| 摘要 |
Disclosed is a method for regulating an active chassis of a tracked vehicle, said chassis comprising at least one wheel unit (105) with two wheels. According to the inventive method, the turning angle of the first wheel unit (105) about a vertical chassis axis relative to a vehicle structure (102) that is supported on the first wheel unit by means of a first primary spring mechanism (107) is adjusted in a first frequency range with the aid of at least one first actuator (109) which acts between the first wheel unit (105) and the vehicle structure (102), the adjustment being made in accordance with the actual curvature of the track, and/or the turning angle of the first wheel unit (105) about the vertical chassis axis relative to the vehicle structure (102) is adjusted in a second frequency range in such a way that transversal movements at least of the first wheel unit (105) caused by a track displacement or a sinusoidal course are counteracted. In the first frequency range, the turning angle of the first wheel unit (105) is adjusted using a first desired value corresponding to a first ideal value multiplied by a first correction factor (K1), said first ideal value being selected such that the first wheel unit (105) is adjusted at least approximately by the radius of curvature if the first desired value matches the first ideal value (i.e. K1=1), and/or in the second frequency range, the turning angle of the first wheel unit (105) is adjusted using a second desired value which corresponds to a second ideal value multiplied by a predefined second correction factor (K2), said second ideal value being selected such that transversal movements at least of the first wheel unit (105) caused by a track displacement or a sinusoidal course are essentially compensated if the second desired value matches the second ideal value (i.e. K2=1). |
