APPARATUS AND METHOD FOR POSITION SENSING, CORRECTION AND MODE CHANGE IN A MULTI-AXLE STEERING SYSTEM

摘要

A construction vehicle 10 multi-axle steering system 11 comprising: a first axle 16; a first steering knuckle (58a, Fig. 3a) attached to the first axle 16 to rotate about a first steering axis (Sa/Sb, Fig. 3a) a first steering actuator configured to rotate the first steering knuckle (58a, Fig. 3a) about the first steering axis (Sa, Fig. 3a), a first rotary transducer (60, Fig. 3a) arranged to measure a first rotation between the first axle 16 and the first steering knuckle (58a, Fig. 3a) about the first steering axis (Sa, Fig. 3a) and a controller (72, Fig. 6) configured to receive data from the first rotary transducer (60, Fig. 3a) and to control the first steering actuator in response to the first rotation.