Electric assisted wheelchair, electric assist unit for wheelchair, electric assist wheelchair control device, electric assist wheelchair control method, program, and terminal
A control device for a power assist wheelchair includes: a vehicle speed calculation unit that calculates a vehicle speed； a predicted turning torque calculation unit that calculates a predicted turning torque value based upon a first manual torque value acting on the first wheel, a first motor torque value outputted by the first electric motor, a second manual torque value acting on the second wheel, and a second motor torque value outputted by the second electric motor； an actual turning torque calculation unit that calculates an actual turning torque value based upon a detection signal of the first encoder and a detection signal of the second encoder； 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.
