METHOD FOR STEERING AND DRIVING A SELF-PROPELLED WORKING MACHINE AND SELF-PROPELLED WORKING MACHINE

摘要

The invention relates to a method for steering and driving a self-propelled working machine, or a working machine comprising front wheels and steerable rear wheels. In order to guarantee high steering stability at all driving speed ranges, when the steering wheel of the working machine is rotated, the front wheels are driven at different speeds, the difference between the speeds of said front wheels being controlled in accordance with the magnitude and the direction of the steering wheel rotation. In a first driving speed range of the working machine, the rear wheels are guided at a predetermined steering angle which is dependent on the steering wheel rotation, in relation to a central axis of the working machine, in such a way that the instantaneous centre of rotation of the front wheels corresponds to that of the rear wheels. In a second driving speed range of the working machine which is higher than the first driving speed range, when the steering wheel is rotated, the rear wheels follow said rotation in a gradual manner and in a third driving speed range of the working machine which is higher than the second driving speed range, the rear wheels are readjusted into a straight driving position.