An EKF observer to estimate semi-autogenous grinding mill hold-ups

dc.contributor.authorLe Roux, Johan Derik
dc.contributor.authorSteinboeck, A.
dc.contributor.authorKugi, A.
dc.contributor.authorCraig, Ian Keith
dc.contributor.emailderik.leroux@up.ac.zaen_ZA
dc.date.accessioned2017-02-01T09:15:14Z
dc.date.issued2017-03
dc.description.abstractA non-linear observer model of a semi-autogenous grinding mill is developed. The observer model distinguishes between the volumetric hold-up of water, solids, and the grinding media in the mill. Solids refer to all ore small enough to discharge through the end-discharge grate, and grinding media refers to the rocks and steel balls. The rocks are all ore too large to discharge from the mill. The observer model uses the accumulation rate of solids and the mill’s discharge rate as parameters. It is shown that with mill discharge flow-rate, discharge density, and volumetric hold-up measurements, the model states and parameters are linearly observable. Although instrumentation at the mill discharge is not yet included in industrial circuits because of space restrictions, this study motivates the benefits to be gained from including such instrumentation. An extended Kalman filter is applied in simulation to estimate the model states and parameters from data generated by a semi-autogenous mill simulation model from literature. Results indicate that if sufficiently accurate measurements are available, especially at the discharge of the mill, it is possible to reliably estimate grinding media, solids and water hold-ups within the mill. Such an observer can be used as part of an advanced process control strategy.en_ZA
dc.description.departmentElectrical, Electronic and Computer Engineeringen_ZA
dc.description.embargo2018-03-31
dc.description.librarianhb2017en_ZA
dc.description.sponsorshipThe first author gratefully appreciates support from the University of Pretoria postgraduate study abroad bursary programme. The second author gratefully acknowledges financial support provided by the Austrian Academy of Sciences in the form of an APART-fellowship at the Automation and Control Institute of Vienna University of Technology. The third author gratefully acknowledges financial support provided by the Austrian Federal Ministry of Science, Research and Economy, and the National Foundation for Research, Technology and Development. The fourth author would like to acknowledge the support of the National Research Foundation of South Africa (Grant No.90533).en_ZA
dc.description.urihttp://www.elsevier.com/locate/jproconten_ZA
dc.identifier.citationLe Roux, JD, Steinboeck, A, Kugi, A & Craig, IK 2017, 'An EKF observer to estimate semi-autogenous grinding mill hold-ups', Journal of Process Control, vol. 51, pp. 27-41.en_ZA
dc.identifier.issn0959-1524 (print)
dc.identifier.issn1873-2771 (online)
dc.identifier.other10.1016/j.jprocont.2016.12.006
dc.identifier.urihttp://hdl.handle.net/2263/58778
dc.language.isoenen_ZA
dc.publisherElsevieren_ZA
dc.rights© 2016 Elsevier Ltd. All rights reserved. Notice : this is the author’s version of a work that was accepted for publication in Journal of Process Control. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. A definitive version was subsequently published in Journal of Process Control, vol. 51, pp. 27-41, 2017. doi : 10.1016/j.jprocont.2016.12.006.en_ZA
dc.subjectComminutionen_ZA
dc.subjectExtended Kalman filteren_ZA
dc.subjectGrinding millen_ZA
dc.subjectObservabilityen_ZA
dc.subjectProcess controlen_ZA
dc.subjectState and parameter estimationen_ZA
dc.titleAn EKF observer to estimate semi-autogenous grinding mill hold-upsen_ZA
dc.typePostprint Articleen_ZA

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