| 摘要 |
PROBLEM TO BE SOLVED: To improve a traveling feeling by generating suitable auxiliary power by a motor even when traveling resistance is changed by detecting the traveling resistance and controlling the auxiliary power based on manipulation force to be applied to handling, wheelchair speed and the traveling resistance. SOLUTION: In the case of right control processing, for example, a target signal setting means 14 reads a target signal TMR out of a memory while defining the values of a manual torque signal TR, left main wheel rotating direction judge signal DR and right wheel velocity signal VR as the read addresses of the memory and outputs that target signal to a target signal correcting arithmetic means 145. A target acceleration setting means 141 outputs a target acceleration signal ATR to a differential arithmetic means 143, and an acceleration operating means 142 operates acceleration from the right wheel velocity signal VR and outputs an acceleration signal AVR to the differential arithmetic means 143. Then, corresponding to an acceleration differential signal▵AR from the differential arithmetic means 143, a correction coefficient setting means 144 outputs a correction coefficient KR to the target signal correcting arithmetic means 145.
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