Methods and systems for stabilizing mobile machines

A telehandler, comprising:

• a body;
• a telescopic boom connected to the body and configured to pivot relative to the body about a boom axis;
• a front axle pivotally connected to the body, wherein the front axle is configured to freely pivot relative to the body;
• two front wheels connected to the front axle;
• a rear axle pivotally connected to the body;
• two rear wheels connected to the rear axle;
• first and second hydraulic assemblies configured to control pivoting of the rear axle relative to the body, each of the hydraulic assemblies comprising a hydraulic cylinder and at least two valves configured to open and close to permit and prevent a flow of hydraulic fluid into and out of the hydraulic cylinder, respectively;
• and
• a controller configured to control the hydraulic assemblies in a locked mode, an unlocked mode, and a damped mode,
• wherein the controller is configured in the unlocked mode to position the valves in fully open positions,
• wherein the controller is configured in the locked mode to position the valves in fully closed positions,
• wherein the controller is configured in the damped mode to position the valves between the fully open position and the fully closed position.

A method of controlling a telehandler comprising a boom connected to a body which is configured to pivot relative to the body about a boom axis, a rear axle pivotally connected to the body, a hydraulic assembly comprising a hydraulic cylinder and a valve configured to open and close to permit and prevent a flow of hydraulic fluid into and out of the hydraulic cylinder, respectively, and a controller, the method comprising:

• with the controller:
• receiving a boom angle of the boom;
• determining that the boom angle of the boom is between a first predetermined angle and a second predetermined angle;
• and
• based on the determination, positioning the valve between a fully open position and a fully closed position, thereby permitting hydraulic fluid to flow into and out of the hydraulic cylinder.