CN102176170B - Compensation control method of flotation cell liquid level automatic control device - Google Patents
Compensation control method of flotation cell liquid level automatic control device Download PDFInfo
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- CN102176170B CN102176170B CN 201110007369 CN201110007369A CN102176170B CN 102176170 B CN102176170 B CN 102176170B CN 201110007369 CN201110007369 CN 201110007369 CN 201110007369 A CN201110007369 A CN 201110007369A CN 102176170 B CN102176170 B CN 102176170B
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Abstract
The invention discloses a flotation cell liquid level automatic control device and a compensation control method thereof. The device comprises a flotation cell, a liquid level meter, gate driver, an analog quantity input module, a central processing unit (CPU) module and an analog quantity output module, wherein the analog quantity input module is connected with the CPU module; the CPU module is connected with the analog quantity output module; the gate driver is connected with the analog quantity output module; the liquid level meter is connected with the analog quantity input module; and the liquid level meter and the gate driver are arranged on the flotation cell respectively. According to the invention, a disturbance soft measurement estimation compensation technology based on a disturbance observer and a feedback control technology based on model predict control are adopted, so that the upstream ore pulp flow rate fluctuation, middling backflow ore pulp flow rate fluctuation and inhabitation performance of coupling and other disturbances among processes of each process liquid level control system of flotation in the process are overcome, the control performance of the system is improved, the requirement of a flotation process on selective cell liquid level strict control is met, the concentrate quality of the flotation process is improved, and the concentrate yield is stabilized.
Description
Technical field
What the present invention relates to is fluid level control device and method in a kind of dressing Production Process, in particular a kind of compensating control method of flotation cell automatic control of liquid device.
Background technology
Floatation process is the critical workflow in the metallurgy industry dressing Production Process, and this process is the continuation of grind grading process, its objective is the difference according to mineral surface hydrophilic and hydrophobic matter, and valuable mineral is effectively separated with gangue.The flotation cell liquid level is one of most important controlled parameter in the floatation process, directly has influence on floatation indicators such as concentrate quality and the recovery.Be example with the direct floatation process, if liquid level is too high, the foam that flotation operation scrapes is many, and concentrate yield is higher, but owing to scrape and contain gangue content in the foam, causes the concentrate quality to reduce; If opposite liquid level is low excessively, it is less to scrape foam, and the concentrate quality improves, but can cause the loss of valuable mineral simultaneously, and concentrate yield reduces, and therefore, the flotation cell liquid level needs strict control.
The production environment of floatation process is abominable, the technological process relative complex, the control of each tank liquor position of traditional floatation process by the execute-in-place workman adopt tactile, method such as listen, see, automatization level is low, production efficiency is low, the technic index fluctuation is greatly.Along with the development of control theory, be used widely in floatation process based on minute autocontrol method of throwaway I/O, improved the automatization level of floatation process to a certain extent.Should be noted that these controllers do not compensate effectively at disturbance at present, and the control performance of flotation cell liquid level exactly is subjected to having a strong impact on of various disturbances, fluctuation as the upstream mineral slurry flux, chats is counter to flow the fluctuation of mineral slurry flux and the coupling between each technological process, and these factors make existing control algolithm be difficult to the effect that obtains in the floatation process tank level control system of reality.
Summary of the invention
Goal of the invention: the objective of the invention is to overcome the deficiencies in the prior art, a kind of compensating control method of flotation cell automatic control of liquid device is provided, the flotation cell liquid level is automatically adjusted, improve floatation process concentrate quality, stablize concentrate yield.
Technical scheme: the present invention is achieved by the following technical solutions, the present invention includes flotation cell, liquid level gauge, gate driver, analog quantity load module, CPU module and analog output module; Wherein: the analog quantity load module links to each other with the CPU module, and the CPU module links to each other with analog output module, and the gate driver links to each other with analog output module, and liquid level gauge links to each other with the analog quantity load module, and liquid level gauge and gate driver are located on the flotation cell respectively.
Described automaton also comprises supervisory control comuter, and supervisory control comuter links to each other with the CPU module, to realize real-time monitoring.
Described liquid level gauge is ultrasonic level gage, utilizes ultrasound wave to carry out liquid level and detects.
A kind of compensating control method of flotation cell automatic control of liquid device may further comprise the steps,
(1) running parameter is set, comprises setting liquid level and the sampling period of flotation cell;
(2) actual value during collecting work comprises the actual aperture of actual liquid level and the gate of flotation cell;
(3) setting liquid level and the actual liquid level in comparison step (1) and the step (2) draws the liquid level deviate of flotation cell;
(4) utilize the liquid level deviate of flotation cell that the liquid level predicted value of flotation cell is proofreaied and correct;
(5) the liquid level predicted value of the flotation cell after proofreading and correct is shifted to arrange the prediction liquid level initial value of the flotation cell of current time;
(6) according to the prediction liquid level initial value of flotation cell and the running parameter of step (1) setting, draw the base value of the gatage of flotation cell;
(7) according to the actual aperture of actual liquid level and the gate of flotation cell, draw the disturbance estimated value in liquid level loop;
(8) base value of flotation cell gatage is deducted the disturbance estimated value in corresponding liquid level loop, draw flotation cell gatage value;
(9) utilize flotation cell gatage value to control corresponding gate driver, to control the liquid level of actual flotation cell;
(10) utilize the base value of the gatage of flotation cell to draw the liquid level predicted value of corresponding flotation cell, return step (2) then.
Beneficial effect: the present invention adopts based on the soft measurement estimation compensation of the disturbance of disturbance observer and based on the FEEDBACK CONTROL two big gordian techniquies of Model Predictive Control, improved the upstream mineral slurry flux fluctuation of each flow process tank level control system of flotation to existing in the process, chats is counter to flow the rejection of disturbances such as coupling between mineral slurry flux fluctuation and each flow process, improved the control performance of system, satisfied floatation process to sorting the demand of the strict control in tank liquor position, improve the concentrate quality of floatation process, stablized concentrate yield; Be core controller with the programmable logic controller (PLC), strengthened the reliability of control system, expanded the range of application of control system; Adopt supervisory control comuter to monitor in real time, but the running parameter of online modification programmable logic controller (PLC) and index parameter, the dirigibility that has improved control system.
Description of drawings
Fig. 1 is the process chart of floatation process of the present invention;
Fig. 2 is the structured flowchart of flotation cell automatic control of liquid device of the present invention;
Fig. 3 is the structural representation of analog quantity load module of the present invention;
Fig. 4 is the structural representation of analog output module of the present invention;
Fig. 5 is the process flow diagram of compensating control method of the present invention;
Fig. 6 is the soft metrophia compensation of flotation cell liquid level of the present invention disturbance and control principle figure.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, it is concentrate that the floatation process of present embodiment adopts flotation froth, and underflow is the direct floatation process of mine tailing, totally roughly selects, first selected, second selected, coarse scan choosing and essence scan this five sorting operations.In flowsheet of slurry agitation pond 1, add floating agent upstream ore grinding ore pulp is carried out pre-service, to create suitable flotation conditions.Pretreated ore pulp enters initial separatory cell 2 through overflow vent and roughly selects operation, roughly selects foam and enters first cleaner cell 3 through the foam pipeline and carry out primary cleaning, and the underflow ore pulp of initial separatory cell 2 enters thick scavenger flotation cell 4 and scans operation; The foam of first cleaner cell 3 enters second cleaner cell 5, and to carry out the second time selected, and the underflow ore pulp of first cleaner cell 3 enters smart scavenger flotation cell 6; The foam of second cleaner cell 5 becomes final concentrate and enters the concentrated big well of concentrate, and the underflow ore pulp of second cleaner cell 5 turns back to first cleaner cell 3; The foam of thick scavenger flotation cell 4 operations turns back to initial separatory cell 2 operations, and the foam of smart scavenger flotation cell 6 operations turns back to first cleaner cell 3; Thick scavenger flotation cell 4 and smart scavenger flotation cell 6 underflow ore pulps are mixed into true tailings and send into the concentrated big well of mine tailing.
As shown in Figure 2, present embodiment comprises first cleaner cell 3, second cleaner cell 5, initial separatory cell 2, thick scavenger flotation cell 4, smart scavenger flotation cell 6, first ultrasonic level gage 7, second ultrasonic level gage 8, the 3rd ultrasonic level gage 9, the 4th ultrasonic level gage 10, the 5th ultrasonic level gage 11, the first gate driver 12, the second gate driver 13, the 3rd gate driver 14, the 4th gate driver 15, the 5th gate driver 16, supervisory control comuter 17 and programmable logic controller (PLC), described programmable logic controller (PLC) comprises CPU module 18, analog output module 19 and analog quantity load module 20; Wherein: the output terminal of analog quantity load module 20 links to each other with CPU module 18, CPU module 18 links to each other with the input end of analog output module 19, supervisory control comuter 17 links to each other with CPU module 18, the first gate driver 12, the second gate driver 13, the 3rd gate driver 14, the 4th gate driver 15 links to each other with the output terminal of analog output module 19 respectively with the 5th gate driver 16, first ultrasonic level gage 7, second ultrasonic level gage 8, the 3rd ultrasonic level gage 9, the 4th ultrasonic level gage 10 links to each other with the input end of analog quantity load module 20 respectively with the 5th ultrasonic level gage 11, first ultrasonic level gage 7 and the first gate driver 12 are located at respectively on first cleaner cell 3, second ultrasonic level gage 8 and the second gate driver 13 are located at respectively on second cleaner cell 5, the 3rd ultrasonic level gage 9 and the 3rd gate driver 14 are located at respectively on the initial separatory cell 2, the 4th ultrasonic level gage 10 and the 4th gate driver 15 are located at respectively on the thick scavenger flotation cell 4, the 5th ultrasonic level gage 11 and the 5th gate driver 16 are located at respectively on the smart scavenger flotation cell 6, ultrasonic level gage is installed in the top of each flotation cell respectively to detect the actual liquid level of flotation cell on each flotation cell, and it is nursed one's health into the standard detection current signal, and (4～20mA) transfer to analog quantity load module 20, handle for CPU module 18, each gate driver is installed in respectively by the outlet conduit electric gate valve of each flotation cell, the output terminal of its input termination analog output module 19 is for the liquid level of each flotation cell of control.
As shown in Figure 3, No. 2 and No. 3 passages are connected to first ultrasonic level gage 7 in the analog quantity load module 20 of present embodiment, No. 4 and No. 5 passages are connected to second ultrasonic level gage 8, No. 6 and No. 7 passages are connected to the 3rd ultrasonic level gage 9, No. 8 and No. 9 passages are connected to No. 10,12, the 4th ultrasonic level gage and No. 13 passages are connected to the 5th ultrasonic level gage 11; All the other are reserved passageway.
As shown in Figure 4, No. 3 and No. 6 passages are connected to the first gate driver 12 in the analog output module 19 of present embodiment, No. 7 and No. 10 passages are connected to the second gate driver 13, No. 11 and No. 14 passages are connected to the 3rd gate driver 14, No. 15 and No. 18 passages are connected to the 4th gate driver 15, No. 23 and No. 26 passages are connected to the 5th gate driver 16, and all the other are reserved passageway.
As shown in Figure 5, a kind of compensating control method of flotation cell automatic control of liquid device may further comprise the steps:
(1) running parameter is set, comprises setting liquid level, Model Predictive Control Algorithm prediction time domain, control time domain, step model coefficient, sampling period, error weighting battle array and the controlled quentity controlled variable weighting battle array of each flotation cell, the filter coefficient of the soft Measurement Algorithm of disturbance etc.;
(2) actual value during collecting work comprises the actual aperture of actual liquid level and the gate of each flotation cell;
(3) setting liquid level and the actual liquid level in comparison step (1) and the step (2) draws the liquid level deviate of each flotation cell;
(4) utilize the liquid level deviate of each flotation cell respectively the liquid level predicted value of each flotation cell to be proofreaied and correct;
(5) the liquid level predicted value of each flotation cell after proofreading and correct is shifted to arrange the prediction liquid level initial value of each flotation cell of current time;
(6) according to the prediction liquid level initial value of each flotation cell and the running parameter of step (1) setting, draw the base value of the gatage of each flotation cell;
(7) according to the actual aperture of actual liquid level and the gate of each flotation cell, draw the disturbance estimated value in each liquid level loop;
(8) base value of each flotation cell gatage is deducted the disturbance estimated value in corresponding liquid level loop, draw each flotation cell gatage value;
(9) utilize each flotation cell gatage value to control corresponding gate driver, to control the liquid level of actual flotation cell;
(10) utilize the base value of the gatage of each flotation cell to draw the liquid level predicted value of corresponding flotation cell, return step (2) then.
As shown in Figure 6, with the soft metrophia compensation of liquid level disturbance of smart scavenger flotation cell 6 and be controlled to be example and set forth algorithm mechanism, specifically the control of the liquid level of each groove can be with reference to this figure.By this figure as can be known, the liquid level of smart scavenger flotation cell 6 is subjected to the influence of external disturbance, model uncertainty, each groove and preceding continuous technology coupling, level value records by the 5th ultrasonic level gage 11, and the aperture that CPU module 18 is regulated the electric gate valve on the smart scavenger flotation cell 6 by the 5th gate driver 16 is controlled the liquid level of smart scavenger flotation cell 6.Algorithm partly comprises two modules: the soft measurement module of model predictive controller module and disturbance, the model predictive controller module is calculated the gatage base value by the actual liquid level and the liquid level setting value that record, and the actual liquid level value that the soft measurement module basis of disturbance records and gatage value estimate the disturbed value in this liquid level control system.The gatage base value of above-mentioned calculating gained is deducted the soft disturbance estimated value that measures obtain final gatage controlling value.
Claims (1)
1. the compensating control method of a flotation cell automatic control of liquid device, flotation cell automatic control of liquid device comprises flotation cell, liquid level gauge, gate driver, analog quantity load module (20), CPU module (18) and analog output module (19); Wherein: analog quantity load module (20) links to each other with CPU module (18), CPU module (18) links to each other with analog output module (19), the gate driver links to each other with analog output module (19), liquid level gauge links to each other with analog quantity load module (20), liquid level gauge and gate driver are located on the flotation cell respectively, it is characterized in that: may further comprise the steps
(1) running parameter is set, comprises setting liquid level and the sampling period of flotation cell;
(2) actual value during collecting work comprises the actual aperture of actual liquid level and the gate of flotation cell;
(3) setting liquid level and the actual liquid level in comparison step (1) and the step (2) draws the liquid level deviate of flotation cell;
(4) utilize the liquid level deviate of flotation cell that the liquid level predicted value of flotation cell is proofreaied and correct;
(5) the liquid level predicted value of the flotation cell after proofreading and correct is shifted to arrange the prediction liquid level initial value of the flotation cell of current time;
(6) according to the prediction liquid level initial value of flotation cell and the running parameter of step (1) setting, draw the base value of the gatage of flotation cell;
(7) according to the actual aperture of actual liquid level and the gate of flotation cell, draw the disturbance estimated value in liquid level loop;
(8) base value of flotation cell gatage is deducted the disturbance estimated value in corresponding liquid level loop, draw flotation cell gatage value;
(9) utilize flotation cell gatage value to control corresponding gate driver, to control the liquid level of actual flotation cell;
(10) utilize the base value of the gatage of flotation cell to draw the liquid level predicted value of corresponding flotation cell, return step (2) then.
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| CN 201110007369 CN102176170B (en) | 2011-01-14 | 2011-01-14 | Compensation control method of flotation cell liquid level automatic control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103676989B (en) * | 2013-12-29 | 2016-04-06 | 金堆城钼业股份有限公司 | A kind of little type flotation machine method for automatic controlling liquid level |
| CN104503493B (en) * | 2014-12-15 | 2017-06-16 | 中冶长天国际工程有限责任公司 | A kind of control method and device of flotation device liquid level |
| CN104714564B (en) * | 2014-12-17 | 2018-01-09 | 浙江工业大学 | Distributing liquid level control system control method based on extended state observer |
| CN104923411B (en) * | 2015-07-06 | 2018-08-10 | 中国黄金集团内蒙古矿业有限公司 | Bulk flotation yield control system and control method |
| CN105589478A (en) * | 2016-03-16 | 2016-05-18 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Flotation cell liquid level automatic control device and method |
| CN206325702U (en) * | 2016-12-09 | 2017-07-14 | 永平县泰达废渣开发利用有限公司 | One kind carries out white residue piece-rate system using floatation |
| CN108459626A (en) * | 2017-09-21 | 2018-08-28 | 湖北博南科技有限公司 | The devices and methods therefor of Packed flotation column liquid level is automatically controlled based on pressure difference |
| CN112403689B (en) * | 2020-11-25 | 2022-07-01 | 河南资环检测科技有限公司 | Automatic liquid level control method of flotation equipment |
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| CN1552753A (en) * | 2003-05-30 | 2004-12-08 | 华东理工大学 | Soft measure for polyester product quality target and process operating optimization method |
| CN2786679Y (en) * | 2005-04-13 | 2006-06-07 | 河北理工大学 | Liquid level electric control equipment |
| CN101021725A (en) * | 2007-03-23 | 2007-08-22 | 陈金龙 | Sewage pump station monitoring system |
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| JP2009053892A (en) * | 2007-08-27 | 2009-03-12 | Miura Co Ltd | Liquid level control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1552753A (en) * | 2003-05-30 | 2004-12-08 | 华东理工大学 | Soft measure for polyester product quality target and process operating optimization method |
| CN2786679Y (en) * | 2005-04-13 | 2006-06-07 | 河北理工大学 | Liquid level electric control equipment |
| CN101021725A (en) * | 2007-03-23 | 2007-08-22 | 陈金龙 | Sewage pump station monitoring system |
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| JP特开2009-53892A 2009.03.12 |
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