Engine assisted brake control on wheel slip

摘要

Wheel (110) slippage of a machine (100) may be controlled using brake (114) control and engine (130) torque control. In some examples, the present disclosure describes a method of controlling a wheel (110). Example methods may include sensing a rotational speed of the wheel (110), and sensing an acceleration of the machine (100). The method may also include estimating a target speed (212) of the wheel (110) based at least in part on the rotational speed of the wheel (110) and the acceleration of the machine (100). The method may continue with calculating a speed error, the speed error being a difference between the rotational speed and the target speed. The method may also include controlling a brake (114) of the wheel (110) based on the speed error and/or a torque of an engine (130) of the machine (100) based on the speed error.