| 摘要 |
An electrically assisted vehicle (1) includes a vehicle body (2), pedals (20) to input human power, a crank (23) that is coupled to the pedals (20) and freely rotatably supported on the vehicle body (2), at least one wheel (4) that is attached to the vehicle body (2) and rotates according to a rotation of the crank (23), a first electric motor (14) that is attached to the vehicle body (2) and drives the one wheel (4), a second electric motor (13) that is attached to the vehicle body (2) and drives the one wheel (4) or another wheel (3), a torque detection unit (41) that detects a torque applied to the crank (23), a torque command value calculation unit (53, 54), and a motor drive unit (55, 56) that drives the first electric motor (14) and second electric motor (13) according to a calculated torque command value. The torque command value calculation unit calculates a first torque command value for the first electric motor (14) and a second torque command value for the second electric motor (13) according to a torque detected by the torque detection unit (41), and calculates the first and second torque command values such that the first and second torque command values are mutually shifted in phase. |
