A.1. H l -controller design for SAG millThe first step in the design of a robust controller for the SAG mill involves obtaining linear dynamic models (expressed as transfer functions) for the impact of the manipulated variable (i.e. feed flowrate) and the disturbance (i.e. the F 80 parameter) on the variable to be controlled (i.e. the SAG mill ...

In the last decades approaches varying from decentralized PID control to multivariable predictive control have been applied to control of SAG mills with variable success; at …

Ciprano et al 1989, Rajamani et al 1991). The first successfully implemented multivariable process control (MPC) is described for a SAG mill circuit in a bauxite processing refinery at Wagerup, Australia (Refs: Gopinath, Mathur et al, 1995 and Le Page, Freeman et al 1996, Luse, Mathur et al 1997). The MPC

The grinding process of the ball mill is an essential operation in metallurgical concentration plants. Generally, the model of the process is established as a multivariable system characterized with strong coupling and time delay. In previous research, a two-input-two-output model was applied to describe the system, in which some key indicators of the process …

The main difference between these two mills is the use of steel balls as grinding media, typically in the order of 6–12% in volume ( Sbarbaro et al., 2005 ), in the SAG mills. With the addition of grinding media, the SAG mill has shown to …

Optimized multivariable control of an industrial run-of-mine milling circuit. Journal of the South African Institute of Mining and Metallurgy 92(6), 169–176. Cutler, C. R. and B. L. Ramaker (1980). Dynamic matrix control – A computer control algo-rithm. In: Proceedings of the Joint Automatic Control Conference. Vol. 1. San Francisco, CA.

Multivariable Control Distributed Control System (PID) FC PC TC LC Determine plant-wide the optimal operating condition for the day Make fine adjustments for local units Take each local unit to the optimal condition fast but smoothly without violating constraints MPC. Local Optimization

SAG Mill Control Strategy using Profit Controller "ProfitSAG" applications have been implemented using Honeywell technology called "Profit ControllerTM"; this is a Multivariable Predictive Control algorithm based on models, also known as RMPCT (Robust Multivariable Predictive Control Technology).

SmartGrind TM controller is a marriage of multivariable predictive control (MPC) with techniques that provide ... Controlling a SAG mill is a non-linear problem near capacity constraints. Designing a controller that addresses the above issues can be split into 2 groups.

Thickeners multivariable predictive control: Division. Codelco Norte Guillermo Corts Codelco, Chile. Jaime Cerda Kairos Mining, Chile ABSTRACT The mining industry gives central importance to rational and efficient use of water in their operations by adopting measures to optimise their consumption through better management practices.

The behavior of the SAG mill circuit is multivariable i.e. exhibit complex interactions and nonlinear behavior between the process variables. It is also dynamic i.e. delay times between variables within the process need to be considered before control actions are executed. Given these challenges, the objectives for acceptable SAG mill operation ...

Stable control of the ball mill grinding process is very important to reduce energy losses, enhance operation efficiency, and recover valuable minerals. In this work, a controller for the ball mill grinding process is designed using a combination of model predictive control (MPC) with the equivalent-input-disturbance (EID) approach.

Kairos also supported a Yamana Gold operation, located in Brazil, providing advice on the implementation of a multivariable control system for its SAG mill. In 2012, Kairos will continue supporting the implementation of the Concentrator Automation programme at Codelco, which should be completed in 2013. MIRS Mining Industry Robotic Solutions S.A.

The controller response showed a suitable control behavior independent of the noisy multivariable modification. AB - The present manuscript focuses on the development of a multivariable control based on the MPC strategy for a semiautogenous grinding (SAG) device.

For example, if the load on the SAG mill increases too much, the expert system will quickly decrease the density and feed to bring conditions back into line. Extra Revenues Realized When Northgate first put the lines under the control of the expert system, operators kept a watch on the system and made notes on areas that might be improved.

The controller response showed a suitable control behavior independent of the noisy multivariable modification. Highlights • MIMO control system design based on the MPC strategy for a SAG mill. • Control action exhibit an additional effort in the water as manipulated variable.

A multivariable controller for a hot rolling mill which uses rolling stand speeds to control exit strip temperature and interstand tension, wherein the controller considers the inherent multivariable nature of the tension and temperature processes relative to individual rolling stand speeds by employing a cross-correlation transfer function matrix which is decoupled by …

Hadizadeh et al. described application of a fuzzy control system to the SAG mill grinding circuits. Proposed advanced control system tested in a copper grinding circuit [19] .

Precise control of SAG mill loading and flotation cell level is critical to maximize production and recovery in mineral concentrators. While expert systems are commonly used to optimize these process operations, the underlying regulatory control is often implemented using traditional proportional-integral­

T1 - Model predictive control of semiautogenous mills (sag) AU - Salazar, José Luis. AU - Valdés-González, Héctor. AU - Vyhmesiter, Eduardo. AU - Cubillos, Francisco. PY - 2014/10/1. Y1 - 2014/10/1. N2 - The present manuscript focuses on the development of a multivariable control based on the MPC strategy for a semiautogenous grinding (SAG ...

How to Design of a Multi-Variable Grinding Circuit Control System. In this case, the primary grinding stage in a concentrator comprises a rod mill in open circuit and a semi-autogeneous mill in closed, circuit with a hydrocyclone classifier. All the measurements have computer interfaces and all the control circuits have been implemented by the ...

2.4. Multivariable predictive control. In the present work, a three-input-three-output scheme of control was performed. The total water feed to the mill (the feed water flow rate was added to the dilution water flow rate, so they could be specified separately, but for the SAG mill model, the total water content was the variable of interest), the fresh ore feed rate, and …

The advanced process control team, formed by people from Informatics, Automation and Operations of CMDIC have assumed the challenge of generating the transition from a manual SAG Mill 1011 ...

Keywords: SAG mill, multivariable predictive control (MPC), process control, advanced process control, nonlinear process, dynamic model. ... approach to face SAG mill controller specification. As ...

the only grinding control is to maximize the power drawn by the mill. Unfortunately, the relation between power and grinding performance is a complex and non-linear function. Development of advanced control systems has helped the situation considerably. However, these systems still …

concentrator site in order to tightly control the weight in the SAG mill to promote optimum grinding. This stra-tegy has improved mill throughput by 5.9%, reduced feed variability by 5.6%, and reduced energy consumption per tonne by 5.4%. Once BrainWave was installed, the improvement was

Control of -SemiAutogenous Grinding(SAG) mill weight is an example of an important process that exhibits many of these aspects. Maintaining the SAG mill weight at the optimum value is critical for achieving maximum grind rate efficiency and mill production (Powell, M.S., van der Westhuizen, A.P., & Mainza, A.N. 2009).

However, adjusting the mill speed to the optimal state presents a very challenging problem. In a SAG mill, the speed control system is a nonlinear and strongly coupled multivariable system. The proportional integral (PI) vector control method is used in the mill control system . The PI vector control method cannot meet the requirements of high ...

ADVANCED CONTROL STRATEGY The Advanced Control Strategy "Profit BALL" was implemented using "RMPCT Profit Controller" from Honeywell, which has already been used successfully in SAG mill control. The operational objective for this strategy is: "To stabilize the circuit operation, with product particle size below a specified limit and aimed to ...

Profit® Technologies stabilize, optimize and improve the operation for a more profitable business. From blending, movements and advanced process control to plant-wide optimization and condition-based monitoring, Honeywell's software enable facilities to achieve and maintain excellent operations.