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I went to it and took a while finding it also. It's under Pictures, not
Psub Pictures. Look under Pictures "Motor Controller from Ken Martindale."
It's a schematic of the motor controller I designed for my Sub. It gives
you some idea of what's involved. What's not obvious at first glance is that the
Power MOS FETs switch at a fast speed (DI/Dt) many times faster than ECL
logic and gives rise to inductive voltage spikes. These spikes are the major
problem and must be controlled to prevent blowing the FETs.
The second concern is a stalled rotor (jammed propellor) in which you
must provide current limit to prevent possibly blowing your motor,
batteries, fuse, or circuit breaker. Most permanent magnet motors can be
demagnetized by excessive armature currents which is another concern.
I do power electronics yet I recommend you buy a controller if you
don't have expertise in this area. You'll spend much less time and maybe less
money buying the controller.
Good luck,
Ken Martindale
PS My motor controller has never failed.
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