Farming tractor with four-wheel drive system and steering control method thereof

The invention discloses a farming tractor with a four-wheel drive system and a steering control method of the farming tractor, and relates to the technical field of farming tools. The farming tractor comprises a front drive axle and a rear drive axle, and a power gear shifting gearbox is connected between drive axle input flanges of the front drive axle and the rear drive axle; the power shifting gearbox achieves power input through an engine. Drive axle housings of the front drive axle and the rear drive axle are connected with the wheel side assemblies at the two ends through steering knuckles, and steering drivers are installed on the drive axle housings of the front drive axle and the rear drive axle. The control method comprises a conventional steering control mode, a small turning radius steering control mode and an oblique walking steering control mode. Switching of different steering control modes is achieved by controlling the steering angle difference value of the wheel side assembly of the front dr