JP2012024043A - Motor-controlling device for electric reel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably control the rotation of a brush-less motor while constantly controlling the tension in an electric reel.SOLUTION: A motor control part 60 is for driving a spool by a motor 12 using the brush-less motor. The motor control part 60 includes a rotational speed detection part 62, a motor current control part 63, and a motor speed control part 64. The rotational speed detection part 62 detects the rotational speed of the motor 12. The motor current control part 63 controls the value of a current distributed to the motor 12 in a plurality of stages according to the position of operation of an adjusting lever 5. The motor speed control part 64 controls the motor 12 so that the rotational speed is not lower than a prescribed speed if the rotational speed detection part 62 detects the prescribed rotational speed or lower during the control by the motor current control part 63 in at least one of the plurality of stages.

Description

  The present invention relates to a control device, and more particularly to a motor control device for an electric reel that drives a spool by a brushless motor.

  The electric reel winds the fishing line by rotating the spool in the line winding direction by a motor. In this type of electric reel, a brushless motor is conventionally known as a spool driving motor (see, for example, Patent Document 1).

  In the brushless motor, a magnet is disposed on the stator side, and a plurality of coils are disposed on the rotor side at intervals in the circumferential direction. Then, switching is performed by a switching element so as to detect the position of the rotor and sequentially excite and demagnetize a plurality of coils. As a result, friction with the brush does not occur, and noise during rotation can be suppressed to extend the life of the motor. Further, noise due to the brush is not generated, and the runaway of the control system due to the noise can be prevented. In the conventional electric reel, the speed of the motor is controlled so as to obtain a plurality of stages of spool speeds according to the operation position of the operation lever.

  On the other hand, for an electric reel, the motor is controlled so that the tension acting on the fishing line is constant rather than the spool speed (see, for example, Patent Document 2). In the conventional constant tension control, the winding torque acting on the motor is detected by, for example, a current value, and the motor is controlled so as to have a current value set for each of a plurality of stages.

JP 2000-175602 A Japanese Patent No. 4427126

  In an electric reel employing a conventional brushless motor, when constant tension control is performed, the motor may rotate at a low speed due to a load when the set tension is small. When such a motor rotates at a low speed, the brushless motor may cause uneven rotation and become unstable.

  An object of the present invention is to stabilize the rotation of a brushless motor in an electric reel even if constant tension control is performed.

  An electric reel motor control device according to a first aspect of the present invention is an electric reel motor control device that drives a spool by a brushless motor. The motor control device includes a motor current control unit, a rotation speed detection unit, and a motor speed control unit. The motor current control unit controls the current value flowing through the brushless motor in a plurality of stages according to the operation of the motor operation member. The rotation speed detection unit detects the rotation speed of the brushless motor. The motor speed control unit controls the brushless motor so as not to fall below the predetermined speed when the rotation speed detection unit detects a rotation speed equal to or lower than the predetermined speed during control by the motor current control unit in at least one of a plurality of stages. .

  In this motor control device, normally, the value of the current flowing through the brushless motor is controlled in any one of a plurality of stages according to the operation of the motor operation member, and constant tension control is performed for each stage. In addition, when the rotational speed of the brushless motor becomes a predetermined speed or lower during the control in at least one of a plurality of stages, the brushless motor is controlled so as not to fall below the predetermined rotational speed.

  Here, when the rotational speed of the brushless motor is reduced to a predetermined speed or less by the load during the current control at least at any stage, the brushless motor is controlled to maintain the predetermined speed. For this reason, even if the constant tension control is performed based on the current value, the rotation speed is always recovered to a predetermined speed or higher, so that the rotation of the brushless motor can be stabilized even if the constant tension control is performed. Here, the predetermined speed is, for example, a low rotational speed of about 800 rpm to 2000 rpm.

  The motor control device for an electric reel according to a second aspect of the invention is the device according to the first aspect, wherein the rotational speed detecting unit detects the rotational phase of the brushless motor from data obtained by rectifying the back electromotive current of the brushless motor. It has a detection part.

  In this case, since the rotation speed of the motor can be detected from the detection result of the phase detection section for use in controlling the brushless motor, the motor used in the motor control section without providing a sensor for detecting the rotation speed of the motor Rotational speed can be detected.

  The motor control device for an electric reel according to a third aspect of the invention is the device according to the first or second aspect, wherein the motor speed control unit controls the brushless motor below the stage where the current value becomes a predetermined value or less. The speed of the brushless motor is controlled so that it does not fall below a predetermined speed.

  In this case, since speed control for increasing the current value is performed in a state where the current value is not so high, the brushless motor is not easily overheated even when the current value is increased by speed control.

  A motor control device for an electric reel according to a fourth aspect of the invention is the device according to any one of the first to third aspects, wherein a spool speed detecting unit that detects a rotational speed of the spool, a spool speed control unit, and a mode switching unit. Further prepare. The spool speed control unit controls the rotation speed of the spool in a plurality of stages according to the operation of the motor operation member. The mode switching unit can switch between a constant tension mode by the motor current control unit and a constant speed mode by the spool speed control unit.

  In this case, since the control of the motor can be changed depending on the fishing situation and the type of fish, more fishing results can be desired.

  According to the present invention, when the rotational speed of the brushless motor is reduced to a predetermined speed or less by the load during the current control at least at any stage, the brushless motor is controlled to maintain the predetermined speed. For this reason, even if the constant tension control is performed based on the current value, the rotation speed is always recovered to a predetermined speed or higher, so that the rotation of the brushless motor can be stabilized even if the constant tension control is performed.

The perspective view of the electric reel by which one embodiment of the present invention was adopted. FIG. The top view of a counter case. Sectional drawing 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. The flowchart of the main routine of a reel control part. The flowchart which shows the processing content of switch input. The flowchart which shows the processing content of spool speed control. The flowchart which shows the processing content of motor current control. The flowchart which shows the processing content of motor speed control. The flowchart which shows the processing content of each operation mode process.

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

  The electric reel 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 adjusting star disposed on the reel body 1 side of the handle 2. A drag 3 and a counter case 4 for water depth display according to an embodiment of the present invention are mainly provided.

  The reel body 1 includes a frame 7, a first side cover 8 a and a second side cover 8 b that cover the left and right sides of the frame 7, and a front cover 9 (FIG. 2) that covers the front portion of the frame 7. The frame 7 is made of a synthetic resin such as a polyamide resin impregnated with glass fiber, for example, and includes a first side plate 7a and a second side plate 7b, and a plurality of connecting members that connect them at three locations, a lower portion, a rear portion, and a front upper portion. 7c.

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

  Further, a spool 10 for bobbin winding connected to a motor 12 and a handle 2 is rotatably supported inside 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 lower center portion of the second side cover 8b. An adjustment lever 5 for controlling the motor 12 in a plurality of stages is supported on the upper front portion of the support portion of the handle 2 in a swingable manner. A clutch operating member 11 is swingably disposed behind the adjustment lever 5. The clutch operating member 11 is a member for turning on and off a clutch (not shown) that turns 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.

  The front cover 9 is formed with a horizontally long opening 9a for passing a fishing line. The lower connecting member 7c is formed with a rod mounting leg portion 7d for mounting the electric reel on the fishing rod.

<Configuration of motor>
The motor 12 is, for example, a brushless motor having a rated output of about 180 watts, and has a relatively large capacity for use in an electric reel.

  As shown in FIG. 2, the motor 12 includes a motor case 15, a stator 16 provided on the inner peripheral surface of the motor case 15, a rotor 17 disposed on the inner peripheral side of the stator 16, and a rotor. Is fixed to the output shaft 18. The motor case 15 is a member made of an aluminum alloy that has been anodized to improve corrosion resistance. As shown in FIG. 5, the motor case 15 includes a first cover portion 15a disposed at one end, a second cover portion 15b disposed at the other end, and a first cover portion 15a and a second cover portion 15b. And an intermediate cover portion 15c disposed therebetween. The first cover portion 15a and the second cover portion 15b are bottomed cylindrical members having the same outer diameter, and the cylindrical portions are arranged to face each other. The intermediate cover part 15c is a cylindrical member having the same outer diameter as the first cover part 15a and the second cover part 15b. The first cover portion 15a, the second cover portion 15b, and the intermediate cover portion 15c are integrated with a plurality of (for example, three) fixing bolts 29 screwed into the second cover portion 15b inserted from the first cover portion 15a side. It is fixed. The fixing bolt 29 is subjected to anticorrosion treatment by an anticorrosion coating such as plating. Accordingly, the intermediate cover portion 15c is sandwiched between the first cover portion 15a and the second cover portion 15b. As shown in FIGS. 2 and 5, at least one through hole 15 d for draining water is formed in the cylindrical portion of the second cover portion 15 b along the radial direction. The through-hole 15 d is provided to drain water generated by condensation or the like from the motor 12. For example, three through-holes 15d are provided in the lower part toward the heel mounting leg 7d and on both sides thereof.

  The stator 16 has a plurality of (for example, three) laminated cores 16a fixed to the intermediate cover portion 15c, and a plurality of (for example, three) coils 16b wound around the laminated core 16a. The laminated core 16a is made of, for example, a non-oriented silicon steel plate. A plurality of (three) positioning recesses 16c (FIG. 2) are formed in the laminated core 16a so as to be recessed in a U-shape that is positioned in the rotational direction by the fixing bolts 29. The exposed portion of the stator 16 is subjected to anticorrosion treatment with an anticorrosion coating such as plating. In FIG. 5, the two fixing bolts 29 are depicted as being arranged on the diameter, but this is a schematic representation, and actually, as shown in FIG. The two fixing bolts 29 are arranged at equal intervals in the circumferential direction.

  The rotor 17 includes a plurality of (for example, four) magnets 17a and a magnet holder 17b that collectively holds the plurality of magnets 17a. The magnet holder 17b is connected to the output shaft 18 so as to be integrally rotatable. The rotor 17 is positioned on the output shaft 18 in the axial direction by a pair of left and right first positioning members 26 a and second positioning members 26 b mounted on the output shaft 18. The first positioning member 26a and the second positioning member 26b are each a cylindrical brass member with a flange, and the flange portion 26c has a function of a balance weight. The flange portion 26c is disposed in contact with both end surfaces of the magnet 17a. On the outer surface of the flange portion 26c, there are formed restriction recesses 26d for engaging the magnet 17a to restrict the movement of the magnet 17a in the rotational direction and the radial direction. The exposed portions of the rotor 17, the first positioning member 26a, and the second positioning member 26b are subjected to anticorrosion treatment with an anticorrosion coating such as plating.

  The output shaft 18 is, for example, a stainless alloy shaft, and is rotatably supported by the first cover portion 15 a and the second cover portion 15 b by a pair of left and right bearings 27. A one-way clutch 28 for prohibiting rotation of the output shaft 18 in the yarn feeding direction is attached to a first end (left end in FIG. 5) of the output shaft 18. The one-way clutch 28 is a roller clutch in which an outer ring 28a is non-rotatably mounted in a bulging portion 7e formed on the first side plate 7a of the reel body 1. A sun gear of a planetary gear mechanism that constitutes a rotation transmission mechanism (not shown) is fixed to the second end (right end in FIG. 5) of the output shaft 18. The rotation of the motor 12 is transmitted to the spool 10 through a planetary gear mechanism. The planetary gear mechanism reduces the rotation of the motor 12 at a reduction ratio of 1/50, for example.

  The second cover portion 15b of the motor case 15 is connected to the bulging portion 7e while being centered, and is fixed by a plurality of (for example, two) fixing bolts 31. Thus, the motor 12 is fixed to the reel body 1. Three motor wires 34 that are electrically connected to the coil 16 b extend from the end of the second cover portion 15 b toward the counter case 4.

  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 circuit board 20, a plurality of capacitors 21, and a water depth display unit 22 having a liquid crystal display. And a reel control unit 23.

  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 a synthetic resin upper case member 30 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 SA (FIG. 4) 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 display in 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.

  Further, a menu switch SW1, a determination 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 SW. 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, each time the menu switch SW1 is operated, the mode is switched from the top (mode for displaying the depth of the device by the depth from the water surface) and from the bottom (mode for displaying the depth of the device by the depth from the bottom of the water). 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 acting on the fishing line according to the swing position of the adjustment 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 = number of rotations per minute) 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. 4, the lower case member 32 is positioned and placed on the front upper connection member 7c. The lower case member 32 is fixed to the inner side surfaces of the first side plate 7a and the second side plate 7b by a plurality of (for example, two) screws 31. The lower case member 32 is a metal frame-shaped 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). The circuit board 20 is mounted on the lower case member 32.

<Configuration of circuit board>
As shown in FIG. 4, the circuit board 20 includes a first circuit board 20a and a second circuit board 20b arranged below the first circuit board 20a. The first circuit board 20 a and the second circuit board 20 b are electrically connected by a board connector 43. The first circuit board 20a is a generally trapezoidal board on which the water depth display unit 22 is mounted. The second circuit board 20b is a substantially trapezoidal synthetic resin board on which the reel controller 23 is mounted. The first circuit board 20 a and the second circuit board 20 b are fixed to the lower case member 32.

  As shown in FIG. 4, a one-chip microcomputer 24 constituting the reel control unit 23 is mounted on the upper surface of the second circuit board 20b. A plurality of FETs (field effect transistors) 25 for driving the motor 12 are mounted on the lower surface of the second circuit board 20b. The FET 25 functions as a switching element that switches according to the duty ratio when the motor 12 is PWM (pal width modulated). 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 second circuit board 20b. 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 by this rotational phase.

  The water depth display unit 22 includes a 4-digit 16-segment display depth display area 22a arranged in the center, a 3-digit 7-segment memo water depth display area 22b, and a memo water depth display area 22b. And a seven-segment stage display area 22c arranged on the left side. The step display area 22c 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 area 22a, 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 that controls the motor 12 as a functional configuration, and a display control unit 61 that controls the water depth display unit 22. 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 68 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 the other input / output part are connected. The motor drive circuit 68 is mounted on the second circuit board 20b. The motor drive circuit 68 is provided with a current detector 68 a that detects a current flowing through the motor 12.

  The spool sensor 41 is composed of two reed switches arranged side by side in front and rear, and can detect the rotation direction of the spool 10 depending on which reed switch has issued a detection pulse first. Further, the number of rotations of the spool can be detected by the detection pulse.

  The storage unit 46 is composed of 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 winding speed (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. ing.

  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 value Qsc1 and the upper limit value of the upper limit tension Qs in the constant tension mode. Data of Qsc2 is stored.

  The data storage area 53 stores various data related to the yarn length. For example, the ship edge stop position is stored.

  The motor control unit 60 includes, as a functional configuration realized by software, a rotation speed detection unit 62, a motor current control unit 63, a motor speed control unit 64, a spool speed detection unit 65, a spool speed control unit 66, Mode switching unit 67. The rotation speed detection unit 62 includes a phase detection unit 62 a that detects the rotation phase of the motor 12 based on data obtained by rectifying the back electromotive current of the motor 12. The rotational speed of the motor 12 is detected by the temporal change of the rotational phase.

  The current value flowing through the motor 12 is controlled in a plurality of stages (for example, 31 stages) in accordance with the motor current control unit 63 and the swing operation position of the adjustment lever 5 as a motor operation member. That is, the motor 12 is controlled in the constant tension mode. During the constant tension control by the motor current control unit 63, the motor speed control unit 64 has a rotational speed detection unit 62 of a predetermined speed S (for example, 1400 rpm which is the motor rotational speed of the first stage (SC = 1) in the constant speed mode). To a speed in the range from 1500 rpm to 1500 rpm, the motor 12 is controlled so as not to fall below the predetermined speed S in at least one of the stages. However, in this embodiment, the motor speed control unit 64 operates only when the motor current control unit 63 performs current control in the first five steps (SC = 5) or less of the 31 steps. ing. This is because if the speed control is performed at a stage where the current value is large, a large current is passed through the motor 12 in order to further increase the speed. This is because the motor 12 may be overheated. The spool speed detector 65 detects the rotation direction and the rotation speed of the spool 10 based on the output from the spool sensor 59. The spool speed control unit 66 controls the rotation speed of the spool 10 in a plurality of stages (for example, 31 stages) according to the swing operation position of the adjustment lever 5. That is, the motor 12 is controlled in the constant speed mode. The mode switching unit 67 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 having such a configuration, when the fishing line is fed out, the clutch is turned off by operating the clutch operation member 11 forward (rear). 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 rotates in the line feeding direction, and the water depth display of the water depth display unit 22 changes according to the feed amount by the detection pulse of the spool sensor 59. 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 speed of the spool 10 or the maximum tension acting on 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 FIG. 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 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 (an example of the stop water depth) is set to a 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 5c.

  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 the water has been stopped for 5 seconds or more at the water depth. The reason for stopping for more than 5 seconds at a water depth of 6 m or less is often when the fish caught on the ship's edge is taken in or the bait is reattached to 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 S6, 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 number of steps of the adjustment lever 5 is fetched. 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. If the stage SC is not 0, the process proceeds to step S20.

  In step S20, 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 S20 to step S21. In step S21, a spool speed control process for realizing the constant speed mode shown in FIG. 10 is performed, and the process proceeds to step S17. In this spool speed control process, the motor 12 is feedback-controlled so that the spool rotational speed set for each stage SC is obtained.

  When the captured stage SC is “0”, the process proceeds from step S20 to step S22. In step S22, the motor 12 is turned off.

  When the constant tension mode is set, the process proceeds from step S20 to step S23. In step S23, it is determined whether or not the constant tension mode stage SC is "6" or more. When the stage SC is “6” or more, the process proceeds from step S23 to step S24. In step S24, a motor current control process for realizing the constant tension mode shown in FIG. 11 is performed, and the process proceeds to step S16. In the motor current control process, the motor 12 is feedback-controlled so that the current value set for each stage SC is obtained.

  When the constant tension mode is set and the stage SC is 5 or less, the process proceeds from step S23 to step S25. In step S25, the rotational speed MV of the motor 12 is captured. In step S26, it is determined whether or not the rotational speed MV of the captured motor 12 exceeds a predetermined rotational speed (for example, 1400 rpm) S. When the rotational speed MV of the motor 12 exceeds the predetermined rotational speed S, the process proceeds from step S26 to step S24 to perform motor current control processing. When the rotational speed MV of the motor 12 does not exceed the predetermined rotational speed S, the process proceeds from step S26 to step S27. In step S27, the motor speed control process shown in FIG. 12 is performed, and the process proceeds to step S16. In the motor speed control process, the motor 12 is feedback-controlled so as to maintain the predetermined rotational speed S.

  When the menu switch SW1 is pressed and held, the process proceeds from step S16 to step S28. In step S28, it is determined whether or not the control mode of the motor 12 is a constant speed mode. When in the constant speed mode, the process proceeds from step S28 to step S29, and the control mode is set to the constant tension mode. When not in the constant speed mode but in the constant tension mode, the process proceeds from step S28 to step S30, and the control mode is set to the constant speed mode. When these processes are finished, the process proceeds to step S17.

  When another switch input is made, the process proceeds from step S17 to step S31. For example, other switch input processing such as changing from the bottom to the mode or setting other modes is performed, and the process returns to the main routine shown in FIG. .

  In the spool speed control process in step S21, the motor 12 is controlled so that the rotation speed of the spool 10 becomes the upper limit speed Vsc set for each stage SC. The upper limit speed Vsc is corrected by the spool diameter of the spool 10, and actually the motor 12 is controlled so that the fishing line winding speed wound around the spool 10 is constant.

  In the spool speed control process, the rotational speed Vd of the spool 10 calculated by the stage SC set by the adjustment lever 5 in step S41 of FIG. 10 and the output of the spool sensor 41 is fetched. In step S42, it is determined whether or not the 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 S43, it is determined whether or not the speed Vd of the spool 10 exceeds the upper limit value Vsc2 of the upper limit speed Vsc corresponding to the stage SC stage SCc. 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 value Vsc2 and the lower limit value Vsc1 are set within ± 10% of the upper limit speed Vsc, for example.

  When the speed Vd is less than the lower limit value Vsc1, the process proceeds from step S42 to step S44. In step S44, the current first duty ratio D1 is captured. The first duty ratio D1 is stored each time the setting is changed in the rotation data storage area 52 of the storage unit 46. Further, the maximum value DUsc and the minimum value DLsc are set in the rotation data storage area 52 for each stage SC, and when each stage SC is first set, for example, the intermediate first duty ratio D1 = ((DUsc + DLsc ) / 2). In step S45, it is determined whether or not the current first duty ratio D1 exceeds the set maximum value DUsc. When exceeding, the process proceeds to step S47, and the maximum value DUsc is set to the first duty ratio D1. If not, the process proceeds from step S45 to step S46, the first duty ratio D1 is increased by a predetermined increment DI (for example, 1%), and the process proceeds to step S43. 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 speed V exceeds the upper limit value Vsc2, the process proceeds from step S43 to step S48, and the current first duty ratio D1 is captured. The first duty ratio D1 is the same as that in step S44. In step S49, it is determined whether or not the current first duty ratio D1 is below the minimum value DLsc at which the current first duty ratio D1 is set. If it is lower, the process proceeds to step S51 and the minimum value DLsc is set to the first duty ratio D1. If not, the process proceeds from step S49 to step S50, the first duty ratio D1 is reduced by a predetermined decrement DI (for example, 1%), and the process returns to the switch input process.

  In the motor current control process in step S24, the tension SCd obtained by correcting the stage SC set by the adjusting lever 5 in step S61 of FIG. 11 and the torque detected by the current detector 68a with the pincushion diameter is taken in. In step S62, it is determined whether the tension Qd is less than the lower limit value Qsc1 of the upper limit tension Qs corresponding to the stage SC. In step S63, it is determined whether or not the tension Qd exceeds the lower limit value Qsc2 of the upper limit tension Qs corresponding to the stage SC, and the process returns to the switch input process. When the tension control is performed, the lower limit value Qsc1 and the upper limit value Qsc2 of the upper limit tension Ts are provided for each stage SC. The tension varies between the two tensions Qsc1 and Qsc2 as in the constant speed mode. In this case, the duty ratio does not change, so that wouling in which the duty ratio fluctuates frequently does not occur, and the feedback control is stabilized. The upper limit value Qsc2 and the lower limit value Qsc1 are set within ± 10% of the upper limit tension Qsc, for example.

  If the tension Qd is less than the lower limit Qsc1, the process proceeds from step S62 to step S64. In step S64, 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. In step S65, the second duty ratio D4 is increased by a predetermined increment DI (for example, 1%), and the process proceeds to step S63. 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 S63 to step S66, and the current second duty ratio D4 is captured. The second duty ratio D4 is the same as that in step S64. In the next step S67, the second duty ratio D4 is reduced by a predetermined decrement DI (for example, 1%), and the process proceeds to step S16. This is continued until the tension Qd falls below the upper limit value Qsc2.

  In the motor control process of step S27, the motor 12 is controlled so that the rotational speed MV of the motor 12 does not fall below the predetermined speed S.

  In the motor speed process, the current tension Qd and the second duty ratio D4 are captured in step S71 of FIG. In step S72, it is determined whether or not the current tension Qd exceeds the upper limit value Q (sc + 1) 2 of the tension of the one higher level (SC + 1). For example, when the current stage SC = 3, it is determined whether or not the current tension Qd exceeds the upper limit value Q (sc4) 2 of the tension of the stage SC = 4. If the current tension Qd is equal to or less than the upper limit value Q (sc + 1) 2 of the tension of the one higher level, the process proceeds to step S73. In step S73, the second duty ratio D4 is increased by a predetermined incremental DMI (for example, 5% to 10%), and the process returns to the switch input process. In this motor speed control process, the increment rate is set large.

  On the other hand, if the current tension Qd exceeds the upper limit value Q (sc + 1) 2 of the stage tension, step S73 is skipped and the process returns to the switch input process. As a result, when the current tension Qd exceeds the upper limit value Q (sc + 1) 2 of the tension of the upper stage SC + 1, the second duty ratio D4 does not change. With this motor control process, when the rotational speed of the motor 12 becomes lower than the predetermined speed S in the constant tension mode set to a weak tension, the motor 12 is controlled to increase in speed. For this reason, in the constant tension control, when the tension is set to be weak, it is possible to prevent problems due to the low-speed rotation of the motor 12. In constant tension control, the motor 12 may stop when the load increases at any stage SC.

  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 reed switch 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 or the fish is caught or when the device is collected and the bait is exchanged, the fish or the 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.

<Features>
(A) The motor control unit 60 controls the spool 10 by the motor 12 using a brushless motor. The motor control unit 60 includes a rotation speed detection unit 62, a motor current control unit 63, and a motor speed control unit 64. The rotation speed detector 62 detects the rotation speed of the motor 12. The motor current control unit 63 controls the current value flowing through the motor 12 in a plurality of stages SC according to the operation position of the adjustment lever 5. The motor speed control unit does not fall below the predetermined speed S when the rotation speed detection unit 62 detects the rotation speed MV equal to or lower than the predetermined speed S during control by the motor current control unit 63 in at least one of the multiple stages SC. The motor 12 is controlled.

  In the motor control unit 60, normally, the value of the current flowing through the motor 12 is controlled to one of a plurality of stages SC according to the operation of the adjustment lever 5, and constant tension control is performed for each stage SC. Further, when the rotational speed MV of the motor 12 becomes equal to or lower than the predetermined speed S during the control in at least one of the multiple stages SC, the motor 12 is controlled so as not to fall below the predetermined speed S.

  Here, when the rotational speed MV of the motor 12 is reduced to a predetermined speed S or less by the load during the current control in at least one of the stages SC, the motor 12 is controlled so as to maintain the predetermined speed S. For this reason, even if the constant tension control is performed based on the current value, the rotational speed MV is always recovered to a predetermined speed or higher, so that the rotation of the motor 12 can be stabilized even if the constant tension control is performed.

  (B) In the motor control unit 60, the rotation speed detection unit 62 includes a phase detection unit 62a that detects the rotation phase of the brushless motor based on data obtained by rectifying the counter electromotive current of the motor.

  In this case, since the rotational speed of the motor 12 can be detected from the detection result of the phase detector 62a for use in controlling the motor 12, the motor controller 60 does not have a sensor for detecting the rotational speed of the motor 12. The rotational speed of the motor 12 used in the above can be detected.

  (C) In the motor control unit 60, the motor speed control unit 64 sets the predetermined speed S when the motor current control unit 63 is controlling the motor 12 at a stage SC or less where the current value is equal to or less than the predetermined value. The speed of the motor 12 is controlled so as not to fall below.

  In this case, since speed control is performed to increase the current value in a state where the current value is not so high, the motor 12 is less likely to overheat even if control is performed by increasing the current value by speed control.

  (D) The motor control unit 60 further includes a spool speed detection unit 65 that detects the rotation speed of the spool 10, a spool speed control unit 66, and a mode switching unit 67. The spool speed control unit 66 controls the rotation speed of the spool 10 in a plurality of stages SC according to the operation of the adjustment lever 5. The mode switching unit 67 can switch between a constant tension mode by the motor current control unit 63 and a constant speed mode by the spool speed control unit 66.

  In this case, since the control of the motor can be changed depending on the fishing situation and the type of fish, more fishing results can be desired.

<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.

  (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 tension 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 rotational phase of the motor is detected by the counter electromotive current, but a dedicated sensor may be provided to detect the rotational phase of the motor.

  (D) In the said embodiment, although the adjustment lever was illustrated as a motor operation member, this 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.

5 Adjustment lever (an example of a motor operation member)
DESCRIPTION OF SYMBOLS 10 Spool 12 Motor 23 Reel control part 46 Storage part 51 Yarn length data storage area 52 Rotation data storage area 60 Motor control part 62 Rotation speed detection part 63 Motor current control part 64 Motor speed control part 65 Spool speed detection part 66 Spool speed control Unit 67 Mode switching unit 68 Motor drive circuit 68a Current detection unit SW1 Menu switch SW2 Determination switch SW3 Memo switch

Claims (4)

A motor control device for an electric reel that drives a spool by a brushless motor,
A motor current control unit for controlling the current value flowing through the brushless motor in a plurality of stages according to the operation of the motor operation member;
A rotational speed detector for detecting the rotational speed of the brushless motor;
During the control by the motor current control unit in at least one of the plurality of steps, the brushless motor is controlled so as not to fall below the predetermined speed when the rotation speed detection unit detects a rotation speed equal to or lower than a predetermined speed. A motor speed control unit,
An electric reel motor control device comprising:   2. The motor control device for an electric reel according to claim 1, wherein the rotation speed detection unit includes a phase detection unit that detects a rotation phase of the brushless motor based on data obtained by rectifying a back electromotive current of the brushless motor. .   The motor speed control unit controls the speed of the brushless motor so that the current control unit does not fall below the predetermined speed when the current control unit is controlling the motor at a stage where the current value is equal to or lower than a predetermined value. The motor control device for an electric reel according to claim 1 or 2. A spool speed detector for detecting the rotation speed of the spool;
A spool speed control unit for controlling the rotation speed of the spool in a plurality of stages according to the operation of the motor operation member;
A mode switching unit capable of switching between a current control mode by the motor current control unit and a speed control mode by the spool speed control unit;
The motor control device for an electric reel according to any one of claims 1 to 3, further comprising:

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