立式搅拌磨机与旋流器磨矿分级过程的自动控制研究

Research on Automatic Control of Grinding-Classification Process of Vertical Stirring Mill and Hydrocyclone

在选矿厂磨矿分级过程中,立式搅拌磨机的磨矿效果易受水力旋流器给矿条件波动影响,而旋流器给矿调节过程存在滞后性、时变性及非线性等特点。针对此问题,根据水力旋流器的给矿压力、给矿浓度与泵池液位的调节过程,分别设计了规则切换PID控制和模糊PID控制方法,并设计了仿真平台进行试验。仿真结果表明,与手动控制方法相比,规则切换PID控制的均方误差(MSE)和绝对误差积分(IAE)指标分别减小了97%和84.8%,泵池液位累计超限值和恢复时间分别减小了94.9%和79.6%;与PI控制方法相比,模糊PID控制的MSE和IAE分别减小了76.2%和51.9%,超出允许误差区间情况减少约90%。所设计的控制方法显著提高了立式搅拌磨机与旋流器磨矿分级过程控制的鲁棒性与准确性,实现了该过程的稳定控制。

In the grinding-classification process of beneficiation plants,the grinding effect of the vertical stirring mill is affected by the fluctuation in the feeding conditions of hydrocyclone,and the feeding adjustment process of hydrocyclone has the characteristics of hysteresis,time-varying and nonlinearity.In order to solve this problem,according to the adjustment process of feed pressure,feed concentration and pump pool level of hydrocyclone,the rule switch PID control and fuzzy PID control methods are designed respectively,and a simulation platform is designed for experiment.The simulation results show that compared with the manual control method,the Mean Square Error(MSE)and Integrated Absolute Error(IAE)of rule switch PID control are reduced by 96.7%and 84.4%respectively,the cumulative over-limit value of pump pool level and recovery time are reduced by 94.9 and 79.6%respectively.Compared with the PI control method,the MSE and IAE of fuzzy PID control are reduced by 76.2%and 51.9%respectively,and the conditions exceeding the allowable error interval are reduced by about 90%.The designed control method improves the robustness and accuracy of the grinding-classification process control of the vertical stirring mill and hydrocyclone remarkably,and realizes the stable control of the process.