Patent ID: 7853382

Claim:
A work vehicle comprising: a frame; an engine mounted to the frame; a plurality of wheels connected to the frame and being rotatable relative to the frame, and at least one of the wheels being driven by the engine; a boom having a first end and a second end, the first end being pivotally attached to the frame about a boom pivot; a tool pivotally attached to the second end of the boom about a tool pivot, the tool being adapted to perform a work function; a boom actuator connected to the boom, the boom actuator being adapted to controllably move the boom about the boom pivot in response to receiving a boom control signal; and a controller in communication with the boom actuator, the controller being adapted to determine the boom velocity, to compare the boom velocity to a commanded velocity to obtain a velocity error, and to de-rate the tractive effort of the wheels in response to the velocity error.