I recently learned about HFI (High Frequency Injection), which is used in V-ESCs to start controlling the motor in Closed Loop from a standstill, allowing for maximum torque. The interesting thing is that all this doesn't require additional hardware on the motor side!
I think this could be extremely interesting for ROVs since it would allow BLDC motors to operate at extremely slow speeds and still have very steady and efficient control for small precise operations.
What do you think? Have you ever tried this?
Here are some interesting links about this:
https://www.youtube.com/watch?v=H-6qzmeCNtw
https://www.futureelectronics.cn/en/res ... /202107/13
https://newsroom.st.com/media-center/pr ... n4594.html