JP2015000024A5 - - Google Patents

Description

Electric reel motor control device

  The present invention relates to a control device, and more particularly to a motor control device that controls a motor of an electric reel that drives a spool that is rotatably provided on a reel body by a motor.

  In fishing reels such as electric reels, if excessive load acts on the spool (fishing line) to prevent the fishing line from being cut, the drive reel (motor in the case of an electric reel) will drive in the line winding direction. On the other hand, a drag mechanism that slides the rotation of the spool is provided (see, for example, Patent Document 1). The drag mechanism frictionally brakes the rotation of the spool in the yarn unwinding direction.

  In the electric reel, a plurality of speed target values are provided, and the motor is controlled so as to be the speed target value selected by the adjusting member.

On the other hand, in the case of an electric reel, the drag mechanism operates and the spool rotates with respect to the rotational drive of the motor. In particular, the spool is fed out even though the motor rotates in the drive direction. in a state rotating in the direction, and the heat generation by the friction of the drag, the motor and the drag mechanism is a high temperature, shed information, the whole reel may become hot.

JP 2013-048593 A

  In such a conventional electric reel, since the rotation of the motor is controlled so that the selected speed target value is obtained regardless of the operation of the drag mechanism, the friction increases when the drag mechanism is operated, Not only does the drag mechanism become hot, but the temperature of the reel itself may increase.

An object of the present invention is the electric reel, even drag mechanism operates, suppressing heat generation of the drag, shed information, is to suppress heat generation of the electric reel.

  A motor control device according to the present invention includes a reel body, a spool rotatably provided on the reel body, a motor for driving the spool, and a drag mechanism capable of adjusting a rotational load acting in a fishing line feeding direction of the spool. , A device for controlling a motor of an electric reel. The motor control device includes a spool speed detection unit, a drag operation detection unit, and a first control unit. The spool speed detection unit detects the rotation speed of the spool. The drag operation detection unit detects the operation of the drag mechanism when a rotational load in the fishing line feeding direction that is greater than the adjusted rotational load acts on the spool. When the drag operation detection unit detects the operation of the drag mechanism, the first control unit determines that the specified rotation speed of the spool that is uniquely determined with respect to the rotation speed of the motor is greater than the detected rotation speed detected by the spool speed detection unit. The motor is controlled so as to be faster by a predetermined difference.

  In this motor control device, when the drag mechanism is operated and the detected rotational speed of the spool, which is detected with respect to the specified rotational speed of the spool decelerated by the reduction ratio, for example, with respect to the rotational speed of the motor becomes slow, the specified rotational speed is reduced. The motor is controlled so as to be faster than the detected rotational speed actually detected by a predetermined difference. As a result, when the drag mechanism is operated due to a rotational load acting on the spool, the motor is not controlled so as to maintain the specified rotation speed during the drag operation, but is specified faster than the detected rotation speed by a predetermined difference. The motor is controlled so as to achieve the rotational speed. Here, when the drag mechanism operates, the motor is controlled so that the specified rotational speed is higher than the detected rotational speed by a predetermined difference. For this reason, the rotational speed of the motor is lowered, the rotational speed difference of the frictional sliding in the drag mechanism is reduced, the heat generation of the drag mechanism and the heat generation of the motor are reduced, and the heat generation of the electric reel can be suppressed.

  The motor control device may further include a speed comparison unit that compares the specified rotational speed with the detected rotational speed. The drag operation detection unit detects that the drag mechanism has been operated when the detected rotational speed is slower than the regulated rotational speed. In this case, since the operation state of the drag mechanism is detected by comparing the rotation speed of the motor and the spool rotation speed, the operation state of the drag mechanism can be detected with high accuracy.

  In this case, the operation (state) of the drag mechanism indicates an operation (state) in which the friction plates and the like of the drag mechanism slide frictionally with each other.

The motor control device may further include a motor speed detection unit that detects the rotation speed of the motor. The first control unit controls the motor according to the specified rotational speed based on the detection result of the motor speed detection unit. In this case, since the rotational speed of the motor can be detected, the motor can be controlled at a specified rotational speed based on the detected rotational speed of the motor. For this reason, the motor control by the first control unit can be performed with high accuracy.

  The electric reel may have a speed reduction mechanism that transmits the rotation of the motor at a reduced speed. The specified rotational speed is a rotational speed obtained by multiplying the rotational speed of the motor by the reduction ratio of the speed reduction mechanism.

  The speed reduction mechanism may include a first sun gear, a first ring gear, a plurality of first planetary gears, and a first carrier. A 1st sun gear is provided in the rotating shaft of a motor, and rotates integrally with a rotating shaft. The first ring gear is provided on the inner peripheral surface of the spool. The plurality of first planetary gears engage with the first sun gear and the first ring gear. The first carrier holds the plurality of first planetary gears so as to be rotatable, and is provided so as to be rotatable with respect to the rotation shaft of the motor. The first carrier is connected to the drag mechanism.

  In this case, the first carrier is connected to the drag mechanism, and for example, rotation in the yarn unwinding direction is restricted. When the drag mechanism is not operating, the first carrier does not rotate, and the motor rotates to the spool via the first sun gear, the first planetary gear, and the first ring gear with respect to the rotational speed of the motor. Rotation is transmitted at a defined rotational speed that is uniquely determined. When the drag mechanism is operated, the first carrier rotates, and the rotation of the motor is transmitted to the spool at a speed that is slower than the specified rotation speed by the relative rotation of the first carrier. Here, since the rotation of the motor is transmitted to the spool by the planetary gear mechanism, a large reduction ratio can be obtained, and even when the drag mechanism is operated, the first carrier rotates, so that the relative rotation amount can be obtained. Only can decelerate and transmit the rotation.

  The speed reduction mechanism includes a first sun gear, a first ring gear, a plurality of first planetary gears, a first carrier, a second sun gear, a second ring gear, a plurality of second planetary gears, And 2 carriers. A 1st sun gear is provided in the rotating shaft of a motor, and rotates integrally with a rotating shaft. The first ring gear is provided on the inner peripheral surface of the spool. The plurality of first planetary gears engage with the first sun gear and the first ring gear. The second sun gear rotates with the first carrier. The second ring gear is provided on the inner peripheral surface of the spool. The plurality of second planetary gears engage with the second sun gear and the second ring gear. The second carrier holds the plurality of second planetary gears so as to be rotatable, and is provided so as to be rotatable with respect to the rotation shaft of the motor. The second carrier is connected to the drag mechanism.

In this case, the second carrier is connected to the drag mechanism, and for example, rotation in the yarn unwinding direction is restricted. When the drag mechanism is not operating, the second carrier does not rotate and the motor rotates through the first sun gear, the first planetary gear, the first carrier, the second sun gear, and the second planetary gear. The rotation is transmitted to the spool via the two-ring gear at a specified rotational speed that is uniquely determined with respect to the rotational speed of the motor. When the drag mechanism is operated, the first carrier rotates, and the rotation of the motor is transmitted to the spool at a speed that is slower than the specified rotation speed by the relative rotation of the first carrier. Here, since the rotation of the motor is transmitted to the spool by the planetary gear mechanism, a large reduction ratio can be obtained, and even when the drag mechanism is operated, the first carrier rotates, so that the relative rotation amount can be obtained. Only can decelerate and transmit the rotation.

  The motor control device may further include a speed setting unit that can set the specified rotational speed in a plurality of stages. When the detected rotational speed is slower than the specified rotational speed, the first control unit controls the motor so that the specified rotational speed is at least one stage higher than the stage corresponding to the detected rotational speed. In this case, when the drag mechanism operates and the detected rotational speed of the spool is slowed down, it is not the specified rotational speed set by the speed setting unit, but at least one stage faster than the stage corresponding to the detected rotational speed. The motor is controlled so as to achieve a specified rotational speed. For this reason, the rotational speed of the motor is slower than before the drag mechanism operates. In addition, the rotational speed difference of the frictional sliding in the drag mechanism is reduced. Thereby, the heat generation of the drag mechanism and the heat generation of the motor are reduced, and the heat generation of the electric reel can be suppressed.

  The motor control device further includes a second control unit that controls the motor so that the detected rotational speed becomes the specified rotational speed set by the speed setting unit when the specified rotational speed and the detected rotational speed are substantially the same. Also good. In this case, the second control unit performs constant speed control at a plurality of stages so that the rotation speed of the spool becomes a specified rotation speed at a plurality of stages.

  The drag operation detection unit detects that the drag mechanism has been operated when the detected rotation speed is slower than a specified rotation speed at least one stage lower than the stage set by the speed setting section. In this case, the drag operation detection unit detects the operation of the drag mechanism when the detected rotation speed is slower than the specified rotation speed at least one stage lower than the stage set by the setting section. False detection is reduced as compared with the case of detecting when the rotational speed is slower than the regulated rotational speed.

  The drag operation detection unit detects that the drag mechanism has been operated when the detected rotation speed is slower than the specified rotation speed at the two lower speed stages than the stage set by the speed setting section. In this case, although there is a possibility that the detection timing is delayed as compared with the case of comparison with the specified rotational speed at the one-stage low speed side, the operation of the drag mechanism can be detected with higher accuracy.

  The detected rotational speed is lower than the specified rotational speed corresponding to the detected rotational speed from when the detected rotational speed is slower than the specified rotational speed until the predetermined time elapses after the detected rotational speed returns to the same state as the specified rotational speed. When it becomes slower than the specified rotational speed of one lower stage, the drag operation detection unit may detect that the drag mechanism has been operated. In this case, if the drag mechanism does not operate after the drag mechanism has been activated, such as when a fish is caught, the drag mechanism has been operated with only a slight decrease in the detected rotation speed of the spool. Determination is made and motor control is performed by the first control unit. As a result, it is possible to quickly respond to the operation of the drag mechanism in a state where the heat generation remains after the drag mechanism is operated once, and it is possible to further suppress the heat generation of the electric reel.

The first control unit, when the detected rotational speed of the spool becomes below a predetermined value, at a constant prescribed rotational speed of at least one higher stage than stage corresponding to the detected rotational speed may control the motor. In this case, when the drag mechanism is operating, even if the detected rotation speed becomes lower than a predetermined value, the motor is controlled to a constant specified rotation speed, so the operation state of the drag mechanism has been eliminated. When the motor can be controlled smoothly. In addition, even when the spool rotates in the yarn feeding direction, similarly, the motor can be controlled smoothly, and the operation of the drag mechanism is urged to be eliminated.

  According to the present invention, when the drag mechanism operates, the motor is controlled so that the specified rotational speed is higher by a predetermined difference than the detected rotational speed. For this reason, the rotational speed of the motor is lowered, the rotational speed difference of the frictional sliding in the drag mechanism is reduced, the heat generation of the drag mechanism and the heat generation of the motor are reduced, and the heat generation of the electric reel can be suppressed.

The perspective view of the electric reel by which one embodiment of the present invention was adopted. FIG. FIG. The top view of a counter case. Sectional drawing of a motor mounting part. The block diagram which shows the structure of a control system. The block diagram which shows the memory content of a memory | storage part. 7 is a flowchart illustrating an example of a main routine of a reel control unit. The flowchart which shows an example of the processing content of switch input. The flowchart which shows an example of the processing content of spool speed control. The flowchart which shows an example of the processing content of drag operation | movement control. The flowchart which shows an example of the processing content of motor current control. The flowchart which shows an example of the processing content of each operation mode process. The figure which shows the 1st example of the change of the stage SC at the time of drag operation control. The figure which shows the 2nd example of the change of the stage SC at the time of drag operation control. The figure which shows the 3rd example of the change of the stage SC at the time of drag operation control. The figure which shows the 4th example of the change of the stage SC at the time of drag operation control. The figure equivalent to FIG. 10 of other embodiment.

<Overall configuration of reel>
1 and 2, an electric reel 100 that employs an embodiment of the present invention is a reel that is motor-driven by electric power supplied from an external power source. The electric reel 100 is a reel having a water depth display function for displaying the water depth of the device according to the yarn feeding length or the yarn winding length.

  The electric reel 100 includes a reel body 1 that can be mounted on a fishing rod, a handle 2 for rotating a spool 10 disposed on the side of the reel body 1, and a drag adjustment disposed on the reel body 1 side of the handle 2. A star drag 3 and a counter case 4 for water depth display are mainly provided.

  The reel body 1 includes a frame 7, and a first side cover 8 a and a second side cover 8 b that cover the left and right sides of the frame 7. The frame 7 is made of, for example, a light metal such as an aluminum alloy or a polyamide resin reinforced with glass fiber, and includes a first side plate 7a and a second side plate 7b on the handle 2 side, and a lower portion, a rear portion, and a front upper portion 3. And a plurality of connecting members 7c connected at places. The second side plate 7b includes a side plate main body 9a and a mechanism mounting plate 9b screwed to the side plate main body 9a. The mechanism mounting plate 9b is made of a light metal such as an aluminum alloy.

  As shown in FIG. 2, inside the reel body 1, there are a level wind mechanism 13 (FIG. 3) that operates in conjunction with the spool 10, and a rotation transmission mechanism 6 that transmits the rotation of the alignment handle 2 and the motor 12 to the spool 10. Is provided.

  Further, a spool 10 for bobbin winding connected to the motor 12 and the handle 2 is provided inside the reel body 1. The spool 10 is rotatably supported by the reel body 1. A motor 12 that rotates the spool 10 in the yarn winding direction is disposed inside the spool 10.

  As shown in FIG. 1, the handle 2 is rotatably supported at the center lower portion of the second side cover 8b. Further, an adjustment lever 5 for adjusting the output of the motor 12 in a plurality of stages (for example, 31 stages) is swingably supported on the upper front part of the support part of the handle 2. The adjustment lever 5 is provided to set the rotational speed of the spool 10 (or the rotational load acting on the spool 10 via the fishing line) at any of a plurality of stages. The adjustment lever 5 also functions as a tension setting unit that sets the tension acting on the fishing line at any of a plurality of levels. A lever-shaped clutch operating member 11 is slidably disposed behind the adjustment lever 5. The clutch operating member 11 is a member for turning on and off a clutch mechanism (not shown) for turning on and off the drive transmission between the handle 2 and the motor 12 and the spool 10. When this clutch is turned on, the yarn unwinding operation can be stopped during the unwinding of the yarn due to its own weight. A cable connector 14 for connecting a power cable is mounted downward on the first side cover 8a opposite to the handle 2. A rod mounting leg portion 7d for mounting the electric reel 100 on a fishing rod is formed on the lower connecting member 7c.

  As shown in FIG. 2, the rotation transmission mechanism 6 includes a drive shaft 38 having the handle 2 connected to the tip portion so as to be integrally rotatable, a drive gear 39 rotatably attached to the drive shaft 38, and a drive gear 39. Engaging pinion gear 40. The drive shaft 38 is prohibited from rotating in the yarn feeding direction by the roller-type one-way clutch 42a and the claw-type one-way clutch 42b. The claw-type one-way clutch 42b includes a ratchet wheel 42c that is coupled to the drive shaft 38 so as to be integrally rotatable, and a stopper claw (not shown) that prohibits the rotation of the ratchet wheel 42c in the yarn unwinding direction. The stopper pawl is swingably supported by the mechanism mounting plate 9b. The ratchet wheel 42c also constitutes a drag mechanism 44 described later. The drive shaft 38 is rotatably supported by the first side cover 8a and the mechanism mounting plate 9b. The mechanism mounting plate 9b is provided with a boss portion 9c on which a bearing 31 for supporting the drive shaft 38 is mounted.

  The rotation transmission mechanism 6 includes a planetary gear mechanism 43 that decelerates the rotation of the motor 12 and transmits it to the spool 10. The planetary gear mechanism 43 is an example of a speed reduction mechanism. In the middle of the rotation transmission path of the rotation transmission mechanism 6, a drag mechanism 44 that brakes the rotation of the spool 10 in the yarn unwinding direction is provided.

  The drag force of the drag mechanism 44 is adjusted by the star drag 3. The star drag 3 has a nut portion 3 a that is screwed to the tip of the drive shaft 38, and the drag force is adjusted by the nut portion 3 a pressing the drag mechanism 44. The drag mechanism 44 includes at least one first drag plate 45a (three in this embodiment) that is coupled to the drive shaft 38 so as to be integrally rotatable, and at least one that is coupled to the drive gear 39 so as to be integrally rotatable. (In this embodiment, two sheets) second drag plate 45b and at least one (five sheets in this embodiment) drag disk 45c arranged between first drag plate 45a and second drag plate 45b. And having. The drag mechanism 44 has the ratchet wheel 42c described above that functions as a first drag plate coupled to the drive shaft 38 so as to be integrally rotatable. The first drag plate 45a closest to the handle 2 is pressed by the nut portion 3a via the plurality of disc springs 48 and the inner ring 42d of the one-way clutch 42a. The pressing force via the disc spring 48 is received by the flange 38a provided on the drive shaft 38 via the ratchet wheel 42c. Accordingly, when a force exceeding the drag force adjusted by the star drag 3 acts on the fishing line, the drag mechanism 44 operates. When the drag mechanism 44 is operated, the drive gear 39 and the second drag plate 45b connected to the drive gear 39 so as to be integrally rotatable are slid with respect to the ratchet wheel 42c and the first drag plate 45a and rotated in the yarn drawing direction. As a result, heat due to friction is generated between the drive gear 39 and the second drag plate 45b, and the ratchet wheel 42c and the first drag plate 45a. The temperature of the drag mechanism 44 due to the generated heat is measured by a temperature sensor 29 provided on the boss portion 9c on which the base end of the drive shaft 38 is supported. The temperature sensor uses, for example, a sensor such as a thermistor or a thermocouple, and is an example of a temperature measurement unit.

<Configuration of motor>
The motor 12 is a brushless motor having a rated output of about 120 watts, for example, and has a relatively large capacity for use in the electric reel 100.

As shown in FIGS. 3 and 5, the motor 12 includes a motor case 15, a stator 16 provided on the inner peripheral surface of the motor case 15, and a rotor 17 disposed on the inner peripheral side of the stator 16. And a rotating shaft 18 to which the rotor 17 is fixed. The motor case 15 is a member made of an aluminum alloy that has been anodized to improve corrosion resistance. The motor case 15 is a bottomed cylindrical member having a cylindrical portion 15a and a bottom portion 15b screwed and fixed to one end (right end in FIG. 5) of the cylindrical portion. The opening of the motor case 15 is closed by the motor holder 24. The motor holder 24 is screwed to the first side plate 7a. The opening end of the cylindrical portion 15 a of the motor case 15 is screwed and fixed in a state of being centered on the motor holder 24. Thus, the motor 12 is fixed to the reel body 1.

  The stator 16 has a plurality of (for example, three) laminated cores 16a fixed to the motor case 15, and three coils 16b of U phase, V phase, and W phase wound around the laminated core 16a. . The laminated core 16a is made of, for example, a non-oriented silicon steel plate. The laminated core 16 a is positioned and fixed to the inner peripheral surface of the motor case 15. The exposed portion of the stator 16 is subjected to anticorrosion treatment with an anticorrosion coating such as plating. The rotor 17 includes a two-pole magnet 17a having an S pole and an N pole, and a magnet holder 17b that holds the magnet 17a. The magnet holder 17b is coupled to the rotary shaft 18 so as to be integrally rotatable. The exposed portion of the rotor 17 is subjected to anticorrosion treatment with an anticorrosion coating such as plating.

  The rotating shaft 18 is, for example, a stainless steel shaft, and is rotatably supported by a pair of left and right bearings 27 on the motor holder 24 and the bottom portion 15 b of the motor case 15. A one-way clutch 28 for prohibiting the rotation of the rotation shaft 18 in the yarn feeding direction is attached to the first end (left end in FIG. 5) of the rotation shaft 18. The one-way clutch 28 is a roller clutch in which an outer ring 28 a is non-rotatably mounted in a bulging portion 24 a formed in the motor holder 24.

<Configuration of planetary gear mechanism>
The planetary gear mechanism 43 constituting the rotation transmission mechanism 6 is provided at the second end (the right end in FIG. 5) of the rotation shaft 18. The planetary gear mechanism 43 includes a first planetary mechanism 71 and a second planetary mechanism 72. The first planetary mechanism 71 includes a first sun gear 71a, a first ring gear 71b, a plurality of (for example, two to four) first planetary gears 71c, and a first carrier 71d. The first sun gear 71 a is provided at the second end of the rotating shaft 18 of the motor 12 and rotates integrally with the rotating shaft 18. The first ring gear 71 b is provided integrally or separately on the inner peripheral surface of the spool 10. In this embodiment, the first ring gear 71 b is integrally provided on the inner peripheral surface of the spool 10. The plurality of first planetary gears 71c engage with the first sun gear 71a and the first ring gear 71b. In this embodiment, three first planetary gears 71c are provided. The first carrier 71 d holds the plurality of first planetary gears 71 c so as to be rotatable, and is provided so as to be rotatable with respect to the rotation shaft 18 of the motor 12.

  The second planetary mechanism 72 includes a second sun gear 72a, a second ring gear 72b, a plurality of (for example, two to four) second planetary gears 72c, and a second carrier 72d. The second sun gear 72a is connected to the first carrier 71d so as to be integrally rotatable, and rotates together with the first carrier 71d. The second ring gear 72 b is provided integrally or separately on the inner peripheral surface of the spool 10. In this embodiment, the second ring gear 72b is integrally provided on the inner peripheral surface of the spool 10 along with the first ring gear 71b in the axial direction. The plurality of second planetary gears 72c engage with the second sun gear 72a and the second ring gear 72b. In this embodiment, three second planetary gears 72c are provided. The second carrier 72 d holds the plurality of second planetary gears 72 c so as to be rotatable, and is provided to be rotatable with respect to the rotation shaft 18 of the motor 12. The pinion gear 40 is coupled to the second carrier 72d so as to be integrally rotatable and axially movable. The pinion gear 40 is moved to a clutch-on position where the pinion gear 40 is engaged with the second carrier 72d so as to be integrally rotatable and a clutch-off position where the pinion gear 40 is disengaged from the second carrier 72d. Moving. When the pinion gear 40 is in the clutch-on position, the second carrier 72d is connected to the drag mechanism 44 via the pinion gear 40 and the drive gear 39.

  The rotation of the motor 12 is transmitted to the spool 10 via the planetary gear mechanism 43. The planetary gear mechanism 43 decelerates the rotation of the motor 12 with a reduction ratio R of 1/500, for example.

  As shown in FIGS. 1 and 2, a counter case 4 that displays the depth of the device attached to the tip of the fishing line is fixed to the upper part of the first side plate 7 a and the second side plate 7 b of the reel body 1.

<Counter case configuration>
As shown in FIGS. 3 and 4, the counter case 4 includes a case main body 19 placed on the front upper part of the reel main body 1, a water depth display unit 22 having a liquid crystal display, and a reel control unit 23. The reel control unit 23 is an example of a first control unit and a second control unit of the electric reel 100. As shown in FIG. 6, the control system 90 for the electric reel 100 includes an adjustment lever 5 and a reel control unit 23. The control system 90 is an example of a control device for the electric reel 100. The adjustment lever 5 is an example of a speed setting unit.

  As shown in FIGS. 3 and 4, the case main body 19 is fixed to the first side plate 7 a and the second side plate 7 b of the reel main body 1. The case main body 19 has an upper surface portion 33 and has an upper case member 30 made of synthetic resin exposed to the outside and a lower case member 32 fixed to the upper case member 30.

  The upper case member 30 is made of, for example, a polyamide resin reinforced with short glass fibers. The display part of the upper case member 30 is formed to be narrowed forward. The upper case member 30 has a storage space with a lower case member 32 therein.

  In the display portion of the upper surface portion 33, a display frame 33a that is opened for displaying a substantially trapezoidal shape is formed. The opening of the display frame 33 a is closed by a transparent cover 37 welded to the upper case member 30.

  As shown in FIG. 4, a menu switch SW1, a decision switch SW2, and a memo switch SW3 are arranged behind the display frame 33a. The menu switch SW1 is, for example, a menu operation switch for performing a selection operation. The determination switch SW2 is, for example, a switch for determining the operation selected by the menu switch SW1. The memo switch SW3 is, for example, a shelf memo switch. The menu switch SW1 is a button used to select a display item in the water depth display unit 22. For example, every time the menu switch SW1 is operated, “mode from the top” (mode for displaying the depth of the device by the depth from the water surface) and “mode from the bottom” (mode for displaying the depth of the device by the depth from the bottom of the water) Switch to. If the menu switch SW1 is pressed for 3 seconds or longer, the control mode of the motor 12 can be switched between the “constant speed mode” and the “constant tension mode” each time the menu switch SW1 is pressed.

  Here, the constant speed mode is a mode in which the upper limit speed of the rotational speed of the spool 10 can be controlled in multiple stages (for example, 31 stages) in accordance with the swing position of the adjusting lever 5. The constant tension mode is a mode in which the upper limit tension of the tension (spool rotational load) acting on the fishing line according to the swing position of the adjusting lever 5 can be controlled in multiple stages (for example, 31 stages). In both modes, the 31st stage, which is the highest stage, is the fast winding speed at which the motor 12 is operated with 100% duty, and the current is limited but the speed control is not performed. In the constant speed mode, the spool rotation speed in the first stage is controlled in the range of 28 rpm (rpm = 1 minute rotation speed) to 30 rpm. Therefore, the rotation speed of the motor 12 is controlled in the range of 1400 rpm to 1500 rpm.

  As shown in FIG. 3, the lower case member 32 is a metal frame-like member that is lightweight and has high thermal conductivity, such as an aluminum alloy and a magnesium alloy. The lower case member 32 fixes the upper case member 30 with a plurality of (for example, four) fixing screws (not shown). Two circuit boards 20 for the water depth display unit 22 and the reel control unit 23 are mounted on the lower case member 32.

  A motor drive circuit 70 including a plurality of FETs (field effect transistors) 25 for driving the motor 12 is mounted on the lower surface of the lower circuit board 20. The FET 25 functions as a switch element that switches according to the duty ratio when the motor 12 is PWM (pulse width modulation). The FET 25 functions as a switch element for sequentially exciting and demagnetizing the coil 16b of the stator 16 of the motor 12, for example. A capacitor 21 is connected to the lower circuit board 20. The capacitor 21 has a function of smoothing noise generated from the FET 25. Further, it has a function of rectifying the counter electromotive current of the motor 12. The rotational phase of the motor 12 is detected by rectifying the counter electromotive current. The FET 25 is controlled by the detected rotational phase to sequentially excite and demagnetize the coil 16b, thereby rotating the motor 12. Further, the rotational speed of the motor 12 is detected from this rotational phase.

As shown in FIG. 4, the water depth display unit 22 includes, for example, a backlight-equipped liquid crystal display device 22 a that performs segment display. The display screen of the liquid crystal display device 22a includes a 4-digit 16-segment display depth display area 22b disposed in the center, a 3-digit 7-segment memo depth display area 22c disposed at the lower right thereof, and a memo depth display. And a two-digit seven-segment stage display area 22d arranged on the left side of the area 22c. The step display area 22d displays the position of the adjustment lever 5 (step SC) in, for example, 31 steps from 0 to 30. Here, since the display of 16 segments is used for the water depth display region 22b, the water depth display becomes easier to visually recognize.

<Configuration of reel control unit>
As shown in FIG. 6, the reel control unit 23 includes a motor control unit 60 (an example of a drag operation detection unit, a first control unit, and a second control unit) that controls the motor 12 as a functional configuration, and a water depth display unit 22. And a display control unit 61 for controlling. The motor control unit 60 performs PWM control of the motor 12 and performs control for exciting and demagnetizing the plurality of coils 16 b of the stator 16 of the motor 12. In this excitation and demagnetization control, the motor control unit 60 detects the rotational phase of the motor 12 based on the data obtained by rectifying the counter electromotive current of the motor 12 with the capacitor 21 and responds to the detected rotational phase. The plurality of coils 16b are sequentially excited and demagnetized.

  The reel control unit 23 is connected to an adjustment lever 5, a menu switch SW1, a determination switch SW2, and a memo switch SW3. Further, a spool sensor 41 for detecting the rotation speed and direction of the spool 10, a motor drive circuit 70 including five FETs 25 and a capacitor 21 for turning on and off the coil 16b and PWM driving the motor 12, and a buzzer 47, the water depth display part 22, the memory | storage part 46, and another input-output part are connected. The motor drive circuit 70 is provided with a current detector 70 a that detects the value of the current flowing through the motor 12. The current detection unit 70a can detect the current direction in addition to the value of the current flowing through the motor.

  The spool sensor 41 can detect the magnetism of a magnet provided in the spool, and includes two magnetic sensors (for example, a reed switch or a hall element) arranged side by side in the spool rotation direction. The spool sensor 41 can detect the rotation direction of the spool 10 depending on which magnetic sensor has issued a detection pulse first. Further, the rotation speed and rotation speed of the spool can be detected by the detection pulse.

  The storage unit 46 is configured by a nonvolatile memory such as an EEPROM, for example. As shown in FIG. 7, the storage unit 46 stores a display data storage area 50 for storing display data such as shelf positions, and yarn length data for storing yarn length data indicating the relationship between the actual yarn length and the spool rotation speed. A data storage area 51, a rotation data storage area 52 for storing the rotation speed Vd (rpm) and winding torque (current value) of the spool 10 according to the stage SC, and a data storage area 53 for storing various data are provided. It has been.

In the rotation data storage area 52, the upper limit speed Vsc for each stage SC in the constant speed mode, the lower limit value Vsc1 and the upper limit value Vsc2 of the upper limit speed Vsc, and the lower limit of the upper limit tension Qs for each stage SC in the constant tension mode. Data of the value Qsc1 and the upper limit value Qsc2 are stored. Note that when the speed control is performed, the lower limit value Vsc1 and the upper limit value Vsc2 of the upper limit speed Vsc are provided for each stage SC when the speed fluctuates between the lower limit value Vsc1 and the upper limit value Vsc2. This is because the ratio does not change and the wowing in which the duty ratio fluctuates frequently does not occur, and the feedback control is stabilized. The upper limit speed Vsc of each stage SC is stored as a numerical value of the rotational speed of the spool 10 obtained by multiplying the rotational speed MV of the motor 12 by the reduction ratio (for example, 1/500) of the planetary gear mechanism 43. The data storage area 53 stores various data related to the yarn length. For example, the ship edge stop position is stored.

As shown in FIG. 6, the motor control unit 60 includes a motor speed detection unit 62, a motor current control unit 63, a spool speed control unit 64, a drag operation detection unit 66, and a functional configuration realized by software. A rotation speed comparison unit 67, a spool speed detection unit 68, and a mode switching unit 69 are included. The motor speed detection unit 62 includes a rotation phase detection unit 62 a that detects the rotation phase of the motor 12 based on data obtained by rectifying the counter electromotive current of the motor 12. The rotational phase detector 62a is provided for controlling excitation and demagnetization of the brushless motor . The motor speed detection unit 62 detects the rotation speed of the motor 12 based on the passage of time of the rotation phase detected by the rotation phase detection unit 62a. Therefore, a sensor for detecting the rotation speed of the motor 12 is not necessary.

  The motor current control unit 63 controls the value of the current flowing through the motor 12 in a plurality of steps (for example, 31 steps) according to the swing operation position of the adjustment lever 5. That is, the motor 12 is controlled in the constant tension mode.

The spool speed control unit 64 controls the motor so that the rotation speed of the spool 10 becomes one of a plurality of stages (for example, 31 stages) according to the swing operation position of the adjustment lever 5 as the spool speed setting unit. That is, the motor 12 is controlled in the constant speed mode. Speed of the spool speed controller 64, a second control unit 64b that performs normal spool speed controlled to maintain the upper limit speed Vsc of the set by adjusting lever out of the spool 10 when the drag mechanism 44 is operated A first control unit 64a for controlling The first control unit 64a causes the spool 10 to operate at the upper limit speed Vsc (+1) of the stage SC + 1 that is one stage higher than the stage SC corresponding to the rotational speed Vd of the spool 10 that has decreased when the drag mechanism 44 is operating. The motor 12 is controlled to rotate. The second control unit 64b controls the motor so that the spool 10 rotates at the upper limit speed Vsc according to the stage SC set by the adjustment lever 5, but the first control unit 64a rotates the spool 10 at that time. depending on the speed Vd, as the spool 10 rotates in one step the high speed side of the step SC + 1 in the upper limit speed Vsc of the step SC corresponding to the rotational speed Vd (+1), and controls the motor 12.

  The drag operation detection unit 66 includes a specified rotation speed VS (VS = MV × R) obtained by multiplying the rotation speed MV of the motor 12 detected by the motor speed detection unit 62 by a reduction ratio R (for example, 1/500), and a spool sensor. Whether or not the drag mechanism 44 is in an operating state, that is, the operating state of the drag mechanism 44 is detected according to the rotation speed Vd of the spool 10 detected by 41 and a procedure described later. The rotational speed Vd is an example of the detected rotational speed.

  The rotational speed comparison unit 67 compares the rotational speed Vd of the spool 10 with the specified rotational speed VS in order to determine whether or not the drag mechanism 44 has operated in the constant speed mode. When the rotational speed Vd is lower than the specified rotational speed VS, the degree of the reduction (for example, the stage corresponding to the rotational speed Vd is reduced by two or more stages from the stage corresponding to the specified rotational speed VS. The drag operation detection unit 66 detects that the drag mechanism 44 has been operated in accordance with the operation of the drag mechanism 44.

  The spool speed detection unit 68 detects the speed of the spool 10 used in the motor control unit 60 and the rotation direction of the spool 10 based on the output from the spool sensor 41.

  The mode switching unit 69 switches between a constant tension mode and a constant speed mode. As described above, for example, an operation mode switching operation is realized by pressing the menu switch SW1 for 3 seconds or longer.

  In the electric reel 100 having such a configuration, when the fishing line is fed out, the clutch is turned off by operating the clutch operating member 11 forward (backward). When the clutch is turned off, the spool 10 is freely rotated, and the fishing line is fed out of the spool 10 by the weight of the weight attached to the fishing line. When the fishing line is fed out, the spool 10 is rotated in the line feeding direction, and the water depth display of the water depth display unit 22 is changed according to the feeding amount by the detection pulse of the spool sensor 41. When the device reaches the shelf, the handle 2 is turned in the line winding direction, the clutch is turned on by a clutch return mechanism (not shown), and the feeding of the fishing line is stopped.

  When the fish hits, the adjustment lever 5 is operated to wind up the fishing line. When the adjusting lever 5 is swung clockwise in FIG. 1, the maximum value of the tension acting on the rotation speed Vd of the spool 10 or the fishing line can be set stepwise according to the swiveling angle.

<Operation of reel control unit>
Next, a specific control operation of the reel control unit 23 will be described based on a control flowchart shown in FIGS. In addition, the following description is an example of the control procedure of this invention, and the control procedure of this invention is not limited to the content shown with the following flowcharts.

  When power is supplied to the electric reel 100 via a power cable (not shown), initial setting is performed in step S1 of FIG. In this initial setting, various variables and flags are reset. Further, the ship edge stop position FN is set to the first yarn length L1 (for example, 6 m) which is a standard ship edge stop position.

  Next, in step S2, display processing is performed. In the display process, various display processes such as water depth display are performed. Here, the stage SC is displayed in the stage display area 22d.

  In step S3, it is determined whether or not the water depth LX calculated in each operation mode described later is equal to or less than the first yarn length L1. In step S4, it is determined whether or not any of the switches SW1 to SW3 or the adjustment lever 5 has been pressed. In step S5, it is determined whether or not the spool 10 is rotating. This determination is made based on the output of the spool sensor 41. In step S6, it is determined whether any other command or input has been made.

  When the water depth LX is equal to or less than the first yarn length L1, the process proceeds from step S3 to step S7. In step S7, it is determined whether or not to stop for 5 seconds or more at the water depth. Stopping at a water depth of 6 m or less for 5 seconds or more often involves operations such as taking in fish caught on the ship's edge or re-feeding the device. For this reason, if it is determined that the vehicle has stopped for 5 seconds or more, the process proceeds to step S8, and the water depth LX at that time is set to the ship edge stop position FN. When it is less than 5 seconds, the process proceeds from step S7 to step S4.

  If a switch input is made, the process proceeds from step S4 to step S9 to execute the switch input process shown in FIG. If rotation of the spool 10 is detected, the process proceeds from step S5 to step S10. In step S10, each operation mode process is executed. If any other command or input is made, the process proceeds from step S6 to step S11 to execute other processes.

  In the switch input process of step S9, it is determined whether or not the adjustment lever 5 has been operated in step S15 of FIG. In step S16, it is determined whether or not the menu switch SW1 has been pressed for 3 seconds or longer. In step S17, it is determined whether other switches have been operated. The other switch operations include the normal operation of the menu switch SW1, the determination switch SW2, the memo switch SW3, and the like.

If it is determined that the adjustment lever 5 has been swung, the process proceeds from step S15 to step S18. In step S18, the stage SC of the adjustment lever 5 is captured. The adjustment lever 5 is provided with a rotary encoder (not shown) and takes in the output of the rotary encoder. In step S19, it is determined whether or not the adjustment lever 5 has been operated to the stage SC = 0. When the stage SC is “0”, the process proceeds to step S20, the motor 12 is turned off, and the process proceeds to step S16. If the stage SC is not “0”, the process proceeds to step S21.

  In step S21, it is determined whether the constant speed mode or the constant tension mode has been set by a long press operation of the menu switch SW1. When the constant speed mode is set, the process proceeds from step S21 to step S22. In step S22, the spool speed control process shown in FIG. 10 for realizing the constant speed mode is performed, and the process proceeds to step S16. When the constant tension mode is set instead of the constant speed mode, the process proceeds from step S21 to step S23. In step S23, the current control process shown in FIG. 12 for realizing the constant tension mode is performed, and the process proceeds to step S16.

When the menu switch SW1 is pressed and held, the process proceeds from step S16 to step S24. In step S24, it is determined whether the constant speed mode is set. When the constant speed mode is set, the process proceeds from step S24 to step S25 to set the constant tension mode, and the process proceeds to step S17. When the constant tension mode is set, the process proceeds from step S24 to step S26 to set the constant speed mode, and the process proceeds to step S17. When another switch input is made, the process proceeds from step S17 to step S27. Then, other switch input processes such as changing from the bottom to the mode and setting other modes are performed, and the process returns to the main routine shown in FIG.

In the spool speed control process of step S22, the stage SC set by the adjustment lever 5 in step S31 of FIG. 10, the rotational speed Vd of the spool 10 calculated by the output of the spool sensor 41, and the motor speed detector 62 detect it. The rotational speed MV of the motor 12 is taken in. In step S32, it is determined whether or not the rotational speed Vd of the spool 10 is less than the lower limit value Vsc1 of the upper limit speed Vsc corresponding to the stage SC.

In step S33, it is determined whether or not the rotational speed Vd of the spool 10 exceeds the upper limit value Vsc2 of the upper limit speed Vsc corresponding to the stage SC. In step S34, it is determined whether or not the drag flag DF indicating that the drag mechanism 44 is operating is already turned on. If it is determined in step S33 that the rotation speed Vd does not exceed the upper limit value Vsc2 of the upper limit speed Vsc, the rotation speed Vd of the spool 10 is substantially the same as the upper limit speed Vsc of the stage SC in which the rotation speed Vd is set. Since 44 is not operating, if the drag flag DF is turned on in step S34, the drag flag DF is turned off. The drag flag DF is turned on in step S49 described later. Also, the timer T is turned on. The timer T is a timer that is turned on for a predetermined time (for example, in the range of 40 seconds to 60 seconds) when the drag mechanism 44 finishes operating, and is used for determination in step S46 described later. However, when the drag mechanism 44 starts operation, it is turned off in step S49.

When the rotational speed Vd is less than the lower limit value Vsc1, the process proceeds from step S32 to step S40. In step S40, it is determined whether or not the rotational speed Vd of the spool 10 is lower than the specified rotational speed VS. If not, the process proceeds to step S41. In step S41, the current first duty ratio D1 is captured. The first duty ratio D1 is stored every time the setting is changed in the rotation data storage area 52. Further, a maximum value DUsc and minimum Dlsc is set to rotate the data storage area 52 for each step SC, the first time set in each step SC, for example = the first duty ratio of the intermediate D1 ((DUsc + DLsc) / 2). In step S42, it is determined whether or not the current first duty ratio D1 exceeds the maximum value DUsc of the set stage SC. When the first duty ratio D1 exceeds the maximum value DUsc of the set stage SC, the process proceeds from step S42 to step S43, and the maximum value DUsc is set to the first duty ratio D1. When the first duty ratio D1 does not exceed the maximum value DUsc of the set stage SC, the process proceeds from step S42 to step S44, and the first duty ratio D1 is increased by a predetermined increment DI (for example, 1%). Control goes to step S33. Note that the duty ratio of the highest stage (SC = 31) is set to 100%, but the maximum value DUsc is set to 85% or less in the previous stage (SC = 1 to 30). ing.

When the rotational speed Vd is lower than the specified rotational speed VS, the process proceeds from step S40 to step S45. In step S45, whether or not the difference between the prescribed rotational speed VS and the rotational speed Vd is one or more in the 31 stages of the adjusting lever 5, that is, one for the stage SC corresponding to the prescribed rotational speed VS. It is determined whether or not the rotational speed Vd is lower than the rotational speed in the range of the stage SC-1 separated by more than the stage (for example, the rotational speed between the lower limit value Vsc1 and the upper limit value Vsc2 of the upper limit speed Vsc). When the rotational speed Vd of the spool 10 is lower than the specified rotational speed VS by one or more steps, the process proceeds from step S45 to step S46. In step S46, it is determined whether the timer T described above is on. As described above, the timer T is a timer that is started (turned on) in step S35 when the drag mechanism 44 has been operated once and has ended. If it is determined in step S46 that the timer T has not been turned on, the process proceeds from step S46 to step S47. In step S47, it is determined whether or not the rotational speed Vd of the spool 10 is lower than the specified rotational speed VS by two or more steps. Thereby, it is determined whether or not the drag mechanism 44 is operated. As described above, when the drag mechanism 44 does not operate, it is detected whether the drag mechanism 44 has operated by comparing the specified rotational speed VS, which is the spool rotational speed at that time, with the actual rotational speed Vd of the spool 10. Thus, the operation of the drag mechanism 44 can be detected with high accuracy.

If it is determined that the timer T is on, the process skips step S47 and proceeds to step S48. This is because the rotational speed Vd of the spool 10 corresponds to the specified rotational speed VS until the predetermined time (the value of the timer T) elapses after the drag mechanism 44 is released once the drag mechanism 44 is operated. This is because when the speed is lower than the upper limit speed Vsc of the stage SC-1 that is one stage lower than the stage SC, it is determined that the drag mechanism 44 has been operated again. Therefore, after the drag mechanism 44 is operated and the operation state of the drag mechanism 44 is canceled, the rotation speed Vd with respect to the specified rotation speed VS is determined rather than the determination of the normal drag operation within a predetermined time (the value of the timer T) . The operation of the drag mechanism 44 is determined on the high-speed side by one step. As a result, when the drag mechanism 44 stops operating once after the drag mechanism 44 has been operated, such as when a fish is caught, the rotation speed Vd of the spool 10 is only slightly decreased (one step). It is determined that the mechanism 44 has been operated, and motor control is performed by the first controller 64a. Thereby, it is possible to quickly cope with the operation of the drag mechanism 44 once the drag mechanism 44 is operated, and to further suppress the heat generation of the electric reel 100.

  When the rotational speed Vd of the spool 10 is higher than the upper limit speed Vsc of the stage SC-2 that is two stages lower than the stage corresponding to the specified rotational speed VS, the drag mechanism 44 is not operating (or the drag mechanism). Even if 44 is operating, it is not a situation in which high heat is generated), the process proceeds from step S46 to step S41, and a normal spool speed control process is executed. If the rotational speed Vd of the spool 10 is slower than the upper limit speed Vsc of the stage SC-2 that is two stages lower than the stage SC corresponding to the specified rotational speed VS, the drag mechanism 44 is operating (or dragging). It is determined that the mechanism 44 is operating and generates high heat), and the process proceeds from step S47 to step S48. In step S48, it is determined whether or not the drag flag DF indicating that the drag mechanism 44 is operating has already been turned on. If the drag flag DF is not turned on, the process proceeds to step S49, and the drag flag DF is turned on. Also, the timer T is turned off. If the drag flag DF is already on, step S49 is skipped and the process proceeds to step S50. In step S50, the drag operation control process shown in FIG. 11 is performed, and the process returns to the switch input process.

When the rotational speed Vd of the spool 10 exceeds the upper limit value Vsc2, the process proceeds from step S33 to step S51. In step S51, the current first duty ratio D1 is captured. The first duty ratio D1 is the same as that in step S41. In step S52, it is determined whether the minimum value than DLsc stage of the first duty ratio D1 of the current is set. When the first duty ratio D1 is less than the set minimum value DLsc, the process proceeds to step S53. In step S53, the minimum value DLsc is set to the first duty ratio D1, and the process returns to the switch input process. If the first duty ratio D1 is not less than the set minimum value DLsc, the process proceeds from step S52 to step S54, where the first duty ratio D1 is reduced by a predetermined decrement DI (for example, 1%) and switched. Return to input processing.

In the drag operation control process in step S50, it is determined in step S55 of FIG. 11 whether the current specified rotational speed VS of the motor 12 exceeds the upper limit speed Vsc (3) of the third stage SC (3) of 31 stages. To do. This is to smoothly rotate the spool in the winding direction when the operation state of the drag mechanism 44 is eliminated. If the current specified rotational speed VS exceeds the upper limit speed Vsc (3) of the step (3), the process proceeds from step S55 to step S56. In step S56, to set the lower limit of the single-stage high-speed side of the step SC + 1 in the upper limit speed Vsc of the step SC corresponding to the rotational speed Vd of the current spool 10 as the target rotational speed of the rotating speed Vd of the spool 10. Therefore, in the drag operation control process, the stage SC adjusted by the adjustment lever 5 becomes invalid. When the current specified rotational speed VS is slower than the upper limit speed Vsc (3) of the stage (3), the process proceeds from step S55 to step S57. In step S57, the lower limit value of the upper limit speed Vsc of the third stage SC (3) is set as the target rotation speed of the spool rotation speed Vd.

  When the setting of the target rotation speed is completed, the process proceeds to step S58. Step S58, step S59, and step S61 to step S67 are the same processing as step S32, step S33, step S41 to step S44, and step S51 to step S54 of FIG. In step S60, the stage SC set in step S56 and step S57 is reset and returned to the stage where the adjustment lever 5 is adjusted.

FIG. 14 to FIG. 17 show an example of specific operation during drag operation control. 14 to 17, the state where the drag mechanism 44 is operating is indicated by “≠”, and the state where the drag mechanism 44 is not operating is indicated by “=”.

  FIG. 14 shows a case where the drag mechanism 44 does not operate in normal spool speed control, and the first row shows a case where the adjustment lever 5 sets the stage 10 (SC = 10). Thereafter, when the hooked fish pulls the fishing line and a load is applied, for example, the rotational speed Vd of the spool 10 may drop to the upper limit speed Vsc of stage 5 as shown in the second row. In this case, since the drag mechanism 44 is not operating, the rotational speed of the motor 12 is also reduced to the specified rotational speed VS corresponding to the stage 5 (SC = 5). At this time, by the spool speed control, the motor 12 is controlled by the adjusting lever 5 so as to reach the set stage 10 (SC = 10), and the spool rotation speed Vd is kept constant as shown in the third row. As controlled.

  On the other hand, in this embodiment, as shown in FIG. 15, a case where the drag mechanism 44 is operated when the hooked fish pulls the fishing line strongly and a load is applied is shown. Here, the adjusting lever 5 is in the state set to step 10 (SC = 10) in the same manner as described above, and the hooked fish pulls the fishing line strongly and is loaded, and the rotational speed Vd of the spool 10 is set to step 5. The case where the drag mechanism 44 is operated when the rotational speed is reduced to the rotational speed corresponding to is shown. At this time, the rotational speed MV of the motor 12 has decreased to, for example, stage 7 (SC = 7).

In the case where there is no control of this embodiment (normal speed control), the reduced speed, in this case, the rotational speed MV corresponding to stage 7 is controlled to the set stage 10 speed, and the rotational speed of the spool, In this case, the speed difference from the speed corresponding to stage 5 is further increased, and a large amount of heat is generated by friction.

In this embodiment, the difference between the rotational speed MV of the motor 12, in this example, the specified rotational speed MV corresponding to the stage 7, and the rotational speed Vd of the spool 10, in this example, the rotational speed Vd corresponding to the stage 5. There determines whether a two-stage or more, the rotational speed Vd of the spool 10 than the regulation revolution speed MV is decreased two stages or more, it is determined that the drag mechanism 44 is operating, the drag mechanism 44 Control in the operating state. Specifically, when the operation state of the drag mechanism 44 is detected, the first control unit 64a is one stage higher than the stage corresponding to the current rotational speed Vd of the spool 10 (in this case, stage 5). In this case, the motor 12 is controlled so that the upper limit speed Vsc (6) of step 6 is reached. That is, when the rotational speed Vd of the spool 10 is the rotational speed corresponding to the stage 5, the motor 12 is controlled so that the spool 10 becomes the rotational speed of the stage 6.

  By controlling the motor 12 in this way, the difference in speed is minimized, the heat generation of the drag mechanism 44 is minimized, and the drag mechanism is not operated from the operating state (friction sliding state). In this state, the return to the state in which the frictional slip is eliminated can be promoted, and further, the effect of suppressing heat generation is exhibited. By such control, when the specified rotational speed obtained by multiplying the rotational speed MV of the motor 12 by the reduction ratio is the same as the detected rotational speed, that is, when the drag mechanism 44 is not operated, the drag operation control is terminated. Then, the process proceeds to the conventional control by the second control unit 64b, and the control is performed so that the rotation is performed at the stage set by the adjustment lever 5, in this case, the stage 10 (SC = 10).

Further, in the control of FIG. 15 described above, the state is controlled by the second control unit 64b in which the drag mechanism 44 has stopped operating from the state in which the drag mechanism 44 is operating from the state controlled by the first control unit 64a. However, in FIG. 16, the control is performed by the second control unit 64b in which the drag mechanism 44 has stopped operating from the state in which the drag control unit 44a is in control. This shows a case where a load is applied again within a predetermined time (the value of timer T) after the transition to the state.

  In this case, even if the rotational speed Vd of the one-stage spool 10 is lower than the predetermined rotational speed VS of the motor 12, the drag operation detector 66 is controlled to detect that the drag mechanism 44 has been operated. ing. Specifically, in FIG. 16, in order to avoid duplication, as in FIG. 15, the adjusting lever 5 pulls the fishing line strongly while the adjustment lever 5 is set to the stage 10 (SC = 10) A case where the drag mechanism 44 is operated when a load is applied and the rotation speed of the motor 12 is decreased to the speed corresponding to the stage 7 and the rotation speed Vd of the spool 10 is decreased to the rotation speed corresponding to the stage 5 is shown. Start from the state. Similarly to FIG. 15, the specified rotational speed VS of the motor 12 corresponds to the stage 7 in this example, and the rotational speed Vd of the spool 10 corresponds to the stage 5 and thus is the specified rotational speed VS. Therefore, it is determined that the rotational speed Vd has decreased by two or more steps, it is determined that the drag mechanism 44 is operating, and control is performed in the operating state of the drag mechanism 44.

When the operating state of the drag mechanism 44 is detected, the first control unit 64a, as described above, is one stage higher than the stage corresponding to the current rotational speed Vd of the spool 10 (in this case, stage 5). The motor 12 is controlled so that the upper limit speed Vsc (6) (in this case 6) is obtained. Thereafter, the operating state of the drag mechanism 44 is canceled . In this case, when the specified rotational speed VS and the rotational speed Vd corresponding to step 8 are substantially the same, the drag operation control is once terminated and the control is shifted to the conventional control by the second control unit 64b. As a result, the motor 12 is controlled to rotate at the stage set by the adjusting lever 5, in this case, the stage 10 (SC = 10).

However, when a load is applied again within a predetermined time (the value of timer T) and the rotational speed Vd of the spool 10 decreases, the specified rotational speed VS of the motor 12 is the rotational speed corresponding to step 9, and the rotation of the spool a rotation speed speed Vd corresponds to step 8, even difference one step of the rotating speed Vd and defined rotation speed VS, the first control unit 64a determines that the drag mechanism 44 is operating Then, control is performed in the drag operation state. In practice, it is rare for the drag mechanism 44 to be in the drag operation state only once in one fishing, and the drag mechanism 44 is often in the drag operation state a plurality of times. Even in such a case, heat generation of the drag mechanism 44 can be effectively suppressed.

  FIG. 15 and FIG. 16 explained the case where the spool 10 is rotating in the yarn winding direction even when the drag mechanism 44 is in the drag operation state. In FIG. 17, the control in the drag operation state when there is a further large load (the pulling force of the fish caught) will be described.

  Similarly to FIGS. 15 and 16, when the specified rotational speed VS of the motor 12 is a rotational speed corresponding to the stage 7 in this example, and the rotational speed Vd of the spool 10 is a rotational speed corresponding to the stage 5, It is determined that the drag mechanism 44 is operating, and control is performed in the drag operation state. After that, once the prescribed rotational speed VS corresponding to Step 7 is reached, and the prescribed rotational speed VS and the rotational speed Vd of the spool 10 become the same, the drag operation control is terminated. However, again, when a stronger load is applied and the rotational speed Vd of the spool 10 decreases to a speed corresponding to stage 3, the first control unit 64a responds to the current rotational speed Vd of the spool 10 (this In this case, the motor 12 is controlled so that the upper limit speed Vsc (4) of the stage (in this case 4) one stage higher than the stage 3). In the example of FIG. 17, the load further increases, and the spool 10 decreases to the speed corresponding to the stage 2, and accordingly, the first control unit 64 a further sets the rotation speed of the motor to the upper limit speed Vsc ( The motor 12 is controlled so as to satisfy 3). Further, in the example of FIG. 17, the load becomes large, the spool is reduced to the speed corresponding to the stage 1, the rotation of the spool becomes 0, and the situation further reverses.

  In such a case, if the rotational speed MV of the motor is lower than a predetermined value, in this case, the specified rotational speed VS of the motor 12 is decreased to the upper limit speed Vsc (3) or lower to follow the rotation of the spool 10, dragging Even if the operating state is eliminated, it is difficult to return to the set speed (in this case, step 10) again, and if the motor 12 is stopped, a very large torque is required to start it. Thus, the first control unit 64a sets the lower limit of the upper limit speed Vsc for the rotational speed MV of the motor 12 even in the drag operation state control. In the case of the embodiment of FIG. 17, the specified rotational speed VS of the motor 12 is set to the lower limit value of the upper limit speed Vsc (3).

In the motor current control process of step S23, the stage SC set by the adjustment lever 5 in step S71 of FIG. 12 and the tension Qd obtained by multiplying the detection result (torque) of the current detection unit 70a by the spool diameter. take in. This tension Qd is stored in the rotation data storage area 52. In step S72, it is determined whether or not the tension Qd is less than the lower limit value Qsc1 of the upper limit tension Qs corresponding to the stage SC. In step S73, it is determined whether or not the tension Qd exceeds the upper limit value Qsc2 of the upper limit tension Qs corresponding to the stage SC. If both determinations are “NO”, the process returns to the switch input process.

Note that for the tension control, it had a lower limit Qsc1 and the upper limit Qsc2 upper tension Q s provided for each step SC is tension between similarly to the constant speed mode both tension Qsc1, Qsc2 fluctuates This is because the duty ratio does not change in the case where the duty ratio is changed, and wowing in which the duty ratio fluctuates frequently does not occur, and the feedback control is stabilized.

If the tension Qd is less than the lower limit Qsc1, the process proceeds from step S72 to step S74. In step S74, the current second duty ratio D4 is captured. The second duty ratio D4 is stored every time the setting is changed in the rotation data storage area 52. At step S75, the process proceeds to step S 7 3 Increase second duty ratio D4 by a predetermined increment DI (for example, 1%). This is continued until the tension Qd exceeds the lower limit value Qsc1.

  When the tension Qd exceeds the upper limit value Qsc2, the process proceeds from step S73 to step S76, and the current second duty ratio D4 is captured. The second duty ratio D4 is the same as that in step S74. In step S77, the second duty ratio D4 is reduced by a predetermined decrement DI (for example, 1%), and the process returns to the switch input process. This is continued until the tension Qd falls below the upper limit value Qsc2.

  In each operation mode process in step S10, it is determined in step S81 in FIG. 13 whether or not the rotation direction of the spool 10 is the yarn feeding direction. This determination is made based on which magnetic sensor of the spool sensor 41 has issued a pulse first. If it is determined that the rotation direction of the spool 10 is the yarn feeding direction, the process proceeds from step S81 to step S82. In step S82, every time the spool rotational speed decreases, the data stored in the thread length data storage area 51 is read from the spool rotational speed to calculate the water depth (released thread length) LX. This water depth LX is displayed in the display process of step S2. In step S83, it is determined whether the obtained water depth LX matches the shelf or bottom position, that is, whether the device has reached the shelf or the bottom. The shelf or bottom position is set in the display data storage area 50 of the storage unit 46 by pressing the memo switch SW3 when the device reaches the shelf or the bottom. In step S84, it is determined whether or not another mode such as a learning mode.

  When the water depth matches the shelf position or the bottom position, the process proceeds from step S83 to step S85, and the buzzer 47 is sounded to notify that the device has reached the shelf or the bottom. In the case of another mode, the process proceeds from step S84 to step S86, and the designated other mode is executed. If it is not in another mode, each operation mode process is terminated and the process returns to the main routine.

  When the rotation of the spool 10 is determined to be the yarn winding direction, the process proceeds from step S81 to step S87. In step S87, the data stored in the yarn length data storage area 51 is read from the spool rotational speed to calculate the water depth LX. This water depth LX is displayed in the display process of step S2.

In step S88, it is determined whether the ship edge stop position has been reached. When the ship edge stop position FN is reached, the routine proceeds from step S88 to step S89. In step S89, the buzzer 47 is sounded to notify that the device is on the shore. In step S90, the motor 12 is turned off. As a result, when the fish is caught or when the device is collected and the bait is exchanged, the fish or device is arranged at a position where it can be easily taken. If it has not been wound up to the ship edge stop position, it returns to the main routine.

  Here, the operating state of the drag mechanism 44 is detected by comparing the specified rotational speed MV × R obtained by multiplying the rotational speed MV of the motor 12 by the reduction ratio R with the rotational speed Vd (detected rotational speed) of the spool 10. The operating state of the drag mechanism 44 can be accurately detected.

  Further, when the drag mechanism 44 is operated, the motor 12 is controlled so as to reach the upper limit speed Vsc (+1) that is one step higher than the rotational speed Vd. For this reason, the rotational speed of the motor 12 is reduced, the rotational speed difference of the frictional slip in the drag mechanism 44 is reduced, the heat generation of the drag mechanism 44 and the heat generation of the motor 12 are reduced, and the heat generation of the electric reel 100 can be suppressed. it can.

<Other embodiments>
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

  (A) In the above-described embodiment, it is possible to switch between the constant tension control and the constant speed mode, but the present invention is not limited to this. For example, only constant speed control may be performed.

  (B) In the above embodiment, the motor 12 is housed inside the spool, but the present invention can also be applied to an electric reel in which the motor is mounted outside the spool.

(C) In the above embodiment, the adjustment lever 5 is exemplified as the motor operation member, but the present invention is not limited to this. For example, the number of steps may be increased or decreased depending on the pressing operation time of the push button.

  (D) In the above-described embodiment, the rotational phase is detected by the counter electromotive current using a brushless motor and the rotational speed of the motor 12 is detected. However, the present invention is not limited to this. The rotational speed of the motor 12 may be detected by a sensor.

(E) In the above embodiment, when the drag mechanism 44 is determined to be in the operating state, the output of the motor 12 is increased by one step. However, the rate of increase is not limited to this.

  (F) In the above-described embodiment, when the stage corresponding to the rotational speed Vd of the spool 10 is a low stage (for example, the stage after stage 3), the motor 12 does not follow the rotation of the spool 10 without following the rotation of the spool 10. May be controlled to maintain the minimum rotation speed. In this case, as shown in FIG. 17, when the drag mechanism 44 operates and the stage corresponding to the rotational speed Vd of the spool 10 becomes 3 or less, the rotational speed MV of the motor 12 is changed to the rotational speed Vd of the spool 10. Rather than increasing by one step from the corresponding step, the rotational speed of the motor 12 is controlled to be the specified rotational speed corresponding to step 3. This facilitates the return operation until the drag mechanism 44 does not operate. In this case, even when the spool 10 is reversely rotated (−1), the motor 12 rotates in the yarn winding direction at the minimum rotational speed (step 3).

(G) In the above embodiment, to control the motor 12 in accordance with the difference between the comparison result and the regulation revolution speed VS and the rotational speed Vd of the rotational speed V d of the regulation revolution speed VS and the spool 10, the present invention is to It is not limited. In step S100 of FIG. 18, the rotation speed (MV × R) obtained by multiplying the rotation speed MV of the motor 12 by the reduction ratio R (1/500), that is, the specified rotation of the spool 10 when the drag mechanism 44 is not operating. It is detected that the drag mechanism 44 is operated according to the difference between the speed V S and the rotational speed Vd ( detected rotational speed ) detected by the output of the spool sensor 41. Steps S91 to S95 in FIG. 18 are substantially the same as steps S31 to S35 in FIG. In this embodiment, since the timer T is unnecessary, the timer T on (start) process is not performed in step S95. Further, steps S100 to S104 and steps S110 to S113 are also performed in the same manner as the process shown in FIG. When the rotational speed Vd of the spool 10 is lower than the specified rotational speed MV / R in step S100, the process proceeds to step S107 and it is determined whether or not the drag flag DF is on. Step S108 and step S109 are similar to steps S4 9 and step S 50. However, the timer T is not turned off in step S108. In such an embodiment, it is determined whether or not the drag mechanism 44 has been operated based on the actually detected rotational speed of the motor 12, that is, whether or not frictional slip has occurred. For this reason, the operation of the drag mechanism 44 can be detected with high accuracy. In particular, when the motor 12 is a brushless motor, the rotational phase of the rotor 17 of the motor can be detected. Therefore, the rotational speed of the motor 12 can be detected without providing a separate sensor for detecting the rotational speed of the motor.

Further, it may be detected that the drag mechanism 44 is operated not by the speed but by the rapid increase in the current flowing through the motor 12 detected by the current detector 70a. Further it may be determined whether the drag mechanism 4 4 operates by the detection result of the temperature sensor 29 provided in the drag mechanism 44.

<Features>
The above embodiment can be expressed as follows.

(A) The control system 90 adjusts the reel body 1, the spool 10 rotatably provided on the reel body 1, the motor 12 that drives the spool 10, and the rotational load acting on the fishing line feeding direction of the spool 10. This is a device for controlling the motor 12 of the electric reel 100 having a possible drag mechanism 44. The control system 90 includes a spool speed detection unit 68, a drag operation detection unit 66, and a first control unit 64a. The spool speed detection unit 68 detects the rotation speed Vd of the spool. The drag operation detector 66 detects the operation of the drag mechanism 44 when a rotational load in the fishing line feeding direction that is equal to or greater than the adjusted rotational load acts on the spool 10. When the drag operation detection unit 66 detects the operation of the drag mechanism 44, the first control unit 64 a detects the specified rotation speed of the spool that is uniquely determined with respect to the rotation speed MV of the motor 12 by the spool speed detection unit 68. The motor 12 is controlled so as to be faster than the rotational speed Vd ( detected rotational speed ) by a predetermined difference.

In this control system 90, the drag mechanism 44 operates and the actual spool 10 detected with respect to the upper limit speed Vsc of the spool 10 that is decelerated by, for example, a reduction ratio (1/50) with respect to the rotational speed MV of the motor 12. When the rotational speed Vd becomes slow, the motor 12 is controlled so that the specified rotational speed becomes faster than the actually detected rotational speed Vd by a predetermined difference. As a result, when the drag mechanism 44 operates due to a rotational load acting on the spool 10, the motor 12 is not controlled so as to maintain the upper limit speed Vsc during the drag operation, but a predetermined difference from the rotation speed Vd. The motor 12 is controlled so that the upper limit speed Vsc is as fast as possible. Here, when the drag mechanism 44 is operated, the motor 12 is controlled so that the upper limit speed Vsc is higher than the rotational speed Vd of the spool 10 by a predetermined difference. For this reason, the rotational speed of the motor 12 is reduced, the rotational speed difference of the frictional slip in the drag mechanism 44 is reduced, the heat generation of the drag mechanism 44 and the heat generation of the motor 12 are reduced, and the heat generation of the electric reel 100 can be suppressed. it can.

  (B) The control system 90 may further include a rotation speed comparison unit 67 that compares the upper limit speed Vsc and the rotation speed Vd. The drag operation detector 66 detects that the drag mechanism 44 has been operated when the rotational speed Vd is slower than the upper limit speed Vsc. In this case, since the operation state of the drag mechanism 44 is detected by comparing the upper limit speed Vsc corresponding to the rotation speed MV of the motor 12 and the rotation speed Vd of the spool, the operation state of the drag mechanism 44 can be detected with high accuracy. .

(C) The control system 90 may further include a motor speed detector 62 that detects the rotational speed MV of the motor 12. The first controller 64a controls the motor 12 according to the upper limit speed Vsc based on the detection result of the motor speed detector 62. In this case, since the rotation speed MV of the motor 12 can be detected, the motor 12 can be controlled by the upper limit speed Vsc based on the detected rotation speed MV of the motor 12. For this reason, the motor control by the first control unit 64a can be performed with high accuracy.

  (D) The electric reel 100 may include a planetary gear mechanism 43 that reduces and transmits the rotation of the motor 12. The upper limit speed Vsc is a rotation speed obtained by multiplying the rotation speed MV of the motor 12 by the reduction gear ratio of the planetary gear mechanism 43.

(E) The planetary gear mechanism 43 may include a first sun gear 71a, a first ring gear 71b, a plurality of first planetary gears 71c, and a first carrier 71d. The first sun gear 71 a is provided on the rotating shaft 18 of the motor 12 and rotates integrally with the rotating shaft 18. The first ring gear 71 b is provided on the inner peripheral surface of the spool 10. The plurality of first planetary gears 71c engage with the first sun gear 71a and the first ring gear 71b. The first carrier 71 d holds the plurality of first planetary gears 71 c so as to be rotatable, and is provided so as to be rotatable with respect to the rotating shaft 18 of the motor 12. The first carrier 71 d is connected to the drag mechanism 44.

In this case, the first carrier 71d is connected to the drag mechanism 44, and for example, rotation in the yarn feeding direction is restricted. When the drag mechanism 44 is not operating, the first carrier 71d does not rotate, and the rotation of the motor 12 is transmitted to the spool 10 via the first sun gear 71a, the first planetary gear 71c, and the first ring gear 71b. Is done. When the drag mechanism 44 operates, the first carrier 71 d rotates in the yarn feeding direction, and the rotation of the motor 12 is further decelerated and transmitted to the spool 10. Here, since the rotation of the motor 12 is transmitted to the spool 10 by the planetary gear mechanism 43, a large reduction ratio can be obtained, and when the drag mechanism 44 is operated, an unreasonable force is applied to the planetary gear mechanism 43. It is hard to act.

  (F) The planetary gear mechanism 43 includes a first sun gear 71a, a first ring gear 71b, a plurality of first planetary gears 71c, a first carrier 71d, a second sun gear 72a, and a second ring gear 72b. And a plurality of second planetary gears 72c and a second carrier 72d. The first sun gear 71 a is provided on the rotating shaft 18 of the motor 12 and rotates integrally with the rotating shaft 18. The first ring gear 71 b is provided on the inner peripheral surface of the spool 10. The plurality of first planetary gears 71c engage with the first sun gear 71a and the first ring gear 71b. The second sun gear 72a rotates with the first carrier 71d. The second ring gear 72 b is provided on the inner peripheral surface of the spool 10. The plurality of second planetary gears 72c engage with the second sun gear 72a and the second ring gear 72b. The second carrier 72 d holds the plurality of second planetary gears 72 c so as to be rotatable, and is provided so as to be rotatable with respect to the rotation shaft 18 of the motor 12. The second carrier 72 d is connected to the drag mechanism 44.

  In this case, the second carrier 72d is connected to the drag mechanism 44, and for example, rotation in the yarn unwinding direction is restricted. When the drag mechanism 44 is not operating, the second carrier 72d does not rotate, and the motor 12 rotates by the first sun gear 71a, the first planetary gear 71c, the first carrier 71d, the second sun gear 72a, It is transmitted to the spool 10 via the second planetary gear 72c and the second ring gear 72b. When the drag mechanism 44 operates, the second carrier 72d rotates in the yarn feeding direction, and the rotation of the motor 12 is further decelerated and transmitted to the spool 10. Here, since the rotation of the motor 12 is transmitted to the spool 10 by two planetary gear mechanisms connected in series, a larger reduction ratio can be obtained, and the planetary gear mechanism can be operated when the drag mechanism 44 is operated. Unreasonable force hardly acts on 43.

  (G) The control system 90 may further include an adjustment lever 5 that can set the upper limit speed Vsc in a plurality of stages. When the rotational speed Vd is slower than the upper limit speed Vsc, the first control unit 64a controls the motor 12 so that the upper limit speed Vsc (+1) of the stage SC + 1 is at least one faster than the stage corresponding to the rotational speed Vd. . In this case, when the drag mechanism 44 operates and the rotational speed Vd of the spool 10 becomes slower, the upper limit speed Vsc of the stage SC set by the adjustment lever 5 is not at least one than the stage SC corresponding to the rotational speed Vd. The motor 12 is controlled so as to reach the upper limit speed Vsc (+1) of the fastest stage SC (+1). For this reason, the rotational speed of the motor 12 becomes slower than before the drag mechanism 44 operates. In addition, the rotational speed difference of the frictional sliding in the drag mechanism 44 is reduced. Thereby, the heat generation of the drag mechanism 44 and the heat generation of the motor 12 are reduced, and the heat generation of the electric reel 100 can be suppressed.

  (H) A second control unit 64b is further provided for controlling the motor 12 so that the rotation speed Vd becomes the upper limit speed Vsc set by the adjustment lever 5 when the upper limit speed Vsc and the rotation speed Vd are substantially the same. Also good. In this case, the second control unit 64b performs constant speed control at a plurality of stages SC so that the rotation speed Vd of the spool 10 becomes the upper limit speed Vsc of the plurality of stages SC.

  (I) The drag operation detector 66 has a rotational speed Vd that is slower than the specified rotational speed VS (−1) of the stage SC (−1) at least one lower speed than the stage SC set by the adjustment lever 5. At this time, it is detected that the drag mechanism 44 has been operated. In this case, when the drag operation detecting unit 66 is slower than the specified rotational speed VS (−1) at the stage at least one lower speed than the stage at which the rotational speed Vd is set by the setting unit, Since the operation is detected, erroneous detection is reduced as compared with the case where the detection is performed when the rotation speed Vd is slower than the specified rotation speed VS (−1).

  (J) When the rotational speed Vd is slower than the specified rotational speed VS (−2) of the stage SC (−2) that is two lower speeds than the stage set by the adjustment lever 5, It is detected that the drag mechanism 44 has been operated. In this case, the detection timing may be delayed as compared with the case of comparison with the upper limit speed Vsc (−1) on the one-stage low speed side, but the operation of the drag mechanism 44 can be detected with higher accuracy.

(K) From when the rotational speed Vd is lower than the specified rotational speed VS to when the rotational speed Vd returns to the same state as the specified rotational speed VS, until the predetermined time (the value of the timer T) elapses, the rotational speed Vd is The first control unit 64a may control the motor 12 when it becomes slower than the specified rotational speed VS (−1), which is one stage lower than the stage corresponding to the rotational speed Vd. In this case, when the drag mechanism 44 stops operating once after the drag mechanism 44 has been operated, such as when a fish is caught, the detected rotation speed of the spool 10 is only slightly lowered, and the drag mechanism 44 Is determined to have operated, the motor 12 is controlled by the first controller 64a. As a result, it is possible to quickly respond to the operation of the drag mechanism 44 in a state where the heat generation still remains after the drag mechanism 44 is operated once, and it is possible to further suppress the heat generation of the electric reel.

(L) the first control unit 64a, when the rotational speed Vd becomes below a predetermined value, and control the motor 12 at a constant prescribed rotational speed of at least one higher stage than stage corresponding to the rotational speed V d Good. In this case, when the drag mechanism 44 is operating, even if the rotational speed Vd becomes lower than a predetermined value, the motor 12 is controlled to a constant specified rotational speed VS. When the state is resolved, the motor 12 can be controlled smoothly. In addition, even when the spool 10 rotates in the yarn feeding direction, similarly, the motor 12 can be controlled smoothly, and the operation of the drag mechanism can be canceled.

1 Reel body 5 Adjustment lever (example of speed setting unit)
10 Spool 12 Motor 43 Planetary gear mechanism (an example of a speed reduction mechanism)
44 Drag Mechanism 62 Motor Speed Detection Unit 62a Rotation Phase Detection Unit 64a First Control Unit 64b Second Control Unit 66 Drag Operation Detection Unit 67 Speed Comparison Unit 68 Spool Speed Detection Unit 71a First Sun Gear 71b First Ring Gear 71c First Planetary gear 71d 1st carrier 72a 2nd sun gear 72b 2nd ring gear 72c 2nd planetary gear 72d 2nd carrier 90 control system (an example of motor control device of electric reel)
100 Electric reel Vd Rotational speed (an example of detected rotational speed)
Vsc upper limit speed (an example of specified rotation speed)

Claims (2)

A speed comparison unit that compares the specified rotational speed with the detected rotational speed;
The drag motion detection section when the detected rotational speed is lower than the stipulated rotational speed, detecting that the drag mechanism operates, the motor controller of an electric reel according to claim 1. The first control unit, when the detected rotation speed is below a predetermined value, controlling the motor at a constant prescribed rotational speed of at least one higher stage than stage corresponding to the detected rotational speed, wherein Item 12. The motor control device for an electric reel according to any one of Items 7 to 11.

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