Traction control for power machine

A power machine comprising:

• a power source having a rotational output;
• a first axle assembly operably coupled to and driven by the rotational output and having first and second wheels positioned thereon on respective first and second sides of the power machine, one of the first and second wheels being a first sensed wheel;
• a second axle assembly operably coupled to and driven by the rotational output and having third and fourth wheels positioned thereon on respective first and second sides of the power machine;
• a first wheel speed sensor monitoring a speed of rotation of the first sensed wheel;
• a rotational output speed sensor monitoring a speed of rotation of the rotational output;
• a braking system operable to brake the first and second wheels;
• a controller in communication with the first wheel speed sensor and rotational output speed sensor and operably communicating with the braking system;
• wherein the controller calculates, as a function of the first sensed wheel speed and the rotational output speed, a first traction score indicative of whether one of the first wheel and second wheel is slipping;
• and
• wherein the controller signals to the braking system to brake the first wheel to increase torque delivered from the rotational output to the second wheel when the first traction score indicates that the first wheel is slipping, and brake the second wheel to increase torque delivered from the rotational output to the first wheel when the first traction score indicates that the second wheel is slipping.

A method for operating a power machine that includes a power source having a rotational output, a first axle assembly, a first wheel on the first axle assembly on a first side of the power machine, a second wheel on the first axle assembly on a second side of the power machine, a second axle assembly, a third wheel on the second axle assembly on the first side of the power machine, and a fourth wheel on the second axle assembly on the second side of the power machine, the method comprising:

• driving rotation of the first axle assembly with the rotational output;
• monitoring a speed of rotation of a sensed wheel chosen from the first wheel and the second wheel;
• monitoring a speed of rotation of the rotational output;
• calculating a traction score as a function of the sensed wheel speed and the rotational output speed;
• comparing the traction score to at least one value indicative of at least one of the first wheel and second wheel slipping to determine whether one of the first wheel and second wheel is slipping;
• in response to a determination that the first wheel is slipping, braking the first wheel to increase torque delivered from the rotational output to the second wheel;
• and
• in response to a determination that the second wheel is slipping, braking the second wheel to increase torque delivered from the rotational output to the first wheel.