| 摘要 |
A regulating system (2) for an articulated vehicle (4), which vehicle comprises a forward section (6) with a first longitudinal axis L1 and a rear section (8) with a second longitudinal section L2, said sections being connected to one another via an articulation (10) which enables them to pivot relative to one another. The vehicle further comprises a steered wheel shaft (12) in its forward section (6) and a steerable tag axle (14) in its rear section (8), and the regulating system comprises a processing unit (16), a forward steering unit (18) adapted to delivering a first control signal (20) to steer the wheels on the steered wheel shaft (12), a rear steering unit (22) adapted to delivering a second control signal (24) to steer the wheels on the steerable tag axle (14). The regulating system (2) further comprises a first measuring unit (26) adapted to determining the direction RV1 for an angle V1 of the wheels on the steered wheel shaft (12) relative to L1 in the vehicle's direction of forward movement, and a second measuring unit (28) adapted to determining the direction RVK for an angle VK at the articulation (10) between the first and second longitudinal axes (L1, L2), said first and second measuring units (26, 28) being adapted to conveying RV1 and RVK respectively to said processing unit (16) which is adapted to determining said second control signal (24) for said rear steering unit (22) on the basis of at least RV1 and RVK so that if RV1 does not coincide with RVK the second control signal (24) is determined such that the steerable tag axle (14) is centred. |
