{"id":857,"date":"2026-06-12T15:52:27","date_gmt":"2026-06-12T07:52:27","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/dc-motor-encoder-pid-speed-position-control-arduino-farsi\/"},"modified":"2026-06-12T15:52:28","modified_gmt":"2026-06-12T07:52:28","slug":"dc-motor-encoder-pid-speed-position-control-arduino-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/dc-motor-encoder-pid-speed-position-control-arduino-farsi\/","title":{"rendered":"\u0645\u0648\u062a\u0648\u0631 DC \u0628\u0627 Encoder: \u06a9\u0646\u062a\u0631\u0644 \u062f\u0642\u06cc\u0642 \u0633\u0631\u0639\u062a \u0648 \u0645\u0648\u0642\u0639\u06cc\u062a \u0628\u0627 PID (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u0645\u0648\u062a\u0648\u0631 DC Encoder PID \u06a9\u0646\u062a\u0631\u0644 \u0633\u0631\u0639\u062a \u0645\u0648\u0642\u0639\u06cc\u062a \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
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Encoder \u0686\u06cc\u0633\u062a \u0648 \u0686\u0631\u0627 \u0645\u0648\u062a\u0648\u0631 DC \u0631\u0627 \u062f\u0642\u06cc\u0642 \u0645\u06cc\u200c\u06a9\u0646\u062f\u061f<\/h2>\n

Encoder<\/strong> (\u0627\u0646\u06a9\u0648\u062f\u0631) \u06cc\u06a9 \u062d\u0633\u06af\u0631 \u0627\u0633\u062a \u06a9\u0647 \u062f\u0648\u0631 \u0645\u0648\u062a\u0648\u0631 \u0631\u0627 \u0645\u06cc\u200c\u0634\u0645\u0627\u0631\u062f. \u0627\u0646\u06a9\u0648\u062f\u0631 \u062f\u0648 \u06a9\u0627\u0646\u0627\u0644 (A \u0648 B) \u062c\u0647\u062a \u0686\u0631\u062e\u0634 \u0631\u0627 \u0647\u0645 \u062a\u0634\u062e\u06cc\u0635 \u0645\u06cc\u200c\u062f\u0647\u062f \u2014 \u0627\u06cc\u0646 \u0646\u0648\u0639 Quadrature Encoder<\/strong> \u0646\u0627\u0645 \u062f\u0627\u0631\u062f. \u0628\u0627 \u0634\u0645\u0627\u0631\u0634 \u067e\u0627\u0644\u0633\u200c\u0647\u0627 \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 RPM \u062f\u0642\u06cc\u0642 \u0631\u0627 \u0628\u062f\u0627\u0646\u06cc\u0645 \u0648 \u0628\u0627 PID \u0622\u0646 \u0631\u0627 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u06cc\u0645. \u0646\u062a\u06cc\u062c\u0647: \u0645\u0648\u062a\u0648\u0631\u0647\u0627\u06cc \u062f\u0648 \u0637\u0631\u0641 UGV \u062f\u0642\u06cc\u0642\u0627\u064b \u0628\u0627 \u0633\u0631\u0639\u062a \u06cc\u06a9\u0633\u0627\u0646 \u0645\u06cc\u200c\u0686\u0631\u062e\u0646\u062f \u2014 \u0631\u0628\u0627\u062a \u0645\u0633\u062a\u0642\u06cc\u0645 \u0645\u06cc\u200c\u0631\u0648\u062f!<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n
Encoder<\/td>\nHC-020K \u06cc\u0627 LM393 \u0628\u0627 \u062f\u06cc\u0633\u06a9 \u0633\u0648\u0631\u0627\u062e\u200c\u062f\u0627\u0631 (20PPR)<\/td>\n<\/tr>\n
\u0642\u06cc\u0645\u062a<\/td>\n~\u06f4\u06f0K \u0647\u0631 encoder<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

\u0627\u062a\u0635\u0627\u0644 Encoder \u0628\u0647 Arduino<\/h2>\n\n\n\n\n\n\n
Encoder<\/th>\nArduino<\/th>\n\u0646\u06a9\u062a\u0647<\/th>\n<\/tr>\n<\/thead>\n
OUT (A)<\/td>\nD2 (interrupt)<\/td>\ninterrupt RISING<\/td>\n<\/tr>\n
OUT (B) \u2014 \u0627\u06af\u0631 quadrature<\/td>\nD4 (digital input)<\/td>\n\u0628\u0631\u0627\u06cc \u062a\u0634\u062e\u06cc\u0635 \u062c\u0647\u062a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f PID \u0633\u0631\u0639\u062a \u0628\u0627 Encoder<\/h2>\n
volatile long pulses = 0;\nvoid isr(){ pulses += (digitalRead(4)==HIGH) ? 1 : -1; }  \/\/ quadrature\n\nconst int PPR = 20;         \/\/ \u067e\u0627\u0644\u0633 \u062f\u0631 \u0647\u0631 \u062f\u0648\u0631\nconst float Kp=3.0, Ki=0.5, Kd=0.2;\nfloat setRPM=0, curRPM=0;\nfloat errSum=0, lastErr=0;\nunsigned long lastTime=0;\n\nvoid setup(){\n  attachInterrupt(digitalPinToInterrupt(2), isr, RISING);\n}\n\nvoid loop(){\n  \/\/ RPM \u0645\u062d\u0627\u0633\u0628\u0647 \u0647\u0631 \u06f1\u06f0\u06f0ms\n  if(millis()-lastTime >= 100){\n    long snap = pulses; pulses=0;\n    float dt = (millis()-lastTime)\/1000.0; lastTime=millis();\n    curRPM = (snap\/(float)PPR) \/ dt * 60.0;\n\n    float err = setRPM - curRPM;\n    errSum += err*dt; errSum = constrain(errSum,-100,100);\n    float out = Kp*err + Ki*errSum + Kd*(err-lastErr)\/dt;\n    lastErr = err;\n\n    int pwm = 128 + constrain((int)out, -128, 127);\n    analogWrite(ENA, pwm);\n  }\n}<\/code><\/pre>\n
\u062c\u062f\u0648\u0644 \u0686\u06a9 \u062a\u0646\u0638\u06cc\u0645<\/h2>\n\n\n\n\n\n\n\n\n
\u062a\u0633\u062a<\/th>\n\u0646\u062a\u06cc\u062c\u0647 \u0635\u062d\u06cc\u062d<\/th>\n<\/tr>\n<\/thead>\n
encoder \u067e\u0627\u0644\u0633 \u0645\u06cc\u200c\u062f\u0647\u062f<\/td>\nSerial.println(pulses) \u0628\u0627 \u0686\u0631\u062e\u0634 \u0645\u0648\u062a\u0648\u0631 \u0639\u0648\u0636 \u0645\u06cc\u200c\u0634\u0648\u062f<\/td>\n<\/tr>\n
\u062c\u0647\u062a \u062f\u0631\u0633\u062a<\/td>\n\u062c\u0644\u0648 = +\u060c \u0639\u0642\u0628 = \u2212<\/td>\n<\/tr>\n
RPM \u062f\u0631 setRPM=100<\/td>\ncurRPM \u0628\u0647 \u06f1\u06f0\u06f0 \u0647\u0645\u06af\u0631\u0627 \u0645\u06cc\u200c\u0634\u0648\u062f \u2264\u06f5\u066a \u062e\u0637\u0627<\/td>\n<\/tr>\n
UGV \u0645\u0633\u062a\u0642\u06cc\u0645 \u0645\u06cc\u200c\u0631\u0648\u062f<\/td>\n\u0647\u0631 \u062f\u0648 \u0645\u0648\u062a\u0648\u0631 RPM \u06cc\u06a9\u0633\u0627\u0646 \u062f\u0627\u0631\u0646\u062f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
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