2.845

2023影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

再磨过程的泵池液位和给矿压力双速率区间控制

王兰豪 贾瑶 柴天佑

王兰豪, 贾瑶, 柴天佑. 再磨过程的泵池液位和给矿压力双速率区间控制. 自动化学报, 2017, 43(6): 993-1006. doi: 10.16383/j.aas.2017.c170134
引用本文: 王兰豪, 贾瑶, 柴天佑. 再磨过程的泵池液位和给矿压力双速率区间控制. 自动化学报, 2017, 43(6): 993-1006. doi: 10.16383/j.aas.2017.c170134
WANG Lan-Hao, JIA Yao, CHAI Tian-You. Dual-rate Interval Control of Pump Pool Level and Feeding Pressure During Regrinding. ACTA AUTOMATICA SINICA, 2017, 43(6): 993-1006. doi: 10.16383/j.aas.2017.c170134
Citation: WANG Lan-Hao, JIA Yao, CHAI Tian-You. Dual-rate Interval Control of Pump Pool Level and Feeding Pressure During Regrinding. ACTA AUTOMATICA SINICA, 2017, 43(6): 993-1006. doi: 10.16383/j.aas.2017.c170134

再磨过程的泵池液位和给矿压力双速率区间控制

doi: 10.16383/j.aas.2017.c170134
基金项目: 

国家高技术研究发展计划(863计划) 2015AA043802

详细信息
    作者简介:

    王兰豪   东北大学流程工业综合自动化国家重点实验室博士研究生.主要研究方向为复杂工业过程控制理论及技术.E-mail:wanglanhao888@163.com

    柴天佑   中国工程院院士, 东北大学教授.IEEEFellow, IFACFellow, 欧亚科学院院士.主要研究方向为自适应控制, 智能解耦控制, 流程工业综合自动化理论、方法与技术.E-mail:tychai@mail.neu.edu.cn

    通讯作者:

    贾瑶   东北大学流程工业综合自动化国家重点实验室博士研究生.主要研究方向为复杂工业过程控制理论及技术.E-mail:jiayaoneu@163.com

Dual-rate Interval Control of Pump Pool Level and Feeding Pressure During Regrinding

Funds: 

National High Technology Research and Development Program of China (863 Program) 2015AA043802

More Information
    Author Bio:

      Ph. D. candidate at the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University. His research interest covers process control theory and technology for complex industry process

      Academician of Chinese Academy of Engineering, professor at Northeastern University, IEEE Fellow, IFAC Fellow, and academician of the International Eurasian Academy of Sciences. His research interest covers adaptive control, intelligent decoupling control, as well as theories, methods and technology of integrated automation of process industry

    Corresponding author: JIA Yao   Ph. D. candidate at the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University. His research interest covers process control theory and technology for complex industry process. Corresponding author of this paper
  • 摘要: 赤铁矿再磨过程是以矿浆泵频率为输入、以给矿压力为内环输出、以泵池液位为外环输出的强非线性串级工业过程.当赤铁矿粒度分布大范围变化,导致一段磨矿与磁选矿浆流量和再磨排矿流量频繁波动,使泵池液位频繁波动,造成内外环频繁波动.本文将上述动态特性变化用未建模动态来描述,通过设计消除前一时刻未建模动态补偿信号叠加于基于线性模型设计的反馈控制器,采用一步最优前馈控制律和提升技术,提出了泵池液位和给矿压力双速率区间控制算法.给出了所提控制算法的稳定性和收敛性分析,通过半实物仿真实验表明所提出的控制算法可以将处于频繁随机波动的泵池液位和给矿压力变化率控制在目标值范围内.
  • 图  1  赤铁矿再磨过程结构图

    Fig.  1  Hematite regrinding process structure diagram

    图  2  泵池液位和给矿压力双速率区间控制结构图

    Fig.  2  The structure of the dual rate interval control of the pump pool level and feeding pressure

    图  3  未建模动态补偿给矿压力PI控制结构图

    Fig.  3  PI control structure for dynamic compensation of the feeding pressure

    图  4  赤铁矿再磨过程半实物仿真系统硬件平台

    Fig.  4  Hematite regrinding process of semi physical simulation system of hardware platform

    图  5  被控对象设计界面

    Fig.  5  The design interface of the controlled object

    图  6  控制器设计界面

    Fig.  6  The design interface of the controller

    图  7  监控设计界面

    Fig.  7  The design interface of the monitor

    图  8  $Q_{in}$ 波动运行曲线

    Fig.  8  The fluctuation curve of $Q_{in}$

    图  9  泵池液位实际值y2运行曲线

    Fig.  9  The curve of actual value of the level of pump pool y2

    图  10  给矿压力实际值y1运行曲线

    Fig.  10  The curve of actual value of feeding pressure y1

    图  11  给矿压力变化率 $\Delta y_1$ 运行曲线

    Fig.  11  The operation curve of feeding pressure ratio $\Delta y_1$

    图  12  矿浆泵频率的实际值u运行曲线

    Fig.  12  The curve of actual value of slurry pump speed u

    表  1  模型参数表

    Table  1  Model parameters

    变量描述
    $q_1(t)$ 一段磨矿矿浆和磁选矿浆流量
    ${q_2}({y_1}(t),{D_H},{f_d},{\phi _H}) $ 再磨排矿流量
    $q_3(t)$ 污水与冲洗水流量
    $q_4(t)$ 泵池补加水流量
    $D_H(t)$ 旋流器给矿浓度
    $f_d(t)$ 旋流器给矿粒度分布
    $\phi_H$ 旋流器结构参数
    $A$ 泵池横截面积
    $K_p$ 矿浆泵比例系数
    $K_d$ 矿浆泵流量比例系数
    $\tau$ 惯性时间常数
    下载: 导出CSV

    表  2  采用本文控制方法、文献[12]控制方法和串级PI控制方法时泵池液位y2的性能评价

    Table  2  The performance evaluation of the level of pump pool by y2 using the control method, the [12] control method and the cascade PI control method

    超过区间最大值超过区间绝对累积和
    本文控制方法00
    文献[12]控制方法0.4215.62
    串级PI控制方法0.5022.92
    下载: 导出CSV

    表  3  采用本文控制方法、文献[12]控制方法和串级PI控制方法时给矿压力变化率 $\Delta y_1$ 的性能评价

    Table  3  the performance evaluation of the feeding pressure ratio $\Delta y_1$ by using the control method, the [12] control method and the cascade PI control method

    超过区间最大值超过区间绝对累积和
    本文控制方法00
    文献[12]控制方法5.73165.58
    串级PI控制方法6.1584.88
    下载: 导出CSV
  • [1] Li X, McKee D J, Horberry T, Powell M S. The control room operator: the forgotten element in mineral process control. Minerals Engineering, 2011, 24(8): 894-902 doi: 10.1016/j.mineng.2011.04.001
    [2] van Vuuren M J J, Aldrich C, Auret L. Detecting changes in the operational states of hydrocyclones. Minerals Engineering, 2011, 24(14): 1532-1544 doi: 10.1016/j.mineng.2011.08.002
    [3] Wei D H, Craig I K. Grinding mill circuits——a survey of control and economic concerns. International Journal of Mineral Processing, 2009, 90(1-4): 55-56
    [4] Duarte M, Sepúlveda F, Castillo A, Contreras A, Lazcano V, Giménez P, Castelli L. A comparative experimental study of five multivariable control strategies applied to a grinding plant. Powder Technology, 1999, 104(1): 1-28 doi: 10.1016/S0032-5910(98)00210-1
    [5] 楚云飞, 徐文立, 王峻, 万维汉.基于切换控制的均匀液位控制.清华大学学报(自然科学版), 2005, 45(1): 107-110 http://www.cnki.com.cn/Article/CJFDTOTAL-QHXB200501028.htm

    Chu Yun-Fei, Xu Wen-Li, Wang Jun, Wan Wei-Han. Averaging level control based on switching control. Journal of Tsinghua University (Science and Technology), 2005, 45(1): 107-110 http://www.cnki.com.cn/Article/CJFDTOTAL-QHXB200501028.htm
    [6] Pomerleau A, Hodouin D, Desbiens A, Gagnon É. A survey of grinding circuit control methods: from decentralized PID controllers to multivariable predictive controllers. Powder Technology, 2000, 108(2-3): 103-115 doi: 10.1016/S0032-5910(99)00207-7
    [7] 梁蕾, 李振国.选矿过程矿浆液位的模糊控制算法研究.金属矿山, 2009, 39(7): 103-105, 135 http://www.cnki.com.cn/Article/CJFDTOTAL-JSKS200907034.htm

    Liang Lei, Li Zhen-Guo. Fuzzy-intelligent control arithmetic for the ore pulp level in mineral separation process. Metal Mine, 2009, 39(7): 103-105, 135 http://www.cnki.com.cn/Article/CJFDTOTAL-JSKS200907034.htm
    [8] Aguila-Camacho N, Le Roux J D, Duarte-Mermoud M A, OrchardM E. Control of a grinding mill circuit using fractional order controllers. Journal of Process Control, 2017, 53: 80-94 doi: 10.1016/j.jprocont.2017.02.012
    [9] le Roux J D, Padhi R, Craig I K. Optimal control of grinding mill circuit using model predictive static programming: a new nonlinear MPC paradigm. Journal of Process Control, 2014, 24(12): 29-40 doi: 10.1016/j.jprocont.2014.10.007
    [10] Coetzee L C, Craig I K, Kerrigan E C. Robust nonlinear model predictive control of a run-of-mine ore milling circuit. IEEE Transactions on Control Systems Technology, 2010, 18(1): 222-229 doi: 10.1109/TCST.2009.2014641
    [11] Matthews B, Craig I K. Demand side management of a run-of-mine ore milling circuit. Control Engineering Practice, 2013, 21(6): 759-768 doi: 10.1016/j.conengprac.2013.02.005
    [12] 赵大勇, 柴天佑.再磨过程泵池液位区间与给矿压力模糊切换控制.自动化学报, 2013, 39(5): 556-564 http://www.aas.net.cn/CN/abstract/abstract17816.shtml

    Zhao Da-Yong, Chai Tian-You. Fuzzy switching control for sump level interval and hydrocyclone pressure in regrinding process. Acta Automatica Sinica, 2013, 39(5): 556-564 http://www.aas.net.cn/CN/abstract/abstract17816.shtml
    [13] Zhao D Y, Chai T Y, Wang H, Fu J. Hybrid intelligent control for regrinding process in hematite beneficiation. Control Engineering Practice, 2014, 22: 217-230 doi: 10.1016/j.conengprac.2013.02.015
    [14] Sanchis R, Romero J A, Martín J M. A new approach to averaging level control. Control Engineering Practice, 2011, 19(9): 1037-1043 doi: 10.1016/j.conengprac.2011.04.010
    [15] 王泽红, 陈晓龙, 袁致涛, 于福家, 李丽匣.选矿数学模型.北京:冶金工业出版社, 2015.

    Wang Ze-Hong, Chen Xiao-Long, Yuan Zhi-Tao, Yu Fu-Jia, Li Li-Xia. Mathematical Model of Mineral Processing. Beijing: Metallurgical Industry Press, 2015.
    [16] 吴学娟, 郎朗.模糊自适应控制在变频恒压供水系统中的应用.工业控制计算机, 2010, 23(11): 53-54 doi: 10.3969/j.issn.1001-182X.2010.11.025

    Wu Xue-Juan, Lang Lang. Fuzzy Adaptive control of constant pressure water supplying system with frequency conversion. Industrial Control Computer, 2010, 23(11): 53-54 doi: 10.3969/j.issn.1001-182X.2010.11.025
    [17] Liu F Z, Gao H J, Qiu J B, Yin S, Fan J L, Chai T Y. Networked multirate output feedback control for setpoints compensation and its application to rougher flotation process. IEEE Transactions on Industrial Electronics, 2014, 61(1): 460-468 doi: 10.1109/TIE.2013.2240640
    [18] Chai T Y, Zhang Y J, Wang H, Su C Y, Sun J. Data-based virtual unmodeled dynamics driven multivariable nonlinear adaptive switching control. IEEE Transactions on Neural Networks, 2011, 22(12): 2154-2172 doi: 10.1109/TNN.2011.2167685
    [19] Jia Y, Chai T Y. A data-driven dual-rate control method for a heat exchanging process. IEEE Transactions on Industrial Electronics, 2017, 64(5): 4158-4168 doi: 10.1109/TIE.2016.2608878
    [20] Chai T Y, Zhai L F, Yue H. Multiple models and neural networks based decoupling control of ball mill coal-pulverizing systems. Journal of Process Control, 2011, 21(3): 351-366 doi: 10.1016/j.jprocont.2010.11.007
    [21] Zhang Y J, Chai T Y, Wang D H. An alternating identification algorithm for a class of nonlinear dynamical systems. IEEE Transactions on Neural Networks and Learning Systems, 2016, PP(99): 1-12 https://www.researchgate.net/publication/301278679_An_Alternating_Identification_Algorithm_for_a_Class_of_Nonlinear_Dynamical_Systems?_sg=0GrGvPEsUQO8xrHfwsP-YyaZoz3IXJzhTLh9wx6sBEYsfD1rteepDimRIMqZ-HKCo1BilrLdiewJkJagj94BSA
  • 加载中
图(12) / 表(3)
计量
  • 文章访问数:  2475
  • HTML全文浏览量:  318
  • PDF下载量:  727
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-03-13
  • 录用日期:  2017-05-11
  • 刊出日期:  2017-06-20

目录

    /

    返回文章
    返回