284results about How to "Good follow-up" patented technology

A positive resist composition comprising: (A) a resin showing an increase in the solubility in an alkali developer by the action of an acid; (B) a compound being capable of generating an acid when irradiated with an actinic ray or a radiation; (C) a resin having a silicon-containing repeating unit of a specific structure and being stable to acids but insoluble in an alkali developer; and (D) a solvent; and a pattern making method using the same.

The invention belongs to the technical field of mechanical-electrical integration and particularly relates to a steel meshwork automatic welding device and production technology thereof. The device of the invention comprises a gantry pressure welding frame, a numerical control pressure welder, a pressurizing mechanism, a resistance welding transformer, an electric control cabinet, a resistance welding controller, a trolley track, a mould base trolley, a step trolley, a demountable welding fixture and a servo drive device, wherein the mould base trolley contains a mould base cross beam, a mould base left end beam, a mould base right end beam, mould base trolley wheels, a left lateral overturning and positioning frame, a right lateral overturning and positioning frame, a left lateral overturning cylinder, a right lateral overturning cylinder, positioning frame pins, an upper positioning block, a lower positioning block, a mould base front end beam, a mould base back end beam, a front lateral overturning positioning frame, a back lateral overturning positioning frame, a front lateral overturning cylinder, a back lateral overturning cylinder, and positioning frame pins. The device of the invention and the welding technology thereof have high degree of automation, higher work efficiency, good consistency of the product and high quality of the product; and the device and technology are especially suitable for the engineering with short construction time and high demand on the construction period.

The invention provides a blade swing mechanism. The blade swing mechanism comprises at least one steering machine, an adjusting rod connected with the steering machine through a driving rod and a driven rod, and connection rod mechanisms used for connecting the adjusting rod and a corresponding blade. One end of the driving rod and one end of the driven rod are arranged together in a rotating mode, the other end of the driving end is fixedly connected to a power output shaft of the steering machine, and the other end of the driven rod and the upper end of the adjusting rod are fixedly arranged together; the middle of the adjusting rod is sleeved with a first knuckle bearing fixed in the axial direction, and the connection rod mechanisms and the lower end of the adjusting rod are connected together. The invention further provides a marine cycloidal propeller. The marine cycloidal propeller comprises a fixed base provided with at least one blade, a motor installed on the fixed base, a transmission mechanism used for transmitting motor power and driving the blades to revolve, and the blade swing mechanism. Each blade corresponds to one connection rod mechanism, and the axis line of the first knuckle bearing and the central line of revolution motion of the blades are coincident. The blade swing mechanism is controlled by the steering machine, so real-time performance is good; the cycloidal propeller utilizing the blade swing mechanism is high in control accuracy, good in real-time performance and high in flexibility.

The invention discloses a method for optimizing a brushless DC motor fuzzy controller based on an improved particle swarm algorithm. The steps include that the whole solution space is divided into seven areas; adaptation degree of each particle is calculated according to a target function; the individual extremum of the particles and the global extremum are updated according to adaptation degree; the updated individual extremum and the global extremum are assigned to quantifying factors Ka and Kb and scaling factors Kp, Ki and Kd; and input and output performance indicators are assessed, if the input and output performance indicators meet the target function, the process ends, and if the input and output performance indicators do not meet the target function, Pi and Pg are substituted in a quantum particle swarm formula by applying the improved particle swarm algorithm, continuous optimization of the particles is performed in the space areas until the particles meet the target function and new particle swarms are generated. The globally optimal solution can be found out at the highest speed based on the improved particle swarm algorithm, and a motor stably operates under the rated rotating speed and is rapid in response without overshoot basically so that the method has great follow-up performance and dynamic and static characteristics.

A separation apparatus (1) for separating a thin-film flexible stacked body (3) from a component (16) where the thin-film flexible stacked body (3) including an element layer is formed over a rigid substrate (2) such as a glass substrate, a quartz substrate, a ceramic substrate, or a metal substrate is provided. The separation apparatus (1) mainly includes a fixing device (10) for fixing the substrate (2) of the component (16), suction jigs (11) for lifting the flexible stacked body (3) by suction to be separated, circular suction pads (13) that are brought into direct contact with the flexible stacked body (3) and attached to the flexible stacked body (3) by suction, and clamp jigs (9) for holding an edge of the flexible stacked body (3). A position sensor such as a laser measuring instrument for measuring or monitoring a separation state of the flexible stacked body may be used together.

A control apparatus used in a control system in which the cycle time of a time proportioning signal is long, for example, a temperature control system using a cooler. Even if a manipulation value MV with respect to the cooler is drastically changed along with change of a control target value SP, the activation timing of a time proportioning output section is reset with the changing timing, so that a time proportioning signal Ton is newly generated. Alternatively, with the changing timing, the time proportioning output section is reactivated to generate the deficiency of the time proportioning signal Ton according to an increasing amount of the manipulation value MV. As a result, the time proportioning signal Ton is changed with an excellent follow-up ability.

The invention discloses a production process for easy decontamination shrink-proof bleaching liner, comprising the steps as follows: instantly rolling alkaki, extinguishing fire and cooling after singeing the base cloth, NaOh in the alkali liquor being 10-15 g / l, the refining agent being 6 g / L, keeping the thermal and moisture and stacking for 10 to 12 hours, then open washing and desizing under 95 degrees centigrade; whitening; the sodium hypochlorite solution is added with refining enzyme and oxyful, the bath ratio being 1:8 to 1:10, the bleaching time being 30 to 45 min; and whitening, shrink proofing and soil-releasing finishing; utilizing polyamide hot-melt adhesive to carry out double-point coating, the cylinder being 40 screen meshes, the aperture being 0.29 mm, the thickness being 0.18 mm, and the vehicle speed being 40m / min, the drying room temperature being 170 to 180 degrees centigrade, the environmental temperature in shop being 20 to 30 degrees centigrade, the humidity being 60% to 70%; finally utilizing non-contact hot wind to pre-dry such that the lapping cloth has the special functions of shrink proofing and soil-releasing finishing the same with the material, and has water repellent and oil repellent functions.

The present invention relates to cutting equipment and is especially one computerized efficient and high-precision wire electrode cutting machine. The cutting machine consists of frame, winding cylinder driven by one DC motor to rotate in either right direction or reverse direction, Z-axis bench, Y-axis bench, tension mechanism with one pair of tension wheels controlled by one pair of micro cylinders to support the cutting wire, oscillating mechanism with one pair of oscillating support wheels and fixture. The cutting machine is used mainly for cutting silicon wafer, quartz glass, ceramic, jewel, magnesia and other hard and fragile material.

The invention discloses an assisting exoskeleton robot. The robot includes an exoskeleton waist hip part, exoskeleton leg knee parts and exoskeleton foot parts all of which are connected with one another in sequence; each hip joint is provided with a spring cam mechanism with a certain degree of freedom for inward and outward stretching, the human hip joints can flexibly and smoothly move within acertain range and can recover to original positions when no external force is performed on the joints, a support-phase damping structure in series connection with each thigh casing pipe end enables an exoskeleton with a load to buffer rigid impact caused between exoskeleton legs and the ground by the inertia of the load when the feet of the human body touch the ground during walking, and therefore an overall assisting exoskeleton mechanism is dynamically protected; an elastic torsion block is connected to each shank end, the torsion degree of freedom is increased, and the exoskeleton legs canrotate along with the inward and outward rotation of the human legs; the flexibility and comfort when the a user wears the exoskeleton are improved, correspondingly the exoskeleton with the load canbuffer rigid impact caused between the exoskeleton legs and the ground by the inertia of the load every time the feet of the human body touch the ground during walking, the overall assisting exoskeleton mechanism is dynamically protected, and the comfort of a wearer is improved.

A plasma treatment method comprising exhausting a process chamber so as to decompress the process chamber, mounting a wafer on a suscepter, supplying a process gas to the wafer through a shower electrode, applying high frequency power, which has a first frequency f1 lower than an inherent lower ion transit frequencies of the process gas, to the suscepter, and applying high frequency power, which has a second frequency f2 higher than an inherent upper ion transit frequencies of the process gas, whereby a plasma is generated in the process chamber and activated species influence the wafer.

The invention relates to a shock absorber for energy recovery by converting mechanical energy into electric energy and a recovery method thereof. The shock absorber comprises an upper box body and a lower box body. The middle of the top of the lower box body is provided with a rolling ball screw pair comprising a nut, a screw rod and a ball. The nut is fixedly arranged at the top of the lower box body. The screw rod and the ball are arranged in the nut. The top of the screw rod is provided with two overrunning clutches arranged in opposite directions. Central gears sleeve the outer side walls of the two overrunning clutches. The upper portion in the upper box body is provided with an electric generator, an input end of which is provided with an input gear. The lower portion in the upper box body is provided with an outer-ring gear, in which three internal gear rings are arranged at intervals. An internal gear ring at the top is occluded with the input gear. An internal gear ring in the middle is occluded with a central gear at the top. The shock absorber for energy recovery by converting mechanical energy into electric energy enables the electric generator to rotate for generating electricity along one direction, thereby enhancing utilization efficiency of energy and prolonging service lifetime of the electric generator.

The invention discloses a deformable wheel capable of climbing stairs. The wheel comprises an outer wheel hub and an inner wheel hub which are coaxially arranged and can relatively rotate; the outer edge of the outer wheel hub is evenly and fixedly provided with a plurality of fixed spokes, and wheel flanges are hinged to the two sides of the top of each fixed spoke respectively; every two adjacent wheel flanges are connected through a sliding groove and sliding pin structure; movable spokes the number of which is equal to that of the fixed spokes on the outer wheel hub are hinged to the innerwheel hub, and the other end of each movable spoke is connected with the two corresponding wheel flanges through the corresponding sliding groove and sliding pin structure. The inner wheel hub is controlled to rotate relative to the outer wheel hub, each movable spoke drives movable ends of the two corresponding wheel flanges to be folded or unfolded, all the wheel flanges can be changed into a pointed gear shape or a circular shape, and therefore the purpose of automatic conversion between the mode of walking on the ground and the mode of walking up and down stairs is achieved. The wheel hasthe advantages that the structure is compact, the strength is ensured, the stability is good, the functions are easy to achieve, the automation degree and followability are high, and the applicationrange is wide.

The invention provides a single-machine multi-drive and multi-winding motor system, consisting of a parallel multi-winding motor and a driver, wherein a plurality of sets of mutually-independent windings are arranged on a stator in the parallel multi-winding motor in parallel; the driver comprises multi-path parallel driving units, multi-path parallel output units and a main control unit; the multi-path parallel driving units are used for generating motor driving signals corresponding to motor windings in a one-by-one manner; the multi-path parallel output units are used for monitoring the working state of the corresponding windings and transmitting the driving signals generated by the multi-path parallel driving units to the corresponding motor windings; the main control unit is used for acquiring and analyzing working state monitoring signals of all the windings and the multi-path parallel driving units, coordinating and controlling signal output of all the parallel driving units according to the monitoring signals and realizing parallel driving of different windings. In the single-machine multi-drive and multi-winding motor system, the problem that when a certain winding or driving unit in the existing motor system fails, other windings or driving units cannot work completely is overcome, so that the reliability of the motor is improved. The single-machine multi-drive and multi-winding motor system has the advantages of simple structure, high reliability and fast response and the like.

The disclosed turning control device for a vehicle is provided with: a first standard yaw rate calculation unit which calculates a first standard yaw rate on the basis of detection signals from a lateral acceleration detection unit and a vehicle speed detection unit; a correction unit, which corrects the first standard yaw rate, in the increasing direction, on the basis of detection signals from a steering amount detection unit and the vehicle speed detection unit, and then calculates a second standard yaw rate; a braking force control amount calculation unit, which calculates a yaw rate deviation which is the deviation between the second standard yaw rate and an actual yaw rate, as detected by a yaw rate detection unit, and determines a braking force control amount so as to cancel out the yaw rate deviation; and a braking control unit which controls the braking force on the basis of the braking force control amount, as determined by the braking force control amount calculation unit.

The invention belongs to the technical field of manufacturing electromechanical integration, and particularly relates to automatic welding equipment of a steel net framework and a production process. The automatic welding equipment of the steel net framework comprises a gantry press welder frame, a digital control press welder, a pressurization mechanism, a solder-resisting transformer, an electric control cabinet, a solder-resisting controller, a cart track, a die frame cart, a stepping cart, a detachable welding tool clamp and a servo driving device. The die frame cart comprises a die frame cross beam, a die frame left end beam, a die frame right end beam, die frame cart wheels, a left transverse overturning positioning frame, a right transverse overturning positioning frame, a left transverse overturning air cylinder, a right transverse overturning air cylinder, a positioning frame pin shaft, an upper positioning block, a lower positioning frame, a die frame front end beam, a die frame rear end beam, a front transverse overturning positioning frame, a rear transverse overturning positioning frame, a front transverse overturning air cylinder, a rear transverse overturning air cylinder and a positioning frame pin shaft. The automatic welding equipment of the steel net framework and the production process thereof are high in automation degree and improve work efficiency, manufactured products are good in consistency, the quality of the products is good, and the automatic welding equipment of the steel net framework and the production process thereof are particularly suitable for projects with short building time and high time limit.

The invention relates to a combined type oscillation floater wave energy power generation device which comprises a power generation system and a fixing system. The fixing system comprises a snorkeling body, a fixing frame and a working platform, wherein the fixing frame is fixedly connected to the top of the snorkeling body, and the working platform is arranged on the top of the fixing frame. The power generation system comprises floaters, a hydraulic motor and four identical hydraulic transmission mechanisms and an electric generator, wherein each hydraulic transmission mechanism is arranged among three guide rods on each corner of the fixing frame. The floaters are arranged on the four corners of the fixing frame, each corner of the fixing frame is provided with three guide rods to be movably connected with the corresponding floater, and the guide rods are sleeved with the floaters. The hydraulic motor is arranged on the working platform. Each hydraulic transmission mechanism comprises a hydraulic cylinder, an oil pipe and an oil tank, wherein the hydraulic cylinder is located above the corresponding floater, the sleeve end of the hydraulic cylinder is fixedly connected to the corresponding three guide rods through a triangular frame, and a piston rod of the hydraulic cylinder is fixedly connected with the corresponding floater through a fixing disc. The combined type oscillation floater wave energy power generation device can output relatively-stable electric energy and is slightly affected by wave impact.

The present invention discloses a stressless space follower positioning equipment. It is characterized by that it has a base seat, the upper portion of said base seat is a cylindrical hollow cavity, the lower bottom surface of said hollow cavity is equipped with a plate-shaped heat-insulating layer, the inner wall of the cylindrical hollow cavity is equipped with a ring-shaped heat-insulating layer, in the heat-insulating layer interior a positioning sleeve is set, in the exterior of positioning sleeve an electric heater or electromagnetic coil is fixed, in the interior of said positioning sleeve a supporting bar is set, between the interior of positioning sleeve and supporting bar low-melting point metal or magnetorheologic fluid is filled, the supporting bar and bottom portion of said positioning sleeve are equipped with supporting spring respectively, in the upper portion of said supporting bar a heat-insulating plate and a supporting flange are fixed, and in the upper portion of said base seat an end cover is mounted.

The invention discloses a follower rotary valve for plane oil distribution. The follower rotary valve comprises a central shaft, an end cover, a valve body and a bottom cover, wherein the end cover, the valve body and the bottom cover are fixedly connected, the central shaft in the valve body is provided with a valve core through a driving key, the two end faces of the valve core are respectively provided with a ring slot and two symmetrically-distributed circular arc distributing grooves, each ring slot is connected with a distributing groove on each of the two end faces through an internal oil channel, the two ring slots are connected with different two distributing grooves, and two distributing grooves connected with the same ring slot are arranged on the two sides of the central shaft; the parts (on both sides of the valve core) of the central shaft are slipperily provided with a floating side plate, and a connecting oil channel and a plurality of connecting oil holes are formed in each floating side plate; the end cover and the bottom cover are respectively provided with an oil port and a plurality of working ports, and the oil port is connected with the ring slots on the adjacent end faces of the valve core respectively through the internal oil channel and the connecting oil channel in an adjacent floating side plate; and an ring-shaped pressure compensation oil cavity is arranged between the end cover and the adjacent floating side plate. The valve disclosed by the invention has the advantages of good followability, high reliability, high oil distribution efficiency and long service life and the like.

The invention relates to a hydraulic combined oscillating floater wave energy generation device. The hydraulic combined oscillating float wave energy generation device comprises a power generation system and a fixed system. The fixed system comprises a floating box and a fixed frame, wherein the fixed frame has a cube structure, and is fixedly connected with the top of the floating box; a cross beam is arranged on the top of the fixed frame; and quadrangular upright columns are respectively arranged at four corners on the side surface of the fixed frame. The power generation system includes a floater, an energy conversion device and an energy output device, wherein the floater is sheathed on the upright columns of the fixed frame; four identical guide devices for limiting horizontal movement of the floater are respectively arranged on the top and the bottom of the floater; the energy conversion device includes a mixing tank, a hydraulic motor, and four groups of identical hydraulic transmission mechanisms respectively arranged on the four upright columns at four corners on the side surface of the fixed frame; the mixing tank and the hydraulic motor are arranged on the crossbeam of the fixed frame; and the hydraulic transmission mechanism includes a hydraulic cylinder, a water inlet pipe, and water transmission pipes (A and B). The hydraulic combined oscillating floater wave energy generation device provided by the invention has the advantages of high energy conversion efficiency, high reliability, low construction cost, stable power output, and wide application.

A slag-gathering and insulating covering agent able to remove S and P from molten steel or iron is prepared from M2S sand, slag, pearlite powdered coal ash, zeolite, graphite and the powder 'Guilin No.one'. Its advantages are high effect to remove S and P and shield light, low temp drop, and no pollution to molten steel or iron.

Provided is a combined oil-control ring which has excellent oil consumption characteristics, abrasive resistance and sludge resistance. The combined oil-control ring comprises a pair of circular ring shaped side rails with openings; and a wave-shaped separating outer tensioner ring clamped between the pair of circular ring shaped side rails and possessing ear parts for pressing inner peripheral surfaces of side rails in the inner periphery, wherein the thickness (a1) of the side riails is set to be 50-90% of a outer tensioner ring height (a9) of the separating outer tensioner ring, or the ear height (a10) of the ear of the separating outer tensioner ring is set to be 23-60% of the outer tensioner ring height (a9).

The invention provides a pan-tilt control method, a pan-tilt control system, and a pan-tilt device. The pan-tilt control method comprises the steps that the mock location information, the measuring position information and the simulated angular speed information of a Pitch axis of the pan tilt can be obtained in a real-time manner; a first position error between the mock location information of the Pitch axis and the measuring position information of the Pitch axis can be calculated; proportional differential calculation is conducted on the first position error, and compensation is conducted on the first position error by means of the simulated angular speed information at the same time / during the proportional differential calculation process; based on the result of the proportional differential calculation after compensation, a first torque control instruction for controlling the torque of a Pitch axis motor is generated so as to control the torque of the Pitch axis motor and enable the Pitch axis to reach to a position corresponding to the mock location information of the Pitch axis. The invention is advantageous in that a brush motor is adopted, and thereby the manual adjustmentof the Pitch shaft and / or Yaw visual angle by means of the pan-tilt device can be smooth, and the follow-up effect can be good.

It is an object to provide an apparatus for inspecting a circuit board and a method of inspecting a circuit board which can well absorb a variation in a height of an electrode to be inspected in a circuit board to be inspected and can maintain an insulating property between adjacent inspection electrodes even if the electrode to be inspected is arranged at a fine pitch. An intermediate holding plate 36 is provided in a relay pin unit 31, and a first abutment support position 38A of a first support pin 33 disposed between a first insulating plate 34 and the intermediate holding plate 36 with respect to the intermediate holding plate and a second abutment support position 38B of a second support pin 37 disposed between a second insulating plate 35 and the intermediate holding plate 36 with respect to the intermediate holding plate 36 are placed differently from each other over an intermediate holding plate projecting surface which is projected in a direction of a thickness of the intermediate holding plate 36. Moreover, a relay board 29 having a plurality of rigid conductor electrodes penetrating through the board which is held to be movable in a direction of a thickness of the board is disposed on the side of a circuit board to be inspected in a board 23 for pitch conversion, and furthermore, thin anisotropically conductive sheets 22 and 22 of a dispersion type are provided on both sides thereof and an electrical connection of the board 23 for pitch conversion and a circuit board 1 to be inspected is relayed by means of the relay board 29 through the anisotropically conductive sheets 22 and 22 of a dispersion type.

The invention discloses a two-shaped three-stage deceleration middle torque transmission system. The two-shaped three-stage deceleration middle torque transmission system comprises a stator, a rotor, a motor shaft, a torque sensing device and a gear disc, wherein the torque sensing device comprises a middle shaft, an elastic connector, a shaft sleeve and a sensor; the motor shaft is provided with a first-stage transmission gear; the motor shaft is provided with a second-stage transmission gear, a first toothless flying wheel and a third-stage input gear which are concentrically fixed through bearings in a supporting way; the shaft sleeve is respectively provided with a duplicate gear and a third-stage output gear through bearings in the supporting way; the duplicate gear is respectively meshed with the first-stage transmission gear and the second-stage transmission gear; the third-stage output gear is meshed with the third-stage input gear; an output flange of the outer side end of the third-stage output gear is connected with the gear disc together through a second toothless flying wheel to form an output end; the output end of the elastic connector is rotationally connected with the second toothless flying wheel through a small flange so as to realize the synchronization of the elastic connector and the gear disc. According to the two-shaped three-stage deceleration middle torque transmission system disclosed by the invention, a two-shaft three-stage deceleration design is adopted, the deceleration ratio is high, the size is small, and the assembly is convenient.

The invention discloses a bend forming method of a large-angle pipeline with high precision, a large pipe diameter and a small bending diameter ratio, and belongs to the technical field of machining. Metal or alloy materials with the low melting temperature are machined to be a core rod, the core rod is assembled into an inner hole of the large pipeline to be bent, the large pipeline and the core rod are simultaneously bent through bend forming, pipe blank which is subjected to bend forming is heated to be at the temperature higher than the melting temperature of the alloy core rod, at a certain temperature below the AC1 temperature of a bent pipe material (or the heating temperature at which the performance of the pipe blank material can not drop obviously), a core rod material in the bent pipe is molten and flows out, and the large bent pipe with the bent section ovality being small, the inner hole surface being smooth and the inner arc being capable of not wrinkling is acquired. The bent pipe low-melting-point core rod technology is suitable for the bend forming of the large-angle pipeline which is high in forming precision requirement, thick in wall, large in pipe diameter and small in bending diameter ratio.

The invention discloses a high-speed high-precision servo linear motor sliding table which comprises a sliding table base, a lower sliding table is slidably connected with the sliding table base, and an upper sliding table is slidably connected to the lower sliding table; the upper sliding table and the lower sliding table respectively slide along the directions of X-axis and Y-axis which form an angle of 90 DEG, and the sliding table base, the upper sliding table and the lower sliding table are cast from cast iron. The invention has simple structure, wide speed range, good speed characteristics, high positioning precision, low noise and less wear, and can completely satisfy the requirements of numerical control machine development; compared with the traditional sliding table, the servo linear motor sliding table is more economical and practical; and the servo linear motor sliding table can be applied to high-precision feeding mechanisms of numerical control turning machines, and can also be applied to precision sliding tables of numerically controlled milling machines and processing centers.

A rotor for a motor capable of implementing lightness and a motor having the rotor. In the rotor (3) of the motor (1), a sleeve (33) made of resin is disposed between an outer peripheral face (31a) of the rotation shaft (31) and an inner peripheral face (32a) of the permanent magnet (32), and press-fitted and fixed to the outer peripheral face of the rotation shaft (31). Thereby, wall thickness of the sleeve (33) is reduced by the permanent magnet (32) without reducing of external diameter of the permanent magnet (32). In addition, a first ring-shaped recessed part (35) is formed between the rotation shaft (31) and the permanent magnet (32), the rotation shaft (31), the sleeve (33) and the permanent magnet (32) are fixed one by one with an adhesive (37) in the first ring-shaped recessed part (35). In this case, the adhesive (37) is arranged in the first ring-shaped recessed part (35) and can not be retreated from one end part (321) of the permanent magnet (32) to an output end.

An electric power assisted bicycle capable of smooth electric power assisted travel giving a good feeling by supplying an assisting power with a high follow-up performance by making the following control even when climbing a slope. The pedaling force FL, the vehicle speed V, the crank angle Theta, the start angle Thetas, the maximum pedaling angle Thetam0, and the end angle Thetae0 are determined (step 350). The assisting power is calculated from the pedaling force FL and the vehicle speed V (step 352) so as to make motor control (step 354). During the assisting operation, it is judged whether or not the bicycle is climbing a slope on the basis of the pedaling force FL and the crank angle Theta (step 356). If it is judged that the bicycle is climbing a slope and when the crank angle reaches a start angle at which the assisting power for slope climb is applied (at step 358, an affirmative decision), the assisting power for slope climb is re-calculated from the pedaling force FL, the vehicle speed V, and the crank angle Theta, and the motor is controlled (step 360).