KR20090084658A - Motor control device for motor driven fishing reel - Google Patents

Abstract

A motor controller of the electromotion reel is provided, which can control a motor to prevent the motor from being damaged by restraining burden of the motor. A motor controller of the electromotion reel comprises: a rotation speed detection part(102) detecting the speed of rotation of spool; a load detector(108a) detecting the load acting on spool using current value; a maximum speed setting part setting up the speed of rotation of spool; a first goal speed setting part setting up the target speed; a second goal speed setting part; and a motor controller(100) controlling the motor to the target speed that the speed of rotation of spool is set up.

Description

Motor control device of electric reel {MOTOR CONTROL DEVICE FOR MOTOR DRIVEN FISHING REEL}

The present invention relates to a motor control device, in particular, a motor control device of an electric reel that can rotate a spool by driving a motor.

The electric reel which can rotate the spool at the time of winding up by a motor drives the reel main body, the spool rotatably supported by the reel main body, the handle for manually rotating the spool, and the spool being driven in the winding direction. An electric motor is provided. On the upper surface of the reel unit, an operation panel provided with a display for depth display and a switch for performing various inputs is mounted.

In such an electric reel, it is conventionally known to control the motor in multiple speeds so that the upper limit winding speed of the spool is wound at a plurality of stages (see Patent Document 1, for example). In the conventional electric reel, the upper limit speed is set in multiple steps by the swinging operation lever provided in the side surface of the reel main body at the handle side of the operation panel.

In a conventional electric reel, the upper limit speed of each step is set according to the swing angle of the operating lever, and it is displayed on the display. The motor control apparatus detects the spool rotational speed and controls the motor so that the detected spool rotational speed becomes the speed of the set step.

[Patent Document 1] Japanese Unexamined Patent Publication No. 2000-139299

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

An object of the present invention is to reduce the burden on the motor so that the motor does not burn out when the motor is multi-speed controlled.

The motor control apparatus of the electric reel which concerns on this invention 1 is a motor control apparatus of the electric reel which can rotate a spool by the drive of a motor, A rotation speed detection part, a load detection part, an upper limit speed setting part, a 1st target speed setting part, and a load A comparison section, a second target speed setting section, and a motor control section are provided. The rotational speed detector detects the rotational speed of the spool. The load detector detects the load acting on the spool by the current value. The upper limit speed setting unit sets the rotational speed of the spool to any one of the upper and lower limit speeds of the plurality of stages. The first target speed setting unit has an upper limit speed in which a state in which the load detected by the load detection unit is equal to or larger than a predetermined first current value smaller than the maximum current value flowing through the motor is continuous for a first predetermined time and the detected rotational speed is set. When at least the first condition less than is satisfied, a target speed corresponding to the upper limit speed at least one step lower than the rotation speed is set. The load comparison unit compares the first load after the target speed setting with the second load after the second predetermined time. The second target speed setting unit sets the target speed to an upper limit speed at least one step lower when the second load is larger than the first load, and sets the target speed at least when the second load is smaller than the first load by a predetermined amount. Step 1 Set the high upper limit speed. The motor control unit controls the motor so that the rotational speed of the spool becomes the set upper limit speed when the first condition is not satisfied, and the rotational speed of the spool when the target speed is set by the first and second target speed setting units. The motor is controlled so that the target speed is set.

In this motor control apparatus, a motor is normally controlled so that it may become the upper limit speed set by the upper limit speed setting part. The load is increased, and the load state detected by the load detector is higher than a predetermined first current value (for example, 50 to 90% of the maximum current value) smaller than the maximum current value that causes the motor to flow in the first state. When the first condition that continues for a predetermined time is satisfied, a target speed corresponding to an upper limit speed at least one step lower than the rotation speed is set. Then, the first load detected at that time is compared with the second load after the second predetermined time elapses therefrom, and when the second load is larger than the first load by a predetermined amount, the target speed is set to an upper limit speed at least one step lower, When the second load is smaller than the first load by a predetermined amount, the target speed is set to an upper limit speed of at least one step higher. When the target speed is set, the motor control unit speed-controls the motor to be the target speed instead of the upper limit speed.

Here, once a high load state such as satisfying the first condition is achieved, once the motor speed is reduced to an upper limit speed at least one step lower than the rotational speed at that time, the current flowing through the motor is reduced, thereby making the motor useless current. Does not flow. In addition, if the load decreases further from it, the rotation speed of the motor is increased, and if the load increases, the rotation speed of the motor is further reduced. For this reason, it is difficult for a wasteful current to flow through the motor, and the load on the motor is suppressed and the motor is not burned out when the multi-stage speed control is performed to keep the current flowing through the motor until the upper limit speed is reached.

The motor control apparatus for an electric reel according to the second aspect of the invention is the apparatus according to the first aspect, wherein the first target speed setting portion satisfies the first condition and the second condition where the rotational speed is less than the upper limit speed continuously for the first predetermined time. When set, set the target speed. In this case, the determination degree of high load becomes still higher, and it becomes difficult to make a useless current flow further.

The motor control apparatus for an electric reel according to the third aspect of the invention is the apparatus according to the first or second aspect of the present invention, wherein the motor control unit releases the target speed when the upper limit speed is changed by the upper limit speed setting portion to a lower speed side than the target speed, The motor is controlled to reach the maximum speed. In this case, even if the target speed is set, if the upper limit speed is set to a lower speed side than that speed, the target speed is canceled, and further useless current becomes difficult to flow.

The motor control apparatus for an electric reel according to the fourth aspect is the apparatus according to any one of the first to third aspects, wherein the motor control unit changes the upper limit speed when the upper limit speed is changed to the higher speed side than the target speed. Ignore and control the motor to reach the target speed. In this case, since the speed increase to the high speed side where the load of the motor becomes large during the deceleration control is prohibited, the burden on the motor is further reduced.

In the motor control apparatus for an electric reel according to the fifth aspect, the apparatus according to any one of the first to fourth aspects, wherein the second target speed setting unit sets a target at a low speed step equal to or less than half of the maximum stage. Slow down. In this case, since the deceleration ends up to a low speed region in which the current value does not become large, an unnecessary deceleration in which the performance of the reel decreases does not occur.

The motor control apparatus for an electric reel according to the sixth aspect of the invention is the apparatus according to the fifth aspect, wherein the motor control unit rotates the spool when the load state of the first current value or more is continuous for a third predetermined time longer than the first predetermined time. When the speed is less than the speed of the intermediate stage on the high speed side than the low speed stage, the intermittent current flowing on and off flows to the spool.

In this case, when the target speed falls below the intermediate stage, the motor is not decelerated, but the motor is intermittently operated. Therefore, the motor rotates due to the high load so that unnecessary current does not flow to the motor at the time of lock or low speed rotation. Fever can be suppressed. In addition, when the load decreases, the motor can be wound by the set upper limit speed, thereby preventing the motor from being burned out without lowering the performance.

According to the present invention, once a high load condition such as satisfying the first condition is achieved, the speed of the motor is once reduced to at least one step lower than the rotational speed at that time, and the current flowing through the motor is reduced to use the motor. Make sure no current flows. In addition, if the load decreases further from it, the rotation speed of the motor is increased, and if the load increases, the rotation speed of the motor is further reduced. For this reason, it is difficult for unnecessary current to flow through the motor, and when the speed is controlled to keep the current flowing through the motor until the maximum speed is reached, the burden on the motor is suppressed and the motor is not burned out.

[Schematic Configuration of Electric Reel]

As shown in FIG. 1, the electric reel according to one embodiment of the present invention is primarily a reel main body 2 with a handle 1 mounted thereon, and a spool rotatably mounted to the reel main body 2. (3) and the motor 4 mounted in the spool 3 are provided. In the upper part of the reel main body 2, the counter 5 for performing a depth indication etc. is attached. In the reel main body 2, as shown in FIG. 2, the rotation transmission mechanism which transmits rotation of the handle 1 to the spool 3, and transmits rotation of the motor 4 to the spool 3 is shown. (6), the clutch mechanism 7 and the drag mechanism 8 provided in the middle of the rotation transmission mechanism 6 are provided.

As shown in FIG. 2, the reel unit 2 has a frame 13 and side covers 14 and 15 covering both sides of the frame 13. As shown in FIG. 2, the frame 13 is an integrally formed member of an aluminum alloy die cast, and is connected to connect a pair of left and right side plates 16 and 17 and the side plates 16 and 17 at a plurality of locations. It has a member 18. The pole connecting leg 19 for attaching a fishing rod is attached to the lower connection member 18. As shown in FIG.

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

The side cover 14 is fastened to the side plate 16 by the bolt which is not shown in figure. In the side cover 14, the connector part 14a (FIG. 1) for a power cable for connecting with the power supply of an external storage battery etc. protrudes obliquely at the front part, and is provided. The power cable connected to the connector portion 14a is provided with an antenna for wireless communication described later. In addition, an electric reel can respond to the power supply of three types of voltages, such as DC 12V (volt), 16.8V, and 24V.

On the front side of the handle 1 side of the reel unit 2, the winding speed of the spool 3 can be adjusted in 31 stages, and the tension of the fishing line wound on the spool 3 is adjusted in 31 stages. Possible adjustment levers (an example of the speed setting section and the upper limit tension setting section, 101) are provided so as to be able to swing. A potentiometer 104 (FIG. 6) for detecting the swing angle of the adjustment lever 101 is attached to the swing shaft of the adjustment lever 101.

As shown in FIG. 2, the spool 3 has a normal winding body portion 3a that can accommodate the motor 4 therein, and an outer peripheral portion of the winding body portion 3a ( It has a pair of left and right flange parts 3b formed in the outer part at intervals. One end of the spool 3 extends outward from the flange portion 3b, and a bearing 26 is disposed on the inner circumferential surface of the extended end portion. A gear plate 3c is fixed to the other end of the spool 3. The gear plate 3c is provided in order to transmit the rotation of the spool 3 to a level wind mechanism not shown. On the spool center side of the gear plate 3c, a rolling bearing 25 is attached between the gear plate 3c and the fixed frame 20. By these two bearings 25 and 26, the spool 3 is rotatably supported by the reel unit 2.

[Configuration of Counter]

The counter 5 is provided for controlling the motor 4 while displaying the depth of the gears attached to the tip of the fishing line. The counter 5 has the upper case 5a and the lower case 5b, as shown to FIG. 3 and FIG. The upper case 5a is formed to become thinner as the display portion goes forward, and has ridge portions 5c and 5d that are slightly concave to the left and right from the display portion. The ridge 5c is connected to the side cover 14 in a planar manner, and the ridge 5d is connected to the side cover 15 in a planar manner. On the display part of the upper case 5a, the nameplate 8 which becomes thinner toward the front end of the shape in which each piece of the trapezoid was curved convexly is fixed. The name plate 8 is provided with a transparent cover 8a for viewing the depth display portion 98. On the bottom surface of the lower case 5b, a heat sink 5e composed of an aluminum plate for cooling a field effect transistor (FET) 108B described later is provided.

As shown in FIG. 3, the counter 5 includes a depth display section 98 comprising a liquid crystal display for displaying the depth data LX and the fish breeding layer position of the preparation on the basis of two standards from the water surface and the bottom; The operation key part 99 which consists of three switch buttons, for example, arrange | positioned in the frontmost (FIG. 3 lower side) of the depth display part 98 is provided. Moreover, inside the counter 5, as shown in FIG. 4, the 1st circuit board 10 in which the depth display part 98 and the operation key part 99 are arrange | positioned, and the 1st circuit board 10 of the 1st circuit board 10 are shown. The 2nd circuit board 11 arrange | positioned below is provided. The first circuit board 10 is made smaller than the conventional one in order to reduce the size of the counter 5. On the handle 1 mounting side of the second circuit board 11, the wiring 101a to the adjustment lever 101 is led outward from the connecting portions of the upper and lower casings 5a and 5b to the outside. This prevents contact with the fishing line. The lead portion of the wiring is sealed with silicon or the like, and the inside of the counter 5 is kept tight. In the first and second circuit boards 10 and 11, insulating properties are applied by applying silicon to the solder portion of the power line or the solder portion of the electrolytic capacitor related to the motor drive or the solder portion of the foot of the microcomputer. It improves and prevents the influence by moisture, and prevents a malfunction.

As shown in FIG. 5, the depth display part 98 uses the segment type liquid crystal display 98a which has the backlight 30. As shown in FIG. The backlight 30 has a light emitting diode 30a capable of emitting two colors of red and green, and a light guide plate 30b in which the light emitting diode 30a is disposed on one side. By providing such a light guide plate 30b, the whole surface of the liquid crystal display 98a can be made to shine.

The operation key section 99 has a menu button MB arranged side by side on the lower side of the depth display section 98, a decision button DB, and a fish form layer memo button TB for a fish form layer memo. have. The menu button MB is a button used to select a display item in the depth display section 98. For example, each time the menu button MB is operated, the mode from above (the depth of the pit is displayed as the depth from the surface of the water) and the mode from the bottom (the mode from which the depth of the pit is represented by the depth from the bottom of the water) Switch to). When the menu button MB is pressed for 3 seconds or longer, the motor control mode can be switched between the speed mode and the tension mode each time the key is pressed. Here, the speed mode is a mode in which the upper limit speed of the rotation speed of the spool 3 can be controlled in multiple stages in 31 steps in accordance with the swing angle of the adjustment lever 101. The tension mode is a mode in which the upper limit tension of the tension acting on the fishing line can be controlled in multiple stages in 31 steps. In addition, in both modes, the 31st stage of the highest stage is the fast forward speed for operating the motor 4 at 100% duty, and the current is limited, but the speed control is not performed.

The decision button DB is a button for deciding and setting the selection result. In addition, when the determination button DB is pressed for 3 seconds or longer, for example, 0 set processing in which the depth data LX at that time is set as the reference position of the depth 0 can be performed. The fish habitat layer memo button TB is a button for setting the depth of preparation at the time of operation as a fish habitat layer position. The depth data LX is then indicated by the line length from the set reference position. In addition, angler usually sets zero when we push decision button for a long time when we start on sea level.

6, a control unit (an example of a mode control device, 90) for controlling the water depth display unit 98 and the motor 4 is provided in the counter 5 as shown in FIG. The reel control unit 100 made of a microcomputer is provided in the control unit 90. As a functional configuration, the reel control unit 100 is a first control unit 100a for controlling the speed of the motor 4 and a second control unit for controlling the tension by correcting the torque of the motor 4 by the winding diameter. Has 100b. In addition, the winding diameter can be calculated | required by depth data.

The reel control unit 100 is swingably mounted to the operation key portion 99, the side cover 15, and an adjustment lever 101 for adjusting the speed of the spool and the tension of the fishing line, and the rotation speed of the spool 3. And a spool sensor (one example of the rotational speed detector 102) for detecting the rotation direction with two Hall elements arranged side by side in the rotation direction, for example, a temperature sensor 103 for detecting the temperature of the motor, and an adjustment lever ( The potentiometer 104 connected to the 101, the fishing information display device 120 provided outside the reel, and the depth data of the equipment are wireless (for example, Institute of Electrical and Electronics Engineers (IEEE) 802.15.4 (ZigBee ( Radio communication unit 105 for exchange of a standard), etc. The reel control unit 100 further includes various notification buzzers 106, depth display unit 98, and the like. , For example, EEPROM (Electrically Erasable Programmable Read-Only Memo) for storing various types of data. a storage unit 107 made up of ry, a motor drive circuit 108 for driving the motor 4 at a duty ratio of pulse width modulation (PWM), and another input / output unit are connected to the motor drive circuit 108. A current detection unit (an example of a load detection unit and a tension detection unit 108a) and a field effect transistor 108b for detecting a current flowing in the motor 4 are provided. The temperature sensor 103 measures the temperature of the motor 4. Rather than detecting directly, it is detected by the temperature of the field effect transistors FET 108b mounted in the motor driving circuit 108. The field effect transistor 108b is mounted on the second circuit board 11.

The fishing information display device 120 exchanges data with the fish finder 140 mounted on the fishing boat by radio, and displays the fish core data (bottom position or fish layer position) similar to the fish finder 140 in a graphic and numerical manner. It is possible. In addition, the position of the equipment can be displayed graphically and numerically by the water depth data obtained from the reels by exchanging wirelessly with the reels.

[Control of reel control unit]

The reel control unit 100 controls the speed and torque (tension) of the motor 4 in accordance with the operation amount of the adjustment lever 101. In addition, the depth of the gear to be attached to the tip of the fishing line is calculated by the output of the spool sensor 102, and it is displayed on the depth display unit 98. Furthermore, when the bottom position (sea depth) or the fish habitat layer position (depth where fish are crowded) is set by the operation of the operation key unit 99, the calculated depth and the set bottom position or fish habitat layer position correspond to each other. When the preparation reaches the fish habitat layer position or the bottom position, the effect thereof is notified by the buzzer 106.

Next, a specific control operation of the reel control unit 100 will be described with reference to the flowcharts of FIGS. 7 to 16 centering on the control of the motor 4.

<Main routine>

When power is supplied to the reel control unit 100, initial setting is made in step S1 of FIG. 7. In this initial setting, various flags are turned off, the control mode of the motor is set to the speed mode, and the depth indication is set to the mode from above. In step S2, various display processes are performed. In this display process, the display process of the data displayed on the depth display part 98 is performed. For example, display processing such as depth data is performed.

In step S3, it is determined whether input operation of the operation key part 99, the adjustment lever, etc. was performed. In step S4, it is determined whether the spool 3 is rotating by the output from the spool sensor 102. In step S5, the temperature protection process of the motor 4 shown in FIG. 8 is executed by the output from the temperature sensor 103. In step S6, it is judged whether other processes, such as calculation of a winding diameter and the learning process which learns the relationship between the spool rotation speed and a line length according to a fishing line, were commanded.

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

<Temperature protection processing>

The temperature protection process of step S5 is a process of turning off the motor 4, when the temperature of the motor drive circuit 108 (namely, the temperature of the motor 4) becomes 90 degree or more. In the temperature protection process, the temperature of the motor drive circuit 108 is read out by the output of the temperature sensor 103 in step S11 of FIG. Since the temperature of the motor drive circuit 108 is approximately proportional to the temperature of the motor 4, the temperature of the motor 4 can be detected by the temperature of the motor drive circuit 108. In step S12, it is determined whether or not the temperature of the motor drive circuit 108 exceeds the first predetermined temperature (for example, about 85 to 95 degrees Celsius, and in this embodiment, 90 degrees Celsius). If the temperature of the motor drive circuit 108 exceeds 90 degrees, the process proceeds from step S12 to step 13. In step S13, it is determined whether the temperature flag FS which turns on when the temperature exceeds 90 degrees for the first time is already turned on. If the temperature flag FS is not turned on, the process proceeds to step S14, the temperature flag FS is turned on, and the process proceeds to step S15. If the temperature flag FS is already on, step S14 is skipped. In step S15, the motor 4 is turned off and the flow returns to the main routine. Thereby, burnout of the motor 4 at the time of overload can be prevented.

When the temperature is equal to or less than the first predetermined temperature, the process proceeds from step S12 to step S16. In step S16, it is determined whether the temperature flag FS is already on. When the temperature flag FS is not turned on, the flow returns to the main routine. If the temperature flag FS has already been turned on, the process proceeds to step S17 where the detected temperature Td is lower than the first predetermined temperature (for example, about 75 to 85 degrees Celsius is preferable). In the embodiment, it is determined whether or not it has fallen to 80 degrees Celsius or less. By this judgment, the temperature protection process is finished. If the detected temperature Td exceeds 80 degrees, the process returns to the main routine, and if it is 80 degrees or less, the process proceeds to step S18. In step S18, it is determined whether the timer T1 is on. The timer T1 is for checking whether the state below the second predetermined temperature has continued for a predetermined time t1 (for example, 20 seconds to 40 seconds, and in this embodiment, 30 seconds). If the timer T1 is not on (started), the flow advances to step S19 to turn on the timer T1. If timer T1 is already on, step S19 is skipped. In step S20, it is determined whether the timer T1 has timed up and is off. If it is not timed up, the process returns to the main routine, and if it is timed up, that is, if the state of 80 degrees or less is continued for 30 seconds or more, the overload state is considered to be extinguished. FS) is turned off to complete the temperature protection process. After the temperature protection process is completed, the operation of the motor 4 becomes possible by returning the adjustment lever 101 to the operation start position (step ST = 0) once.

<Key input processing>

In the key input process of step S7, it is determined in step S31 of FIG. 9 whether the menu button MB was pressed for 3 seconds or more. In step S32, it is determined whether the adjustment lever 101 was operated from the operation start position. In step S33, it is determined whether other keys, such as a single click of the fish habitat layer memo button TB, the decision button DB, or the menu button MB, were operated.

When the menu button MB is pressed for a long time, the process proceeds from step S31 to step S34. In step S34, it is determined whether the mode is the speed mode. In the speed mode, the flow advances to step S36 and the tension mode is set. In the tension mode, the flow advances to step S35 and the speed mode is set.

If it is determined that the adjustment lever 101 has been operated at a position other than the operation start position (ST = 0), the process proceeds from step S32 to step S37. In step S37, it is determined whether the temperature flag FS is on. When the temperature flag FS is turned on, the flow proceeds to step S33 to prohibit the motor control operation by the adjustment lever 101. If the temperature flag FS is not turned on, the process proceeds from step S37 to step S38. In step S38, it is determined whether the mode is the speed mode. In the speed mode, the flow advances to step S39 to execute the speed mode process. In the tension mode, the flow advances to step S40 to perform tension mode processing. If another key operation is made, the flow advances from step S33 to step S41 to perform a process according to the operated key.

<Speed mode processing>

In the speed mode process of step S39, the motor 4 is controlled so that the rotation speed of the spool 3 may become the upper limit speed set for every step. In addition, the upper limit speed is corrected by the winding diameter of the spool 3, and in practice, the motor 4 is controlled so that the winding speed of the fishing line wound on the spool 3 becomes constant.

In step S50 of FIG. 10, it is determined whether the interruption flag FP3 indicating the interruption process described later is turned on. When the interruption flag FP3 is off, the routine proceeds to Step S51. When the interruption flag FP3 is turned on, the process proceeds to step S54.

In step S51, the rotation speed Vd of the spool 3 calculated by the step ST set by the adjustment lever 101, and the output of the spool sensor 102 is read. In step S52, it is determined whether the speed Vd of the spool 3 is less than the lower limit Vst1 of the upper limit speed Vs according to step ST or the protection step STS (an example of target speed) mentioned later. In step S53, it is determined whether the speed Vd of the spool 3 exceeds the upper limit value Vst2 of the upper limit speed Vs according to the step ST or the protection step STS. In addition, the lower limit value Vst1 and the upper limit value Vst2 of the upper limit speed Vs are provided for each step ST when the speed control is performed. This is because no wow ring occurs and feedback control is stabilized. The upper limit value Vst2 and the lower limit value Vst1 are set within ± 10% of the upper limit speed Vs, for example.

In step S54, the 1st protection process which interrupts | operates the motor 4 in case of high load is performed, and in step S55, the 2nd protection process which decelerates and operates the motor 4 in case of high load is performed, and key input is performed. Return to processing

When the speed Vd is less than the lower limit Vst1, the flow proceeds from step S52 to step S56. In step S56, it is determined whether the 2nd protection flag FP2 turned on at the time of the 2nd protection process mentioned later is turned on. When the second protection flag FP2 is turned on, the flow proceeds from step S56 to step S61 in order to prohibit the speed increase operation by lever operation to the step ST on the higher speed side than the protection step STS decelerated by the second protection process. In step S61, it is determined whether the set step ST has exceeded the protection step STS set by the second protection process. If the set step exceeds the protection step STS, the flow advances to step S53 to ignore the lever operation and prohibit the speed increase operation. If the step ST set by lever operation is equal to or less than the protection step STS, the flow advances from step S61 to step S62, the second protection flag FP2 is turned off, and the flow advances to step S57.

When the second protection flag FP2 is off, the flow advances from step S56 to step S57 to read the current first duty ratio D1. This first duty ratio D1 is stored every time the setting is changed in the storage unit 107. In addition, the maximum value DUst and the minimum value DLst are set for each step ST, and when it is set to each step ST for the first time, it sets to the middle duty ratio D1 = ((DUst + DLst) / 2), for example. . In step S58, it is determined whether the current first duty ratio D1 exceeds the maximum value DUst of the set step. If so, the flow advances to step S60 to set the maximum value DUst in the first duty ratio D1. If not, the process proceeds from step S58 to step S59, where the first duty ratio D1 is increased by a predetermined increment DI (for example, 1%) and the process proceeds to step S53. In addition, although the duty ratio of the highest stage (ST = 31) is set to 100%, the duty ratio of the maximum value DUst is set to 85% or less in the stage (ST = 1 to 30) before that.

When the speed Vd exceeds the upper limit value Vst2, the flow advances from step S53 to step S63 to read the current first duty ratio D1. This first duty ratio D1 is also the same as in step S57. In step S64, it is determined whether or not the current first duty ratio D1 is less than the minimum value DLst of the set step. If it is less, the flow advances to step S66 to set the minimum value DLst in the first duty ratio D1. If not, the process proceeds from step S64 to step S65, where the first duty ratio D1 is reduced by a predetermined decrement DI (for example, 1%) and the process proceeds to step S54.

<1st protection process>

The first protection process of step S54 is a motor protection process effective when the steps ST are 5 to 31 in the speed mode, and when the high load acts on the motor 4, the interrupted current to be turned on and off flows to the motor 4. Prevent burnout. In the first protection process, the first current of 50% or more and 90% or less of the maximum current value (for example, 18A) that causes the current value (that is, the load acting on the motor 4) to flow through the motor 4 flows into the motor. The current value (e.g., 12A) is continuous for a first predetermined time (e.g., preferably from 0.5 second to 2 seconds, in this embodiment 1 second), and 40 of the upper limit speed of the fastest stage. When the spool 3 is in a first state in which the spool 3 is rotated at or below a first speed that is a rotational speed of about% or less (for example, an upper limit speed of 12 steps (ST = 12)), an intermittent current to turn on and off the motor ( Intermittent control to flow to 4) is performed. Then, when the speed becomes the second speed (for example, the upper limit speed of 13 steps (ST = 13)) on the higher speed side than the first speed, it is determined that the load has decreased, and the control of the interruption is canceled, and the normal speed control or Return to tension control.

Specifically, the rotational speed Vd and the load current value Id are read out in step S69 of FIG. In step S70, it is determined whether the current step ST is 5 or more. If step ST is 5 or more, the process proceeds to step S71 to determine whether or not the current value Id flowing through the motor 4 detected by the current detection unit 108a, that is, the load is 12 A or more, which is the first current value. When the current value Id is 12 A or more, the process proceeds to step S72. In step S72, it is determined whether or not the rotational speed Vd of the spool is equal to or less than the first speed (for example, the upper limit speed Vs12 of 12 steps (ST = 12)). When the current value is 12 A or more and the rotational speed Vd of the spool 3 is equal to or less than the first speed, the process proceeds to step S73. In step S73, it is determined whether the first protection flag FP1 that is turned on when the first condition is satisfied is already turned on. If the first protective flag FP1 is not yet turned on, the process proceeds to step S74. If the first protection flag FP1 is already turned on, step S74 to step S77 are skipped and the process proceeds to step S78.

In step S74, it is determined whether the timer T2 for measuring the first predetermined time t2 is already on. When timer T2 is not yet on, the routine advances to step S75 where the timer T2 is turned on and the routine proceeds to step S76. If the timer T2 is turned on, step S75 is skipped and the process proceeds to step S76.

In step S76, it is determined whether the timer T2 has timed up and is off. In other words, it is determined whether the load and the speed have elapsed for 1 minute after satisfying the predetermined condition. If it is determined that the timer T2 has timed up, the process proceeds to step S77 to turn on the first protection flag FP1 for identifying that the first condition is satisfied. In step S78, the intermittent control process which drives and drives the electric current which turns on and off for the motor 4 is performed. In step S79, it is determined whether the load is 15 A (amps) or less, which is a second current value larger than the first current value. If the load is 15 A or less, the flow proceeds to Step S80. In step S80, it is determined whether the speed Vd is equal to or higher than the upper limit speed Vs13 of step 13 (ST13). When the speed Vd is equal to or higher than the upper limit speed Vs13, it is determined that there is no need to protect, and the first protection flag FP1 is turned off. When the first protection flag FP1 is turned off, the motor 4 is controlled to normal speed or tension.

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

<Censorship processing>

In the interruption processing of step S78, it is determined whether or not the timer T3 for measuring the second predetermined time (for example, 15 seconds) has timed up after the interruption processing is started in step S91 of FIG. 12. In step S92, it is determined whether the timer T3 is on. If the timer T3 has not been turned on yet, the process proceeds to step S99, the timer T3 is turned on and started, and the process proceeds to step S93. If the timer T3 is already on, step S99 is skipped and the process proceeds to step S93. In step S93, the temperature of the motor drive circuit 108, that is, the temperature Td of the motor 4, is read by the output of the temperature sensor 103. In step S94, it is determined whether or not the temperature Td of the motor 4 has exceeded the first predetermined temperature (for example, 50 degrees Celsius to 70 degrees, preferably 60 degrees in this embodiment). In this interruption control, the on time and the off time of the motor 4 are changed to the boundary of the first predetermined temperature. That is, when the temperature is low, the on time is longer than the off time, and when the temperature is high, the off time is longer than the on time in order to provide a cooling period. When the temperature Td is less than 60 degrees Celsius, the process proceeds from step S94 to step S95. In step S95, the motor 4 is turned on for time tn1 (for example, 600 to 1000 mW, 750 mW in this embodiment). In step S96, the motor 4 is turned off for the time tf1 (for example, 350 to 750 ms shorter than the time tn1, and 500 ms in this embodiment), and the process returns to the first protection process. When the temperature Td is 60 degrees or more, the process proceeds to step S97, and the motor 4 is turned on at the time tn2 (for example, 600 to 1000 kPa, 750 kPa in this embodiment). In step S98, the motor 4 is turned off for the time tf2 (for example, 800 to 1200 microseconds longer than the time tn2, and 1000 microseconds in this embodiment), and it returns to a 1st protection process.

When the timer T3 times up, that is, when the interruption processing has elapsed for 15 seconds or more, the flow advances from step S91 to step S100 to determine whether the interruption flag FP3 is turned on. The interruption flag FP3 is a flag that turns on when the interruption processing elapses as described above, as described above. If the interruption flag FP3 is not turned on, the flow advances to step S101 to turn on the interruption flag FP3. In step S102, the motor 4 is turned off. When the interruption flag FP3 is already on, step S101 and step S102 are skipped. In step S103, it is determined whether the timer T4 is already on. The timer T4 is a timer for measuring the elapsed time since the motor 4 is turned off to return the rotation of the motor 4, and when 30 seconds have elapsed, the timer T4 is timed up and turned off. If the timer T4 is not turned on, the flow advances to step S104 to turn on the timer T4. If timer T4 is already on, step S104 is skipped. In step S105, it is determined whether the timer T4 has timed up and has been turned off. In the case of having timed up, the process proceeds to Step S106, in which the intermittent flag FP3 is turned off to return to the first protection process in order to enable the motor 4 to operate. After that, when the adjustment lever 101 is returned to the operation start position, the motor 4 becomes operable.

In this first protection process, heat generation can be suppressed by preventing the unnecessary current from flowing through the motor 4 by intermittently turning the motor 4 in a high load state. In addition, when the load is sufficiently low, the motor 4 rotates at the set upper limit speed. Therefore, the burnout of the motor 4 can be prevented without lowering the performance.

<2nd protection process>

The second protection process of step S55 is effective in eight or more steps of the speed mode, and is a process of decelerating the motor 4 when the load acting on the motor 4 becomes high. In the second protection process, the first condition in which the load detected by the current detection unit 108a is continuous with the third current value Is (for example, 15 A) or more for the fourth predetermined time t5 (for example, 3 seconds) Is satisfied, the target speed corresponding to the upper limit speed at least one step (two steps in this embodiment) lower than the detected rotational speed is set. The second load is compared with the first load after the fifth predetermined time (for example, 3 seconds) after the target speed setting and the second load after the sixth predetermined time (for example, 1 second) therefrom. When a predetermined amount (for example, 1A) is greater than the first load, the target speed is repeatedly set at an interval of 1 second at the upper limit speed which is one step lower, and the second load is a predetermined amount (for example, 0.5) than the first load. A) When small, the target speed is set repeatedly at 1 second intervals with at least one step higher upper limit speed.

In the second protection process, the protection step STS set in the rotational speed Vd, the load current value Id, the current step ST, and the second protection process is read in step S111 of FIG. In step S112, it is determined whether the current step ST is 8 or more. When step ST is 8 or more, it progresses to step S113. If the step ST is less than 8, nothing is returned to the speed mode processing. In step S113, it is determined whether the current value Id representing the load is greater than or equal to the third current value Is. If the current value Id is equal to or greater than the third current value (for example, 15 A) Is, the process proceeds to step S114 to determine whether the timer T5 is timed up. The timer T5 is a timer for measuring the predetermined time t5 for determining the first condition requiring the second protection process. If the timer T5 has not timed up, the flow advances to step S115 to determine whether the timer T5 is already on and starting. If the timer T5 is not turned on, the flow advances to step S116 to turn on and start the timer T5. If the timer T5 is turned on, step S116 is skipped and the process proceeds to step S117.

When the timer T5 is timed up, that is, when the state in which the load is 15 A or more continues for 3 seconds or more and the first condition is satisfied, the process shifts from step S114 to step S117. In step S117, it is determined whether the protection step STS is eight or more steps. In this second protection process, it does not decelerate in seven steps or less. For this reason, when the protection step STS is less than eight steps in the second protection process, the process ends and returns to the speed mode process. If the protection step STS is eight or more steps, the process proceeds to step S118. In step S118, it is determined whether or not the second protection flag FP2 is turned on when the first condition is satisfied and the deceleration process is performed for the first time. When the second protection flag FP2 is not turned on, the flow advances to step S119 to turn on the second protection flag FP2. In step S120, it is determined whether the protection step STS is eight stages. In this embodiment, since it does not decelerate to 7 steps or less, when the protection step STS is 9 steps or more, the process proceeds to step S121, where a step 2 lower than the step STvd of the upper limit speed corresponding to the current rotational speed Vd ( STvd-2) sets the protection step STS. Specifically, it sets from the highest upper limit stage to two stages lower than the current velocity Vd. When the protection step STS has eight stages, the process proceeds to step S122, where the protection step STS is set in one step lower (STvd-1), i.e., from step STvd of the upper limit speed corresponding to the current rotational speed Vd. During the execution of the second protection process (the second protection flag is turned on), if the adjustment lever 101 is operated beyond the protection step STS, the step ST after the operation is performed in step S61 of the speed mode process of FIG. If the protection step STS is exceeded, the operation is ignored and high-speed operation beyond the protection step STS is impossible.

In step S123, it is determined whether the timer T6 has timed up. This timer T6 is a timer set to wait for the lapse of a predetermined time (for example, 3 seconds) after decelerating for the first time. If the timer T6 has timed up, the flow advances to step S126 to read the current value Idn which is the first load at that time, and returns to the speed mode processing. In addition, the variable n is initially set to one. If the timer T6 has not yet timed up, the flow proceeds to step S124 to determine whether the timer T6 is already on. If timer T6 has not yet been turned on, the routine advances to step S125 where the timer T6 is turned on and started. If timer T6 is already on, step S125 is skipped and the process proceeds to step S126. The reason why the current value is not read immediately after the two-stage deceleration is to wait for three seconds because the current value is not stabilized when the current value is immediately read after the two-stage deceleration.

If it is determined that the read current current value (current load) Id is less than the third current value Is, the process proceeds from step S113 to step S136. In step S136, the second protection flag FP2 is turned off to cancel the second protection process and return to the speed mode process. As a result, the protection step STS is also reset to 31 stages.

If it is determined that the second protection flag FP2 is turned on, the flow advances from step S118 to step S127 to determine whether the timer T7 has timed up. This timer T7 is a timer set to wait for the lapse of a predetermined time (for example, 1 second) after detecting the current value Idn which is the first load. If the timer T7 has timed up, the process proceeds to step S130 where the variable n is incremented by one. If the timer T7 has not timed up, the flow advances to step S128 to determine whether the timer T7 is already on. If timer T7 has not yet been turned on, the flow advances to step S129 to turn on and start timer T7. If the timer T7 is already on, step S129 is skipped and the process proceeds to step S130. In step S131, the current value Idn that is the second load at that time is read.

In step S132, it is determined whether the current value Idn which is the read second load is 70% or less of the third current value Is. If the current value Idn is 70% or less of the third current value, the flow advances to step S136 to turn off the second protection flag FP2 and cancel the second protection process. When the current value Idn exceeds 70% of the third current value Is, the process proceeds to step S133. In step S133, it is determined whether the 2nd load Idn read now is 1 A or more larger than the 1st load Id (n-1) read at the time of previous deceleration. If the load is increased by 1 A or more, the routine proceeds to Step S134, where the value of the current current value Idn, which becomes the first load as the comparison control, is decreased by 0.1 A in the determination of the second load at the next timing one second later. In step S135, step ST is set from step STvd of the upper limit speed corresponding to the current rotational speed Vd to one step lower (STvd-1), and the process returns to the speed mode processing.

If the second load Idn is not greater than 1A or more than the first load Id (n-1) read out at the time of the previous deceleration, the process shifts from step S133 to step S137. In step S137, it is determined whether the current value Idn which is a 2nd load has reached | attained the maximum current value (for example, 18A) which makes the motor 4 flow. If the maximum current value has been reached, the process proceeds to step S134 to perform the deceleration process, and if not, the process proceeds to step S138.

In step S138, it is determined whether the first load Id (n-1) is 0.5A or more larger than the second load Idn. If the first load is 0.5A or more greater than the second load and the load is decreasing, the process proceeds to step S139, where step ST is one step higher from step STvd of the upper limit speed corresponding to the current rotational speed Vd (STvd + 1). ) And return to the speed mode processing. If the second load is increased by less than 1A or the second load is reduced by less than 0.5A, the processing returns to the speed mode processing without processing anything.

In such a second protection process, once the high load state satisfying the first condition is reached, the current of the motor 4 is decelerated so as to be the upper limit speed at least one step lower than the rotational speed at that time, and the current flowing through the motor 4 Is reduced to prevent unnecessary current from flowing in the motor 4. In addition, if the load decreases further from it, the rotation speed of the motor is increased, and if the load increases, the rotation speed of the motor is further reduced. For this reason, it is difficult for unnecessary current to flow to the motor, and when the speed is controlled to keep the current flowing through the motor until the maximum speed is reached, the burden on the motor is suppressed and the motor is not burned out.

In addition, even if the target speed is set in step S61 of the speed mode processing in FIG. 10, if the upper limit speed is set to a lower speed side than that speed, the target speed is canceled, and further useless current becomes difficult to flow. In addition, if the upper limit speed is changed to a higher speed side than the target speed, the change is ignored. Therefore, there is no speed change to the higher speed side than the protection step STS during the second protection process.

<Tension mode processing>

In the tension mode process of step S40, the tension Qd which correct | amended the torque of the detection result of the step ST and the detection result of the current detection part 108a which were set by the adjustment lever 101 in step S141 of FIG. 14 is read. In step S142, it is determined whether the tension Qd is less than the lower limit Qst1 of the upper limit tension Qs according to step ST. In step S143, it is determined whether the tension Qd exceeds the upper limit Qst2 of the upper limit tension Qs in step ST. In addition, the lower limit Qst1 and the upper limit Qst2 of the upper limit tension Qs are provided for each step ST when the tension control is performed, and the duty ratio does not change when the tension fluctuates between both tension Qst1 and Qst2 similarly to the speed mode. This is because the wow ring in which the rain is frequently changed does not occur, and the feedback control is stabilized. The upper limit Qst2 and the lower limit Qst1 are set within, for example, ± 10% of the upper limit tension Qs.

In step S144, it is determined whether step ST is the 31st stage, which is the highest stage. If it is the 31st step, the process proceeds to step S146 and the first protection process shown in Fig. 11 is executed. When step ST is other than 31 steps, it transfers to step S145 and it transfers to the 3rd protection process shown in FIG. When these processes are completed, the process returns to the key input process.

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

If the tension Qd exceeds the upper limit Qst2, the flow advances from step S143 to step S149 to read the current second duty ratio D4. This second duty ratio D4 is also the same as in step S147. In step S150, the second duty ratio D4 is reduced by the predetermined reduction DI (for example, 1%), and the flow proceeds to step S144. This is continued until the tension Qd falls below the upper limit Qst2.

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

<Third protective treatment>

The third protection process of step S145 is a motor protection process that is effective when step ST is 5-30, and changes the idea about the same as the 1st protection process for speed modes for tension mode. In this third protection process, a value of 50% or more and 90% or less of the maximum current value (for example, 18A) that causes the current value (that is, the load acting on the motor 4) to flow to the motor 4 flows to the motor. When one current value (e.g., 11A) is in a third state in which it is continuous for a predetermined time (e.g., 30 seconds to 60 seconds, in this embodiment, 45 seconds), the intermittent to turn on and off Second intermittent control is performed to allow a typical current to flow through the motor 4.

Specifically, it is determined in step S160 of FIG. 15 whether the current step ST is 5 or more. When step ST is 5 or more, it progresses to step S161 and determines whether the current value Id which flows to the motor 4 detected by the current detection part 108a, ie, the load is 11 A or more which is a 1st current value. If the current value Id is 11 A or more, the process proceeds to Step S162, and it is determined whether or not the third protection flag FP4 that is turned on if the third condition is satisfied. If the third protection flag FP4 is not yet turned on, the process proceeds to step S163. If the third protection flag FP4 is already turned on, step S163 to step S166 are skipped and the process proceeds to step S167.

In step S163, it is determined whether or not the timer T8 for measuring the elapsed time t8 after the current value Id exceeds 11A is already on. If timer T8 is not yet on, the routine advances to step S164 to turn on timer T8. When the timer T8 is already on, step S164 is skipped and the routine advances to step S165. In step S165, it is determined whether or not the timer T8 has timed off. That is, it is determined whether 45 minutes have elapsed after the load satisfies the predetermined condition. If it is determined that the timer T8 has timed up, the flow advances to step S166 to turn on the third protection flag FP4 for identifying that the third condition is satisfied. In step S167, the intermittent control process which drives and drives the electric current which turns on and off for the motor 4 is performed. This interruption processing is the process shown in FIG. 12 as in the speed mode. In step S168, it is determined whether the load is 10 A or less which is a 4th electric current value smaller than a 3rd electric current value. If the load is 10 A or less, the flow proceeds to step S169. In step S169, it is determined that there is no need to protect, and the third protection flag FP4 is turned off. When the third protective flag FP4 is turned off, the operation of the motor 4 is enabled by returning the adjustment lever 101 to the operation start position.

When the judgment in step S160, 161, 165, 168 is NO, it returns to a tension mode process.

<Each operation mode processing>

In each operation mode process of step S8, it is determined in step S171 of FIG. 16 whether the rotation direction of the spool 3 is a Joule discharge direction. This determination is judged based on whether any Hall element of the spool sensor 102 has pulsed first. If it is determined that the rotational direction of the spool 3 is the Joule discharge direction, the flow proceeds from step S171 to step S172. In step S172, whenever the spool rotation speed decreases, the data stored in the storage unit 107 is read from the spool rotation speed, and the water depth is calculated. This depth is displayed by the display process of step S2. In step S173, it is determined whether the obtained water depth coincides with the bottom position, that is, whether or not the equipment has reached the bottom. The bottom position is set in the storage unit 107 by pressing the memo button MB when the gear reaches the bottom. In step S174, it is determined whether it is another mode, such as a learning mode. If it is not in another mode, the processing of each operation mode ends and returns to the main routine.

If the water depth coincides with the bottom position, the flow advances from step S173 to step S175, and the buzzer 106 is sounded to signal that the preparation has reached the bottom. In the case of another mode, the flow advances from step S174 to step S176 to execute another designated mode.

If it is judged that the rotation of the spool 3 is the winding-up direction, the process proceeds from step S171 to step S177. In step S177, the data stored in the storage unit 107 is read from the spool rotational speed to calculate the water depth. This depth is displayed by the display process of step S2. In step S178, it is determined whether or not the water depth matches the delivery stop position. If it is not closed to the stop position, it returns to the main routine. When the delivery stop position is reached, the flow advances from step S178 to step S179. In step S179, the buzzer 106 is sounded to inform that the gear is in the boat. In step S180, the motor 4 is turned off. As a result, when the fish are caught, the fish is disposed at a position that is easy to harvest. This delivery stop position is set, for example, when the spool 3 stops for more than a predetermined time within a depth of 6 m.

<Other Example>

(a) In the above embodiment, various current values and time values are set, but their specific numerical values are an example, and the present invention is not limited to those numerical values.

(b) Although the target speed is set when the first condition and the second condition are satisfied in the second protection process, the target speed may be set only by the first condition.

(c) In the above embodiment, the control of the interruption control is performed by the detection result of the rotational speed and the current value, but may be released by the detection result of the rotational speed or the current value alone.

(d) In the above embodiment, although the tension is detected by correcting the current value to the winding diameter, any configuration may be used as long as the tension acting on the fishing line can be detected.

1 is a perspective view of an electric reel in which an embodiment of the present invention is employed.

2 is a partial cross-sectional back view thereof.

3 is a plan view of the counter;

4 is a cross-sectional view of the counter.

5 is a plan view of the depth display unit;

6 is a block diagram showing the configuration of a control system of an electric reel;

7 is a flowchart showing a main routine of the reel control unit.

8 is a flowchart showing a temperature protection treatment subroutine.

9 is a flowchart showing a key input processing subroutine.

10 is a flowchart showing a speed mode processing subroutine.

11 is a flowchart showing a first protective process subroutine.

12 is a flowchart showing an intermittent processing subroutine.

13 is a flowchart showing a second protection process subroutine.

14 is a flowchart showing a tension mode processing subroutine.

15 is a flowchart showing a third protective process subroutine.

Fig. 16 is a flowchart showing each operation mode processing subroutine.

<Explanation of symbols for the main parts of the drawings>

90: control unit (an example of a motor control device)

100: reel control unit (an example of the motor control unit, the first and second target speed setting unit and the load comparison unit)

101: adjustment lever (an example of the upper limit speed setting section)

102: spool sensor (an example of the rotational speed detection unit)

108: motor drive circuit

108a: current detector (example of load detector)

Claims (6)

It is a motor control device of an electric reel that can rotate a spool by driving a motor, A rotational speed detector for detecting a rotational speed of the spool; A load detector for detecting a load acting on the spool by a current value; An upper limit speed setting unit for setting the rotational speed of the spool to any one of the upper and lower limit speeds of a plurality of steps; At least one greater than the rotational speed when the load detected by the load detection unit satisfies the first condition that is continuous for a first predetermined time at least a state in which the load is greater than or equal to a predetermined first current value smaller than the maximum current value flowing through the motor. A first target speed setting unit which sets a target speed corresponding to the upper limit speed which is lower; A load comparison section for comparing the first load after the target speed setting with the second load after the second predetermined time therefrom; When the second load is larger than the first load by a predetermined amount, the target speed is repeatedly set to the upper limit speed which is at least one step lower, and when the second load is smaller than the first load by the predetermined amount, the target speed is set. A second target speed setting unit for setting at least one step higher than the upper limit speed; When the first condition is not satisfied, the motor is controlled so that the rotational speed of the spool becomes the set upper limit speed, and when the target speed is set by the first and second target speed setting units, the spool A motor controller for controlling the motor so that the rotational speed of the motor becomes the set target speed; Motor control device of the electric reel having a. The method of claim 1, The first target speed setting unit sets the target speed when the first condition and the second condition satisfying the second condition that the rotational speed is less than the upper limit speed continuously for the first predetermined time are set. . The method according to claim 1 or 2, And the motor control unit controls the motor such that the target speed is released and becomes the upper limit speed when the upper limit speed is changed by the upper limit speed setting unit on a lower side than the target speed. The method according to any one of claims 1 to 3, And the motor control unit ignores the change and controls the motor to be the target speed when the upper limit speed is changed by the upper limit speed setting section on the higher speed side than the target speed. The method according to any one of claims 1 to 4, And the second target speed setting unit lowers the target speed by limiting a low speed step equal to or less than half of the maximum step. The method of claim 5, The motor controller is turned on when the rotational speed of the spool is equal to or less than the speed of the intermediate step on the high speed side than the low speed step when the load state of the first current value or more continues for a third predetermined time longer than the first predetermined time. A motor control device for an electric reel that causes an intermittent current to be turned off to flow in the spool.

Images