Locking control method for a pivot axle, a pivot axle locking controller and a pivot axle locking system

A pivot axle locking system comprising:

• a pivot axle locking mechanism comprising a hydraulic locking valve, and
• a pivot axle locking controller configured to perform operations comprising:
• determining, using a multibody simulation model, a current posture and motion state of the working machine and static and dynamic forces acting on the working machine;
• 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 the pivot axle locking mechanism of the working machine based on the calculated torques and the tipping line;
• and
• providing the control command to the pivot axle locking mechanism.