Model Predictive Control of SAG Mills and Flotation Circuits
Precise control of SAG mill loading and flotation cell level is critical to maximize production and , to derive a control law for the multivariable case it is preferable to optimize for a cost function such as the one proposed in the generalized predictive control , rather , Model Predictive Control of SAG Mills and Flotation Circuits .
The Non-Linear adaptation of a Multi-Variable Predictive ,
Alcoa’s Wagerup Refinery is the first site world-wide to have this technology applied to the SAG milling circuits and this has resulted in throughput increases and significant improvements in circuit operations This paper describes the adaptation of multivariable control to the refinery’s Mill 3 ,
Control of a grinding mill circuit using fractional order ,
Control of a grinding mill circuit using fractional order controllers , In general, multivariate control techniques are used to solve this issue, such , The circuit consists of a semiautogenous (SAG) mill with an end-discharge grate, a sump and a hydrocyclone The mill receives four streams as inputs: mined ore (MFO), water (MIW) to assist with
Advanced Control for Mineral Processing: Better Than ,
Jan 01, 2008· Results of the multivariable predictive control applications in mineral processing are discussed, and in particular the application to the SAG mill In addition, an example of the benefits improvement that can be achieved with this technology is presentedINTRODUCTIONThere has been a long term perception in the mainstream mineral processing .
Model Predictive Control for SAG Milling in Minerals ,
Model Predictive Control for SAG Milling in Minerals Processing | 5 Model Predictive Control on a SAG Mill and Ball Mills The solution for the SAG Mill is an adaptive controller which controls mill load using direct mill weight measurement or indirectly from bearing oil pressure
multivariable controller for sag mill - vdlinstrumentsnl
SAG Mill Controlmipac , Multivariable control of a wet-grinding circuit, The control of a grinding circuit to an "operating point" can be regarded as theThe Live Chat; sag and ball mill controls - prakashpublicschoolin sag and ball mill controls sag mill vs ball mill Mining Equipment , multivariable nature of the SAG mill control problem .
1 The SAG mill speed (rpm) 2 The SAG mill power (MW) 3 The SAG mill feed rate (tph) 4 The SAG mill weight (tonnes) Figure 10 The performance of Train 1 SAG Mill - before the new Manta Cube It can be seen from this set of operational data that the mill weight varies over a wide range and this is consistent with normal operator control of a .
"Design and Implementation of Advanced Automatic Control Strategy Based on Dynamic Models for High Capacity SAG Mill" Iván Yutronic (Collahuasi) , • Three SAG Mill lines and produces copper and molybdenum , Roboust Multivariable Predictive Control Technology The Solution: ProfitSAG
Characterization and Modeling of Semi-Autogenous Mill ,
approaches varying from decentralized PID control to multivariable predictive control have been applied to control of SAG mills with variable success; at the same time, new sensors has been developed with the aim to provide real time measurements of important variables currently unmeasured
new technology t o replace ball mills - whitehillstree
Will HPGR replace SAG Mill and Vertimill displace Ball Mill Jun 17, 2018 Can we avoid the death of SAG mill and Ball mill? Will they , B r i s t o l, E G On a New Measure of Interaction for Multivariable Process Control Contact US Milling Energy intensive and high maintenance
Codelco Improves Production with Honeywell’s Profit ,
Codelco Improves Production with Honeywell’s Profit Controller 2 , Control Technology (RMPCT), Profit Controller is a multivariable control and optimization application for complex and highly interactive industrial process The comprehensive package , (SAG) grind mill, where the
SAG Mill Control It Shouldnt be Semiautogenous grinding (SAG) mills up to 44 ft diameter with 35 MW gearless mill drives (GMDs) are available In January, for example, a 1,210 ton AG millconsidered to be the largest ever builtwas shipped from the CITIC Heavy Machinery plant ,
Model predictive control of semiautogenous mills (sag ,
Oct 01, 2014· 24 Multivariable predictive control In the present work, a three-input-three-output scheme of control was performed The total water feed to the mill (the feed water flow rate was added to the dilution water flow rate, so they could be specified separately, but for the SAG mill model, the total water content was the variable of interest), the fresh ore feed rate, and the mill rotation speed .
Metallurgical ContentBall Charge Motion inside a SAG MillSAG Mill OperationSemi Autogenous Design FactorsSAG Mill Operation ExampleProcess Plant DescriptionSAG Mill Design and Specification Operating Problems Since CommissioningDesign Changes and Future Operating Strategies AG and SAG mills are now the primary unit operation for the majority of large grinding circuits, and form the ,
Robust Multivariable Predictive Control Strategy on SAG ,
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 ,
(PDF) Disturbance observer based multi-variable control of ,
The control schemes in previous literatures, including detuned multi- Received in revised form 21 February 2009 loop PID control, model predictive control (MPC), robust control, adaptive control, and so on, demonstrate Accepted 28 February 2009 limited abilities in control ball mill grinding process in the presence of strong disturbanc
multivariable controller for sag mill - gcpa Robust control of a SAG mill manuel villon Robust control of a SAG mill robust multivariable Parameters for robust SAG mill controller significant role in shaping the Contacter le fournisseur » .
Multivariable Controller Design for Hot Rolling Mill (1996)
CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): : This paper describes a controller design for a hot rolling mill The main purpose of the algorithm is to improve the control of the cross-width thickness prole of the plat This is obtained by designing a controller which makes independent thickness control possible at the two sides of the rolling mill
Optimization and Control of a Primary SAG Mill Using Real ,
1 Optimization and Control of a Primary SAG Mill Using Real-time Grind Measurement CW Steyn*, K Keet**, W Breytenbach*** *Control Engineer, Anglo American Platinum, Control and Instrumentation Department, Johannesburg.
Control Systems: Ruel Rules for Use of PID, MPC and FLC
Nov 12, 2012· The SAG mill process uses steel balls and large rocks for grinding The load consisted of ore, steel balls and water In addition to stabilizing the process and increasing production rates, the control system must protect the lining by ensuring the rocks fall on other rocks and not the lining , Questions about Multivariable Control, Flow .
MILLING CONTROL & OPTIMISATION MillSTAR , Figures 8 and 9 on the right show results from a gold plant’s SAG mill achieved with MillStar’s Segregated Ore Feed Controller , multivariable interactions between input and output mill discharge variabl • Controlling the sump
Model Predictive Control for an Industrial SAG Mill
Model Predictive Control for an Industrial SAG Mill Valeriu Ohan; Florian Steinke Michael Metzger Thomas Runkler John Bagterp J˝rgensen DTU Informatics Technical University of Denmark, 2800 Kgs Lyngby, Denmark
Advanced Controller for Grinding Mills: Results from a ,
Advanced Controller for Grinding Mills: Results from a Ball Mill Circuit in a Copper Concentrator , upsets such as mill spills and/or power excursions in SAG mills, “centrifuging” in ball mills, , Block diagram of Total PlantTM SmartGrind multivariable predictive controller MILL CONTROL: BALL MILL CONTROL EXAMPLE
Hybrid Model Predictive Control for Grinding Plants
this, control techniques such as PID, multivariate, expert systems, fuzzy logic, neural networks, model predictive , SAG mill, and then its classi ed by a vibratory screen, the , Hybrid Model Predictive Control for Grinding Plants .
Evolution of SAG Mill Process Control at the Xstrata ,
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
Model predictive control of semiautogenous mills (SAG ,
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
(PDF) Robust control of a SAG mill | manuel villon ,
Hardness and size distribution are known to SAG mill controllers to a number of step changes in the be correlated—in that a coarse feed is generally the result of disturbance variable F80 At t=5 h, F80 was stepped up from a hard ore, and vice versa
SAG Mill Optimization using Model Predictive Control
Control of -SemiAutogenous Grinding(SAG) mill weight is an example of an important process that exhibits many of these aspects Maintaining the SAG mill weight at the optimum value is critical for achieving maximum grind rate efficiency and mill production (Powell, MS, van der Westhuizen, AP, & Mainza, AN 2009)