公开(公告)号：EP4180305A1

公开(公告)日：2023-05-17

申请号：EP22204267.3

申请日：2022-10-27

申请人： Caterpillar SARL

发明人： COX, Craig ,  MCNAMEE, Niall ,  BAKKEN, Arick ,  CAIRNS, Paul

IPC分类号： B62D12/00 ,  B62D5/07 ,  B62D15/02

摘要： A method of estimating hydraulic flow in a steering system of an articulated vehicle (1), a controller (6) configured for the method and an articulated vehicle (1) are provided. The method comprises:
a) sensing a yaw rate ( θ̇ ) of the articulated vehicle (1);
b) sensing a velocity ( v ) of the articulated vehicle (1);
c) determining an estimate of a steering angle rate ( δ̇ ) of the front part (2) of the articulated vehicle (1) using the sensed yaw rate (9) and the sensed velocity ( v );
d) determining an estimate of the hydraulic flow in the steering system of the articulated vehicle (1) using the estimate of the steering angle rate ( δ̇ ) and one or more geometrical parameters of the steering system.