A control method and system for a grate cooler grate bed

Abstract

The present invention discloses a control method and system for a grate cooler grate bed. The method includes: in the forward / backward deceleration stage of the grate bed, obtaining the actual position information of all grate cooler grate beds and the opening degrees of the multiple proportional valves of each row of grate cooler grate beds; comparing the actual position information with the predetermined position information, and adjusting the deceleration coefficient of the hydraulic drive system in the forward / backward deceleration stage according to the comparison result; generating a speed command based on the adjusted deceleration coefficient, the actual position information, and the opening degree, and performing closed-loop control to control the forward / backward movement of the hydraulic cylinder in the next cycle. The present invention can solve the problems of inaccurate stroke, poor synchronization, complex debugging process, and long debugging cycle in the traveling control of the grate bed driven by the hydraulic system of the current grate cooler.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and in particular to a control method and system for a grate bed of a grate cooler. Background Art

[0002] With the increasing maturity of cement production line technology and the widespread application of grate cooler systems, the demand for refined management and control of equipment is also increasing.

[0003] The demand for refined control of the grate cooler hydraulic system is mainly reflected in three aspects. First, for cement production companies, increasing clinker production is one of the main indicators they pursue. In addition to the overall capacity design, the control of the grate bed of the grate cooler is also an important factor that restricts the increase in production. Therefore, increasing the overall speed of the grate bed has often become one of the main means to increase production. However, if the grate bed stroke cannot be well controlled, resulting in a low actual average effective stroke, then even if the overall grate speed is improved, the actual effective conveying efficiency will be greatly reduced. Secondly, based on the high-frequency and high-speed reciprocating motion characteristics of the grate bed of the grate cooler, the traditional PID loop control method is unable to meet the control requirements of the grate bed stroke. Thirdly, closed-loop control often requires the debugging of a large number of related parameters. The debugging process is tedious and lengthy, and it is easy for human factors to cause misadjustment, resulting in abnormal grate movement and affecting normal production.

[0004] Therefore, it is urgent to design a control method and system for the grate bed of a grate cooler to meet the characteristics of parameter flexibility, debugging convenience, debugging intelligence, and control accuracy. Summary of the Invention

[0005] In response to the problems in the related art, the present invention proposes a control method and system for a grate bed of a grate cooler, which can solve the problems of inaccurate travel control, poor synchronization, complex debugging process and long debugging cycle of the grate bed driven by the hydraulic system of the current grate cooler.

[0006] The technical solution of the present invention is achieved as follows:

[0007] According to one aspect of the present invention, a control method for a grate bed of a grate cooler is provided. The control method is used for a hydraulic drive system of the grate cooler to drive the grate bed to move.

[0008] The control method of the grate bed of the grate cooler includes:

[0009] When the hydraulic drive system is running, the position information of the hydraulic cylinder is collected by the displacement sensor, and the position information of the hydraulic cylinder is fed back to the hydraulic drive system to calculate the position information of the grate bed of the grate cooler;

[0010] The hydraulic drive system controls the forward / backward movement of the hydraulic cylinder according to the speed command from the cooler control center and the position information of the cooler grate bed.

[0011] Among them, the hydraulic drive system controls the forward / backward movement of the hydraulic cylinder according to the speed command from the cooler control center and the position information of the cooler grate bed, including: when controlling the multi-way proportional valve to open uniformly and accelerate during the forward / backward acceleration stage of the grate bed, obtaining the position information of all cooler grate beds, and calculating the displacement average value of all cooler grate beds at the same moment; comparing the displacement average value with the displacement value of each queue of grate beds at the same moment, and when the comparison result shows that the displacement value of the current queue of grate beds is less than the displacement average value, taking the difference between the spool displacement value of the proportional valve corresponding to this queue of grate beds and the proportional valve dead zone depth value as the proportional valve drive value; adjusting the uniform acceleration time of the hydraulic drive system according to the proportional valve drive value, and generating a speed command according to the adjusted uniform acceleration time; controlling the forward / backward movement of the hydraulic cylinder in the next cycle according to the speed command.

[0012] Optionally, the range of the proportional valve dead zone depth value is 5 - 30 mm, the upper limit value of the uniform acceleration time is 500 - 900 ms, and the lower limit value of the uniform acceleration time is 100 ms - 400 ms.

[0013] Among them, the hydraulic drive system controlling the forward / backward movement of the hydraulic cylinder according to the speed command from the cooler control center and the position information of the cooler grate bed also includes: during the forward / backward deceleration stage of the grate bed, obtaining the actual position information of all cooler grate beds and the opening degree of the multi-way proportional valve of each row of cooler grate beds; comparing the actual position information with the predetermined position information, and adjusting the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage according to the comparison result; generating a speed command according to the adjusted deceleration coefficient, the actual position information and the opening degree, and controlling the forward / backward movement of the hydraulic cylinder in the next cycle in a closed-loop manner.

[0014] Among them, comparing the actual position information with the predetermined position information and adjusting the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage includes:

[0015] During the deceleration stage of the grate bed advancing, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system for advancing deceleration; during the deceleration stage of the grate bed advancing, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system for advancing deceleration; during the deceleration stage of the grate bed retracting, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system for retracting deceleration; during the deceleration stage of the grate bed retracting, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system for retracting deceleration.

[0016] Optionally, the adjustment range of the deceleration coefficient is 0.1 - 1.

[0017] According to another aspect of the present invention, a control system for the grate bed of a grate cooler is provided. The control system is used for the hydraulic drive system of the grate cooler to drive the grate bed to displace.

[0018] The control system for the grate bed of the grate cooler includes:

[0019] A position detection module, which is used to collect the position information of the hydraulic cylinder through a sensor during the operation of the hydraulic drive system, and feedback the position information of the hydraulic cylinder to the hydraulic drive system to calculate the position information of the grate bed of the grate cooler;

[0020] A forward / backward control module, which is used to control the forward / backward movement of the hydraulic cylinder according to the speed command of the control center of the grate cooler and the position information of the grate bed of the grate cooler.

[0021] Among them, when the forward / backward control module controls the multi-way proportional valve to open uniformly during the acceleration stage of the grate bed advancing / retracting, it obtains the position information of all the grate beds of the grate cooler and calculates the displacement average value of all the grate beds of the grate cooler at the same moment; compares the displacement average value with the displacement value of each queue of grate beds at the same moment, and when the comparison result shows that the displacement value of the current queue of grate beds is less than the displacement average value, takes the difference between the spool displacement value of the proportional valve corresponding to this queue of grate beds and the dead zone depth value of the proportional valve as the proportional valve drive value; adjusts the uniform acceleration time of the hydraulic drive system according to the proportional valve drive value, and generates a speed command according to the adjusted uniform acceleration time; controls the forward / backward movement of the hydraulic cylinder in the next round according to the speed command.

[0022] Optionally, the range of the dead zone depth value of the proportional valve is 5 - 30 mm, the upper limit value of the uniform acceleration time is 500 - 900 ms, and the lower limit value of the uniform acceleration time is 100 ms - 400 ms.

[0023] Among them, during the deceleration stage of the grate bed advancing / retreating, the advancing / retreating control module acquires the actual position information of all grate cooler beds and the opening degrees of the multi-way proportional valves of each column of grate cooler beds; compares the actual position information with the predetermined position information, and adjusts the deceleration coefficient of the hydraulic drive system during the deceleration stage of advancing / retreating according to the comparison result; produces a speed command based on the adjusted deceleration coefficient, the actual position information, and the opening degree, and closed-loop controls the advancing / retreating of the hydraulic cylinder in the next cycle.

[0024] Among them, the adjustment method when the advancing / retreating control module compares the actual position information with the predetermined position information and adjusts the deceleration coefficient of the hydraulic drive system during the deceleration stage of advancing / retreating includes: during the deceleration stage of the grate bed advancing, comparing the actual position information with the predetermined position information, and when the comparison result is that the actual position information is less than the predetermined position information, increasing the deceleration coefficient of the hydraulic drive system during the advancing deceleration; during the deceleration stage of the grate bed advancing, comparing the actual position information with the predetermined position information, and when the comparison result is that the actual position information is greater than the predetermined position information, decreasing the deceleration coefficient of the hydraulic drive system during the advancing deceleration; during the deceleration stage of the grate bed retreating, comparing the actual position information with the predetermined position information, and when the comparison result is that the actual position information is less than the predetermined position information, decreasing the deceleration coefficient of the hydraulic drive system during the retreating deceleration; during the deceleration stage of the grate bed retreating, comparing the actual position information with the predetermined position information, and when the comparison result is that the actual position information is greater than the predetermined position information, increasing the deceleration coefficient of the hydraulic drive system during the retreating deceleration.

[0025] Optionally, the adjustment range of the deceleration coefficient is 0.1 to 1.

[0026] Beneficial effects:

[0027] In the present invention, by detecting the position information of the grate bed and the average displacement value of the grate bed during the acceleration stage of the grate bed advancing / retreating, and adjusting the gap between the position information and the average displacement value by the dead zone depth value of the proportional valve, synchronous self-tuning optimization is achieved, ensuring accurate and synchronous stroke control during the acceleration stage of the grate bed advancing / retreating. In addition, by detecting the position information of the grate bed and the opening degree of the multi-way proportional valve during the deceleration stage of the grate bed advancing / retreating, then adjusting the deceleration coefficient according to the gap between the position information and the predetermined position information, using the position information as the control quantity and the opening degree as the controlled quantity, and implementing closed-loop control in combination with the adjusted deceleration coefficient, accurate and synchronous process control during the deceleration stage of the grate bed advancing / retreating is ensured. Description of the Drawings

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 is a schematic flowchart of a control method for a grate cooler grate bed according to an embodiment of the present invention;

[0030] Figure 2 is a schematic flowchart of the control method for the grate cooler grate bed in the forward / backward acceleration stage of the grate bed according to an embodiment of the present invention;

[0031] Figure 3 is a schematic flowchart of the control method for the grate cooler grate bed in the forward / backward deceleration stage of the grate bed according to an embodiment of the present invention;

[0032] Figure 4 is a structural block diagram of a control system for a grate cooler grate bed according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of the stroke area where the grate cooler hydraulic system drives the grate bed to move forward. Detailed implementation manners

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0035] According to an embodiment of the present invention, a control method and system for a grate cooler grate bed are provided.

[0036] As Figure 1 shown, a control method for a grate cooler grate bed according to an embodiment of the present invention includes:

[0037] Step S 101, when the hydraulic drive system is running, collect the position information of the hydraulic cylinder through a displacement sensor, and feed back the position information of the hydraulic cylinder to the hydraulic drive system to calculate the position information of the grate cooler grate bed;

[0038] Step S 103, the hydraulic drive system controls the hydraulic cylinder to move forward / backward according to the speed command of the grate cooler control center and the position information of the grate cooler grate bed.

[0039] In one embodiment, as Figure 2As shown, during the acceleration stage of the grate bed advancing / retreating, the hydraulic drive system controls the advancing / retreating of the hydraulic cylinder according to the speed command of the cooler control center and the position information of the grate bed of the cooler, including:

[0040] Step S201, when controlling the multi-way proportional valve to open with uniform acceleration during the acceleration stage of the grate bed advancing / retreating, obtain the position information of all grate beds of the cooler, and calculate the displacement average value of all grate beds of the cooler at the same moment;

[0041] Step S203, compare the displacement average value with the displacement value of each queue of grate beds at the same moment, and when the comparison result shows that the displacement value of the current queue of grate beds is less than the displacement average value, use the difference between the spool displacement value of the proportional valve corresponding to this queue of grate beds and the proportional valve dead zone depth value as the proportional valve drive value;

[0042] Step S205, adjust the uniform acceleration time of the hydraulic drive system according to the proportional valve drive value, and generate a speed command according to the adjusted uniform acceleration time;

[0043] Step S207, control the advancing / retreating of the hydraulic cylinder in the next cycle according to the speed command.

[0044] In specific applications, the range of the proportional valve dead zone depth value is 5 - 30 mm, the upper limit value of the uniform acceleration time is 500 - 900 ms, the lower limit value of the uniform acceleration time is 100 ms - 400 ms, and after the acceleration stage of the grate bed advancing / retreating, the grate enters the uniform speed stage of advancing / retreating. At this time, the adjustment range of the opening degree of the multi-way proportional valve of each row of grate beds is 0 - 100%.

[0045] In one embodiment, as Figure 3 shown, during the deceleration stage of the grate bed advancing / retreating, the hydraulic drive system controls the advancing / retreating of the hydraulic cylinder according to the speed command of the cooler control center and the position information of the grate bed of the cooler, and also includes:

[0046] Step S301, during the deceleration stage of the grate bed advancing / retreating, obtain the actual position information of all grate beds of the cooler and the opening degree of the multi-way proportional valve of each row of grate beds of the cooler;

[0047] Step S303, compare the actual position information with the predetermined position information, and adjust the deceleration coefficient of the hydraulic drive system during the deceleration stage of advancing / retreating according to the comparison result;

[0048] Step S305, generate a speed command according to the adjusted deceleration coefficient, the actual position information and the opening degree, and perform closed-loop control to control the advancing / retreating of the hydraulic cylinder in the next cycle.

[0049] In specific applications, since increasing the deceleration coefficient reduces the deceleration force and increases the stopping distance, while decreasing the deceleration coefficient increases the deceleration force and decreases the stopping distance. Therefore, the adjustment methods for comparing the actual position information with the predetermined position information and adjusting the deceleration coefficient during the forward / backward deceleration stage of the hydraulic drive system may include the following: 1) During the grate bed forward deceleration stage, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during forward deceleration, so that the actual stopping position gradually approaches the set position until it enters the floating deceleration dead zone value range above and below the set position; 2) During the grate bed forward deceleration stage, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during forward deceleration, so that the actual stopping position gradually approaches the set position until it enters the floating deceleration dead zone value range above and below the set position; 3) During the grate bed backward deceleration stage, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during backward deceleration, so that the actual stopping position gradually approaches the set position until it enters the floating deceleration dead zone value range above and below the set position; 4) During the grate bed backward deceleration stage, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during backward deceleration, so that the actual stopping position gradually approaches the set position until it enters the floating deceleration dead zone value range above and below the set position. Among them, the deceleration dead zone value range is 5 - 30 mm, and the adjustment range of the deceleration coefficient is 0.1 - 1.

[0050] Such as Figure 4As shown, a control system for a grate cooler grate bed according to an embodiment of the present invention includes: a position detection module 401, which is configured to collect the position information of the hydraulic cylinder through a sensor during the operation of the hydraulic drive system, and feedback the position information of the hydraulic cylinder to the hydraulic drive system to calculate the position information of the grate cooler grate bed; a forward / backward control module 403, which is configured to control the forward / backward movement of the hydraulic cylinder according to the speed instruction of the grate cooler control center and the position information of the grate cooler grate bed. And when the forward / backward control module 403 controls the multi-way proportional valve to open uniformly during the acceleration stage of the grate bed forward / backward movement, it obtains the position information of all grate cooler grate beds, and calculates the displacement average value of all grate cooler grate beds at the same moment; compares the displacement average value with the displacement value of each queue grate bed at the same moment, and when the comparison result shows that the displacement value of the current queue grate bed is less than the displacement average value, uses the difference between the spool displacement value of the proportional valve corresponding to this queue grate bed and the proportional valve dead zone depth value as the proportional valve drive value; adjusts the uniform acceleration time of the hydraulic drive system according to the proportional valve drive value, and generates a speed instruction according to the adjusted uniform acceleration time; controls the forward / backward movement of the hydraulic cylinder in the next cycle according to the speed instruction. The forward / backward control module 403 also obtains the actual position information of all grate cooler grate beds and the opening degree of the multi-way proportional valve of each row of grate cooler grate beds during the deceleration stage of the grate bed forward / backward movement; compares the actual position information with the predetermined position information, and adjusts the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage according to the comparison result; generates a speed instruction according to the adjusted deceleration coefficient, the actual position information and the opening degree, and controls the forward / backward movement of the hydraulic cylinder in the next cycle in a closed-loop manner.

[0051] During specific application, the adjustment method of the forward / backward control module 403 when comparing the actual position information with the predetermined position information and adjusting the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage of the grate bed includes: 1) During the forward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, increase the deceleration coefficient of the forward deceleration of the hydraulic drive system; 2) During the forward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, decrease the deceleration coefficient of the forward deceleration of the hydraulic drive system; 3) During the backward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, decrease the deceleration coefficient of the backward deceleration of the hydraulic drive system; 4) During the backward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, increase the deceleration coefficient of the backward deceleration of the hydraulic drive system.

[0052] To better understand the above technical solution of the present invention, the above solution of the present invention will be described in detail from the perspective of the principle idea below.

[0053] As Figure 5 shown, the starting position of the grate cooler is not at the starting point of the hydraulic cylinder, but at the position of the starting point of the hydraulic cylinder plus the buffer zone, aiming to prevent excessive hydraulic pressure caused by accidental hitting of the rod. For cost purposes, currently, the structure of the hydraulic system has evolved from the early standard of one hydraulic pump controlling the movement of 3 rows of grate coolers to one hydraulic pump controlling the movement of more rows of grate coolers. In some projects, one pump even controls 9 rows of grate coolers. This will cause the valve groups controlled by the same hydraulic pump to open simultaneously at the same time. Due to the uneven hydraulic flow, the movement speeds of each row of grate coolers are different. Usually, the grate cooler controlled by the valve group closer to the oil inlet will move first, and the grate cooler controlled by the valve group farther from the oil inlet will move later. Eventually, there is a serious lag difference in the overall forward movement of the grate cooler.

[0054] And the synchronous self-tuning optimization method can solve the above problems. The specific implementation steps of the synchronous self-tuning optimization method are to calculate the timed average value of the travel displacements of all the automatically controlled rows of the grate cooler. The timing is adjustable within 50 ms to 1 s after the start of acceleration. At the same time, compare the current travel displacement of each row of the grate cooler with the calculated average value. If it is less than the calculated average value minus the synchronous dead zone value (adjustable within 5 - 30 mm), then shorten the overall acceleration time of this row of the grate cooler in the next acceleration round to make it complete the acceleration action more quickly. On the contrary, if it is greater than the calculated average value plus the synchronous dead zone value (adjustable within 5 - 30 mm), then extend the overall acceleration time of this row of the grate cooler in the next acceleration round to make it complete the acceleration action more slowly. After running back and forth for several rounds like this, the parameters will be automatically tuned to synchronize the operation of all rows of the grate cooler and maintain stable operation within the dead zone range.

[0055] After completing the forward / backward acceleration stage, the grate cooler enters the uniform speed stage. Set the opening degree of the multi-way valve of each row of the grate cooler in the uniform speed stage, and the setting range is 0 - 100%. Adjust this parameter to make the grate cooler meet the requirement of the overall maximum speed.

[0056] After the grate cooler bed travels to the set stroke displacement, it enters the forward / backward deceleration stage. This stage uses the closed-loop self-tuning deceleration control method. The specific implementation steps of this method are to use the real-time displacement feedback value transmitted back by the displacement sensor installed in the lower air chamber of the grate cooler to measure the actual stroke of the hydraulic cylinder as the control quantity, and the opening degree of the multi-way proportional valve for each row of the grate cooler bed as the controlled quantity. It is a closed-loop proportional control method during the deceleration process when the opening degree of the multi-way proportional valve decreases from the value at the uniform motion to zero, and provides deceleration coefficient and dead zone range to adjust the actual deceleration effect. Increasing the deceleration coefficient, the deceleration force becomes smaller and the stopping distance increases; decreasing the deceleration coefficient, the deceleration force becomes larger and the stopping distance decreases.

[0057] The determination of the deceleration coefficient is by comparing the actual stopping position of the current round with the set position. During the forward deceleration process of the grate cooler bed, if the actual stopping position is less than the set position, the deceleration coefficient in the next round will increase, and the increase range is adjustable from 0.1 to 1; if the actual stopping position is greater than the set position, the deceleration coefficient in the next round will decrease, and the decrease range is adjustable from 0.1 to 1. During the backward deceleration process of the grate cooler bed, if the actual stopping position is less than the set position, the deceleration coefficient in the next round will decrease, and the increase range is adjustable from 0.1 to 1; if the actual stopping position is greater than the set position, the deceleration coefficient in the next round will increase, and the decrease range is adjustable from 0.1 to 1, so that the actual stopping position gradually approaches the set position until it enters the floating deceleration dead zone value range of the set position. After running back and forth for several rounds like this, the parameters will be automatically tuned to the extent that the operation of all rows of the grate cooler bed is synchronized, and enter the dead zone range to maintain stable operation.

[0058] After completing the forward / backward deceleration stage, the grate cooler bed will stop in the buffer zone as shown in Figure 5 to prevent the pressure increase caused by the top cylinder. All the above processes are a single round of the forward / backward movement of the grate cooler bed. Regularly repeating this process to complete the normal material pushing action.

[0059] In summary, by means of the above technical solutions of the present invention, by detecting the position information and the average displacement of the grate cooler bed during the forward / backward acceleration stage of the grate cooler bed, and adjusting the gap between the position information and the average displacement by the dead zone depth value of the proportional valve, the synchronous self-tuning optimization is realized, ensuring the accurate and synchronous stroke control during the forward / backward acceleration stage of the grate cooler bed. In addition, by detecting the position information of the grate cooler bed and the opening degree of the multi-way proportional valve during the forward / backward deceleration stage of the grate cooler bed, then adjusting the deceleration coefficient according to the gap between the position information and the predetermined position information, using the position information as the control quantity and the opening degree as the controlled quantity, and realizing the closed-loop control in combination with the adjusted deceleration coefficient, thus ensuring the accurate and synchronous process control during the forward / backward deceleration stage of the grate cooler bed.

[0060] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for the grate cooler grate bed, the control method being used for the hydraulic drive system of the grate cooler to drive the grate bed to displace, characterized in that, The control method includes: When the hydraulic drive system is operating, collect the position information of the hydraulic cylinder through a displacement sensor, and feedback the position information of the hydraulic cylinder to the hydraulic drive system to calculate the position information of the grate cooler grate bed; The hydraulic drive system controls the forward / backward movement of the hydraulic cylinder according to the speed command of the grate cooler control center and the position information of the grate cooler grate bed; The hydraulic drive system controls the forward / backward movement of the hydraulic cylinder according to the speed command of the grate cooler control center and the position information of the grate cooler grate bed, including: When controlling the multi-way proportional valve to open uniformly at a constant acceleration during the forward / backward acceleration stage of the grate bed, obtain the position information of all grate cooler grate beds, and calculate the displacement average value of all grate cooler grate beds at the same moment; Compare the displacement average value with the displacement value of each queue of grate beds at the same moment, and when the comparison result shows that the displacement value of the current queue of grate beds is less than the displacement average value, use the difference between the spool displacement value of the proportional valve corresponding to this queue of grate beds and the proportional valve dead zone depth value as the proportional valve drive value; According to the proportional valve drive value, adjust the constant acceleration time of the hydraulic drive system, and generate a speed command according to the adjusted constant acceleration time; Control the forward / backward movement of the hydraulic cylinder in the next cycle according to the speed command; The range of the proportional valve dead zone depth value is 5 - 30 mm, the upper limit value of the constant acceleration time is 500 - 900 ms, and the lower limit value of the constant acceleration time is 100 ms - 400 ms; The hydraulic drive system controls the forward / backward movement of the hydraulic cylinder according to the speed command of the grate cooler control center and the position information of the grate cooler grate bed, and also includes: During the forward / backward deceleration stage of the grate bed, obtain the actual position information of all grate cooler grate beds and the opening degree of the multi-way proportional valve of each row of grate cooler grate beds; Compare the actual position information with the predetermined position information, and adjust the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage according to the comparison result; Generate a speed command according to the adjusted deceleration coefficient, the actual position information and the opening degree, and perform closed-loop control to control the forward / backward movement of the hydraulic cylinder in the next cycle.

2. The control method of the grate cooler grate bed according to claim 1, wherein, Comparing the actual position information with the predetermined position information and adjusting the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage includes: During the forward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during forward deceleration; During the forward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during forward deceleration; During the backward deceleration stage of the grate bed, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during backward deceleration; During the deceleration stage of the grate bed retraction, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during retraction deceleration.

3. The control method of the grate cooler grate bed according to claim 2, characterized in that, The adjustment range of the deceleration coefficient is 0.1 - 1.

4. A control system for the grate cooler grate bed, the control system being used for driving the grate bed to displace by a hydraulic drive system of the grate cooler, characterized in that, The control system includes: A position detection module, which, when the hydraulic drive system is operating, collects the position information of the hydraulic cylinder through a sensor, feeds back the position information of the hydraulic cylinder to the hydraulic drive system, and calculates the position information of the grate cooler grate bed. A forward / backward control module, which controls the forward / backward movement of the hydraulic cylinder according to the speed command of the grate cooler control center and the position information of the grate cooler grate bed. When the forward / backward control module controls the multi-way proportional valve to open uniformly during the acceleration stage of the grate bed forward / backward movement, it acquires the position information of all grate cooler grate beds, calculates the displacement average value of all grate cooler grate beds at the same moment; compares the displacement average value with the displacement value of each queue of grate beds at the same moment, and when the comparison result shows that the displacement value of the current queue of grate beds is less than the displacement average value, takes the difference between the spool displacement value of the proportional valve corresponding to this queue of grate beds and the proportional valve dead zone depth value as the proportional valve drive value; adjusts the uniform acceleration time of the hydraulic drive system according to the proportional valve drive value, generates a speed command according to the adjusted uniform acceleration time; and controls the forward / backward movement of the hydraulic cylinder in the next cycle according to the speed command. During the deceleration stage of the grate bed forward / backward movement, the forward / backward control module acquires the actual position information of all grate cooler grate beds and the opening degree of the multi-way proportional valve of each row of grate cooler grate beds; compares the actual position information with the predetermined position information, and adjusts the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage according to the comparison result; generates a speed command according to the adjusted deceleration coefficient, the actual position information, and the opening degree, and closed-loop controls the forward / backward movement of the hydraulic cylinder in the next cycle.

5. The control system of the grate cooler grate bed according to claim 4, characterized in that, The adjustment method of the forward / backward control module when comparing the actual position information with the predetermined position information and adjusting the deceleration coefficient of the hydraulic drive system during the forward / backward deceleration stage includes: During the deceleration stage of the grate bed forward movement, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during forward deceleration. During the deceleration stage of the grate bed forward movement, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during forward deceleration. During the deceleration stage of the grate bed retraction, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is less than the predetermined position information, decrease the deceleration coefficient of the hydraulic drive system during retraction deceleration. During the deceleration stage of the grate bed retraction, compare the actual position information with the predetermined position information. When the comparison result shows that the actual position information is greater than the predetermined position information, increase the deceleration coefficient of the hydraulic drive system during retraction deceleration.

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