{"id":782,"date":"2026-06-12T15:20:35","date_gmt":"2026-06-12T07:20:35","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/ugv-ackermann-steering-servo-dc-motor-car-like-farsi\/"},"modified":"2026-06-12T15:20:36","modified_gmt":"2026-06-12T07:20:36","slug":"ugv-ackermann-steering-servo-dc-motor-car-like-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/ugv-ackermann-steering-servo-dc-motor-car-like-farsi\/","title":{"rendered":"UGV \u0628\u0627 \u0641\u0631\u0645\u0627\u0646 Ackermann \u2014 \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631 \u0648 \u062f\u0631\u0627\u06cc\u0648 DC \u0628\u0631\u0627\u06cc \u0645\u0627\u0634\u06cc\u0646\u200c\u0645\u0627\u0646\u0646\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\nUGV \u0641\u0631\u0645\u0627\u0646 Ackermann \u0633\u0631\u0648 \u0645\u0648\u062a\u0648\u0631\n<\/div>\n
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\u0641\u0631\u0645\u0627\u0646 Ackermann \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0627\u0632 Differential Drive \u0628\u0647\u062a\u0631 \u0627\u0633\u062a\u061f<\/h2>\n

\u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0641\u0631\u0645\u0627\u0646 Ackermann<\/strong>\u060c \u0686\u0631\u062e\u200c\u0647\u0627\u06cc \u062c\u0644\u0648 \u062f\u0631 \u067e\u06cc\u0686 \u0632\u0627\u0648\u06cc\u0647\u200c\u0647\u0627\u06cc \u0645\u062a\u0641\u0627\u0648\u062a\u06cc \u062f\u0627\u0631\u0646\u062f \u062a\u0627 \u0647\u0645\u0647 \u0686\u0631\u062e\u200c\u0647\u0627 \u062d\u0648\u0644 \u06cc\u06a9 \u0646\u0642\u0637\u0647 \u0645\u0634\u062a\u0631\u06a9 \u0628\u0686\u0631\u062e\u0646\u062f \u2014 \u0628\u062f\u0648\u0646 \u0633\u064f\u0631 \u062e\u0648\u0631\u062f\u0646. \u0627\u06cc\u0646 \u0647\u0645\u0627\u0646 \u0633\u06cc\u0633\u062a\u0645\u06cc \u0627\u0633\u062a \u06a9\u0647 \u062f\u0631 \u062a\u0645\u0627\u0645 \u062e\u0648\u062f\u0631\u0648\u0647\u0627 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f. \u062f\u0631 \u0645\u0642\u0627\u0628\u0644\u060c Differential Drive \u0628\u0627 \u0633\u064f\u0631 \u0686\u0631\u062e\u200c\u0647\u0627 \u0645\u06cc\u200c\u0686\u0631\u062e\u062f \u06a9\u0647 \u0628\u0631\u0627\u06cc \u0645\u062d\u06cc\u0637\u200c\u0647\u0627\u06cc \u062e\u0627\u06a9\u06cc \u06cc\u0627 \u0645\u0648\u0632\u0627\u06cc\u06cc\u06a9 \u0645\u0634\u06a9\u0644\u200c\u0633\u0627\u0632 \u0627\u0633\u062a.<\/p>\n

\u0628\u0631\u0627\u06cc UGV \u0645\u0628\u062a\u0646\u06cc \u0628\u0631 Ackermann\u060c \u06cc\u06a9 \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645 + \u06cc\u06a9 \u0645\u0648\u062a\u0648\u0631 DC \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634\u0631\u0627\u0646\u0634 \u2014 \u062f\u0642\u06cc\u0642\u0627\u064b \u0645\u062b\u0644 \u06cc\u06a9 \u0645\u0627\u0634\u06cc\u0646 RC \u062a\u062c\u0627\u0631\u06cc \u0627\u0645\u0627 \u0628\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0627\u0645\u0644 \u06a9\u062f.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u067e\u0627\u06cc\u0647<\/td>\n\u0634\u0627\u0633\u06cc \u0645\u0627\u0634\u06cc\u0646 RC \u06f1:\u06f1\u06f0 \u0627\u0633\u06a9\u0631\u067e \u06cc\u0627 \u062c\u0639\u0628\u0647 \u0645\u0627\u0634\u06cc\u0646 \u0627\u0631\u0632\u0627\u0646<\/td>\n<\/tr>\n
\u0628\u0648\u062f\u062c\u0647<\/td>\n~\u06f5\u06f0\u06f0K (\u0628\u0627 \u0634\u0627\u0633\u06cc RC)<\/td>\n<\/tr>\n
\u062d\u062f\u0627\u0642\u0644 \u0634\u0639\u0627\u0639 \u067e\u06cc\u0686<\/td>\n~\u06f3\u06f0cm \u0628\u0631\u0627\u06cc wheelbase \u06f2\u06f0cm<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0645\u062d\u0627\u0633\u0628\u0647 \u0632\u0627\u0648\u06cc\u0647 \u0641\u0631\u0645\u0627\u0646<\/h2>\n

\u0628\u0631\u0627\u06cc Ackermann: tan(\u03b4) = L \/ R<\/code> \u06a9\u0647 L = wheelbase \u0648 R = \u0634\u0639\u0627\u0639 \u067e\u06cc\u0686 \u0627\u0633\u062a.<\/p>\n

\u0628\u0627 L=20cm \u0648 R=30cm: \u03b4 = atan(20\/30) = 33.7\u00b0<\/strong> \u2014 \u0632\u0627\u0648\u06cc\u0647 \u0641\u0631\u0645\u0627\u0646 \u062f\u0627\u062e\u0644\u06cc. \u0632\u0627\u0648\u06cc\u0647 \u062e\u0627\u0631\u062c\u06cc: atan(20\/(30+15)) = 24\u00b0.<\/p>\n

BOM<\/h2>\n\n\n\n\n\n\n\n\n\n
\u0642\u0637\u0639\u0647<\/th>\n\u0642\u06cc\u0645\u062a<\/th>\n<\/tr>\n<\/thead>\n
\u0634\u0627\u0633\u06cc \u0645\u0627\u0634\u06cc\u0646 RC \u06f1:\u06f1\u06f0 (\u06cc\u0627 DIY \u0622\u0644\u0648\u0645\u06cc\u0646\u06cc\u0648\u0645)<\/td>\n~\u06f2\u06f0\u06f0K<\/td>\n<\/tr>\n
\u0633\u0631\u0648 MG996R \u0628\u0631\u0627\u06cc \u0641\u0631\u0645\u0627\u0646<\/td>\n~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n
\u0645\u0648\u062a\u0648\u0631 DC 12V + \u06af\u06cc\u0631\u0628\u06a9\u0633 \u0628\u0631\u0627\u06cc \u067e\u06cc\u0634\u0631\u0627\u0646\u0634<\/td>\n~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n
Arduino Uno<\/td>\n~\u06f1\u06f5\u06f0K<\/td>\n<\/tr>\n
L298N<\/td>\n~\u06f8\u06f0K<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u06a9\u0646\u062a\u0631\u0644 Ackermann<\/h2>\n
#include <Servo.h>\nServo steer;\n\n#define THROTTLE_IN1 7\n#define THROTTLE_IN2 8\n#define THROTTLE_ENA 9\n\nconst int STEER_CENTER = 90;  \/\/ \u062f\u0631\u062c\u0647\nconst int STEER_MAX = 35;     \/\/ \u00b135 \u062f\u0631\u062c\u0647 \u0627\u0632 \u0645\u0631\u06a9\u0632\n\nvoid setup(){\n  steer.attach(10);\n  steer.write(STEER_CENTER);\n  pinMode(THROTTLE_IN1,OUTPUT);\n  pinMode(THROTTLE_IN2,OUTPUT);\n  pinMode(THROTTLE_ENA,OUTPUT);\n}\n\n\/\/ steering: -100 (\u06a9\u0627\u0645\u0644 \u0686\u067e) \u062a\u0627 +100 (\u06a9\u0627\u0645\u0644 \u0631\u0627\u0633\u062a)\n\/\/ throttle: -100 (\u0628\u0631\u0639\u06a9\u0633) \u062a\u0627 +100 (\u062c\u0644\u0648)\nvoid control(int steering, int throttle){\n  int servoAngle = STEER_CENTER + map(steering,-100,100,-STEER_MAX,STEER_MAX);\n  steer.write(constrain(servoAngle,STEER_CENTER-STEER_MAX,STEER_CENTER+STEER_MAX));\n\n  int spd = map(abs(throttle),0,100,0,255);\n  digitalWrite(THROTTLE_IN1, throttle>0?HIGH:LOW);\n  digitalWrite(THROTTLE_IN2, throttle>0?LOW:HIGH);\n  analogWrite(THROTTLE_ENA, spd);\n}\n\nvoid loop(){\n  \/\/ \u0645\u062b\u0627\u0644: \u062c\u0644\u0648 \u0628\u0627 \u0627\u0646\u062d\u0631\u0627\u0641 \u06f5\u06f0\u066a \u0628\u0647 \u0631\u0627\u0633\u062a\n  control(50, 80);\n  delay(2000);\n  control(0, 0);\n  delay(1000);\n}<\/code><\/pre>\n
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