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2.1High-Precision and Smooth Thrust Control

1)Through co-design of a customized waterproof brushless motor and the MDF101A control chip, the solution achieves dynamic and smooth thrust output.

2)By adopting single-shunt or dual-shunt sensorless FOC algorithms, combined with precise current reconstruction and vector control, the system delivers stable torque across the full speed range. Even at zero and low speeds, it maintains excellent smoothness.

This control approach significantly reduces motor vibration, underwater operating noise, and mechanical shock, thereby improving navigation stability and stealth—especially suitable for environmentally sensitive applications such as scientific research and underwater photography.

2.2 Sensorless FOC and Zero-Speed Closed-Loop Startup

1)Single-shunt FOC: Only one DC bus current sampling resistor is required to reconstruct three-phase currents and achieve full current closed-loop control, significantly reducing hardware cost and system size.

2) Zero-speed closed-loop startup: With advanced control algorithms, the system can directly enter closed-loop control from a standstill, eliminating the need for traditional open-loop startup and external position sensors, while ensuring high torque and smooth, reliable startup.

3) High-precision state estimation: Advanced algorithms such as Sliding Mode Observer (SMO) are used to estimate rotor position and speed in real time, providing accurate feedback for stable and efficient vector control.

2.3 Intelligent Speed Control and Comprehensive Protection
1)Stepless speed control: Supports multi-level operation modes and one-button forward/reverse switching.

2)Safety features for underwater applications: Built-in multiple protection mechanisms ensure long-term stable operation:
  •Overcurrent and overload protection

  •Input over-voltage and under-voltage protection (compatible with wide-voltage battery packs)

  •Stall and entanglement detection

  •MOSFET and motor temperature monitoring with overheat protection

  •Phase failure protection

  •Leak detection interface (supports external sensors)

  •Automatically enters ultra-low-power standby mode after a prolonged period of inactivity

3. Chip-Level Implementation

1)Core MCU: Arm® Cortex®-M0 core running at 60 MHz with a built-in hardware divider, enabling efficient execution of complex algorithms such as Clarke/Park transforms, PI control, and Space Vector PWM (SVPWM), ensuring real-time control performance.

2)Key Control Peripherals:

  •3-channel complementary PWM outputs (with adjustable dead time) for generating high-precision three-phase sinusoidal drive waveforms

3)High-Speed ADC System:

  •12-bit ADC with up to 1 MSPS sampling rate and multi-channel inputs

  •Essential for single- or dual-shunt current sampling FOC, enabling precise current acquisition for real-time closed-loop control

4)Memory and Communication Interfaces:

  •32 KB Flash + 4 KB RAM, plus dedicated 3 KB Flash for parameter and log storage

  •Supports UART communication and DMA data transfer, allowing easy integration with underwater sensors such as depth, attitude, and pressure sensors

5)Industrial-Grade Reliability:

  •6 kV ESD protection

  •Strong EMC immunity

  •Wide operating temperature range, suitable for complex underwater electrical environments

4. Typical Application Scenarios

5. Core Value of the Solution