POWER ASSIST WHEELCHAIR, POWER ASSIST UNIT FOR WHEELCHAIR, CONTROL DEVICE FOR POWER ASSIST WHEELCHAIR, CONTROL METHOD FOR POWER ASSIST WHEELCHAIR, PROGRAM, AND TERMINAL
A control device for a power assist wheelchair which includes a compensation turning torque calculation unit that calculates a compensation turning torque value for compensating for at least a part of the shortage or excess of the actual turning torque value with respect to the predicted turning torque value, in which the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed； a first target current determination unit that determines a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value； and a second target current determination unit that determines a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value.
