{"id":765,"date":"2026-06-12T15:16:31","date_gmt":"2026-06-12T07:16:31","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/diy-self-balancing-scooter-hoverboard-motor-vesc-balance-farsi\/"},"modified":"2026-06-12T15:16:31","modified_gmt":"2026-06-12T07:16:31","slug":"diy-self-balancing-scooter-hoverboard-motor-vesc-balance-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/diy-self-balancing-scooter-hoverboard-motor-vesc-balance-farsi\/","title":{"rendered":"\u0633\u0627\u062e\u062a \u0627\u0633\u06a9\u0648\u062a\u0631 \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 DIY \u0628\u0627 \u0645\u0648\u062a\u0648\u0631 Hoverboard \u0648 VESC (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0627\u0633\u06a9\u0648\u062a\u0631 \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 DIY Hoverboard \u0645\u0648\u062a\u0648\u0631 VESC\n<\/div>\n
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Hoverboard \u0686\u0647 \u0642\u0637\u0639\u0627\u062a\u06cc \u062f\u0627\u0631\u062f \u06a9\u0647 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u062f\u0648\u0628\u0627\u0631\u0647 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645\u061f<\/h2>\n

\u06cc\u06a9 hoverboard (\u0627\u0633\u06a9\u06cc\u062a\u200c\u0628\u0648\u0631\u062f \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9\u06cc) \u062d\u0627\u0648\u06cc \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 hub wheel \u0628\u0633\u06cc\u0627\u0631 \u0642\u0648\u06cc (\u0647\u0631 \u06a9\u062f\u0627\u0645 \u06f2\u06f5\u06f0\u2013\u06f3\u06f5\u06f0W)\u060c \u06cc\u06a9 \u0628\u0627\u062a\u0631\u06cc Li-ion \u06f3\u06f6V\u060c \u0648 \u06cc\u06a9 \u0628\u0648\u0631\u062f \u06a9\u0646\u062a\u0631\u0644 \u0627\u0633\u062a. \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u0622\u0646 BLDC (Brushless DC) \u0647\u0633\u062a\u0646\u062f \u0628\u0627 \u06f1\u06f5 \u062a\u0627 \u06f1\u06f8 \u0645\u06af\u0646\u062a \u2014 \u06a9\u0627\u0631\u062e\u0627\u0646\u0647\u200c\u0647\u0627\u06cc \u0645\u0639\u0631\u0648\u0641\u06cc \u0645\u062b\u0644 Tomoloo \u0648 EPIKGO \u0627\u0632 \u0647\u0645\u06cc\u0646 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u0646\u062f.<\/p>\n

\u0645\u0627 \u0628\u0627\u062a\u0631\u06cc \u0648 \u0628\u0648\u0631\u062f \u06a9\u0646\u062a\u0631\u0644 \u0627\u0635\u0644\u06cc \u0631\u0627 \u06a9\u0646\u0627\u0631 \u0645\u06cc\u200c\u06af\u0630\u0627\u0631\u06cc\u0645 (\u0628\u0648\u0631\u062f hoverboard \u067e\u0631\u0648\u062a\u06a9\u0644 \u0627\u062e\u062a\u0635\u0627\u0635\u06cc \u062f\u0627\u0631\u062f) \u0648 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0645\u0633\u062a\u0642\u06cc\u0645\u0627\u064b \u0628\u0627 VESC<\/strong> \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 \u2014 \u06cc\u06a9 \u062f\u0631\u0627\u06cc\u0648\u0631 \u0645\u062a\u0646\u200c\u0628\u0627\u0632 \u06a9\u0647 FOC (Field Oriented Control) \u0631\u0627 \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0628\u0631\u0627\u06cc \u0627\u0633\u06a9\u0648\u062a\u0631\u0647\u0627\u06cc DIY \u0627\u06cc\u062f\u0647\u200c\u0622\u0644 \u0627\u0633\u062a.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u0645\u0646\u0628\u0639 \u0627\u0635\u0644\u06cc \u0642\u0637\u0639\u0627\u062a<\/td>\nHoverboard \u062e\u0631\u0627\u0628 + \u067e\u0631\u0648\u0641\u06cc\u0644 \u0622\u0644\u0648\u0645\u06cc\u0646\u06cc\u0648\u0645<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f2.\u06f5M \u062a\u0648\u0645\u0627\u0646 (VESC + \u0628\u0627\u062a\u0631\u06cc + hoverboard \u0627\u0633\u06a9\u0631\u067e)<\/td>\n<\/tr>\n
\u062d\u062f\u0627\u06a9\u062b\u0631 \u0648\u0632\u0646 \u0633\u0648\u0627\u0631\u06a9\u0627\u0631<\/td>\n~\u06f7\u06f0kg<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

BOM<\/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
Hoverboard \u0627\u0633\u06a9\u0631\u067e<\/td>\n\u0641\u0642\u0637 \u0645\u0648\u062a\u0648\u0631\u0647\u0627 \u0644\u0627\u0632\u0645<\/td>\n~\u06f5\u06f0\u06f0K<\/td>\n<\/tr>\n
VESC 4.12 dual (\u06cc\u0627 \u06f2 \u0639\u062f\u062f \u062a\u06a9\u06cc)<\/td>\n\u062a\u0627 \u06f5\u06f0V \/ \u06f5\u06f0A<\/td>\n~\u06f1\u06f0\u06f0\u06f0K<\/td>\n<\/tr>\n
Arduino Nano<\/td>\n\u06a9\u0646\u062a\u0631\u0644\u0631 PID<\/td>\n~\u06f1\u06f0\u06f0K<\/td>\n<\/tr>\n
MPU-6050<\/td>\nIMU \u062a\u0639\u0627\u062f\u0644<\/td>\n~\u06f4\u06f0K<\/td>\n<\/tr>\n
\u0628\u0627\u062a\u0631\u06cc LiPo 10S 4000mAh<\/td>\n\u06f3\u06f6V \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631<\/td>\n~\u06f8\u06f0\u06f0K<\/td>\n<\/tr>\n
\u067e\u0631\u0648\u0641\u06cc\u0644 \u0622\u0644\u0648\u0645\u06cc\u0646\u06cc\u0648\u0645 \u06f4\u06f0\u00d7\u06f4\u06f0mm<\/td>\n\u06f1 \u0645\u062a\u0631 \u2014 \u062f\u0633\u062a\u0647 \u0648 \u067e\u0627\u06cc\u0647<\/td>\n~\u06f2\u06f0\u06f0K<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u0646\u0642\u0634\u0647 \u0633\u06cc\u0645\u200c\u06a9\u0634\u06cc VESC \u2190 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc Hoverboard<\/h2>\n

\n\u0646\u0642\u0634\u0647 \u0627\u062a\u0635\u0627\u0644 \u062f\u0648 VESC \u0628\u0647 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc Hoverboard \u0648 Arduino<\/text>\n\nArduino Nano<\/text>\nMPU-6050 (I2C)<\/text>\nD9\u2192VESC L UART<\/text>\nD10\u2192VESC R UART<\/text>\n\nVESC \u0686\u067e<\/text>\nUART \u2190 Arduino<\/text>\n\nVESC \u0631\u0627\u0633\u062a<\/text>\nUART \u2190 Arduino<\/text>\n\n\n\n\u0645\u0648\u062a\u0648\u0631 Hub \u0686\u067e<\/text>\nBLDC 3-phase<\/text>\n\n\u0645\u0648\u062a\u0648\u0631 Hub \u0631\u0627\u0633\u062a<\/text>\nBLDC 3-phase<\/text>\n\n\n\n\u0628\u0627\u062a\u0631\u06cc \u06f3\u06f6V<\/text>\n\u2192 \u0647\u0631 \u062f\u0648 VESC<\/text>\n\n\n<\/svg><\/p>\n

\u062a\u0646\u0638\u06cc\u0645 VESC \u0628\u0631\u0627\u06cc \u0645\u0648\u062a\u0648\u0631 Hoverboard<\/h2>\n
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  1. \u0646\u0631\u0645\u200c\u0627\u0641\u0632\u0627\u0631 VESC Tool \u0631\u0627 \u0627\u0632 vesc-project.com<\/a> \u062f\u0627\u0646\u0644\u0648\u062f \u06a9\u0646.<\/li>\n
  2. \u0627\u0632 \u0637\u0631\u06cc\u0642 USB \u0628\u0647 VESC \u0648\u0635\u0644 \u0634\u0648 \u2192 Motor Wizard<\/strong> \u0631\u0627 \u0627\u062c\u0631\u0627 \u06a9\u0646.<\/li>\n
  3. \u0646\u0648\u0639 \u0645\u0648\u062a\u0648\u0631: BLDC Hub<\/strong> (sensored \u0627\u06af\u0631 hall sensor \u062f\u0627\u0631\u062f\u060c \u0628\u0647\u062a\u0631 \u0627\u0633\u062a).<\/li>\n
  4. \u062c\u0631\u06cc\u0627\u0646 Max: 40A<\/strong> \u0628\u0631\u0627\u06cc \u0634\u0631\u0648\u0639 \u0627\u06cc\u0645\u0646.<\/li>\n
  5. FOC \u0631\u0627 \u0641\u0639\u0627\u0644 \u06a9\u0646 \u2014 \u06a9\u0646\u062a\u0631\u0644 \u0646\u0631\u0645\u200c\u062a\u0631 \u0648 \u06a9\u0627\u0631\u0622\u0645\u062f\u062a\u0631 \u0627\u0632 BLDC mode \u0627\u0633\u062a.<\/li>\n
  6. \u062a\u0633\u062a \u0628\u062f\u0648\u0646 \u0628\u0627\u0631: \u0645\u0648\u062a\u0648\u0631 \u0628\u0627\u06cc\u062f \u0622\u0631\u0627\u0645 \u0648 \u0628\u06cc\u200c\u0635\u062f\u0627 \u0628\u0686\u0631\u062e\u062f.<\/li>\n<\/ol>\n

    \u06a9\u062f PID \u062a\u0639\u0627\u062f\u0644 \u0627\u0633\u06a9\u0648\u062a\u0631<\/h2>\n
    \/\/ \u0627\u0631\u0633\u0627\u0644 \u062f\u0633\u062a\u0648\u0631 \u0633\u0631\u0639\u062a \u0628\u0647 VESC \u0627\u0632 \u0637\u0631\u06cc\u0642 UART\n\/\/ \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647: VescUart (arduino-vesc)\n#include \"VescUart.h\"\n#include <Wire.h>\n#include <MPU6050.h>\n\nVescUart UART_L, UART_R;\nMPU6050 imu;\n\nfloat Kp=45.0, Ki=1.5, Kd=3.0;\nfloat angle=0, errSum=0, lastErr=0;\nunsigned long lastT;\n\nvoid setup(){\n  Serial1.begin(115200); UART_L.setSerialPort(&Serial1);\n  Serial2.begin(115200); UART_R.setSerialPort(&Serial2);\n  Wire.begin(); imu.initialize();\n  lastT = millis();\n}\n\nvoid loop(){\n  int16_t ax,ay,az,gx,gy,gz;\n  imu.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);\n  float dt=(millis()-lastT)\/1000.0; lastT=millis();\n  float acc=atan2(ax,az)*57.295;\n  angle=0.98*(angle+(gy\/131.0)*dt)+0.02*acc;\n\n  float err=0-angle;\n  errSum+=err*dt; errSum=constrain(errSum,-80,80);\n  float out=Kp*err+Ki*errSum+Kd*(err-lastErr)\/dt;\n  lastErr=err;\n  \/\/ RPM \u0647\u062f\u0641 \u0628\u0631\u0627\u06cc \u0647\u0631 \u0645\u0648\u062a\u0648\u0631\n  int rpm=(int)constrain(out,-3000,3000);\n  UART_L.setCurrent(rpm);\n  UART_R.setCurrent(rpm);\n  delay(5);\n}<\/code><\/pre>\n
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