| 摘要 |
<p>An electric power assisted bicycle capable of smooth electric power assisted travel giving a good feeling by supplying an assisting power with a high follow-up performance by making the following control even when climbing a slope. The pedaling force FL, the vehicle speed V, the crank angle ?, the start angle ?s, the maximum pedaling angle ?m0, and the end angle ?e0 are determined (step 350). The assisting power is calculated from the pedaling force FL and the vehicle speed V (step 352) so as to make motor control (step 354). During the assisting operation, it is judged whether or not the bicycle is climbing a slope on the basis of the pedaling force FL and the crank angle ? (step 356). If it is judged that the bicycle is climbing a slope and when the crank angle reaches a start angle at which the assisting power for slope climb is applied (at step 358, an affirmative decision), the assisting power for slope climb is re-calculated from the pedaling force FL, the vehicle speed V, and the crank angle ?, and the motor is controlled (step 360).</p> |
