| 摘要 |
PROBLEM TO BE SOLVED: To provide a smooth traveling feeling despite of a small auxiliary driving force by delaying the response speed of a motor driving force more as the manual torque becomes larger, when the maximum output torque of the motor driving force is smaller than the maximum detecting value of the preset manual torque detection part. SOLUTION: A duty ratio D of a switching device is appropriately set (S1), an output (a) of a depressing force sensor and an output (b) of a current sensor are read so as to calculate a major driving force TL (S2) and an auxiliary driving fore TM (S3). Secondly, a time constantτof a value proportional to the read depressing force (a) is operated (S4). A value obtained by dividing the difference between TL and TM by the time constantτis added to the duty ratio D so as to calculate the duty ratio D1 (S5). The switching device is driven with the duty ratio D1 set to a new duty ratio D (S6). Repeating the processes S2-S6, the motor outputs TM corresponding to TL in proportional to the extent of TM.
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