Hybrid non-linear model predictive control of a run-of-mine ore grinding mill circuit
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Date
Authors
Botha, Stefan
Le Roux, Johan Derik
Craig, Ian Keith
Journal Title
Journal ISSN
Volume Title
Publisher
Elsevier
Abstract
A hybrid non-linear model predictive controller (HNMPC) is developed for a run-of-mine ore grinding mill circuit. A continuous-time grinding mill circuit model is presented with a hydrocyclone cluster as the primary classifier. The discrete-time component is the switching of hydrocyclones in the hydrocyclone cluster. The resulting model is a hybrid non-linear model with both continuous and discrete dynamics. A simulation of the HNMPC shows the advantages of using the hydrocyclone cluster as an additional manipulated variable. The advantages of the HNMPC is illustrated by comparing its performance to a non-linear MPC where no switching of hydrocyclones is possible. The genetic algorithm based HNMPC showed increased controller stability in its ability to incorporate discrete dynamics into the controller directly. The methods discussed in this paper can be used to incorporate different types of discrete dynamics into advanced grinding mill circuit controllers due to the modular presentation of the model and HNMPC controller design.
Description
Keywords
Hybrid non-linear model predictive controller (HNMPC), Advanced process control, Comminution, Genetic algorithm, Grinding mill, Hydrocyclone cluster, Hybrid modelling, Continuous time systems, Controllers, Cyclone separators, Dynamics, Grinding (comminution), Grinding (machining), Grinding mills, Intelligent control, Nonlinear systems, Predictive control systems, Timing circuits, Model predictive control (MPC), Manipulated variables, Controller designs, Controller stabilities, Discrete dynamics
Sustainable Development Goals
Citation
Botha, S., Le Roux, J.D & Craig, I.K. 2018, 'Hybrid non-linear model predictive control of a run-of-mine ore grinding mill circuit', Minerals Engineering, vol. 123, pp. 49-62.