JP2009178119A5 - - Google Patents

Description

Electric reel motor control device

  The present invention relates to a motor control device, and more particularly to a motor control device for an electric reel capable of rotating a spool by driving a motor.

  The electric reel that can rotate the spool at the time of winding the thread with a motor includes a reel body, a spool rotatably supported by the reel body, a handle for manually rotating the spool, and a spool in the winding direction. And an electric motor to be driven. On the upper surface of the reel body, an operation panel provided with a display for displaying water depth and switches for performing various inputs is mounted.

  In such an electric reel, there is conventionally known an apparatus that performs multi-stage speed control of a motor so that the upper limit hoisting speed of the spool is constant every plural stages (see, for example, Patent Document 1). In the conventional electric reel, the upper limit speed is set in a plurality of stages by a swinging operation lever provided on the side surface of the reel body on the handle side of the operation panel.

In the conventional electric reel, the upper limit speed of each stage is set according to the swing angle of the operation lever, and this is displayed on the display. In the motor control device, the number of rotations of the spool is detected, and the motor is controlled so that the detected spool rotation speed becomes a set stage speed.
JP 2000-139299 A

  In the conventional configuration, even when the load becomes high and the rotation of the spool does not increase to the set upper limit speed, the current may continue to flow unnecessarily to the motor so as to increase to the upper limit speed. When such a wasteful current flows, the load on the motor increases and the motor may burn out.

  An object of the present invention is to suppress a load on the motor and prevent the motor from burning out when performing multi-stage speed control of the motor.

  An electric reel motor control device according to a first aspect of the present invention is an electric reel motor control device capable of rotating a spool by driving a motor, wherein the rotation speed detection unit, the load detection unit, the upper limit speed setting unit, A target speed setting unit, a load comparison unit, a second target speed setting unit, and a motor control unit are provided. The rotation speed setting unit detects the rotation speed of the spool. The load detection unit detects a load acting on the spool based on a current value. The upper limit speed setting unit sets the rotation speed of the spool to one of upper and lower upper limit speeds. The first target setting unit sets a state in which the load detected by the load detection unit is equal to or greater than a predetermined first current value smaller than a maximum current value flowing through the motor for a first predetermined time and the detected rotation speed is set. When at least the first condition that is less than the upper limit speed is satisfied, a target speed corresponding to the upper limit speed that is at least one step lower than the rotational speed is set. The load comparison unit compares the first load after setting the target speed with the second load after a second predetermined time. The second target speed setting unit sets the target speed to an upper limit speed that is at least one step lower when the second load is larger than the first load by a predetermined amount, and sets the target speed when the second load is smaller than the first load by a predetermined amount. Set the speed to an upper speed limit that is at least one step higher. The motor control unit controls the motor so that the rotation speed of the spool becomes the set upper limit speed when the first condition is not satisfied, and when the target speed is set by the first and second target setting units, the spool The motor is controlled so that the rotation speed becomes the set target speed.

  In this motor control device, the motor is normally controlled so as to have the upper limit speed set by the upper limit speed setting unit. A load state in which the load increases and the load detected by the load detector is higher than a predetermined first current value smaller than the maximum current value flowing through the motor (for example, 50 to 90% of the maximum current value) is a first predetermined time. When the continuous first condition is satisfied, a target speed corresponding to an upper limit speed that is at least one step lower than the rotational speed is set. Then, the first load detected at that time is compared with the second load after the second predetermined time has elapsed, and when the second load is larger than the first load by a predetermined amount, the target speed is reduced by at least one step. When the second load is smaller than the first load by a predetermined amount, the target speed is set to an upper limit speed that is at least one step higher. When the target speed is set, the motor control unit controls the speed of the motor so that the target speed is set instead of the upper limit speed.

  Here, once a high load condition that satisfies the first condition is reached, the motor speed is once reduced to an upper limit speed that is at least one step lower than the rotational speed at that time, the current flowing to the motor is reduced, Avoid unnecessary current flow. Further, when the load is further decreased, the rotational speed of the motor is increased, and when the load is increased, the rotational speed of the motor is further decreased. For this reason, it is difficult for unnecessary current to flow through the motor, and when performing multi-stage speed control in which current is continuously supplied to the motor until the upper limit speed is reached, the burden on the motor is suppressed and the motor does not burn out.

  The motor control device for an electric reel according to a second aspect is the device according to the first aspect, wherein the first target setting unit includes a first condition and a second condition in which the rotation speed is continuously lower than the upper limit speed for a first predetermined time. When the above are satisfied, the target speed is set. In this case, the determination accuracy of the high load is further increased, and it is difficult to pass a wasteful current.

  The motor control device for an electric reel according to a third aspect is the device according to the first or second aspect, wherein the motor control unit releases the target speed when the upper limit speed is changed by the upper limit speed setting unit to a lower speed side than the target speed. The motor is controlled so as to reach the upper limit speed. In this case, even if the target speed is set, if the upper limit speed is set at a lower speed than the target speed, the target speed is canceled, so that it is difficult for a wasteful current to flow.

The motor control device for an electric reel according to a fourth aspect of the present invention is the device according to any one of the first to third aspects, wherein the motor control unit is configured such that when the upper limit speed is changed by the upper limit speed setting unit to a higher speed side than the target speed, Ignore the change and control the motor to achieve the target speed. In this case, since the acceleration to the high speed side where the load on the motor increases during the deceleration control is prohibited, the burden on the motor is further reduced .

The motor control device of the electric reel according to the inventions 5, in the device according to any one of the first to fourth aspects, the second target speed setting unit sets a target speed lower than half of the predetermined phase of the maximum phase as a limit . In this case, since the deceleration is completed up to a low speed region where the current value does not increase so much, useless deceleration that lowers the reel performance does not occur.

The motor control device for an electric reel according to a sixth aspect of the present invention is the device according to the fifth aspect , wherein the motor control unit is configured to spool when a load state equal to or greater than the first current value continues for a third predetermined time longer than the first predetermined time. When the rotation speed of the motor is lower than the speed of the intermediate stage on the high speed side than the low speed stage, an intermittent current that turns on and off is supplied to the spool.

  In this case, since the motor is intermittently operated instead of being decelerated when the target speed falls below the intermediate stage, a wasteful current is generated when the motor rotates at a low load due to a high load and locks or rotates at a low speed. The motor can be prevented from generating heat. Further, if the load is reduced, the motor can be wound at the set upper limit speed, so that it is possible to prevent the motor from being burned out without reducing the performance.

  According to the present invention, when a high load condition that satisfies the first condition is reached, the motor speed is once reduced to an upper limit speed that is at least one step lower than the rotational speed at that time, and the current flowing through the motor is reduced. Prevent unnecessary current from flowing through the motor. Further, when the load is further decreased, the rotational speed of the motor is increased, and when the load is increased, the rotational speed of the motor is further decreased. For this reason, it is difficult for unnecessary current to flow through the motor, and when controlling the speed at which current continues to flow until the upper limit speed is reached, the load on the motor is suppressed and the motor does not burn out.

[Schematic configuration of electric reel]
As shown in FIG. 1, an electric reel according to an embodiment of the present invention, in appearance, mainly includes a reel main body 2 to which a handle 1 is attached, a spool 3 rotatably attached to the reel main body 2, and a spool 3. And a motor 4 mounted therein. A counter 5 for displaying a water depth or the like is mounted on the top of the reel body 2. As shown in FIG. 2, a rotation transmission mechanism 6 that transmits the rotation of the handle 1 to the spool 3 and transmits the rotation of the motor 4 to the spool 3 and a rotation transmission mechanism 6 are provided inside the reel body 2. The clutch mechanism 7 and the drag mechanism 8 are provided.

  As shown in FIG. 2, the reel body 2 includes a frame 13 and side covers 14 and 15 that cover both sides of the frame 13. As shown in FIG. 2, the frame 13 is an integrally formed member of an aluminum alloy die cast, and includes a pair of left and right side plates 16 and 17 and a connecting member 18 that connects the side plates 16 and 17 at a plurality of locations. ing. A rod mounting leg 19 for mounting a fishing rod is mounted on the lower connecting member 18.

  The side cover 15 is fastened to the side plate 17 with bolts. A fixed frame 20 for mounting the rotation transmission mechanism 6 and the like is fastened to the side cover 15 by bolts (not shown). Therefore, when the side cover 15 is removed from the side plate 17, the fixed frame 20 is also detached from the side plate 17 together with a part of the rotation transmission mechanism 6 and the side cover 15.

  The side cover 14 is fastened to the side plate 16 with bolts (not shown). The side cover 14 is provided with a connector portion 14a (FIG. 1) for a power cable for connecting to a power source such as a storage battery provided outside and projecting obliquely at the front portion. The power cable connected to the connector portion 14a is provided with an antenna for wireless communication described later. The electric reel can correspond to three types of power sources of DC 12V (volt), 16.8V, and 24V.

  On the front side surface of the reel body 2 on the handle 1 side, the winding speed of the spool 3 can be adjusted to 31 levels, and the tension of the fishing line wound around the spool 3 can be adjusted to 31 levels (speed setting unit) And an example of an upper limit tension setting unit) 101 is provided to be swingable. A potentiometer 104 (FIG. 6) for detecting the swing angle of the adjustment lever 101 is attached to the swing shaft of the adjustment lever 101.

As shown in FIG. 2, the spool 3 includes a cylindrical bobbin trunk 3a capable of accommodating the motor 4 therein, and a pair of left and right flanges 3b formed on the outer periphery of the bobbin trunk 3a with a space therebetween. And have. One end of the spool 3 extends outward from the flange portion 3b, and a bearing 26 is disposed on the inner peripheral surface of the extended end portion. A gear plate 3 c is fixed to the other end of the spool 3. The gear plate 3c is provided to transmit the rotation of the spool 3 to a level wind mechanism (not shown). A rolling bearing 25 is mounted between the gear plate 3c and the fixed frame 20 on the spool center side portion of the gear plate 3c. The spool 3 is rotatably supported by the reel body 2 by the two bearings 25 and 26.

[Counter configuration]
The counter 5 is provided for controlling the motor 4 while displaying the water depth of the device attached to the tip of the fishing line. As shown in FIGS. 3 and 4, the counter 5 includes an upper case 5 a and a lower case 5 b. The upper case 5a has a ridgeline portion 5c, 5d formed with a display portion that is narrowed forward and slightly recessed from the display portion to the left and right. The ridge line portion 5 c is connected flush with the side cover 14, and the ridge line portion 5 d is continuous with the side cover 15. A tapered name plate 8 having a shape in which each trapezoidal piece is slightly convexly curved is fixed to the display portion of the upper case 5a. The nameplate 8 is provided with a transparent cover 8a for allowing the depth display portion 98 to be viewed. The bottom surface of the lower case 5 b, the heat sink 5e is provided which is composed of an aluminum plate for cooling the field effect transistor (FET) 108b to be described later.

  As shown in FIG. 3, the counter 5 includes a water depth display unit 98 composed of a liquid crystal display for displaying the water depth data LX and the shelf position of the device on the basis of two references from the water surface and from the bottom, and a water depth display unit. An operation key unit 99 composed of, for example, three switch buttons is provided on the front side of 98 (lower side in FIG. 3). Further, inside the counter 5, as shown in FIG. 4, the first circuit board 10 on which the water depth display unit 98 and the operation key unit 99 are arranged, and the second circuit arranged below the first circuit board 10. A substrate 11 is provided. The first circuit board 10 is made smaller than the conventional one in order to reduce the size of the counter 5. On the handle 1 mounting side of the second circuit board 11, the wiring 101 a to the adjustment lever 101 is led out to the outside from the connecting portion of the upper and lower cases 5 a and 5 b. This prevents contact with the fishing line. The lead-out portion of the wiring is sealed with silicon or the like, and the inside of the counter 5 is kept watertight. Further, in the first and second circuit boards 10 and 11, the insulation is improved by applying silicon to the solder part of the power line solder part, the foot part of the electrolytic capacitor related to the motor drive and the solder part of the microcomputer. In order to prevent the malfunction due to the influence of moisture.

  As shown in FIG. 5, the water depth display unit 98 uses a segment type liquid crystal display 98 a having a backlight 30. The backlight 30 includes a light emitting diode 30a capable of emitting two colors of red and green, and a light guide plate 30b in which the light emitting diode 30a is disposed on one side. By providing such a light guide plate 30b, the entire surface of the liquid crystal display 98a can be illuminated.

  The operation key part 99 has a menu button MB, a determination button DB, and a shelf memo button TB for shelf memos arranged side by side on the lower side of the water depth display part 98. The menu button MB is a button used for selecting a display item in the water depth display unit 98. For example, each time the menu button MB is operated, the mode is switched from the top (mode for displaying the depth of the device by the depth from the water surface) and from the bottom (mode for displaying the depth of the device by the depth from the bottom of the water). When the menu button MB is pressed for 3 seconds or longer, the motor control mode can be switched between the speed mode and the tension mode each time the menu button MB is pressed. Here, the speed mode is a mode in which the upper limit speed of the rotation speed of the spool 3 can be controlled in 31 stages in accordance with the swing angle of the adjustment lever 101. The tension mode is a mode in which the upper limit tension of the tension acting on the fishing line can be controlled in 31 stages in a multi-stage tension. In both modes, the highest stage 31 is the fast winding speed at which the motor 4 is operated with 100% duty, and the current is limited but the speed is not controlled.

  The decision button DB is a button for confirming and setting the selection result. Further, when the decision button DB is pressed and held for 3 seconds or longer, for example, a zero set process in which the water depth data LX at that time is set as the reference position of the water depth 0 can be performed. The shelf memo button TB is a button for setting the device water depth when operated as a shelf position. Thereafter, the water depth data LX is displayed with the yarn length from the set reference position. In addition, the angler usually presses the enter button and sets it to 0 when the device reaches the sea surface.

Further, as shown in FIG. 6, a control unit (an example of a mode control device) 90 for controlling the water depth display unit 98 and the motor 4 is provided inside the counter 5. The control unit 90 is provided with a reel control unit 100 composed of a microcomputer. As a functional configuration, the reel control unit 100 includes a first control unit 100a that controls the speed of the motor 4, and a second control unit 100b that controls the tension by correcting the torque of the motor 4 to the tension based on the bobbin diameter. is doing. The bobbin diameter can be obtained from water depth data.

  The reel control unit 100 includes an operation key unit 99, an adjustment lever 101 that is swingably attached to the side cover 15 and adjusts the spool speed and fishing line tension, and the rotation speed and rotation direction of the spool 3. For example, a spool sensor (an example of a rotational speed detection unit) 102 that detects two Hall elements arranged side by side in the rotation direction, a temperature sensor 103 that detects the temperature of the motor, and a potentiometer connected to the adjustment lever 101 104 and a wireless communication unit 105 for exchanging the fishing information display device 120 provided on the outside of the reel with the device water depth data and the like wirelessly (for example, IEEE 802.15.4 (standard of ZigBee (registered trademark), etc.) The reel control unit 100 includes various notification buzzers 106, a water depth display unit 98, and various data. For example, a storage unit 107 made of an EEPROM, a motor drive circuit 108 that drives the motor 4 with a duty ratio obtained by pulse width modulation (PWM), and other input / output units are connected. 108 includes a current detection unit 108a (an example of a load detection unit and a tension detection unit) that detects a current flowing through the motor 4, and a field effect transistor 108b. It is not detected directly, but is detected based on the temperature of a field effect transistor (FET) 108b mounted on the motor drive circuit 108. The field effect transistor 108b is mounted on the second circuit board 11.

  The fishing information display device 120 can wirelessly exchange data with a fish finder 140 mounted on a fishing boat, and can display the same fish finder data (bottom position and shelf position) as the fish finder 140 in graphic and numerical values. In addition, the device position can be displayed graphically and numerically by the water depth data obtained from the reel by wirelessly communicating with the reel.

[Reel control section control]
The reel control unit 100 controls the speed and torque (tension) of the motor 4 according to the operation amount of the adjustment lever 101. Further, the water depth of the device attached to the tip of the fishing line is calculated from the output of the spool sensor 102 and displayed on the water depth display unit 98. Furthermore, when the bottom position (the depth of the seabed) and the shelf position (the depth of the school of fish) are set by operating the operation key unit 99, the calculated water depth matches the set bottom position and the shelf position. When the device reaches the shelf position or the bottom position, the buzzer 106 notifies that fact.

  Next, a specific control operation of the reel control unit 100 will be described with reference to the flowcharts of FIGS.

<Main routine>
When the reel controller 100 is powered on, initial setting is performed in step S1 of FIG. In this initial setting, various flags are turned off, the motor control mode is set to the speed mode, and the water depth display is set to the mode from the top. In step S2, various display processes are performed. In this display processing, display processing of data displayed on the water depth display unit 98 is performed. For example, display processing such as water depth data is performed.

  In step S3, it is determined whether or not an input operation such as the operation key unit 99 or the adjustment lever has been performed. In step S4, it is determined whether or not the spool 3 is rotating based on the output from the spool sensor 102. In step S5, the temperature protection process of the motor 4 shown in FIG. In step S6, it is determined whether or not other processing such as calculation of the bobbin diameter and learning processing for learning the relationship between the spool rotation speed and the yarn length according to the fishing line has been commanded.

  When there is a key input, the process proceeds from step S3 to step S7. In step S7, the key input process shown in FIG. 9 is executed. If it is determined in step S4 that the spool 3 is rotating, the process proceeds from step S4 to step S8. In step S8, each operation mode process shown in FIG. 16 is executed. If another processing command is issued, the process proceeds from step S6 to step S9, and the other processing commanded is executed.

<Temperature protection treatment>
The temperature protection process of step S5 is a process of turning off the motor 4 when the temperature of the motor drive circuit 108 (that is, the temperature of the motor 4) becomes 90 degrees or more. In the temperature protection process, the temperature of the motor drive circuit 108 is read by the output of the temperature sensor 103 in step S11 of FIG. Since the temperature of the motor drive circuit 108 is substantially proportional to the temperature of the motor 4, the temperature of the motor 4 can be detected from the temperature of the motor drive circuit 108. In step S12, it is determined whether or not the temperature of the motor drive circuit 108 exceeds a first predetermined temperature (for example, about 85 to 95 degrees Celsius, preferably 90 degrees Celsius in this embodiment). When the temperature of the motor drive circuit 108 exceeds 90 degrees, the process proceeds from step S12 to step S13. In step S13, it is determined whether or not a temperature flag FS that is turned on when the temperature exceeds 90 degrees for the first time has already been turned on. If the temperature flag FS is not turned on, the process proceeds to step S14, the temperature flag FS is turned on, and the process proceeds to step S15. If the temperature flag FS is already on, step S14 is skipped. In step S15, the motor 4 is turned off and the process returns to the main routine. Thereby, burning of the motor 4 at the time of overload can be prevented.

When the temperature is equal to or lower than the first predetermined temperature, the process proceeds from step S12 to step S16. In step S16, it is determined whether or not the temperature flag FS has already been turned on. When the temperature flag FS is not on, the process returns to the main routine. If the temperature flag FS has already been turned on, the process proceeds to step S17, where the detected temperature Td is preferably a second predetermined temperature lower than the first predetermined temperature (for example, about 75 to 85 degrees Celsius is preferred. Then, it is determined whether or not the temperature has decreased to 80 degrees Celsius or less. With this determination, the temperature protection process is terminated. When the detected temperature Td exceeds 80 degrees, the process returns to the main routine, and when it is 80 degrees or less, the process proceeds to step S18. In step S18, the judgment whether or not the timer T1 is turned on. The timer T1 is for checking whether or not the state below the second predetermined temperature has continued for a predetermined time t1 (for example, 20 to 40 seconds is preferable, and in this embodiment, 30 seconds). If the timer T1 is not on (started), the process proceeds to step S19 to turn on the timer T1. If the timer T1 has already been turned on, step S19 is skipped. In step S20, it is determined whether or not the timer T1 has timed up and is turned off. If the time is not up, the process returns to the main routine. If the time is up, that is, if the state of 80 degrees or less continues for 30 seconds or more, the overload state is considered to have disappeared and the process proceeds to step S21. The flag FS is turned off, and the temperature protection process ends. After the temperature protection process is completed, the adjustment lever 101 is once returned to the operation start position (step ST = 0), so that the motor 4 can be operated.

<Key input process>
In the key input process of step S7, it is determined whether or not the menu button MB has been pressed for 3 seconds or longer in step S31 of FIG. In step S32, it is determined whether or not the adjustment lever 101 has been operated from the operation start position. In step S33, it is determined whether or not other keys such as a shelf memo button TB, a determination button DB, and a single click of the menu button MB are operated.

  Menu button MB. When the button is pressed for a long time, the process proceeds from step S31 to step S34. In step S34, it is determined whether or not the speed mode is set. When the speed mode is selected, the process proceeds to step S36 and the tension mode is set. When the tension mode is selected, the process proceeds to step S35 and the speed mode is set.

  If it is determined that the adjustment lever 101 is operated to a position other than the operation start position (ST = 0), the process proceeds from step S32 to step S37. In step S37, it is determined whether or not the temperature flag FS is on. When the temperature flag FS is on, the process proceeds to step S33 in order to prohibit the motor control operation by the adjustment lever 101. When the temperature flag FS is not turned on, the process proceeds from step S37 to step S38. In step S38, it is determined whether or not the speed mode is set. In the speed mode, the process proceeds to step S39 to execute speed mode processing. When in the tension mode, the process proceeds to step S40 to execute tension mode processing. If another key operation is performed, the process proceeds from step S33 to step S41, and processing corresponding to the operated key is performed.

<Speed mode processing>
In the speed mode process of step S39, the motor 4 is controlled so that the rotation speed of the spool 3 becomes the upper limit speed set for each stage. The upper limit speed is corrected by the spool winding diameter of the spool 3, and the motor 4 is actually controlled so that the fishing line winding speed wound around the spool 3 is constant.

  In step S50 of FIG. 10, it is determined whether or not the intermittent flag FP3 indicating that the intermittent process described later is being performed. If the intermittent flag FP3 is off, the process proceeds to step S51. If the intermittent flag FP3 is on, the process proceeds to step S54.

In step S51, it reads the rotational speed Vd of the spool 3 which is calculated by the output of the stage ST and the spool sensor 102 set by the adjusting lever 101. In step S52, it is determined whether or not the speed Vd of the spool 3 is less than the lower limit value Vst1 of the upper limit speed Vs corresponding to the stage ST or a protection stage STS (an example of a target speed) described later. In step S53, the speed Vd of the spool 3 steps S T or determines whether exceeds the upper limit value Vst2 of upper speed limit Vs corresponding to the protection step STS. Note that when the speed control is performed, the lower limit value Vst1 and the upper limit value Vst2 of the upper limit speed Vs are provided for each stage ST. This is because there is no change, and wowing in which the duty ratio fluctuates frequently does not occur, and the feedback control is stabilized. The upper limit value Vst2 and the lower limit value Vst1 are set within ± 10% of the upper limit speed Vst, for example.

In step S54, a first protection process for intermittently operating the motor 4 in the case of a high load is executed. In step S55, a second protection process for decelerating the motor 4 in the case of a high load is executed. Return.

  When the speed Vd is less than the lower limit value Vst1, the process proceeds from step S52 to step S56. In step S56, it is determined whether or not a second protection flag FP2 that is turned on in the second protection process described later is turned on. When the second protection flag FP2 is ON, the process proceeds from step S56 to step S61 in order to prohibit the speed increasing operation by lever operation from the protection stage STS decelerated in the second protection process to the stage ST on the higher speed side. To do. In step S61, it is determined whether or not the set stage ST exceeds the protection stage STS set in the second protection process. If the set stage exceeds the protection stage STS, the process proceeds to step S53 in order to disregard the lever operation and prohibit the speed increasing operation. When the stage ST set by the lever operation is equal to or less than the protection stage STS, the process proceeds from step S61 to step S62, the second protection flag FP2 is turned off, and the process proceeds to step S57.

  When the second protection flag FP2 is off, the process proceeds from step S56 to step S57, and the current first duty ratio D1 is read. The first duty ratio D1 is stored in the storage unit 107 every time the setting is changed. Further, a maximum value DUst and a minimum value DLst are set for each stage ST. When the stage ST is first set to each stage ST, for example, the intermediate first duty ratio D1 = ((DUst + DLst) / 2) is set. Is done. In step S58, it is determined whether or not the current first duty ratio D1 exceeds the maximum value DUst at the stage where it is set. When exceeding, the process proceeds to step S60, and the maximum value DUst is set to the first duty ratio D1. If not, the process proceeds from step S58 to step S59, the first duty ratio D1 is increased by a predetermined increment DI (for example, 1%), and the process proceeds to step S53. The duty ratio of the highest stage (ST = 31) is set to 100%, but the maximum value DUst is set to 85% or less in the previous stage (ST = 1 to 30). ing.

If the velocity V d is greater than the upper limit Vst2 reads a first duty ratio D1 of the current shifts from step S53 to step S63. The first duty ratio D1 is the same as that in step S57. In step S64, it is determined whether or not the current first duty ratio D1 is below the minimum value DLst at which the current first duty ratio D1 is set. If it is lower, the process proceeds to step S66, and the minimum value DLst is set to the first duty ratio D1. If not, the process proceeds from step S64 to step S65, the first duty ratio D1 is decreased by a predetermined decrement DI (for example, 1%), and the process proceeds to step S54.

<First protection treatment>
The first protection process in step S54 is a motor protection process that is effective when the stage ST is 5 to 31 in the speed mode. When a high load is applied to the motor 4, an intermittent current that is turned on / off is supplied. Prevent burnout. In the first protection process, a first current value (for example, 12A) that is 50% or more and 90% or less of a maximum current value (for example, 18A) that flows through the motor 4 (that is, a load that acts on the motor 4). Is a first predetermined time (for example, preferably 0.5 to 2 seconds, and in this embodiment, 1 second), and the rotation speed is 40% or less of the upper limit speed of the highest speed stage. When the first state in which the spool 3 is rotating at a speed (for example, the upper limit speed of 12 stages (ST = 12)) or less is reached, intermittent control is performed so that an intermittent current that is turned on and off is supplied to the motor 4. When the speed becomes the second speed higher than the first speed (for example, the upper limit speed of 13 steps (ST = 13)), it is determined that the load has decreased, the intermittent control is canceled, and the normal speed control or Return to tension control.

Specifically, the rotational speed Vd and the load current value Id are read in step S69 of FIG. In step S70, it is determined whether or not the current stage ST is 5 or more. If step ST is 5 or more, the process proceeds to step S71, it is determined whether the current value flowing to the motor 4 detected by the current detection unit 108a Id, i.e. the load is 12A or more, which is the first current value . When the current value Id is 12 A or more, the process proceeds to step S72. In step S72, it is determined whether or not the rotation speed Vd of the spool is equal to or lower than a first speed (for example, an upper limit speed Vst12 of 12 steps (ST = 12)). When the current value is 12 A or more and the rotation speed Vd of the spool 3 is the first speed or less, the process proceeds to step S73. In step S73 , it is determined whether or not the first protection flag FP1 that is turned on when the first condition is satisfied is already turned on. If the first protection flag FP1 is not yet turned on, the process proceeds to step S74. If the first protection flag FP1 is already turned on, the process proceeds to step S78 by skipping steps S7 4 ~ step S77.

  In step S74, it is determined whether or not a timer T2 for measuring the first predetermined time t2 has already been turned on. When the timer T2 has not been turned on, the process proceeds to step S75, the timer T2 is turned on, and the process proceeds to step S76. If the timer T2 is on, the process skips step S75 and proceeds to step S76.

  In step S76, it is determined whether or not the timer T2 has timed up and is turned off. That is, it is determined whether or not one minute has elapsed since the load and speed met predetermined conditions. If it is determined that the timer T2 has timed up, the process proceeds to step S77 to turn on the first protection flag FP1 for identifying that the first condition is satisfied. In step S78, an intermittent control process is performed in which the motor 4 is driven by passing an on / off current. In step S79, it is determined whether or not the load is equal to or lower than 15 A (ampere), which is a second current value larger than the first current value. If the load is 15 A or less, the process proceeds to step S80. In step S80, it is determined whether or not the speed Vd is equal to or higher than the upper limit speed Vst13 in 13 steps (ST13). When the speed Vd is equal to or higher than the upper limit speed Vst13, it is determined that it is not necessary to protect, and the first protection flag FP1 is turned off. When the first protection flag FP1 is turned off, the motor 4 is controlled at normal speed or tension.

  If the determination in steps S70, 71, 72, 76, 79, 80 is NO, the process returns to the speed mode process.

<Intermittent processing>
In the intermittent process in step S78, it is determined whether or not the timer T3 for measuring the second predetermined time (for example, 15 seconds) has expired since the intermittent process started in step S91 in FIG. In step S92, it is determined whether or not the timer T3 is on. If the timer T3 has not been turned on, the process proceeds to step S99, the timer T3 is turned on and started, and the process proceeds to step S93. If the timer T3 is already on, the process skips step S99 and proceeds to step S93. In step S93, the temperature of the motor drive circuit 108, that is, the temperature Td of the motor 4 is read from the output of the temperature sensor 103. In step S94, it is determined whether or not the temperature Td of the motor 4 has exceeded a first predetermined temperature (for example, preferably 50 to 70 degrees Celsius, and 60 degrees in this embodiment). In this intermittent control, the on time and off time of the motor 4 are changed with the first predetermined temperature as a boundary. That is, when the temperature is low, the on time is set longer than the off time, and when the temperature is high, the off time is set longer than the on time in order to provide a cooling period. When the temperature Td is less than 60 degrees Celsius, the process proceeds from step S94 to step S95. In step S95, the motor 4 is turned on for a time tn1 (for example, 600 to 1000 msec, 750 msec in this embodiment). In step S96, the motor 4 is turned off for a time tf1 (for example, 350 to 750 msec shorter than the time tn1 and 500 msec in this embodiment), and the process returns to the first protection process. When the temperature Td is 60 degrees or more, the process proceeds to step S97, and the motor 4 is turned on for a time tn2 (for example, 600 to 1000 milliseconds, 750 milliseconds in this embodiment). In step S9 8, the motor 4 time tf 2 (for example, a 1200m seconds 800 longer than the time tn 2, in this embodiment 1000m sec) off, returns to the first protection process.

  When the timer T3 expires, that is, when the intermittent process has elapsed for 15 seconds or longer, the process proceeds from step S91 to step S100, and it is determined whether the intermittent flag FP3 is on. The intermittent flag FP3 is a flag that is turned on after the second predetermined time has elapsed as described above. When the intermittent flag FP3 is not turned on, the process proceeds to step S101 and the intermittent flag FP3 is turned on. In step S102, the motor 4 is turned off. If the intermittent flag FP3 has already been turned on, step S101 and step S102 are skipped. In step S103, it is determined whether the timer T4 has already been turned on. The timer T4 is a timer for measuring the passage of time after the motor 4 is turned off and restoring the rotation of the motor 4. The timer T4 is turned off after 30 seconds. If the timer T4 is not on, the process proceeds to step S104 and the timer T4 is turned on. If the timer T4 has already been turned on, step S104 is skipped. In step S105, it is determined whether or not the timer T4 has expired and has been turned off. When the time is up, the process proceeds to step S106, and the intermittent flag FP3 is turned off to return to the first protection process in order to enable the motor 4 to operate. Thereafter, when the adjustment lever 101 is returned to the operation start position, the motor 4 becomes operable.

  In such a first protection process, heat generation can be suppressed by preventing unnecessary current from flowing into the motor 4 by intermittently rotating the motor 4 in a high load state. Moreover, if the load becomes sufficiently small, the motor 4 rotates at the set upper limit speed. Therefore, it is possible to prevent the motor 4 from being burned out without reducing the performance.

<Second protection treatment>
The second protection process of step S55 is effective in eight or more stages of the speed mode, and is a process of decelerating the motor 4 when the load acting on the motor 4 increases. In the second protection process, when the load detected by the current detection unit 108a satisfies a first condition in which a state equal to or greater than a third current value Is (for example, 15A) continues for a fourth predetermined time t5 (for example, 3 seconds). Then, the target speed corresponding to the upper limit speed that is lower by at least one stage (two stages in this embodiment) than the detected rotational speed is set. Then, the first load after the fifth predetermined time (for example, 3 seconds) after the target speed setting is compared with the second load after the sixth predetermined time (for example, 1 second), and the second load is the first load. When the load is larger than the load by a predetermined amount (for example, 1A), the target speed is set to the upper limit speed that is one step lower at intervals of 1 second. The target speed is repeatedly set at an upper limit speed at least one step at 1 second intervals.

The second protection process reads the rotational speed Vd in step S111 of FIG. 13, the load current value Id, the current stage ST, and the protection stage STS set by the second protection process. In step S112, it is determined whether or not the current stage ST is 8 or more. When the stage ST is 8 or more, the process proceeds to step S113. If the stage ST is less than 8, no processing is performed and the processing returns to the speed mode processing. In step S113, it is determined whether or not the current value Id indicating the load is greater than or equal to the third current value Is. If the current value Id is greater than or equal to the third current value (for example, 15A) Is, the process proceeds to step S114 to determine whether or not the timer T5 has timed up. The timer T5 is a timer for measuring a predetermined time t5 for determining the first condition that requires the second protection process. If the timer T5 has not expired, the process proceeds to step S115, and it is determined whether or not the timer T5 has already been turned on and started. If the timer T5 is not turned on, the process proceeds to step S116, where the timer T5 is turned on and started. If the timer T5 is on, the process skips step S116 and proceeds to step S117.

  When the timer T5 has timed up, that is, when the load is 15A or more for 3 seconds or longer and the first condition is satisfied, the process proceeds from step S114 to step S117. In step S117, it is determined whether or not the protection stage STS is eight or more stages. In the second protection process, the speed is not reduced to 7 levels or less. For this reason, when the protection stage STS is less than 8 stages in the second protection process, the process is terminated and the process returns to the speed mode process. If the protection stage STS is 8 stages or more, the process proceeds to step S118. In step S118, it is determined whether or not the second protection flag FP2 that is turned on when the first deceleration process is satisfied for the first condition is turned on. When the second protection flag FP2 is not turned on, the process proceeds to step S119, and the second protection flag FP2 is turned on. In step S120, it is determined whether or not the protection stage STS has eight stages. In this embodiment, since the speed is not reduced to 7 stages or less, when the protection stage STS is 9 stages or more, the process proceeds to step S121, and the stage is lower by two stages from the upper speed stage STvd corresponding to the current rotational speed Vd ( Set protection stage STS in STvd-2). Specifically, it is set at a stage two steps lower than the stage of the highest upper limit speed below the current speed Vd. When the protection stage STS is 8 stages, the process proceeds to step S122, and the protection stage STS is set to a stage (STvd-1) one stage lower than the stage STvd of the upper limit speed corresponding to the current rotational speed Vd (STvd-1). . While the second protection process is being performed (the second protection flag is on), if the adjustment lever 101 is operated beyond this protection stage STS, the post-operation stage ST is changed in step S61 of the speed mode process of FIG. If the protection stage STS is exceeded, the operation is ignored and high-speed operation beyond the protection stage STS becomes impossible.

  In step S123, it is determined whether or not the timer T6 has expired. The timer T6 is a timer that is set to wait for a predetermined time (for example, 3 seconds) after first decelerating. If the timer T6 has timed up, the process proceeds to step S126, the current value Idn that is the first load at that time is read, and the process returns to the speed mode process. Note that the variable n is initially set to 1. If the timer T6 has not yet timed up, the process proceeds to step S124, and it is determined whether or not the timer T6 has already been turned on. If the timer T6 has not been turned on, the process proceeds to step S125, where the timer T6 is turned on and started. If the timer T6 has already been turned on, the process skips step S125 and proceeds to step S126. Here, the reason why the current value is not read immediately after the second speed reduction but waits for 3 seconds is that if the current value is read immediately after the second speed reduction, the current value is not stabilized.

Read current of the current value (current load) Id is determined as the smaller than the third current value Is, the process proceeds from step S11 3 in step S136. In step S136, the second protection flag FP2 is turned off to cancel the second protection process and return to the speed mode process. As a result, the protection stage STS is also reset to 31 stages.

When the second protective flag FP2 is determined to be ON, the process proceeds from step S11 8 in step S127, the timer T7 is determined whether or not the time is up. The timer T7 is a timer that is set to wait for a predetermined time (for example, 1 second) after the current value Idn as the first load is detected. If the timer T7 has timed up, the process proceeds to step S130, and the variable n is incremented by one. When the timer T7 has not expired, the process proceeds to step S128, and it is determined whether or not the timer T7 has already been turned on. If the timer T7 has not been turned on, the process proceeds to step S129, where the timer T7 is turned on and started. If the timer T7 has already been turned on, the process skips step S129 and proceeds to step S130. In step S131, the current value Idn that is the second load at that time is read.

  In step S132, it is determined whether or not the read current value Idn as the second load is 70% or less of the third current value Is. When the current value Idn is 70% or less of the third current value, the process proceeds to step S136, the second protection flag FP2 is turned off, and the second protection process is canceled. When the current value Idn exceeds 70% of the third current value Is, the process proceeds to step S133. In step S133, it is determined whether or not the second load (Idn) that has just been read is greater by 1A than the first load (Id (n-1)) that was read during the previous deceleration. If the load has increased by 1 A or more, the process proceeds to step S134, and the current value Idn that becomes the first load as a comparison reference in the determination of the second load at the next timing one second later is set. Reduce by 0.1A. In step S135, the stage ST is set to a stage (STvd-1) that is one stage lower than the stage STvd of the upper limit speed corresponding to the current rotational speed Vd, and the process returns to the speed mode process.

  If the second load (Idn) is not greater than 1A than the first load (Id (n-1)) read during the previous deceleration, the process proceeds from step S133 to step S137. In step S137, it is determined whether or not the current value Idn that is the second load has reached the maximum current value (for example, 18A) that flows through the motor 4. If the maximum current value has been reached, the process proceeds to step S134 to perform a deceleration process. If not, the process proceeds to step S138.

  In step S138, it is determined whether or not the first load (Id (n-1)) is larger than the second load (Idn) by 0.5A or more. When the first load is 0.5A or more larger than the second load and the load is decreasing, the process proceeds to step S139, and the stage ST is increased by one stage from the stage STvd of the upper limit speed corresponding to the current rotational speed Vd. Set to stage (STvd + 1) and return to speed mode processing. Further, when the second load is increased by less than 1 A or the second load is decreased by less than 0.5 A, nothing is processed and the process returns to the speed mode process.

  In such a second protection process, when a high load condition that satisfies the first condition is reached, the speed of the motor 4 is once reduced to an upper limit speed that is at least one step lower than the rotational speed at that time. The flowing current is reduced so that no unnecessary current flows in the motor 4. Further, when the load is further decreased, the rotational speed of the motor is increased, and when the load is increased, the rotational speed of the motor is further decreased. For this reason, it is difficult for unnecessary current to flow through the motor, and when controlling the speed at which current continues to flow until the upper limit speed is reached, the load on the motor is suppressed and the motor does not burn out.

  Further, even if the target speed is set in step S61 of the speed mode process of FIG. 10, if the upper limit speed is set to a lower speed side than the target speed, the target speed is canceled, so that a wasteful current is less likely to flow. Moreover, if the upper limit speed is changed to a speed higher than the target speed, the change is ignored. Therefore, the speed is not shifted to the higher speed side than the protection stage STS during the second protection process.

<Tension mode processing>
Step S 4 in tension mode processing of 0 reads tension Qd obtained by correcting the torque detection result line winding diameter of the step S141 by the number of stages set by the adjusting lever 101 ST and the current detection unit 108a of FIG. 14. In step S142, it is determined whether or not the tension Qd is less than the lower limit value Qst1 of the upper limit tension Qs corresponding to the stage ST. In step S143, it is determined whether the tension Qd is greater than the upper limit value Qst2 upper tension Qs corresponding to the stage ST. Note that for the tension control, was provided the lower limit Qst1 and the upper limit QST2 upper tension Q s in each stage ST, the tension between the similar to the speed mode both tension Qst1, QST2 fluctuates In this case, the duty ratio does not change, so that wowling in which the duty ratio fluctuates frequently does not occur, and the feedback control is stabilized. The upper limit value Qst2 and the lower limit value Qst1 are set, for example, within ± 10% of the upper limit tension Qst.

  In step S144, it is determined whether or not the stage ST is the highest stage 31. If the stage ST is 31, the process proceeds to step S146 and the first protection process shown in FIG. 11 is executed. When the stage ST is other than 31 stages, the process proceeds to step S145, and the process proceeds to the third protection process illustrated in FIG. When these processes are completed, the process returns to the key input process.

  When the tension Qd is less than the lower limit value Qst1, the process proceeds from step S142 to step S147. In step S147, the current second duty ratio D4 is read. The second duty ratio D4 is stored in the storage unit 107 every time the setting is changed. In step S148, the second duty ratio D4 is increased by a predetermined increment DI (for example, 1%), and the process proceeds to step S143. This is continued until the tension Qd exceeds the lower limit value Qst1.

When the tension Qd exceeds the upper limit value Qst2, the process proceeds from step S143 to step S149, and the current second duty ratio D4 is read. The second duty ratio D4 is the same as that in step S147. At step S1 50, the process proceeds to step S144 to reduce the second duty ratio D4 predetermined decrement DI (e.g., 1%) only. This is continued until the tension Qd falls below the upper limit value Qst2.

  In this tension mode process, the tension reduction process by the second protection process is not performed as compared with the speed mode process. This is because the current value (tension) is determined for each stage ST in the tension mode.

<Third protection process>
The third protection process of step S145 is a motor protection process that is effective when the stage ST is 5 to 30, and the idea that is substantially the same as the first protection process for the speed mode is changed for the tension mode. In the third protection process, a first current value (for example, 11A) that is 50% or more and 90% or less of a maximum current value (for example, 18A) that flows through the motor 4 (that is, a load that acts on the motor 4). ) For a predetermined time (for example, preferably 30 seconds to 60 seconds, in this embodiment, 45 seconds), the second intermittent state in which the intermittent current to be turned on / off is supplied to the motor 4 when the third state continues. Take control.

Specifically, it is determined in step S160 in FIG. 15 whether or not the current stage ST is 5 or more. If step ST is 5 or more, the process proceeds to step S161, it is determined whether the current value flowing to the motor 4 detected by the current detection unit 108a Id, i.e. the load is 11A or more, which is the first current value . When the current value Id is 11 A or more, the process proceeds to step S162, and it is determined whether or not the third protection flag FP4 that is turned on when the third condition is satisfied is already turned on. If the third protection flag FP4 has not been turned on yet, the process proceeds to step S163. If the third protection flag FP4 has already been turned on, the process skips steps S163 to S166 and proceeds to step S167.

In step S163, it is determined whether or not the timer T8 for measuring the elapsed time t8 after the current value Id exceeds 11A is already on. When the timer T8 has not been turned on, the process proceeds to step S164, and the timer T8 is turned on. If the timer T8 is already on, the process skips step S164 and proceeds to step S165. In step S165, it is determined whether or not timer T8 has timed up and is turned off. That is, it is determined whether or not 45 minutes have elapsed since the load satisfied a predetermined condition. If it is determined that the timer T8 has timed up, the process proceeds to step S166 to turn on the third protection flag FP4 for identifying that the third condition is satisfied. In step S167, an intermittent control process is performed in which the motor 4 is driven by passing an on / off current. This intermittent processing is the same processing shown in FIG. 12 as in the speed mode. In step S168, it is determined whether or not the load is 10 A or less, which is a fourth current value smaller than the third current value. When the load is 10 A or less, the process proceeds to step S169. In step S169, it is determined that protection is not necessary, and the third protection flag FP4 is turned off. When the third protection flag FP 4 is turned off, the motor 4 can be operated by returning the adjustment lever 101 to the operation start position.

  If the determination in steps S160, 161, 165, 168 is NO, the process returns to the tension mode process.

<Each operation mode process>
In each operation mode process in step S8, it is determined in step S171 in FIG. 16 whether or not the rotation direction of the spool 3 is the yarn feeding direction. This determination is made based on which Hall element of the spool sensor 102 has emitted a pulse first. If it is determined that the rotation direction of the spool 3 is the yarn feeding direction, the process proceeds from step S171 to step S172. In step S172, every time the spool speed decreases, the data stored in the storage unit 107 is read from the spool speed and the water depth is calculated. This water depth is displayed in the display process of step S2. In step S173, it is determined whether the obtained water depth matches the bottom position, that is, whether the device has reached the bottom. The bottom position is set in the storage unit 107 by pressing the memo button MB when the device reaches the bottom. In step S174, it is determined whether or not another mode such as a learning mode. If it is not in another mode, each operation mode process is terminated and the process returns to the main routine.

  When the water depth matches the bottom position, the process proceeds from step S173 to step S175, and the buzzer 106 is sounded to notify that the device has reached the bottom. In the case of another mode, the process proceeds from step S174 to step S176, and the designated other mode is executed.

  When the rotation of the spool 3 is determined to be the yarn winding direction, the process proceeds from step S171 to step S177. In step S177, the data stored in the storage unit 107 is read from the spool rotation speed and the water depth is calculated. This water depth is displayed in the display process of step S2. In step S178, it is determined whether the water depth matches the boat edge stop position. If it has not been wound up to the ship edge stop position, it returns to the main routine. When the ship edge stop position is reached, the process proceeds from step S178 to step S179. In step S179, the buzzer 106 is sounded to notify that the device is on the shore. In step S180, the motor 4 is turned off. As a result, the fish is arranged at a position where it can be easily taken when the fish is caught. This ship edge stop position is set, for example, when the spool 3 is stopped for a predetermined time or less within a water depth of 6 m.

<Other embodiments>
(A) In the above embodiment, various current values and time values are set, but specific numerical values thereof are examples, and the present invention is not limited to these numerical values.

  (B) In the above embodiment, the target speed is set when the first condition and the second condition are satisfied in the second protection process, but the target speed may be set only with the first condition.

(C) In the embodiment described above, the intermittent control is canceled based on the detection result of the rotational speed and the current value , but may be canceled based on the detection result of the rotational speed or the current value alone.

  (D) In the above embodiment, the tension is detected by correcting the current value with the bobbin diameter, but any configuration may be used as long as the tension acting on the fishing line can be detected.

The perspective view of the electric reel by which one embodiment of the present invention was adopted. FIG. The top view of a counter. Sectional drawing of a counter. The top view of a water depth display part. The block diagram which shows the structure of the control system of an electric reel. The flowchart which shows the main routine of a reel control part. The flowchart which shows a temperature protection process subroutine. The flowchart which shows a key input process subroutine. The flowchart which shows a speed mode process subroutine. The flowchart which shows a 1st protection process subroutine. The flowchart which shows an intermittent process subroutine. The flowchart which shows a 2nd protection process subroutine. The flowchart which shows a tension mode process subroutine. The flowchart which shows a 3rd protection process subroutine. The flowchart which shows each operation mode process subroutine. The flowchart which shows the subroutine of each operation mode of other embodiment. The flowchart which shows the high load drag processing subroutine of other embodiment.

10 Control unit (an example of a motor control device)
100 reel control unit (an example of a motor control unit, first and second target setting units, and a load comparison unit)
101 Adjustment lever (example of upper limit speed setting unit)
102 spool sensor (an example of a rotational speed detector)
108 motor drive unit 108a current detection unit (an example of a load detection unit)