| 摘要 |
PROBLEM TO BE SOLVED: To relieve burden of an operator by estimating mass of a carriage, etc. and equivalently reducing the mass in the power assist type carriage, etc. SOLUTION: Torque generated in a motor 3, torque imparted by a person, rolling friction torque and downward torque are impressed on the carriage 1. A mass estimating part 62 estimates mass of the carriage 1 by using acceleration of an acceleration detecting part 61 and armature current of a current detecting part 5. A mass compensating part 64 converts the estimated mass into current for equivalently changing the mass and adjusts (varies) the current. A rolling friction coefficient estimating part 63 estimates a rolling friction coefficient of a road surface by using the estimated mass and the armature current. A rolling friction torque/downward torque compensating part 65 generates motor current required to compensate the rolling friction torque and downward torque by using the estimated mass, the estimated rolling friction coefficient and an inclined angle of the road surface. The motor current can be adjusted (varied) by an assist ratioα. COPYRIGHT: (C)2005,JPO&NCIPI
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