{"id":774,"date":"2026-06-12T15:18:39","date_gmt":"2026-06-12T07:18:39","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/dc-servo-stepper-motor-comparison-ugv-robot-guide-farsi\/"},"modified":"2026-06-12T20:39:17","modified_gmt":"2026-06-12T12:39:17","slug":"dc-servo-stepper-motor-comparison-ugv-robot-guide-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/dc-servo-stepper-motor-comparison-ugv-robot-guide-farsi\/","title":{"rendered":"\u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc DC\u060c \u0633\u0631\u0648 \u0648 \u067e\u0644\u0647\u200c\u0627\u06cc: \u06a9\u062f\u0627\u0645 \u0628\u0631\u0627\u06cc UGV \u0648 \u0631\u0628\u0627\u062a \u0632\u0645\u06cc\u0646\u06cc \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a\u061f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0645\u0642\u0627\u06cc\u0633\u0647 \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc DC \u0633\u0631\u0648 \u067e\u0644\u0647\u200c\u0627\u06cc \u0628\u0631\u0627\u06cc \u0631\u0628\u0627\u062a UGV\n<\/div>\n
\n

\u0633\u0647 \u0646\u0648\u0639 \u0645\u0648\u062a\u0648\u0631 \u0627\u0635\u0644\u06cc \u062f\u0631 \u0631\u0628\u0627\u062a\u06cc\u06a9<\/h2>\n

\u0645\u0648\u062a\u0648\u0631 DC<\/strong> \u0633\u0627\u062f\u0647\u200c\u062a\u0631\u06cc\u0646 \u0646\u0648\u0639 \u0627\u0633\u062a \u2014 \u0628\u0627 \u0627\u0639\u0645\u0627\u0644 \u0648\u0644\u062a\u0627\u0698 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f. \u0633\u0631\u0639\u062a \u0622\u0646 \u0628\u0627 PWM \u0648 \u062c\u0647\u062a \u0628\u0627 H-Bridge \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0627\u0631\u0632\u0627\u0646\u060c \u0642\u0648\u06cc\u060c \u0648 \u062f\u0631 \u0647\u0645\u0647 \u062c\u0627 \u067e\u06cc\u062f\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f \u2014 \u0627\u0645\u0627 \u062f\u0642\u062a \u0645\u0648\u0642\u0639\u06cc\u062a \u0646\u062f\u0627\u0631\u062f \u0645\u06af\u0631 \u0628\u0627 encoder.<\/p>\n

\u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 (Servo)<\/strong> \u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631 DC \u06a9\u0648\u0686\u06a9 \u0628\u0627 \u06af\u06cc\u0631\u0628\u06a9\u0633 \u0648 \u0627\u0646\u06a9\u0648\u062f\u0631 \u062f\u0627\u062e\u0644\u06cc \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u062e\u0627\u0635 \u0645\u06cc\u200c\u0631\u0648\u062f \u0648 \u0622\u0646\u062c\u0627 \u0645\u06cc\u200c\u0645\u0627\u0646\u062f. \u0628\u0627 \u0633\u06cc\u06af\u0646\u0627\u0644 PWM (\u067e\u0627\u0644\u0633 \u06f1\u2013\u06f2ms) \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u0634\u0648\u062f. \u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646\u060c \u0628\u0627\u0632\u0648\u0647\u0627 \u0648 \u0645\u06a9\u0627\u0646\u06cc\u0632\u0645\u200c\u0647\u0627\u06cc \u062f\u0642\u06cc\u0642 \u0627\u06cc\u062f\u0647\u200c\u0622\u0644 \u0627\u0633\u062a.<\/p>\n

\u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647\u200c\u0627\u06cc (Stepper)\u200c<\/strong> \u0628\u062f\u0648\u0646 encoder \u0647\u0645 \u0645\u0648\u0642\u0639\u06cc\u062a \u062f\u0642\u06cc\u0642 \u062f\u0627\u0631\u062f \u2014 \u0647\u0631 \u067e\u0627\u0644\u0633 \u0627\u0644\u06a9\u062a\u0631\u06cc\u06a9\u06cc \u0622\u0646 \u0631\u0627 \u06cc\u06a9 \u00ab\u0642\u062f\u0645\u00bb \u0645\u06cc\u200c\u0686\u0631\u062e\u0627\u0646\u062f (\u0645\u0639\u0645\u0648\u0644\u0627\u064b \u06f1.\u06f8\u00b0). \u0628\u0631\u0627\u06cc CNC\u060c \u067e\u0631\u06cc\u0646\u062a\u0631 \u0633\u0647\u200c\u0628\u0639\u062f\u06cc \u0648 \u0646\u0627\u0648\u0628\u0631\u06cc \u062f\u0642\u06cc\u0642 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f \u0627\u0645\u0627 \u06af\u0631\u0627\u0646\u200c\u062a\u0631 \u0648 \u0633\u0646\u06af\u06cc\u0646\u200c\u062a\u0631 \u0627\u0633\u062a.<\/p>\n<\/div>\n

\u062c\u062f\u0648\u0644 \u0645\u0642\u0627\u06cc\u0633\u0647 \u06a9\u0627\u0645\u0644<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n
\u0648\u06cc\u0698\u06af\u06cc<\/th>\n\u0645\u0648\u062a\u0648\u0631 DC<\/th>\n\u0633\u0631\u0648<\/th>\n\u067e\u0644\u0647\u200c\u0627\u06cc<\/th>\n<\/tr>\n<\/thead>\n
\u0642\u06cc\u0645\u062a<\/td>\n\u062e\u06cc\u0644\u06cc \u0627\u0631\u0632\u0627\u0646<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n<\/tr>\n
\u062f\u0642\u062a \u0645\u0648\u0642\u0639\u06cc\u062a<\/td>\n\u0646\u062f\u0627\u0631\u062f (\u0628\u062f\u0648\u0646 encoder)<\/td>\n\u00b1\u06f1\u00b0<\/td>\n\u00b1\u06f1.\u06f8\u00b0 (full step)<\/td>\n<\/tr>\n
\u0633\u0631\u0639\u062a<\/td>\n\u0628\u0627\u0644\u0627<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n\u067e\u0627\u06cc\u06cc\u0646<\/td>\n<\/tr>\n
\u06af\u0634\u062a\u0627\u0648\u0631<\/td>\n\u0628\u0627\u0644\u0627<\/td>\n\u0645\u062a\u0648\u0633\u0637<\/td>\n\u0628\u0627\u0644\u0627 (\u062f\u0631 \u0633\u0631\u0639\u062a \u06a9\u0645)<\/td>\n<\/tr>\n
\u062f\u0631\u0627\u06cc\u0648\u0631<\/td>\nL298N \/ L9110S<\/td>\n\u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 Arduino<\/td>\nA4988 \/ DRV8825<\/td>\n<\/tr>\n
\u06a9\u0627\u0631\u0628\u0631\u062f UGV<\/td>\n\u0686\u0631\u062e \u0645\u062d\u0631\u06a9 \u0627\u0635\u0644\u06cc<\/td>\n\u0641\u0631\u0645\u0627\u0646 Ackermann<\/td>\n\u0631\u0628\u0627\u062a \u062f\u0642\u06cc\u0642\u060c \u062f\u0627\u062e\u0644 \u0633\u0627\u062e\u062a\u0645\u0627\u0646<\/td>\n<\/tr>\n
\u067e\u06cc\u0686\u06cc\u062f\u06af\u06cc \u06a9\u062f<\/td>\n\u0633\u0627\u062f\u0647 (analogWrite)<\/td>\n\u0633\u0627\u062f\u0647 (servo.write)<\/td>\n\u0645\u062a\u0648\u0633\u0637 (step\/dir)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u0633\u0631\u06cc\u0639 \u2014 \u0647\u0631 \u0633\u0647 \u0646\u0648\u0639<\/h2>\n
\/\/ ===== \u0645\u0648\u062a\u0648\u0631 DC \u0628\u0627 L298N =====\n#define ENA 9   \/\/ PWM \u0633\u0631\u0639\u062a\n#define IN1 7   \/\/ \u062c\u0647\u062a\n#define IN2 8\nvoid dcForward(int speed){ \/\/ speed: 0-255\n  digitalWrite(IN1,HIGH); digitalWrite(IN2,LOW);\n  analogWrite(ENA,speed);\n}\n\n\/\/ ===== \u0633\u0631\u0648 \u0628\u0627 \u06a9\u062a\u0627\u0628\u062e\u0627\u0646\u0647 Servo =====\n#include <Servo.h>\nServo steer;\nsteer.attach(10);\nsteer.write(90);    \/\/ \u0645\u0633\u062a\u0642\u06cc\u0645\nsteer.write(60);    \/\/ \u06f3\u06f0\u00b0 \u0686\u067e\nsteer.write(120);   \/\/ \u06f3\u06f0\u00b0 \u0631\u0627\u0633\u062a\n\n\/\/ ===== \u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647\u200c\u0627\u06cc \u0628\u0627 A4988 =====\n#define STEP_PIN 3\n#define DIR_PIN  4\nvoid stepMove(int steps, bool dir){\n  digitalWrite(DIR_PIN, dir);\n  for(int i=0;i<steps;i++){\n    digitalWrite(STEP_PIN,HIGH); delayMicroseconds(800);\n    digitalWrite(STEP_PIN,LOW);  delayMicroseconds(800);\n  }\n}<\/code><\/pre>\n
\n\u0631\u0627\u0647\u0646\u0645\u0627\u06cc \u0627\u0646\u062a\u062e\u0627\u0628 \u0645\u0648\u062a\u0648\u0631 \u0628\u0631\u0627\u06cc UGV<\/text>\n\n\u0645\u0648\u062a\u0648\u0631 DC<\/text>\n✅ \u0686\u0631\u062e\u200c\u0647\u0627\u06cc \u0627\u0635\u0644\u06cc UGV<\/text>\n✅ \u0633\u0631\u0639\u062a \u0628\u0627\u0644\u0627\u060c \u0628\u0627\u0631 \u0632\u06cc\u0627\u062f<\/text>\n✅ \u0627\u0631\u0632\u0627\u0646 \u2014 \u0627\u0632 \u0627\u0633\u06a9\u0631\u067e<\/text>\n❌ \u0628\u062f\u0648\u0646 encoder: \u06a9\u0648\u0631<\/text>\nL298N \/ DRV8833<\/text>\n\n\u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631<\/text>\n✅ \u0641\u0631\u0645\u0627\u0646 Ackermann<\/text>\n✅ \u0628\u0627\u0632\u0648\u06cc \u0631\u0628\u0627\u062a<\/text>\n✅ \u0633\u06cc\u06af\u0646\u0627\u0644 \u0633\u0627\u062f\u0647 PWM<\/text>\n❌ \u06af\u0634\u062a\u0627\u0648\u0631 \u0645\u062d\u062f\u0648\u062f<\/text>\n\u0645\u0633\u062a\u0642\u06cc\u0645 \u0627\u0632 Arduino 5V<\/text>\n\n\u0645\u0648\u062a\u0648\u0631 \u067e\u0644\u0647\u200c\u0627\u06cc<\/text>\n✅ \u062f\u0642\u062a \u0645\u0648\u0642\u0639\u06cc\u062a \u0628\u062f\u0648\u0646 encoder<\/text>\n✅ CNC\u060c \u0631\u0628\u0627\u062a \u062f\u0642\u06cc\u0642<\/text>\n❌ \u06af\u0631\u0627\u0646\u200c\u062a\u0631\u060c \u06a9\u0646\u062f<\/text>\n❌ \u0628\u0627 \u0628\u0627\u0631 \u0632\u06cc\u0627\u062f step miss<\/text>\nA4988 \/ DRV8825<\/text>\n<\/svg><\/p>\n
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