| 摘要 |
<p>Method for controlling the motion of an articulated vehicle (100) with at least four driven tracks (121, 122, 141, 142), each driven track being provided with individual drive means(123, 124, 143, 144), the articulated vehicle comprising a tractor (120) and a carriage(140) articulately connected to one another by means of a drawbar (130), comprising the following steps:
- determining the angle (a) between the tractor (120) and the carriage (140),
- determining a force acting longitudinally on the loadbar (130),
- determining a force acting transversely on the loadbar (130), and
- controlling the individual drive means (123, 124, 143, 144) of the driven tracks on the basis of the determined angle (a), the longitudinally acting force and the transversely acting force with the result that the vehicle tractive effort is evently distributed amongst all four tracks hence maximising the vehicle load carrying capabilities on the flat and on inclines.</p> |
