Composite action control method and device of loader hydraulic system and storage medium

Abstract

The invention provides a composite action control method and device for a hydraulic system of a loader and a storage medium, and the method comprises the steps: collecting a position signal of a handle in real time through a handle position sensor, and converting the position signal into corresponding action depth information; determining a current operation mode based on the motion depth information; according to the current operation model, an electromagnetic valve driving current distribution strategy is executed, and action electromagnetic valve driving current corresponding to a composite action mode is alternately output according to a preset alternate control period and action time proportion in response to the fact that the current operation model is in the composite action mode; and traversing and circulating the steps until the operation of the loader is completed. Signals are collected through the handle position sensor and converted into action depth information, the operation mode is intelligently judged, electromagnetic valve driving currents are alternately output for composite actions according to the preset period and proportion, and the technical effects of precise control, quick response to operation intentions, precise coordination of the composite actions and stable operation of the loader are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of hybrid power engineering machinery, and in particular to a composite motion control method, device and storage medium of a loader hydraulic system. Background Art

[0002] At present, in the actual application of loaders, the performance of their hydraulic systems plays a vital role in the operating efficiency and operational convenience of the loaders. However, the hydraulic systems used by most loaders on the market have certain limitations. Among them, the more prominent problem is that most loaders adopt a hydraulic system design that prioritizes the bucket retracting. Under this design, once the bucket retracting valve is opened, the lifting and lowering circuits will automatically close, making it difficult for the loader to achieve compound actions during actual operations. For example, when the driver needs to perform bucket retracting and lifting operations at the same time, due to the characteristic limitations of the hydraulic system, it cannot be completed smoothly, which greatly affects the adaptability and work efficiency of the loader in complex operating scenarios.

[0003] When operating a loader, if the driver wants to achieve continuous operations such as bucket retracting-lifting-bucket retracting-lifting, he needs to frequently manually control the operating handle to switch back and forth between bucket retracting and lifting. However, human hands move relatively slowly, and this frequent manual switching not only increases the driver's operating difficulty and fatigue, but also seriously affects the operating efficiency, and cannot meet the demand for efficient operation of loaders in modern engineering construction and other fields. Summary of the invention

[0004] The purpose of this application is to provide a compound action control method, device and storage medium for a loader hydraulic system, which have solved the above-mentioned technical problems.

[0005] According to the first aspect of the present application, a compound action control method of a loader hydraulic system is proposed, the method comprising the following steps:

[0006] S1. Using a handle position sensor to collect a handle position signal in real time, and converting the position signal into corresponding action depth information;

[0007] S2, judging the current operation mode based on the action depth information;

[0008] S3, executing the solenoid valve driving current distribution strategy according to the current operation model, wherein, in response to the current operation model being a compound action mode, the action solenoid valve driving current corresponding to the compound action mode is alternately output according to a preset alternating control cycle and action time ratio;

[0009] S4, traverse and loop through steps S1 to S3 until the loader operation is completed.

[0010] In the above technical scheme, the present application collects signals through the handle position sensor and converts them into action depth information, thereby intelligently judging the operation mode, alternately outputting the solenoid valve driving current for the compound action according to a preset cycle and proportion, and traversing the cyclic execution steps, thereby achieving the technical effects of precise control, rapid response to operation intentions, precise coordination of compound actions and ensuring stable operation of the loader.

[0011] Further, the compound action mode includes one of a lifting bucket mode, a lifting bucket mode, a lowering bucket mode and a lowering bucket mode. These compound action modes can meet different operation requirements and improve the versatility and adaptability of the loader.

[0012] Furthermore, the action depth information is the calibration variable value corresponding to the bucket retracting action, bucket tipping action, lifting action and lowering action. By converting the action depth information into the calibration variable value, the precise quantification and control of the action can be achieved.

[0013] Furthermore, the solenoid valve driving current distribution strategy includes:

[0014] In response to the current operation mode being the compound action mode, within the alternating control cycle, the operation controller issues a high-frequency control instruction to control the two action solenoid valves corresponding to the compound action of the compound action mode, and alternately outputs the drive current at the action time under the corresponding proportion, wherein the target value of the drive current is set to the calibrated variable value converted from the action depth information corresponding to the two action solenoid valves.

[0015] In the above technical scheme, the present application realizes precise control of the compound action solenoid valve through high-frequency control instructions and precise drive current target value setting. The control strategy under the compound action mode can realize precise coordination of compound actions and improve the operating efficiency and operational flexibility of the loader.

[0016] Furthermore, the action solenoid valves include bucket retracting action solenoid valves, bucket tipping action solenoid valves, lifting action solenoid valves and lowering action solenoid valves, and the operation controller gives priority to controlling the bucket retracting action solenoid valve or the bucket tipping action solenoid valve. This design takes into account the characteristics of the hydraulic system, ensuring that bucket retracting or bucket tipping action is performed first in compound actions, improving the stability and safety of the system.

[0017] Furthermore, the solenoid valve driving current distribution strategy also includes:

[0018] In response to the current operation mode being a single mode of action operation among bucket retracting action, bucket tipping action, lifting action and lowering action, the hydraulic system controls the driving current of the action solenoid valve corresponding to the action operation, and sets the target value of the driving current to the calibrated variable value converted from the action depth information.

[0019] In the above technical solution, the control method of the present application in the single action mode can realize the precise control of a single action and meet the individual action requirements under different operation needs.

[0020] Furthermore, the current operation mode is the middle zone mode, and the solenoid valve drive current distribution strategy is to set the solenoid valve drive current corresponding to the bucket retracting action, bucket tipping action, lifting action, and lowering action controlled by the hydraulic system to the lowest value allowed by the hydraulic system. Reducing the solenoid valve drive current reduces energy consumption, extends the service life of the hydraulic system, and avoids misoperation.

[0021] Furthermore, the position signal is obtained based on the position sensor, which is used to identify the left and right action position and / or the front and back action position of the handle. Through the multi-directional position sensor, the position change of the handle can be accurately obtained, providing comprehensive data support for achieving precise action control.

[0022] According to the second aspect of the present application, a compound action control device for a loader hydraulic system is proposed, the device comprising:

[0023] The motion depth information acquisition module is configured to collect the position signal of the handle in real time using the handle position sensor, and convert the position signal into corresponding motion depth information;

[0024] A current operation mode determination module configured to determine the current operation mode based on the action depth information;

[0025] A driving current distribution module is configured to execute a solenoid valve driving current distribution strategy according to a current operation model, wherein, in response to the current operation model being a compound action mode, the driving current of the action solenoid valve corresponding to the compound action mode is alternately output according to a preset alternating control cycle and action time ratio;

[0026] The traversal execution module is configured to traverse the loop execution action depth information acquisition module, the current operation mode judgment module and the drive current distribution module until the loader operation is completed.

[0027] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the compound action control method of the loader hydraulic system as described above are implemented.

[0028] Compared with the prior art, the beneficial results of the present invention are:

[0029] (1) The present invention collects the handle position signal in real time through the handle position sensor and converts it into action depth information, which can obtain the operation instruction more accurately. Compared with the more ambiguous operation judgment method in the traditional technology, the accuracy and response speed of the operation are greatly improved. The current operation mode is judged based on the action depth information, so that the loader can quickly adapt to different operation requirements, improve the versatility and adaptability of the loader, and overcome the problem of single operation mode and difficulty in meeting complex working conditions in the prior art.

[0030] (2) For the compound action mode, the present invention adopts a preset alternating control cycle and action time ratio to alternately output the action solenoid valve drive current, thereby realizing accurate coordinated control of the compound action, greatly improving the working efficiency, reducing the shoveling time, and thus improving the product competitiveness. At the same time, the present invention realizes the compound action through software strategy, no longer relying on the compound action hydraulic valve body, and reducing the hardware cost.

[0031] (3) The present invention ensures that the loader maintains stable operation during the entire operation process by traversing and looping through various steps, thereby improving the reliability and stability of the system and reducing equipment damage and safety risks caused by unstable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and are used together with the description to explain the principles of the present invention. It will be easy to recognize other embodiments and many expected advantages of the embodiments because they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar parts.

[0033] Figure 1 is a flow chart of a composite motion control method of a loader hydraulic system according to an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of comprehensive operation awareness recognition distribution according to an embodiment of the present application;

[0035] Figure 3 is a diagram of the solenoid valve drive current distribution strategy architecture according to one embodiment of the present application;

[0036] Figure 4 is a schematic diagram of current control in a lifting and bucket retracting composite action mode according to an embodiment of the present application;

[0037] Figure 5 It is a framework diagram of a compound motion control device of a loader hydraulic system according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] This application proposes a composite action control method for a loader hydraulic system, referring to Figure 1 , Figure 1 A flow chart of a composite motion control method of a loader hydraulic system according to the present application is shown, and the method comprises the following steps:

[0040] S101, using a handle position sensor to collect a handle position signal in real time, and converting the position signal into corresponding action depth information.

[0041] In some specific embodiments, the loader has two control schemes: single handle and double handle. For the single handle scheme, X represents the left and right action position, and Y represents the front and back action position. Inside the handle, a position sensor is designed for the two action directions X and Y respectively. Based on the different positions of the handle, different electrical signals are output to indicate the depth of action in each direction. For the double handle scheme, each handle can only perform forward and backward actions, and each handle is also designed with a position sensor for the forward and backward action directions. Based on the different positions of the handle, different electrical signals are output to indicate the action depth in each handle. Regardless of which control scheme is adopted, it is necessary to convert the electrical signal recognized by the position sensor into action depth information for a certain action direction.

[0042] Assume that signal A represents an electrical signal obtained by the position sensor of the handle in the X direction or one of the two handles, which is defined as an analog quantity of 0-5V, and the mid-position is set to 2.5V. On this basis, the following corresponding relationship can be designed. The value range of signal A is [0, 0.5, 2.3, 2.5, 2.7, 4.5, 5]. Signal A corresponds to two opposite action directions of a set of action cylinders. According to the signal value of signal A, the design can be carried out: when signal A is in the interval [0.5, 2.3], it corresponds to [100%, 0%] of the bucket collection action, and the specific value can be set as a calibration variable; when signal A is in the interval [2.7, 4.5], it corresponds to [0%, 100%] of the bucket tipping action, and the specific value can be set as a calibration variable; when signal A is in the interval (2.3, 2.7), it corresponds to 0% for both bucket collection and bucket tipping actions, and the specific value can be set as a calibration variable. The action corresponding to the specific signal channel can be adjusted according to the actual needs of the equipment. Following the same idea, assuming that signal B represents an electrical signal obtained by the position sensor of the Y direction of the handle or the remaining handle in the double handle, when signal B is in the interval [0.5, 2.3], it corresponds to [100%, 0%] of the lifting action, and the specific value can be set as the calibration variable; when signal B is in the interval [2.7, 4.5], it corresponds to [0%, 100%] of the lowering action, and the specific value can be set as the calibration variable; when signal B is in the interval (2.3, 2.7), the corresponding lifting and lowering actions are 0%, and the specific value can be set as the calibration variable. The action corresponding to the specific signal channel can be adjusted according to the actual needs of the equipment.

[0043] S102: Determine the current operation mode based on the action depth information.

[0044] In some specific embodiments, reference Figure 2 , Figure 2 A schematic diagram of the integrated operation awareness recognition distribution according to the present application is shown, as shown in 2 and Figure 3 As shown, according to the action depth information of the four directions of lifting, lowering, bucket tipping and bucket collection obtained by step S101, it is possible to judge and distinguish the concentrated working areas including the middle zone mode 0, the boom lifting mode 1, the boom lowering mode 2, the bucket collection mode 3, the bucket tipping mode 4, the lifting and bucket collection composite action mode 5, the lifting and bucket tipping composite action mode 6, the lowering and bucket tipping composite action mode 7, and the lowering and bucket collection composite action mode 8. Specifically, the action depth information is the specific values ​​of the calibration variables corresponding to the bucket collection action, the bucket tipping action, the lifting action and the lowering action.

[0045] S103. Execute the corresponding solenoid valve drive current distribution strategy according to the current operation model, wherein, in response to the current operation model being a compound action mode, the corresponding solenoid valve drive current in the compound action mode is alternately output according to a preset alternating control cycle and action time ratio.

[0046] In some specific embodiments, in response to the current operation mode being a compound action mode, within the alternating control cycle, the operation controller issues a high-frequency control instruction to control the two action solenoid valves corresponding to the compound action of the compound action mode, and alternately outputs the driving current at the action time under the corresponding proportion, wherein the target value of the driving current is respectively set to the calibrated variable value converted from the action depth information corresponding to the two action solenoid valves, wherein the action solenoid valves include a bucket collection action solenoid valve, a bucket tipping action solenoid valve, a lifting action solenoid valve, and a lowering action solenoid valve, and the operation controller preferentially controls the bucket collection action solenoid valve or the bucket tipping action solenoid valve. Specifically, the operation controller can be one or more of a programmable logic controller (PLC), an embedded controller, and an industrial computer, which is responsible for receiving the signal of the handle position sensor, performing logical operations and judgments, and determining the current operation mode. In the compound action mode, the driving current output of the two action solenoid valves is accurately controlled according to the preset alternating control cycle and action time ratio. In response to the current operation mode being a single mode of action operation among bucket retracting action, bucket tipping action, lifting action and lowering action, the hydraulic system controls the driving current of the action solenoid valve corresponding to the action operation, and sets the target value of the driving current to the calibrated variable value converted from the action depth information.

[0047] Further references Figure 3 , Figure 3 The schematic diagram of the electromagnetic valve driving current distribution strategy according to the present application is shown in FIG. Figure 2 and 3 As shown, a signal A is received from the position sensor of handle A (X direction), and the signal A is converted into the action depth information of the action direction corresponding to the handle A (X direction); a signal B is received from the position sensor of handle B (Y direction), and the signal B is converted into the action depth information of the action direction corresponding to the handle B (Y direction). Figure 2 The comprehensive operation awareness recognition method in the present invention comprehensively judges the operation intention of the current operation mode, and adopts different current control strategies based on the judged operation intention. The specific strategies are as follows:

[0048] When it is determined that the operation intention is in the neutral zone mode, the control current of the bucket retracting, bucket tipping, lifting and lowering solenoid valves are all set to 0 or the lowest value allowed by the system.

[0049] When it is determined that the operation intention is in boom lifting mode 1, the control current of the bucket retracting, bucket tipping, and lowering solenoid valves is set to 0 or the lowest value allowed by the system. The lifting solenoid valve current determines the current target value based on the lifting action depth information converted from signal A or signal B. For example, when the lifting action depth is 100% (representing the maximum depth and requiring the maximum action speed), the lifting solenoid valve current is also set to the maximum value.

[0050] When it is determined that the operation intention is in boom lowering mode 2, the control current of the bucket retracting, bucket tipping, and lifting solenoid valves is set to 0 or the lowest value allowed by the system. The lowering solenoid valve current determines the current target value based on the lifting action depth information converted from signal A or signal B. For example, when the lifting action depth is 100% (representing the maximum depth and requiring the maximum action speed), the lowering solenoid valve current is also set to the maximum value.

[0051] When the operation intention is judged to be in bucket retracting mode 3, the control current of the bucket tipping, lifting, and lowering solenoid valves is set to 0 or the lowest value allowed by the system. The bucket retracting solenoid valve current determines the current target value based on the lifting action depth information obtained by converting the signal A or signal B. For example, when the lifting action depth is 100% (representing the maximum depth and requiring the maximum action speed), the bucket retracting solenoid valve current is also set to the maximum value.

[0052] When it is determined that the operation intention is in the bucket mode 4, the control current of the bucket retracting, lifting, and lowering solenoid valves is set to 0 or the lowest value allowed by the system. The bucket solenoid valve current determines the current target value based on the lifting action depth information converted from signal A or signal B. For example, when the lifting action depth is 100% (representing the maximum depth and requiring the maximum action speed), the bucket solenoid valve current is also set to the maximum value.

[0053] When it is determined that the operation intention is in the lifting and retracting combined action mode 5, the control current of the bucket tipping and lowering solenoid valves is set to 0 or the lowest value allowed by the system. The current of the bucket retracting and lifting solenoid valves is determined according to the lifting action depth information converted from signal A and signal B. For example, when the lifting action depth is 100% (representing the maximum depth and requiring the maximum action speed), the current of the bucket retracting and lifting solenoid valves is also set to the maximum value. For further reference Figure 4 , Figure 4The current control schematic diagram of the lifting and bucket-collecting composite action mode according to the present application is shown. As shown in the figure, in the alternating control schematic diagram, T represents the program-controlled alternating control cycle, t1 represents the program-controlled bucket-collecting action time, t2 represents the program-controlled lifting action time, Ic_1 represents the program-controlled bucket-collecting solenoid valve current during the bucket-collecting action, Ic_2 represents the program-controlled bucket-collecting solenoid valve current during the lifting action, Iu_1 represents the program-controlled lifting solenoid valve current during the lifting action, and Iu_2 represents the program-controlled lifting solenoid valve current during the bucket-collecting action. According to the characteristics of the hydraulic system, the values ​​of T, t1, t2, etc. are reasonably set to achieve different composite action effects. At the same time, the hydraulic system has the characteristic of bucket-collecting priority. When the bucket-collecting solenoid valve current exceeds a specific value, no matter how the lifting solenoid valve current is at this time, the oil circuit where the lifting solenoid valve is located will be forcibly cut off, thereby stopping the lifting action and only executing the bucket-collecting action. For example, in the combined action of bucket retracting and lifting, if the bucket retracting action requires a larger hydraulic flow, the operation controller will give priority to controlling the bucket retracting solenoid valve to ensure the smooth progress of the bucket retracting action. By regulating the alternating control cycle T and reasonably setting the proportional relationship between the bucket retracting time t1 and the lifting time t2 within the cycle T, it is possible to achieve precise control of the execution time of the lifting and bucket retracting actions, thereby achieving the hydraulic system's distribution operation of the flow or pressure of the lifting cylinder and bucket retracting cylinder. When designing the alternating control cycle T, the response time of the solenoid valve startup and shutdown must be fully considered.

[0054] Taking advantage of the high-frequency control command issued by the operation controller program, when the driver operates the operation handle to require both bucket collection and lifting actions, the operation controller can alternately output drive current to the bucket collection solenoid valve and the lifting solenoid valve. This alternating output method can achieve the compound action of lifting and bucket collection under the hydraulic system's bucket collection priority. By continuously adjusting the alternating control cycle T and the ratio of bucket collection action time t and lifting action time t2, the execution time and intensity of the lifting and bucket collection actions can be flexibly adjusted according to different operation requirements and working conditions, thereby improving the operation efficiency and adaptability of the loader. At the same time, the current target values ​​of the bucket collection and lifting solenoid valves are determined based on the lifting action depth information obtained by converting signal A and signal B, so that precise control of the compound action can be achieved, meeting the requirements for loader action accuracy in different operation scenarios.

[0055] When the operation intention is determined to be the lifting and dumping compound action mode 6, the lowering and dumping compound action mode 7, and the lowering and bucket collection compound action mode 8, the control current distribution method and principle of the corresponding action solenoid valves in these three modes are highly similar to the lifting and bucket collection compound action mode 5. In order to achieve the simplicity and efficiency of the description of the specification, when the operation intention is in any of the above three modes, it can be explained based on the design of the lifting and bucket collection compound action mode 5.

[0056] S104, traverse and loop through steps S101 to S103 until the loader operation is completed.

[0057] In some specific embodiments, steps S101 to S103 are continuously executed in a loop, and the state of the hydraulic system and the change of the handle position are monitored in real time during the operation of the loader. The control strategy is dynamically adjusted according to the monitoring results to ensure the stable operation and efficient operation of the loader hydraulic system. The cycle process is continued until the loader's operation task is completed.

[0058] Further references Figure 5 As an implementation of the above method, in the second aspect, the present application provides an embodiment of a composite motion control device 500 of a loader hydraulic system, the system embodiment and Figure 1 The system can be applied to various electronic devices. The device 500 includes an action depth information acquisition module 501, a current operation mode determination module 502, a drive current distribution module 503 and a traversal execution module 504 which are connected to each other in communication, wherein:

[0059] The motion depth information acquisition module 501 is configured to collect the position signal of the handle in real time using the handle position sensor, and convert the position signal into corresponding motion depth information;

[0060] A current operation mode determination module 502, configured to determine a current operation mode based on the action depth information;

[0061] The driving current distribution module 503 is configured to execute the solenoid valve driving current distribution strategy according to the current operation model, wherein, in response to the current operation model being a compound action mode, the action solenoid valve driving current corresponding to the compound action mode is alternately output according to a preset alternating control cycle and action time ratio;

[0062] The traversal execution module 504 is configured to traverse the loop execution action depth information acquisition module, the current operation mode determination module and the driving current distribution module until the loader operation is completed.

[0063] Although the principles of the present invention are described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are merely explanations of the exemplary implementations of the present invention, and are not intended to limit the scope of the present invention. The details in the embodiments do not constitute limitations on the scope of the present invention, and any obvious changes such as equivalent transformations, simple replacements, etc. based on the technical solution of the present invention, without departing from the spirit and scope of the present invention, fall within the protection scope of the present invention.

Claims

1. A compound action control method for a loader hydraulic system, characterized in that: The method comprises: S1. Using a handle position sensor to collect a handle position signal in real time, and converting the position signal into corresponding action depth information; S2. determining a current operation mode based on the action depth information; S3, executing the solenoid valve driving current distribution strategy according to the current operation model, wherein, in response to the current operation model being a compound action mode, the action solenoid valve driving current corresponding to the compound action mode is alternately output according to a preset alternating control cycle and action time ratio; S4, traverse and loop through steps S1 to S3 until the loader operation is completed.

2. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The compound action mode includes one of a bucket lifting and retracting mode, a bucket lifting and dumping mode, a bucket lowering and retracting mode, and a bucket lowering and dumping mode.

3. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The action depth information is the calibration variable value corresponding to the bucket retracting action, bucket tipping action, lifting action and lowering action.

4. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The solenoid valve driving current distribution strategy includes: In response to the current operation mode being the compound action mode, within the alternating control cycle, the job controller issues a high-frequency control instruction to control the two action solenoid valves corresponding to the compound action of the compound action mode, and alternately outputs a drive current at the action time under a corresponding proportion, wherein the target value of the drive current is respectively set to the calibrated variable value converted from the action depth information corresponding to the two action solenoid valves.

5. The compound motion control method of the loader hydraulic system according to claim 4, characterized in that: The action solenoid valves include a bucket retracting action solenoid valve, a bucket tipping action solenoid valve, a lifting action solenoid valve and a lowering action solenoid valve, and the operation controller preferentially controls the bucket retracting action solenoid valve or the bucket tipping action solenoid valve.

6. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The solenoid valve driving current distribution strategy also includes: In response to the current operation mode being a single mode of action operation among bucket retracting action, bucket tipping action, lifting action and lowering action, the hydraulic system controls the driving current of the action solenoid valve corresponding to the action operation, and sets the target value of the driving current to the calibrated variable value converted from the action depth information.

7. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The current operation mode is the mid-range mode, and the solenoid valve drive current distribution strategy is to set the solenoid valve drive currents corresponding to the bucket retracting action, bucket tipping action, lifting action, and lowering action controlled by the hydraulic system to the lowest value allowed by the hydraulic system.

8. The compound motion control method of the loader hydraulic system according to claim 1, characterized in that: The position signal is obtained based on a position sensor, and the position sensor is used to identify the left-right action position and / or the front-back action position of the handle.

9. A compound motion control device for a loader hydraulic system, characterized in that: The device comprises: The motion depth information acquisition module is configured to collect the position signal of the handle in real time using the handle position sensor, and convert the position signal into corresponding motion depth information; a current operation mode determination module, configured to determine the current operation mode based on the action depth information; A driving current distribution module is configured to execute a solenoid valve driving current distribution strategy according to a current operation model, wherein, in response to the current operation model being a composite action mode, the action solenoid valve driving current corresponding to the composite action mode is alternately output according to a preset alternating control cycle and action time ratio; The traversal execution module is configured to traverse the loop execution action depth information acquisition module, the current operation mode judgment module and the drive current distribution module until the loader operation is completed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the compound action control method of the loader hydraulic system as described in any one of claims 1 to 8 are implemented.

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