Tracked vehicle for preparing ski track and method of controlling winch of tracked vehicle

A tracked vehicle for preparing a ski track is provided. A tracked vehicle (1) comprises: a frame (2); a winch (12) mounted on the frame (2) for selectively deploying and winding a rope (13) that can be anchored to a point (14) outside the tracked vehicle (1); an arm (16) mounted to rotate relative to the frame (2) about a defined axis (A2) and configured to guide the rope (13); an actuation system (17) of the arm (16) around a defined axis (A2); control means (18) of an actuation system (17) of the arm (16) for selectively setting, when the rope (13) is under tension, one of the following operating modes: allowing the arm (16) to rotate freely about a determined axis (A2); rotating the arm (16) about a defined axis (A2); the position of the arm (16) relative to the frame (2) is locked. 本发明提供一种用于准备滑雪道的履带式车辆。履带式车辆(1)包括：框架(2)；安装在框架(2)上的绞盘(12)，该绞盘用于选择性地展开和缠绕绳索(13)，绳索(13)能够锚定到履带式车辆(1)之外的点(14)；臂(16)，其安装成围绕确定轴线(A2)相对于框架(2)旋转并被配置为引导绳索(13)；围绕确定轴线(A2)的臂(16)的致动系统(17)；臂(16)的致动系统(17)的控制装置(18)，控制装置(18)用于在绳索(13)处于张力下时选择性地设