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The controller response showed a suitable control behavior independent of the noisy multivariable modification. Highlights • MIMO control system design based on the MPC strategy for a SAG mill. • Control action exhibit an additional effort in the water as manipulated variable.
A study of control strategy for the bin system with tube mill in the coal fired power station. ISA TRANSACTIONS. 2002, 41 (2): 215-224 (SCI) Zhang TJ, Lu JH. A pso-based multivariable Fuzzy Decision-Making predictive controller for a once-through 300MW power plant CYBERNETICS AND SYSTEMS. 2006, 37 (5): 417-441 (SCI) ...
In the last decades approaches varying from decentralized PID control to multivariable predictive control have been applied to control of SAG mills with variable success; at …
The Multivariable Predictive Controller proposed in this paper can set the SAG Mill operation in the optimal zone maximizing profits without restriction violation. The supervisory strategy finds the optimal Hold Up set-point by performing simple online calculations.
adequately control the mill; resulting in poor stability, frequent operator interventions and less than optimum performance. This paper describes the successful integration of advanced field systems such as mill feed image analysis (Wipfrag) and crusher gap controller (ASRi), into a multi-variable fuzzy logic SAG mill controller.
a semi-autogenous (SAG) mill. AG/SAG mills are often used as the first stage in a two- or multiple-stage grinding process, where the second stage is carried out by ... As mentioned, multivariate control in grinding mills is largely absent — despite the complexity of the grinding process, in which feed rate, mill rotation speed, ore
multivariable predictive control in a way that provides immediate returns, we work with them to ensure benefits continue to be realized over the long ... SAG Mill Rod Mill Ball Mill Stirred Mill Flotation(train) Thickener/WasherTrain Induration Furnace Kiln-Roaster Acid Plant SXEW(train) Digestion(autoclave)
The behavior of the SAG mill circuit is multivariable i.e. exhibit complex interactions and nonlinear behavior between the process variables. It is also dynamic i.e. delay times between variables within the process need to be considered before control actions are executed. Given these challenges, the objectives for acceptable SAG mill operation ...
SAG Mill Circuit Example — Gold Processing SAG mill circuit example for gold processing [image: (135-6-3)] AG/SAG Mill. AG/SAG mills are normally used to grind run-off-mine ore or primary crusher product. Wet grinding in an AG/SAG mill is accomplished in a slurry of 50 to 80 percent solids. 2D and 3D simulations of particles in a SAG Mill. More
concentrator site in order to tightly control the weight in the SAG mill to promote optimum grinding. This stra-tegy has improved mill throughput by 5.9%, reduced feed variability by 5.6%, and reduced energy consumption per tonne by 5.4%. Once BrainWave was installed, the improvement was
Since 2007, a number of Multivariable Predictive Control (MPC) Applications have been implemented on SAG mills, among others, within the Kairos Mining Concentrator Automation Program using "Profit...
Figures 8 and 9 on the right show results from a gold plant's SAG mill achieved with MillStar's Segregated Ore Feed Controller combined with the Power Optimiser: • The standard deviation of the mill feed control is greatly reduced. • The cyclone feed is more stable, allowing for consistent size separation and feed to downstream processes.
Precise control of SAG mill loading and flotation cell level is critical to maximize production and recovery in mineral concentrators. While expert systems are commonly used to optimize these process operations, the underlying regulatory control is often implemented using traditional proportional-integral
The application of a multivariable regulator to a hot strip finishing mill is considered. The need for multivariable control is due to the interactions between the strip thickness, tension and the angle of the looper arm. A much improved performance was obtained by designing a controller which takes account of the interactions effectively which a …
Ciprano et al 1989, Rajamani et al 1991). The first successfully implemented multivariable process control (MPC) is described for a SAG mill circuit in a bauxite processing refinery at Wagerup, Australia (Refs: Gopinath, Mathur et al, 1995 and Le Page, Freeman et al 1996, Luse, Mathur et al 1997). The MPC
"The control of the operation of semi autogeneous grinding (SAG) mills is mainly achieved through adjustments of feed rate, water addition and speed of rotation. With the introduction of image based sensors it is possible to have on-line measurements of the size distribution of the ore feeding a SAG mill.
Hadizadeh et al. described application of a fuzzy control system to the SAG mill grinding circuits. Proposed advanced control system tested in a copper grinding circuit [19] .
TABLE 1 Comparison of RoM and SAG mill operating regimes Speed, % critical Charge Filling, % total mill volume Bali filling, % total mill volume Internallength Aspect ratio, diameter/length Recycle stream Application AG/SAG 70- 80% 20 - 30% 4-15% 3-5m 0.7 -2 Trommel oversize & J)ebble crusher Primary grind South African RoM 75 -90% 35 - 45% 15 ...
SAG Mill Control Strategy using Profit Controller "ProfitSAG" applications have been implemented using Honeywell technology called "Profit ControllerTM"; this is a Multivariable Predictive Control algorithm based on models, also known as RMPCT (Robust Multivariable Predictive Control Technology).
The system uses historical data to create a model that correlates several control variables and outputs in a grinding or milling circuit to predict the effects of ore and set-point changes. Unicast's SAG mill parts, grinding mill parts and ball mill parts include shell and head liners; drives, gears, pinions and bearings; and grates and screens.
Model Predictive Control. The behavior of the SAG mill circuit is multivariable ie exhibit complex interactions and nonlinear behavior between the process variabl It is also dynamic ie delay times between variables within the process need to be considered before control actions are executed Given these challenges the objectives for acceptable SAG mill operation...
Manta Controls ® have developed the Manta Cube ® system where it is available for SAG Mill Control, AG Mill Control, Ball Mill Control, Flotation Control, Thickener Control and CCD Control. Control of other process units are also available. ... ranging from regulatory control through to advanced multivariable control systems depending on the ...
SmartGrind TM controller is a marriage of multivariable predictive control (MPC) with techniques that provide ... Controlling a SAG mill is a non-linear problem near capacity constraints. Designing a controller that addresses the above issues can be split into 2 groups.
The grinding process of the ball mill is an essential operation in metallurgical concentration plants. Generally, the model of the process is established as a multivariable system characterized with strong coupling and time delay. In previous research, a two-input-two-output model was applied to describe the system, in which some key indicators of the process …
The advanced process control team, formed by people from Informatics, Automation and Operations of CMDIC have assumed the challenge of generating the transition from a manual SAG Mill 1011 operation (40 x 22 feet, the largest copper SAG mill of the world), to a fully automatic SAG Mill using a multivariable control strategy instead of a rule ...
Keywords: SAG mill, multivariable predictive control (MPC), process control, advanced process control, nonlinear process, dynamic model. ... approach to face SAG mill controller specification. As ...
A.1. H l -controller design for SAG millThe first step in the design of a robust controller for the SAG mill involves obtaining linear dynamic models (expressed as transfer functions) for the impact of the manipulated variable (i.e. feed flowrate) and the disturbance (i.e. the F 80 parameter) on the variable to be controlled (i.e. the SAG mill ...
Grinding MPC was implemented in the SAG Mill in June 2015. This pilot application, called Phase 1, featured one of the first Multivariable Predictive Controllers to be installed in a Canadian mineral processing plant. Since the implementation of MPC, gold recovery from the gravity circuit has increased.
In this study, a fuzzy logic self-tuning PID controller based on an improved disturbance observer is designed for control of the ball mill grinding circuit. The ball mill grinding circuit has vast applications in the mining, metallurgy, chemistry, pharmacy, and research laboratories; however, this system has some challenges. The grinding circuit is a …
The controller response showed a suitable control behavior independent of the noisy multivariable modification. AB - The present manuscript focuses on the development of a multivariable control based on the MPC strategy for a semiautogenous grinding (SAG) device.