| 摘要 |
PROBLEM TO BE SOLVED: To make a motor output accurately controllable based on stepping force, to prevent excessive motor output even applied with excessive stepping force at start time, and to obtain the motor output properly corresponding to the stepping force of a rider. SOLUTION: In this bicycle with electric motor providing a man power drive system and an electric drive system in parallel to control an output of the electric drive system corresponding to a change of a stepping force by man power, a stepping force lower limit value reset at each power input is found, a stepping force indicating value is found from a difference between stepping force F and the stepping force lower limit value, to control an output of the electric drive system based on this stepping force indicating value. The stepping force lower limit value can be obtained by rewriting at each power input so as to gradually approach a minimum value in each period of the stepping force F in accordance with running from a value in the vicinity of an upper limit of the stepping force in ordinary operation. |
