AGRICULTURAL WORKING MACHINE AND METHOD OF ASSISTANCE TO STEERING CONTROL Russian patent published in 2019 - IPC A01B69/00 B62D9/00 

FIELD: machine building.

SUBSTANCE: disclosed is an agricultural working machine comprising wheels (16), running axles, a drive motor. Wheels (16) are controlled by means of steering system with rotary cams. Machine also comprises turn angle sensor (32) for detecting preset angle (δ_th) wheel steering wheel turn brake for selective braking of one or more wheels (16). Rotation sensor (32) is located on wheel (16). Machine also comprises control device for control and adjustment of turn brake, and possibility of determining angle (δ_{th, tat}) steering rotation and/or angle (α) of side displacement of wheel and brake of rotation is made with possibility of control and adjustment depending on angle (δ_{th, tat}) steering rotation and/or angle (α) of lateral escape. Also disclosed is a method of assisting steering control.

EFFECT: better controllability and higher reliability.

13 cl, 5 dwg