A LOCKING CONTROL METHOD FOR A PIVOT AXLE, A PIVOT AXLE LOCKING CONTROLLER AND A PIVOT AXLE LOCKING SYSTEM

The invention relates to a locking control method for a pivot axle of a wheeled working machine comprising the steps: determining a current posture and motion state of the working machine and static and dynamic forces acting on the working machine, preferably using a multibody simulation model; determining a relevant tipping line based on a current locking status of a pivot axle of the working machine; calculating torques acting on the working machine based on the information on current posture, motion state, static and dynamic forces; determining a control command for a pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line and providing the control command to a pivot axle locking mechanism.