| 摘要 |
PROBLEM TO BE SOLVED: To obtain assist performance equivalent to that in the case where the left and right pedal stepping-on forces are detected, while simplifying a detection structure of the pedal stepping-on force by directly detecting torque applied to a crankshaft.SOLUTION: A power-assisted bicycle 1 comprises: a crankshaft 10; a torque sensor 31 that detects torque added to the crankshaft 10; a rotation sensor 32 that detects rotations of the crankshaft 10; an auxiliary power driving part 20 that adds auxiliary power to a power transmission system from the crankshaft 10 to wheels or to wheels during the rotation of the crankshaft 10; and a control part 30 that controls the auxiliary power output from the auxiliary power driving part 20 in accordance with torque detected by the torque sensor 31 and output from the rotation sensor 32. The control part 30 determines the auxiliary power according to the detected torque in a first half of one rotation of the crankshaft, and determines the auxiliary power according to the detected torque detected in the first half of the one rotation of the crank shaft, in a second half of the one rotation of the crankshaft 1. |
