Loader operation anti-shake control method, anti-shake system and loader

Abstract

The present disclosure relates to a loader operation anti-shake control method, an anti-shake system and a loader, wherein the loader operation anti-shake control method comprises: obtaining material weight information in a dipper detected by a weighing sensor (2) to determine whether the loader is in an empty state during unloading of the loader; obtaining driving speed information of the whole vehicle during backward driving of the vehicle; obtaining opening degree information of an operation handle (4) for controlling the falling of a large arm; and calculating a target movement speed of a large arm oil cylinder (10) for controlling the movement of the large arm according to the opening degree information of the operation handle (4) and the current driving speed information in the empty state.

Description

Technical Field

[0001] This disclosure relates to the field of new energy construction machinery technology, and in particular to a loader operation anti-shake control method, anti-shake system and loader. Background Technology

[0002] Loaders are widely used earthmoving and loading / unloading machines in construction projects such as highways, railways, and mines. They are mainly used for shoveling and loading bulk materials such as soil, sand, gravel, and coal, and can also perform light excavation and loading operations on ores and hard soil. During the loading and unloading process of a loader, when the unloaded boom is lowering and the vehicle is reversing, the mismatch between the boom lowering speed and the vehicle's travel speed causes severe front-to-back shaking of the vehicle, resulting in poor overall vehicle stability, low driver comfort, and reduced work efficiency.

[0003] In the above-mentioned working conditions, the vehicle vibrates severely. Currently, the main approach is for the driver to intervene based on experience, such as temporarily interrupting the boom descent or stopping the vehicle. The work equipment is then operated again after the vibration stops. However, this method cannot effectively prevent the vehicle from vibrating and reduces work efficiency. Furthermore, this method relies on the driver's experience, and the effect of suppressing vibration is not ideal. Summary of the Invention

[0004] Some embodiments of this disclosure provide a loader operation anti-shake control method, anti-shake system, and loader, which can achieve better anti-shake effect.

[0005] The first aspect of this disclosure provides a method for sway control during loader operation, comprising:

[0006] During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor is obtained to determine whether the loader is in an unloaded state.

[0007] During the reverse movement of the vehicle, the vehicle's speed information is obtained.

[0008] Obtain the opening information of the control handle for lowering the boom;

[0009] In no-load condition, the target movement speed of the boom cylinder is calculated based on the opening information of the operating handle and the current travel speed information. The boom cylinder is used to control the movement of the boom.

[0010] In some embodiments, prior to the step of calculating the target movement speed of the boom cylinder, the method further includes:

[0011] The initial movement speed of the boom cylinder is calculated based on the opening information.

[0012] In some embodiments, calculating the initial movement speed of the boom cylinder based on the opening information includes:

[0013]

[0014] Where V is the initial movement speed of the boom cylinder; D is the dead zone of the operating handle; X is the opening degree of the operating handle, ranging from 0 to 100. max This represents the maximum initial speed of the boom cylinder.

[0015] In some embodiments, the loader operation anti-shake control method further includes:

[0016] Set the lower and upper threshold values ​​during the movement of the boom cylinder.

[0017] In some embodiments, the step of calculating the target movement speed of the boom cylinder based on the opening information of the operating handle and the current travel speed information includes:

[0018] Within the first vehicle speed range, the boom cylinder moves at a first target speed, which does not exceed the upper limit threshold.

[0019] In the second speed range, the boom cylinder moves at the second target speed. The second speed range is greater than the first speed range, the second target speed is less than the first target speed, and the second target speed is not less than the lower threshold.

[0020] In the third speed range, the target movement speed of the boom cylinder decreases from the first target speed to the second target speed, and the third speed range is located between the first speed range and the second speed range.

[0021] In some embodiments, the first target speed is equal to the upper limit threshold, the second target speed is equal to the lower limit threshold, and the target movement speed of the boom cylinder decreases linearly from the upper limit threshold to the lower limit threshold.

[0022] In some embodiments, in the third speed range

[0023]

[0024] Among them, V c V is the target movement speed of the boom cylinder. cmax V is the upper limit threshold. cmin V is the lower threshold. h V represents the current vehicle speed. h1 and V h2 These are the left and right endpoints of the third speed range, respectively.

[0025] In some embodiments, V cmax =V max ×k (k<1)

[0026] Among them, V cmax V is the upper limit threshold. maxThis represents the maximum initial speed of the boom cylinder.

[0027] In some embodiments, the loader operation anti-shake control method further includes:

[0028] Obtain the displacement information of the boom cylinder detected by the displacement sensor, and calculate the current actual movement speed V of the boom cylinder. cur ;

[0029] in, L1 is the current displacement of the boom cylinder, and L2 is the displacement of the boom cylinder before time Δt.

[0030] In some embodiments, the loader operation anti-shake control method further includes:

[0031] Based on the current actual movement speed V of the boom cylinder cur The difference between the target's speed and the speed of motion is used for PID control;

[0032] Torque control is used to drive the hydraulic pump via a motor, thereby regulating the flow of hydraulic oil supplied to the boom cylinder.

[0033] The second aspect of this disclosure provides a loader operation anti-shake system for implementing the loader operation anti-shake control method of the above embodiments.

[0034] A third aspect of this disclosure provides a loader, comprising:

[0035] upper arm;

[0036] The boom cylinder is used to drive the boom to move in a vertical plane; and

[0037] The loader operation anti-shake system described in the above embodiment.

[0038] In some embodiments, the loader further includes:

[0039] Weighing sensors are used to detect the weight of materials inside the bucket;

[0040] Displacement sensors are used to detect the displacement information of the boom cylinder; and

[0041] The vehicle speed sensor is used to detect the speed of the loader.

[0042] Based on the above technical solution, this disclosure has at least the following beneficial effects:

[0043] The loader operation anti-shaking method of this embodiment addresses the problem of severe front-to-back shaking of the vehicle when the boom is lowered in an unloaded state and the vehicle is in reverse during the loading and unloading process. It adjusts the boom lowering speed in real time based on the opening information of the operating handle and the current driving speed information, and can accurately control the hydraulic oil flow to control the boom lowering speed. This can reduce the vehicle shaking problem under this working condition and avoid the low efficiency and lag problems caused by hydraulic valve control. Attached Figure Description

[0044] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0045] Figure 1 This is a schematic diagram of the module composition of some embodiments of the loader operation anti-shake system disclosed herein;

[0046] Figure 2 This is a flowchart illustrating some embodiments of the loader operation anti-shake control method disclosed herein;

[0047] Figure 3 The curve shows the change in the initial movement speed of the boom cylinder as a function of the handle opening.

[0048] Figure 4 This is a graph showing the change in the target movement speed of the boom cylinder as a function of vehicle speed.

[0049] Explanation of reference numerals in the attached figures

[0050] 1. Vehicle speed sensor; 2. Weighing sensor; 3. Displacement sensor; 4. Operating handle; 5. Vehicle controller; 6. Motor driver; 7. Drive motor; 8. Hydraulic pump; 9. Hydraulic valve; 10. Boom cylinder;

[0051] It should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0052] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0053] The terms "first," "second," and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as "above," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0054] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0055] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0056] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0057] In some embodiments, reference Figure 1 This disclosure provides a method for sway control during loader operation, including:

[0058] During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor 2 is obtained to determine whether the loader is in an unloaded state.

[0059] During the reverse movement of the vehicle, the vehicle's speed information is obtained.

[0060] Acquire the opening information of the control handle 4 for controlling the lowering of the boom;

[0061] In no-load condition, the target movement speed of the boom cylinder 10 is calculated based on the opening information of the operating handle 4 and the current travel speed information. The boom cylinder 10 is used to control the movement of the boom.

[0062] During the unloading process, the loader can remain stationary. The weighing sensor 2 detects the weight of the material in the bucket to determine whether the loader is in an empty or loaded state. In the loaded state, the material can be fully loaded or occupy part of the bucket's volume.

[0063] After unloading is completed, the loader is in an unloaded state. Then, the driver can control the boom cylinder 10 to lower the boom through the operating handle 4. Generally, the driver can also control the vehicle to move backward at the same time. The driver can apply an initial opening position to the operating handle 4. Then, the vehicle controller 5 (VCU) can automatically adjust the control signal sent to the motor driver 6 according to the opening information and the backward speed information of the vehicle. The motor driver 6 controls the drive motor 7 to rotate, thereby changing the speed of the hydraulic pump 8. The hydraulic pump 8 controls the boom cylinder 10 to extend and retract through the hydraulic valve 9, thereby changing the hydraulic oil passing through the boom cylinder 10 and controlling the lowering speed of the boom.

[0064] This embodiment addresses the problem of severe front-to-back shaking of a loader when the boom is lowered while the vehicle is reversing during material loading and unloading. It adjusts the boom lowering speed in real time based on the opening information of the operating handle 4 and the current driving speed, and precisely controls the hydraulic oil flow to control the boom lowering speed. This reduces vehicle shaking under these conditions, improves driver comfort, and avoids the low efficiency and lag issues associated with hydraulic valve control.

[0065] In some embodiments, prior to the step of calculating the target movement speed of the boom cylinder 10, the method further includes:

[0066] The initial movement speed of the boom cylinder 10 is calculated based on the opening information.

[0067] This embodiment takes into account that the opening information applied by the driver to the operating handle 4 can reflect the speed at which the driver wants the boom cylinder 10 to move. The initial movement speed of the boom cylinder 10 calculated based on the opening information can provide a basis for the movement speed of the boom during the descent process. For example, in order to ensure safety and reduce vibration, the real-time movement speed of the boom can be lower than the initial movement speed.

[0068] In some embodiments, calculating the initial movement speed of the boom cylinder 10 based on the opening information includes:

[0069]

[0070] Where V is the initial movement speed of the boom cylinder 10; D is the dead zone of the operating handle 4; X is the opening degree of the operating handle 4, with a value of 0-100; V max This is the maximum initial speed of the boom cylinder 10.

[0071] like Figure 3 As shown, when the opening degree of the operating handle 4 is within D, the boom cylinder 10 does not move. By setting a dead zone, malfunctions of the operating handle 4 can be prevented, improving unloading safety. When the opening degree of the operating handle 4 is beyond D, the maximum initial movement speed of the boom cylinder 10 increases linearly with the opening degree of the operating handle 4. When the opening degree of the operating handle 4 reaches 100%, the maximum initial movement speed of the boom cylinder 10 reaches V. max .

[0072] This embodiment can accurately and quantitatively calculate the initial movement speed of the boom cylinder 10 based on the opening information applied by the driver to the operating handle 4, so that the boom cylinder 10 descends at an appropriate speed and prevents excessive speed from causing violent shaking.

[0073] In some embodiments, such as Figure 4 As shown, the loader operation anti-shake control method also includes:

[0074] Set the lower threshold V during the movement of the boom cylinder 10. cmin and upper limit threshold V cmax .

[0075] This embodiment sets a lower threshold V during the descent of the boom cylinder 10. cmin This prevents the boom from descending too slowly, ensuring operational efficiency while keeping vibrations within a reasonable range; an upper limit threshold V is set for the boom cylinder 10 during the descent process. cmax This can prevent the boom from lowering too quickly, which would cause excessive vehicle vibration and improve the driver's operating comfort.

[0076] In some embodiments, the step of calculating the target movement speed of the boom cylinder 10 based on the opening information of the operating handle 4 and the current travel speed information includes:

[0077] In the first speed range, the boom cylinder 10 moves at the first target speed, which does not exceed the upper limit threshold.

[0078] In the second speed range, the boom cylinder 10 moves at the second target speed. The second speed range is greater than the first speed range, the second target speed is less than the first target speed, and the second target speed is not less than the lower threshold.

[0079] In the third speed range, the target movement speed of the boom cylinder 10 decreases from the first target speed to the second target speed, and the third speed range is located between the first speed range and the second speed range.

[0080] The first speed range, the third speed range, and the second speed range are set sequentially, with the first speed range and the third speed range being adjacent to each other, and the third speed range and the second speed range being adjacent to each other. For example, the first speed range is [0, Vh1], the third speed range is (Vh1, Vh2), and the second speed range is [Vh2, Vh3].

[0081] In the first speed range, the boom can descend at a relatively high speed due to the lower vehicle speed. However, to prevent excessive vibration, the speed cannot exceed the upper threshold. For ease of control, the target movement speed of the boom cylinder 10 can be set to a constant value within this range. In the second speed range, the boom descent speed needs to be limited due to the higher vehicle speed. However, to prevent the boom from descending too slowly and affecting work efficiency, the speed cannot fall below the lower threshold. For ease of control, the target movement speed of the boom cylinder 10 can be set to a constant value within this range. In the third speed range, which is the speed range commonly used by loaders, the target movement speed of the boom cylinder 10 decreases from the first target speed to the second target speed to prevent excessive vibration at higher vehicle speeds. This allows for precise adjustment of the boom descent speed.

[0082] In some embodiments, the first target speed is equal to the upper limit threshold, the second target speed is equal to the lower limit threshold, and the target movement speed of the boom cylinder 10 decreases linearly from the upper limit threshold to the lower limit threshold.

[0083] In the first speed range, due to the low speed, the boom descends directly at the upper threshold speed, maximizing work efficiency while preventing excessive vibration. In the second speed range, due to the higher speed, the boom descent speed needs to be limited, so the boom descends directly at the lower threshold speed, minimizing vibration during high-speed reversal and improving work safety. In the third speed range, the target movement speed of the boom cylinder 10 decreases linearly from the upper threshold to the lower threshold, making it easy to determine the target movement speed based on the vehicle speed and reducing control difficulty.

[0084] Specifically, such as Figure 4 As shown, in the third speed range, i.e. V h1 ≤V h ≤V h2 ,

[0085]

[0086] Among them, V c V is the target movement speed of the boom cylinder 10. cmax V is the upper limit threshold. cmin V is the lower threshold. h V represents the current vehicle speed. h1 and Vh2 These are the left and right endpoints of the third speed range, respectively.

[0087] Furthermore, in the first speed range, i.e. V h ≤V h1 V c =V cmax In the second speed range, i.e. V h ≥V h2 V c =V cmin .

[0088] In some embodiments, V cmax =V max ×k (k<1)

[0089] Among them, V cmax V is the upper limit threshold. max This is the maximum initial speed of the boom cylinder 10.

[0090] This embodiment determines the upper limit threshold during the descent process based on the maximum initial movement speed of the boom cylinder 10, and ensures that the upper limit threshold does not exceed the maximum initial movement speed, which can improve operational safety and reduce vibration.

[0091] In some embodiments, the loader operation anti-shake control method further includes:

[0092] Obtain the displacement information of the boom cylinder 10 detected by displacement sensor 3, and calculate the current actual movement speed V of the boom cylinder 10. cur ;

[0093] in, L1 is the current displacement of boom cylinder 10, and L2 is the displacement of boom cylinder 10 before time Δt.

[0094] This embodiment can calculate the actual movement speed of the boom cylinder 10 in real time based on the feedback information from the displacement sensor 3, so as to compare it with the target movement speed for more accurate control, thereby achieving the target movement speed and improving control accuracy.

[0095] In some embodiments, the loader operation anti-shake control method further includes:

[0096] Based on the current actual movement speed V of the boom cylinder 10 cur The difference between the target's speed and the speed of motion is used for PID control;

[0097] Torque control is used to drive the hydraulic pump 8 via the motor 7 to regulate the flow of hydraulic oil supplied to the boom cylinder 10.

[0098] This embodiment measures the current actual movement speed V of the boom cylinder 10. curPID control enables closed-loop control, improving control accuracy and precisely controlling the hydraulic oil flow into the boom cylinder 10. This, in turn, precisely controls the boom's descent speed, better suppressing vibrations during the loader's backward movement. Furthermore, torque-based control of the motor 7, using torque as the output parameter, allows the boom cylinder 10 to operate more smoothly, reducing vibrations.

[0099] Secondly, this disclosure provides a loader operation anti-shake system, characterized in that it is used to implement the loader operation anti-shake control method of the above embodiments.

[0100] Furthermore, this disclosure provides a loader, such as Figure 1 As shown, in some embodiments, it includes:

[0101] upper arm;

[0102] Boom cylinder 10 is used to drive the boom to move in a vertical plane; and

[0103] The loader operation anti-shake system of claim 11.

[0104] This embodiment addresses the problem of severe front-to-back shaking of a loader when the boom is lowered while the vehicle is reversing during material loading and unloading. It adjusts the boom lowering speed in real time based on the opening information of the operating handle 4 and the current driving speed, and precisely controls the hydraulic oil flow to control the boom lowering speed. This reduces vehicle shaking under these conditions, improves driver comfort, and avoids the low efficiency and lag issues associated with hydraulic valve control.

[0105] In some embodiments, such as Figure 1 As shown, the loader also includes:

[0106] Weighing sensor 2 is used to detect the weight information of the material in the bucket;

[0107] Displacement sensor 3 is used to detect the displacement information of boom cylinder 10; and

[0108] Vehicle speed sensor 1 is used to detect the speed of the loader.

[0109] Among them, the weighing sensor 2 can be installed on the bucket; the displacement sensor 3 can be installed on the boom cylinder 10, or the boom cylinder 10 with its own displacement sensor 3 can be used; the vehicle speed sensor 1 can be a GPS or a speed sensor, etc.

[0110] This embodiment, through the weighing sensor 2, displacement sensor 3, and vehicle speed sensor 1, can obtain the target movement speed of the boom cylinder 10 in real time based on the current travel speed information when the boom is lowered in an unloaded state and the vehicle is in reverse travel, and compare it with the actual movement speed V of the boom cylinder 10. cur Compared to precisely controlling the descent speed of the boom.

[0111] In some specific embodiments, such as Figure 1 As shown, the loader can be electrically or fuel-powered. Electric loaders also include a battery pack to power the loader.

[0112] The vehicle control unit (VCU) is connected to the vehicle speed sensor 1, load cell 2, displacement sensor 3, and operating handle 4 via low-voltage signals. It sends a drive control signal to the motor driver 6 to control the motor 7 to drive the hydraulic pump 8. Hydraulic fluid is supplied to the boom cylinder 10 through the hydraulic valve 9 to raise and lower the boom. The displacement sensor 3 detects the displacement of the boom cylinder 10. The driver issues a boom lowering command via the operating handle 4.

[0113] like Figure 2 As shown, the loader's anti-shake control method is as follows:

[0114] (1) The loader starts unloading and uses the weighing sensor 2 to report the weight of the material in order to determine whether the vehicle is unloaded.

[0115] (2) When the vehicle is in an unloaded state, the driver controls the vehicle to move backward, and the vehicle controller 5 (VCU) calculates the vehicle speed based on the feedback information from the drive motor 7 of the walking system.

[0116] (3) The driver simultaneously operates the handle 4 to control the boom to fall. The vehicle controller 5 (VCU) calculates the target movement speed of the boom cylinder 10 based on the opening information of the handle 4 and the current vehicle speed. At the same time, it sets the upper limit threshold and lower limit threshold of the cylinder movement speed.

[0117] (4) Calculate the real-time movement speed of the boom cylinder 10 based on the feedback information from the displacement sensor 3;

[0118] (5) PID adjustment is performed based on the difference between the real-time speed of the boom cylinder 10 and the target speed. Based on torque control, the motor 7 drives the hydraulic pump 8 for precise control, thereby achieving precise control of the boom's descent speed.

[0119] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for controlling vibration during loader operation, characterized in that, include: Set the lower and upper threshold values ​​during the movement of the boom cylinder (10); During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor (2) is obtained to determine whether the loader is in an unloaded state; During the reverse movement of the vehicle, the vehicle's speed information is obtained. Obtain the opening information of the control handle (4) for controlling the lowering of the boom; In the no-load state, the target movement speed of the boom cylinder (10) is calculated based on the opening information of the operating handle (4) and the current travel speed information. The boom cylinder (10) is used to control the movement of the boom. The step of calculating the target movement speed of the boom cylinder (10) based on the opening information of the operating handle (4) and the current travel speed information includes: In the first vehicle speed range, the boom cylinder (10) moves at a first target speed, which does not exceed the upper limit threshold. In the second speed range, the boom cylinder (10) moves at a second target speed. The second speed range is greater than the first speed range. The second target speed is less than the first target speed, and the second target speed is not less than the lower limit threshold. In the third speed range, the target movement speed of the boom cylinder (10) decreases from the first target speed to the second target speed, and the third speed range is located between the first speed range and the second speed range. In the third speed range, Among them, V c V is the target movement speed of the boom cylinder (10). cmax V is the upper limit threshold. cmin V is the lower threshold value. h V represents the current vehicle speed. h1 and V h2 These are the left and right endpoints of the third speed range, respectively.

2. The loader operation anti-shake control method as described in claim 1, characterized in that, Before the step of calculating the target motion speed of the boom cylinder (10), the following steps are also included: The initial movement speed of the boom cylinder (10) is calculated based on the opening information.

3. The loader operation anti-shake control method as described in claim 1, characterized in that, The initial movement speed of the boom cylinder (10) is calculated based on the opening information, including: Where V is the initial movement speed of the boom cylinder (10); D is the dead zone of the operating handle (4); X is the opening degree of the operating handle (4), with a value of 0-100; V max The maximum initial speed of the boom cylinder (10) is given.

4. The loader operation anti-shake control method as described in claim 1, characterized in that, The first target speed is equal to the upper limit threshold, the second target speed is equal to the lower limit threshold, and the target movement speed of the boom cylinder (10) decreases linearly from the upper limit threshold to the lower limit threshold.

5. The loader operation anti-shake control method as described in claim 1, characterized in that, V cmax =V max ×k(k<1) Among them, V cmax V is the upper limit threshold. max The maximum initial speed of the boom cylinder (10) is given.

6. The loader operation anti-shake control method according to any one of claims 1 to 5, characterized in that, Also includes: Obtain the displacement information of the boom cylinder (10) detected by the displacement sensor (3), and calculate the current actual movement speed V of the boom cylinder (10). cur ; in, L1 is the current displacement of the boom cylinder (10), and L2 is the displacement of the boom cylinder (10) before time Δt.

7. The loader operation anti-shake control method according to any one of claims 1 to 5, characterized in that, Also includes: According to the current actual movement speed V of the boom cylinder (10) cur The difference between the target's speed and the speed of motion is used for PID control. The motor drives the hydraulic pump based on torque control to regulate the flow rate of hydraulic oil supplied to the boom cylinder (10).

8. A loader operation anti-shake system, characterized in that, Used to implement the loader operation anti-shake control method according to any one of claims 1 to 7.

9. A loader, characterized in that, include: upper arm; The boom cylinder (10) is used to drive the boom to move in a vertical plane; and The loader operation anti-shake system as described in claim 8.

10. The loader as described in claim 9, characterized in that, Also includes: Weighing sensor (2) is used to detect the weight information of the material in the bucket; Displacement sensor (3) is used to detect the displacement information of the boom cylinder (10); and Vehicle speed sensor (1) is used to detect the driving speed of the loader.

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