Traction control method and apparatus for a vehicle with independent drives
作者： Todd F. Velde , Mark J. Cherney
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摘要: A loader vehicle including a frame system, plurality of wheels, drive units and controller. The wheels are subject to rapidly changing loads associated with the system. each corresponding subset at least one wheels. controller is configured compute slip error for dependent on an integral term derived from wheel speed other computes target value wheel. further uses arrive command that applied unit
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