;\n  setMotor((int)outBal);\n\n  \/\/ ===== PID \u0641\u0631\u0645\u0627\u0646 =====\n  errStr = setpointYaw - yawAngle;\n  sumStr += errStr*dt; sumStr = constrain(sumStr,-30,30);\n  float outStr = Kp_str*errStr + Ki_str*sumStr + Kd_str*(errStr-lastErrStr)\/dt;\n  outStr = constrain(outStr,-45,45);\n  lastErrStr = errStr;\n  steeringServo.write(90 + (int)outStr);\n\n  delay(10);\n}<\/code><\/pre>\n
\u062a\u0646\u0638\u06cc\u0645 \u0648 \u0622\u0632\u0645\u0627\u06cc\u0634<\/h2>\n
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  1. \u0627\u0628\u062a\u062f\u0627 \u0645\u0648\u062a\u0648\u0631 \u0639\u0642\u0628 \u0631\u0627 \u0628\u0627 \u062f\u0633\u062a \u0628\u0644\u0646\u062f \u0646\u06af\u0647 \u062f\u0627\u0631 \u2014 \u0631\u0648\u06cc \u0647\u0648\u0627 \u062a\u0646\u0638\u06cc\u0645 Kp_bal \u06a9\u0646 \u062a\u0627 \u0645\u0648\u062a\u0648\u0631 \u0628\u0647 \u0634\u06cc\u0628 \u0648\u0627\u06a9\u0646\u0634 \u062f\u0631\u0633\u062a \u0646\u0634\u0627\u0646 \u062f\u0647\u062f.<\/li>\n
  2. \u0633\u0631\u0648 \u0631\u0627 \u062c\u062f\u0627 \u062a\u0633\u062a \u06a9\u0646: \u0686\u06a9 \u06a9\u0646 \u06f9\u06f0\u00b0 = \u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0633\u062a.<\/li>\n
  3. \u0627\u0648\u0644 Ki \u0648 Kd \u0631\u0627 \u0635\u0641\u0631 \u06a9\u0646 \u2014 \u0641\u0642\u0637 \u0628\u0627 Kp \u062a\u0639\u0627\u062f\u0644 \u0627\u0648\u0644\u06cc\u0647 \u0628\u06af\u06cc\u0631.<\/li>\n
  4. Kd \u0631\u0627 \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646 \u062a\u0627 \u0646\u0648\u0633\u0627\u0646 \u06a9\u0645 \u0634\u0648\u062f. \u0633\u067e\u0633 Ki \u06a9\u0645\u06cc \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646.<\/li>\n
  5. setpointAngle<\/code> \u0631\u0627 \u062a\u0646\u0638\u06cc\u0645 \u06a9\u0646 \u062a\u0627 \u0645\u0648\u062a\u0648\u0631\u0633\u06cc\u06a9\u0644\u062a \u062f\u0631 \u062c\u0627\u06cc \u062e\u0648\u062f \u0628\u0627\u06cc\u0633\u062a\u062f \u0628\u062f\u0648\u0646 \u062d\u0631\u06a9\u062a \u0628\u0647 \u062c\u0644\u0648 \u06cc\u0627 \u0639\u0642\u0628.<\/li>\n<\/ol>\n
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