| 摘要 |
PROBLEM TO BE SOLVED: To determine an assist force, which is more suitable for a running condition by improving delay of an assist control and failures in determining the assist force in proportion to a pedaling force alone. SOLUTION: A filter part 51 compares a detected pedaling force with a predetermined reference pedaling force according to a corresponding crank angle, and estimates a peak value of the pedaling force. Furthermore, it estimates an average value based on the peak value. A steady pedaling force reference value corresponds to flat land running resistance responding to a speed. A steady assist computing part 53 calculates a steady assist force from the average pedaling force and the reference steady pedaling force by PID control. The steady assist force is calculated in a manner to be increased when the average pedaling force is increased, and to be decreased when the reference steady pedaling force is increased. A proportional assist calculating part 50 calculates a proportional assist force, which is proportional to the detected pedaling force. The proportional assist force and the steady assist force are added so as to find an assist force. |
