ASSIST FORCE CALCULATION METHOD FOR AN ELECTRICALLY ASSISTED BICYCLE, ELECTRICALLY ASSISTED BICYCLE CONTROL UNIT, ELECTRICALLY ASSISTED BICYCLE POWER UNIT, AND ELECTRICALLY ASSISTED BICYCLE

摘要

An electrically assisted bicycle 1 assist force calculation method is provided which includes: obtaining an instant pedaling force A inputted into a pedal from a pedaling force sensor 57; obtaining a crank advance angle ω of a crankshaft 41 from an advance angle sensor 56 having a resolution of less than 90°; and determining an assist force E based on at least the instant pedaling force A and the crank advance angle ω.