Power-assisted wheelchair, power-assist unit for wheelchair, control device for power-assisted wheelchair, control method for power-assisted wheelchair, program, and terminal
This control device for a power-assisted wheelchair is provided with: a wheelchair speed calculation unit for calculating the speed of a wheelchair； a predictive rotational torque calculation unit for calculating a predictive rotational torque value on the basis of a first human power torque value which acts on a first wheel, a first motor torque value output from a first electric motor, a second human power torque value which acts on a second wheel, and a second motor torque value output from a second electric motor； an actual rotational torque calculation unit for calculating an actual rotational torque on the basis of a detection signal of a first encoder and a detection signal of a second encoder； a compensation rotational torque calculation unit for calculating a compensation rotational torque value that at least partially compensates for the shortage or excess in the actual rotational torque value with respect to the predictive rotational torque value, the compensation rotational torque value being smaller when the wheelchair speed is a first speed than when the wheelchair speed is a second speed greater than the first speed； a first target current determination unit for determining a target current for the first electric motor on the basis of the first human power torque value and the compensation rotational torque value； and a second target current determination unit for determining a target current for the second electric motor on the basis of the second human power torque value and the compensation rotational torque value.
