Patent ID: 8527124

Claim:
A loader vehicle, comprising: a frame system; a front pair of wheels and a rear pair of wheels being respectively individually mounted to front and rear pairs of axels and being subject to rapidly changing loads, and said front and rear pairs of wheels being associated with said frame system; front and rear pairs of drive units respectively, being associated with said front and rear pairs of wheels; and a controller being configured to compute a slip error for each wheel of said front and rear pairs of wheels, with each computation being dependent on an integral term derived from multiplying an operator torque command directed to one wheel of one of said front and rear pairs of wheels times a measured wheel speed of said one wheel minus the average speed of the pair of wheels of another of said front and rear pairs of wheels, and to compute a slip target value for said one wheel, said controller further being configured to use said slip error and said slip target value to arrive at an adjusted torque command that is applied to the one of said front and rear pairs of drive units that is associated with said one wheel.