Dual-rate Interval Control of Pump Pool Level and Feeding Pressure During Regrinding
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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.Abstract: The regrinding process of hematite is a strong nonlinear cascade process with frequency of slurry pump as the input, feeding pressure as the inner loop output and sump level as the outer loop output. During its operation, frequent fluctuations of first stage grinding, magnetic separation slurry flowrate and discharge regrinded flowrate generated from the distribution of hematite particles which changes in a large range will cause large variations in the sump level and frequent fluctuation between inner and outer loop. In this paper, a novel dual-rate interval controller of sump level and feeding pressure is developed by representing the variations of dynamics characters as the unmodeled dynamics. In the proposed controller design, a compensation signal is constructed and added onto the control signal obtained from the linear deterministic model based on feedback control design. Such a compensation signal aims at eliminating the previous moment unmodeled dynamics. Meantime, the stability and convergence analysis of the proposed algorithm is given. A simulated experiment on the hardware-in-the-loop simulation system is conducteded, and it is shown that the sump level and the changing rate of feeding pressure in frequent random fluctuations can be well controlled inside their targeted ranges under the proposed control algorithm.
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Key words:
- Regrinding process /
- unmodeled dynamic compensation /
- PI control /
- dual-rate control
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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 11 给矿压力变化率 $\Delta y_1$ 运行曲线
Fig. 11 The operation curve of feeding pressure ratio $\Delta y_1$
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 
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