CN103092072A - Experimental system and method of ore grinding process control - Google Patents
Experimental system and method of ore grinding process control Download PDFInfo
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Abstract
The invention relates to an experimental system and a method of ore grinding process control, and belongs to the technical field of automatic control. The system comprises an operation optimization control device, a process loop control device, and a three-dimensional virtual ore grinding process operation device, wherein the three-dimensional virtual ore grinding process operation device comprises a virtual object operation device and a three-dimensional visualization operation device, new software and hardware technologies and simulation technologies are used on the process loop control device to enable the process loop control device in development and the three-dimensional virtual ore grinding process operation device to be as close as possible to a real industrial environment, and the process loop control device has good visuality and compatibility. The system further integrates the operation optimization control device, so that the problems that in the real industrial process, the loop set value is depended on human experience, arbitrariness is high, and decisions are unreasonable are solved. Therefore, the experimental system and the method of the ore grinding process control are good in versatility, strong in compatibility, and have three-dimensional visual effects. The experimental system and the method of the ore grinding process control are free from the restriction of a hardware device. The dynamic substitution between the optical control algorithm and the device model algorithm can be achieved, and the openness is good.
Description
Technical field
The invention belongs to the automatic control technology field, be specifically related to a kind of grinding process operation and control experimental system and method.
Background technology
This experiment porch is to control experimental system for a cover ore grinding industrial process operation of Mechanic Engineer, control theory software engineering researchers invent.Grinding process has the complex nature such as strong nonlinearity, large time delay, strong coupling usually, and permitted multifactorial the impact in production run, for quality and the production efficiency that improves product, reduce costs, ensure security of operation, quality, efficient, consumption in product processing have attracted academia and the numerous scholars' of industry member research and application gradually as the optimization progress control method of controlling target.Yet mostly grinding process is to work continuously, danger is high, physical equipment is expensive and experimental cost is high, the cycle is long, the risk that the stopping production of causing is arranged is not easy to carry out the field control experiment, and therefore exploitation has important researching value and practical significance for ore grinding industrial process operation control experimental system.
A complete ore grinding industrial process operation is controlled experimental system and usually is comprised of operation optimal controller, process loop controller, virtual grinding process performer and supporting network.The function of optimal control and operation monitoring that the operation optimal controller is integrated; can either produce by system optimizing control the loop setting value of grinding process; also can be used for monitoring the operation information of production run and occur abnormal or boundary condition (raw ore hardness, former mineral density, original ore size distribute) provides rational system acceptable operating point when changing in production run, and avoiding the generation of unusual service condition.The loop optimization setting value that the process loop controller calculates according to the operation optimal controller, and the procedural information of combined with virtual grinding process performer feedback, utilize process control algorithm to regulate controlled quentity controlled variable, and realize rapidly and accurately the tracking of control loop setting value, thereby product index is controlled in the scope of technic index target call.Virtual grinding process performer is made of concrete commercial unit (bowl mill, spiral classifier, pump pond, cyclone, valve, pump, motor etc.), dynamic perfromance by simulation actual industrial produced on-site process, export the operation information of each physical vlan equipment, realize substituting the purpose of actual physical device.The network that supporting network is interconnected to constitute intercommunication with computing machine and the controller of different vendor, different model in experiment porch.
In experimental system was controlled in existing grinding process operation, the part experimental system only was made of process loop controller, virtual grinding process performer and supporting network.Owing to lacking grinding process operation optimal controller, its process loop controller relies on artificial experience assignment procedure loopback value usually, and randomness is strong, interference is large, is unfavorable for obtaining the optimal value of granularity product.And the process loop controller of most of experimental system adopts PLC (Programmable Logic Controller) or DCS (DistributionControl System) product, in view of poor compatibility between the PLC of different vendor or DCS product, the control program of writing is not easy to transplant, and causes the experimental system versatility of exploitation low.What the virtual grinding process simulator of some experiment porchs adopted in addition is external more famous ore dressing simulation softward, such as METSIM, these software prices are expensive, and process modeling major part wherein is all to set up according to external industrial flow, has larger difference with the industrial flow of the actual motion of China.And these softwares all seal, and can't check the specifying information of model, therefore can't revise model according to the actual conditions of China, reduce to a great extent the actual application value of these experimental systems.
Generally speaking, the problem of existing ore grinding industrial process operation control experimental system existence mainly contains:
1, the operation optimal controller adopts the monitoring and control configuration product of domestic and international large automatic company (as SIEMENS, ROCKWELL, HOLLYSYS etc.) to build the operation picture of technological process and control loop mostly, just played the purpose of monitoring process information, but can't utilize advanced system optimizing control to optimize production run, scientific and reasonable process loop setting value is provided.Some experimental systems have utilized some to adopt the Advanced Control Software of high level language, but these Optimization Softwares are not supported the importing of external control algorithm normally for specific advanced control algorithm.If want to utilize other control algolithm to move the control experiment, also need to buy in addition corresponding Optimization Software bag.And these software packages, all do not support the encapsulation of custom algorithm, belong to special use or closed system.
2, the process loop controller adopts the PLC of above-mentioned Automation Co., Ltd or DCS hardware product to realize usually, is referred to as hard PLC.Due to technical monopoly and product protection, be difficult to mutual support between the PLC/DCS product of different company.Control experimental system if utilize the software and hardware system of the PLC/DCS product of a certain company (such as A company) to build a cover grinding process operation, also need after so again to build when experimental system is controlled in the operation of cover grinding process and must adopt the product of A company, perhaps again build one for the PLC/DCS product of B company and overlap this control system.PLC/DCS equipment is not only expensive, and installs complicated.In addition, the process loop controller can not be for all IO modules complete and that the virtual process performer is supporting, and the IO point of controlling use can increase along with the raising of virtual process complexity.
3, the ore dressing analogue simulation software of the specialty such as METSIM is mainly process oriented optimization, and its model bank sealing, is unfavorable for revising model parameter and sophisticated model according to actual conditions.Existing virtual grinding process performer is two dimension view normally, is unfavorable for the ore grinding industry operational process of experiencing intuitively actual.
Existing grinding process operation control system structure differs, and simulation performance is uneven, can not well control technology, computer technology, software engineering be fused together.Therefore, utilizing up-to-date method for designing and technological development to go out a grinding process operation control experimental system that versatility is good, visualization is high is that Research Significance and actual application value are arranged very much.
Summary of the invention
For the deficiencies in the prior art, the present invention proposes a kind of grinding process operation and controls experimental system and method, with reach improve versatility and compatible, have the 3D vision effect, be not subjected to the restriction of hardware device, and realize the dynamic replacement of system optimizing control and physical equipment model algorithm improving open purpose.
Experimental system is controlled in a kind of grinding process operation, this system is used for the operation of two sections closed circuit grinding devices and controls experiment, and described two sections closed circuit grinding devices comprise one section bowl mill, spiral classifier, two sections bowl mill, pump pond, hydrocyclone, pump, motor and priming valve door; The grinding process operation is controlled experimental system and is comprised operation optimal controller, process loop controller and three-dimensional grinding process performer, and described three-dimensional grinding process performer comprises virtual objects performer and three-dimensional visualization performer, wherein,
(1) operation optimal controller: be the device that receives granularity expectation index, Optimal Setting key decision variable, monitor procedure data; The operation optimal controller is by using OPC mechanics of communication and process loop controller to carry out communication, obtain real-time process data, then product granularity expectation index and the boundary condition information according to input starts the ore grinding system optimizing control, thereby decision-making goes out the control loop setting value, and Real Time Monitoring control loop setting value and actual value, data monitoring interface by the operation optimal controller is revised the control loop setting value, and modified value is downloaded in the process loop controller;
(2) process loop controller: be the deviation of utilizing control loop setting value and actual value, carry out closed loop by process control algorithm and follow the tracks of the device of controlling; This device obtains the loop setting value of operation optimal controller and the control loop actual value of three-dimensional grinding process performer by the OPC mechanics of communication, utilize process control algorithm to produce the input control amount of controlling the virtual objects performer, the loop setting value that calculates to follow the tracks of the operation optimal controller;
(3) three-dimensional grinding process performer: be to utilize the object model algorithm to simulate the production run of ore grinding industry spot, the virtual-sensor of employing virtual objects performer obtains the physical quantity actual value in production run, and the device with 3D vision effect; The virtual objects performer is the device with model algorithm encapsulation, technological process configuration, model algorithm operation, produces the process data of grinding process by the controlled quentity controlled variable of receiving course loop control unit; The three-dimensional visualization performer is to utilize the mode of three-dimensional modeling to build the device of 3D vision effect, Dynamic Display grinding process.
Described granularity expectation index comprises one section granularity expectation value and two sections granularity expectation values; Described key decision variable is the control loop setting value, comprises mine-supplying quantity loop setting value, ore milling concentration loop setting value, revolves to concentration loop setting value, revolves to flow circuit setting value, effluent concentration loop setting value; Described process data comprises to one section granularity actual value, two sections granularity actual value, mine-supplying quantity loop setting value and actual value, ore milling concentration loop setting value and actual values, revolves to concentration loop setting value and actual value, revolves to flow circuit setting value and actual value, effluent concentration loop setting value and actual value; Described boundary condition information comprises that raw ore density, raw ore hardness and original ore size distribute.
Described controlled quentity controlled variable comprises priming valve door aperture in electric machine frequency in the mine-supplying quantity loop, ore milling concentration loop, revolve to the priming valve door aperture in the concentration loop, revolve the priming valve door aperture to the underflow pump electric machine frequency in flow circuit and effluent concentration loop.
Described object model algorithm comprises one section grinding machine grinding process Dynamic Mechanism model algorithm, spiral classifier mechanism model algorithm, Secondary grinding mill grinding process Dynamic Mechanism model algorithm, cyclone mechanism model algorithm, pump pool model algorithm, topworks's model algorithm; Described topworks model comprises pump model, valve model, motor model.Described physical quantity actual value comprises mine-supplying quantity actual value, ore milling concentration actual value, revolves to the flow actual value, revolves to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values.
Described ore grinding system optimizing control comprises the reasoning by cases algorithm, Expert Rules reasoning algorithm, real-time optimization algorithm and model predictive control algorithm; Described process control algorithm comprises pid algorithm, adaptive control algorithm, Uncoupling Control Based and FUZZY ALGORITHMS FOR CONTROL.
Described process loop controller adopts hard PLC or soft PLC.
Adopt the grinding process operation to control the method that experimental system is tested: to comprise the following steps:
Step 1, user log in the operation optimal controller that enters grinding process operation control experimental system;
Step 2, the multiple ore grinding system optimizing control of employing operation optimal controller encapsulation; And the mode of utilizing configuration is selected a kind of ore grinding system optimizing control;
Step 9, process loop controller are according to new loop setting value and the deviation of actual value, comprise mine-supplying quantity deviation, ore milling concentration deviation, revolve to flow deviation, revolve the controlled quentity controlled variable that produces new virtual actuator to concentration deviation and effluent concentration deviation, that realizes controlling the mine-supplying quantity motor adds to ore deposit speed, one section grinding machine priming valve door that discharge, pump pond moisturizing valve add discharge, Secondary grinding mill priming valve door adds discharge and cyclone feeds mineral slurry flux;
If step 10 mine-supplying quantity actual value, ore milling concentration actual value, revolve to the flow actual value, revolve to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values and can not effectively follow the tracks of setting value, the experiment anticipation error that exceeds the user, according to the tracking effect adjustment System system optimizing control parameter of above-mentioned actual value and setting value, make it satisfy customer requirements, perhaps return to step 2; If satisfy user's experiment anticipation error, put into production.
Advantage of the present invention:
the present invention is that experimental system and method are controlled in a kind of grinding process operation, process loop controller wherein derives from actual industry spot, and utilize emerging software and hardware technology and emulation technology, make the process loop controller of exploitation and three-dimensional grinding process performer as much as possible near the actual industrial environment and have good visual and compatible, this system is also integrated operation optimal controller, can effectively solve loop setting value dependence artificial experience in actual industrial process, random strong, the irrational problem of decision-making, therefore to have versatility good in the present invention, compatible strong, has the 3D vision effect, be not subjected to the restriction of hardware device, and can realize the dynamic replacement of system optimizing control and physical equipment model algorithm, open good advantage.
Description of drawings
Fig. 1 is an embodiment of the present invention grinding process process chart;
Wherein, one section bowl mill of 1-; The 2-spiral classifier; Two sections bowl mill of 3-; 4-pump pond; The 5-hydrocyclone; The 6-pump; 7-priming valve door; The 8-motor;
Fig. 2 is that the experimental system structural drawing is controlled in the operation of an embodiment of the present invention grinding process;
Fig. 3 is an embodiment of the present invention operation optimal controller structural drawing;
Fig. 4 is an embodiment of the present invention process loop controller architecture figure;
Fig. 5 is an embodiment of the present invention three-dimensional grinding process performer structural drawing;
Fig. 6 is that the experimental technique process flow diagram is controlled in the operation of an embodiment of the present invention grinding process;
Fig. 7 is an embodiment of the present invention three-dimensional grinding process performer configuration flow figure;
Fig. 8 is an embodiment of the present invention process loop controller configuration flow figure;
Fig. 9 is an embodiment of the present invention operation optimal controller configuration flow figure;
Figure 10 is an embodiment of the present invention ore grinding industrial process intelligent operation control strategy figure;
Figure 11 is the experiment flow figure of an embodiment of the present invention grinding process system optimizing control;
Figure 12 is the aircraft pursuit course of one section granularity expectation value of an embodiment of the present invention grinding process;
Figure 13 is the aircraft pursuit course of two sections granularity expectation values of an embodiment of the present invention grinding process.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is described further.
Experimental system is controlled in a kind of grinding process operation, this system is used for the operation of two sections closed circuit grinding devices and controls experiment, two sections closed circuit grinding devices comprise: one section bowl mill 1, spiral classifier 2, two sections bowl mill 3, pump pond 4, hydrocyclone 5, pump 6, priming valve door 7 and motor 8, as shown in Figure 1, primary grinding is closed circuit to be made of one section bowl mill 1 and spiral classifier 2, and the secondary grinding loop is made of two sections bowl mill 3, pump pond 4 and hydrocyclone 5.Concrete technological process is as follows: the tcrude ore of treated mistake and a certain proportion of water enter one section bowl mill 1 and grind, ore pulp after grinding (mineral water potpourri) enters spiral classifier 2, add water for spiral classifier 2 simultaneously, spiral classifier 2 sand returns are sent into one section bowl mill 1 again and are formed circulating load.Satisfactory spiral classifier 2 overflow ore pulps (one section granularity) enter pump pond 4, simultaneously add a certain amount of water at pump pond 4 entrances, ore pulp in pump pond 4 is squeezed into hydrocyclone 5 by underflow pump with certain flow and concentration, ore pulp carries out classification under the effect of hydrocyclone 5 inner centrifugal force, satisfactory fine fraction ore pulp (two sections granularities) discharges to enter hypomere from overflow vent and sorts operation, and the coarse fraction ore pulp enters two sections bowl mill 3 by hydrocyclone 5 spigots and refaces.For the product that makes production has satisfied size indicator, based on above technological process, set up five control loops-mine-supplying quantity loop (controlling the speed that feeds of tcrude ore), ore milling concentration loop (controlling the pulp density in one section bowl mill) in actual ore grinding industrial process, revolved to flow circuit (controlling the delivery rate of underflow pump), revolved to concentration loop (control cyclone and feed pulp density), effluent concentration loop (controlling the overflow pulp density of spiral classifier).
As shown in Figure 2, the grinding process operation is controlled experimental system and is comprised operation optimal controller, process loop controller and three-dimensional grinding process performer, described three-dimensional grinding process performer comprises virtual objects performer and three-dimensional visualization performer, wherein
(1) operation optimal controller: be the device that receives granularity expectation index, Optimal Setting key decision variable, monitor procedure data, the operation optimal controller is by using OPC(OLE for process control-for object linking and the embedding of process control) technology and process loop controller carry out communication, obtain real-time process data, then product granularity expectation index and the boundary condition information according to input starts the ore grinding system optimizing control, thereby decision-making goes out the control loop setting value, and Real Time Monitoring control loop setting value and actual value, data monitoring interface by the operation optimal controller is revised the control loop setting value, and modified value is downloaded in the process loop controller,
(2) process loop controller: be the deviation of utilizing control loop setting value and actual value, carry out closed loop by process control algorithm and follow the tracks of the device of controlling; This device obtains the loop setting value of operation optimal controller and the control loop actual value of three-dimensional grinding process performer by the OPC communication, utilize process control algorithm to produce the input control amount of controlling the virtual objects performer, the loop setting value that calculates to follow the tracks of the operation optimal controller;
(3) three-dimensional grinding process performer: be to utilize the object model algorithm to simulate the production run of ore grinding industry spot, the virtual-sensor of employing virtual objects performer obtains the physical quantity actual value in production run, and the device with 3D vision effect; The virtual objects performer is the device with model algorithm encapsulation, technological process configuration, model algorithm operation, produces the process data of grinding process by the controlled quentity controlled variable of receiving course loop control unit; The three-dimensional visualization performer is to utilize the mode of three-dimensional modeling to build the device of 3D vision effect, Dynamic Display grinding process.
Described granularity expectation index comprises one section granularity expectation value P
1* with two sections granularity expectation value P
2*; Described key decision variable is the control loop setting value, comprises mine-supplying quantity loop setting value O
f*, ore milling concentration loop setting value D
m*, revolve to concentration loop setting value L
s*, revolve to flow circuit setting value P
f*, effluent concentration loop setting value R
t*; Described process data comprises to one section granularity actual value P
1, two degree granularity actual value P
2, mine-supplying quantity loop setting value O
f* with actual value O
f, ore milling concentration loop setting value D
m* with actual value D
m, revolve to concentration loop setting value L
s* with actual value L
s, revolve to flow circuit setting value P
f* with actual value P
f, effluent concentration loop setting value R
t* with actual value R
tDescribed boundary condition information comprises that raw ore density, raw ore hardness and original ore size distribute.Described controlled quentity controlled variable comprises the electric machine frequency f in the mine-supplying quantity loop
1, the priming valve door aperture v in the ore milling concentration loop
1, revolve to the priming valve door aperture v in the concentration loop
2, revolve to the underflow pump electric machine frequency f in flow circuit
2Priming valve door aperture v with the effluent concentration loop
3Described object model algorithm comprises one section grinding machine grinding process Dynamic Mechanism model algorithm, spiral classifier mechanism model algorithm, Secondary grinding mill grinding process Dynamic Mechanism model algorithm, cyclone mechanism model algorithm, pump pool model algorithm, topworks's model algorithm; Described topworks model comprises pump model, valve model and motor model; Described physical quantity actual value comprises mine-supplying quantity actual value, ore milling concentration actual value, revolves to the flow actual value, revolves to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values.
Described ore grinding system optimizing control comprises the reasoning by cases algorithm, Expert Rules reasoning algorithm, real-time optimization algorithm and model predictive control algorithm; Described process control algorithm comprises pid algorithm, adaptive control algorithm, Uncoupling Control Based and FUZZY ALGORITHMS FOR CONTROL.
In the embodiment of the present invention, the operation optimal controller by one the PC (personal computer) take WINDOWS XP as operating system as hardware platform .NET Framework4 software, Matlab2010 software, operation optimal control configuration software and SQL Server2005 database software are installed; The process loop controller comprises two parts, and a part is the PC take Linux as operating system, the MULTIPROG software of German KW (section's dimension) company is installed as soft PLC program development and test environment on it; Another part is employing AT91SAM9263(ARM9 controller model) be the ARM9 process loop embedded controller of CPU; Three-dimensional grinding process performer is comprised of two PC, all take WINDOWS XP as operating system, MultiGen Creator three-dimensional graphical modelling software is installed a PC wherein and VTree is that the 3D vision scene develops software, as grinding process virtual three-dimensional computing machine, another PC is equipped with Matlab software and virtual objects operating software as grinding process virtual objects operation computing machine; Network system in the embodiment of the present invention is by the D-LINK24R+ switch of Dongguan YouXun Electronics Co., Ltd, to move optimal controller, process loop controller and three-dimensional grinding process performer interconnects by netting twine, according to the network ip address that distributes, can obtain current available network by the Network Setup Wizard in control panel.Support system of the present invention is made of computer network, is to realize the data communication of operation optimal controller, process loop controller and three-dimensional grinding process performer and mutual important tie, its essence is LAN (Local Area Network).The network of the operation control system of this experimental system connects to have real-time that to respond, transmit the Ethernet that frequency is high, reliability is strong be main.
As shown in Figure 3, the operation optimal controller mainly comprises system management module, base variable administration module, outside algoritic module, algorithm interface module, algorithms library administration module, algorithm groups morphotype piece, algorithm operation module, data communication module, data monitoring module, trend display module, data memory module and logger module; Wherein:
System management module: be used for existing subscriber's the grinding process operation control project, control strategy, the system optimizing control that log in, manage its establishment, and newly-built user and Modify password, and the user is carried out the authority setting;
Outer algorithms storage module: be used to depositing the grinding process system optimizing control, avoiding because algorithm moves the normal operation that the algorithm disappearance that causes affects system;
Algorithm interface module: play the connection effect, be used for the grinding process system optimizing control of outer algorithms storage module is defined as the form that can identify for moving optimal controller; Form comprises the definition of the definition of algorithm pel, the definition of algorithm title, algorithm path definition, algorithm inputoutput data variable;
Algorithms library administration module: be used for multiple ore grinding system optimizing control is carried out grouping management, registration encapsulation and safeguarded;
Algorithm groups morphotype piece: utilize the grinding process system optimizing control that is registered in the algorithms library administration module, the editting function of a configuration is provided for building the grinding process control strategy; Algorithm groups morphotype piece can facilitate the user to utilize simple drag and drop, line operation just can complete the configuration of whole control strategy flow process, but algoritic module must be could add algorithm policy in the mode of configuration according to method provided by the invention or the complete module that succeeds in registration in the algorithms library administration module in;
The base variable administration module: with all variable saves relevant with the grinding process system optimizing control in the base variable administration module, the major function of this module is: be used for adding, delete, revise variable, variable used in system is carried out unified management, and can inquire by classification and revise according to variable's attribute; The data access interface that serves as third party software or controller forms the mapping of variable and grinding process label, makes the configuration of software own, configuration, test not rely on concrete control loop label; Serve as real-time data base storage system optimizing control data, and regularly data based archival configuration is saved in historical data base, the data source of result queries and analysis is provided;
Algorithm operation module: be divided into manual mode of operation, order operational mode and timing operation pattern; Wherein, manual mode of operation is supported mouse action, and the complete manual control of the operation of algorithm is triggered the operating instruction of algoritic module by the people, be suitable for system testing, debugging and maintenance; Under the order operational mode, the execution sequence of algoritic module utilizes the graphical analysis algorithm automatically draw computation sequence and automatically perform by the annexation of software according to module; Under the timing operation pattern, need before operation for each module arranges execution cycle, during operation, platform is supported multi-threaded parallel Processing Algorithm program, need not manual intervention;
The data communication module: communication module mainly is based on the OPC agreement, by opc server and the data label of configuration, reads process data in the process loop controller with asynchronous system, and downloads the loop optimization setting value that calculates;
Data monitoring module: in order to data are checked and safeguard, comprise the technic index data monitoring, the procedural information data monitoring, the monitoring of Optimal Setting result data and boundary condition data monitoring four parts: wherein the technic index data comprise one section size indicator expectation value P
1*, one section granularity actual value P
1, one section granularity predicted value P
P1, two sections size indicator expectation value P
2*, two sections granularity actual value P
2, two sections granularity predicted value P
P2The Optimal Setting result data comprises mine-supplying quantity setting value O
f*, ore milling concentration setting value D
m*, revolve to concentration set point L
s*, revolve to flow setting value P
f*, effluent concentration setting value R
t*; The procedural information data comprise mine-supplying quantity actual value O
f, ore milling concentration actual value D
m, revolve to concentration actual value L
s, revolve to flow actual value P
f, effluent concentration actual value R
tThe perimeter strip number of packages comprises raw ore hardness B
1, former mineral density B
2, original ore size distribution B
3
Trend display module: be used for diagrammatic form, data being checked: comprise one section size indicator expectation value P
1*, one section granularity actual value P
1, one section granularity predicted value P
P1, two sections size indicator expectation value P
2*, two sections granularity actual value P
2, two sections granularity predicted value P
P2, mine-supplying quantity setting value O
f*, mine-supplying quantity actual value O
f, ore milling concentration setting value D
m*, ore milling concentration actual value D
m, revolve to concentration set point L
s*, revolve to concentration actual value L
s, revolve to flow setting value P
f*, revolve to flow actual value P
f, effluent concentration setting value R
t*, effluent concentration actual value R
t
Data memory module: be used for the data of all process variable of system are stored convenient later the inquiry of historical data, theoretical analysis and fault diagnosis;
Logger module: be used for system's some important informations of meeting respective record when the execution user operates, these information can first be pointed out the user, and then are saved in daily record.The daily record meeting of system every day is automatically take the date as filename, through being stored in after encrypting in the syslog file folder.
In the embodiment of the present invention, the operation optimal controller is by using OPC mechanics of communication and process loop controller to carry out communication, obtain real-time process data, then product granularity index expectation value and the boundary condition information according to input starts the intelligent optimizing set control algolithm, thereby decision-making goes out the setting value of control loop, and the Real Time Monitoring Various types of data, the setting value by the data monitoring interface can be drawn by manual intervention optimization finally downloads in the process loop controller after adjustment.
The process loop controller is made of some process control loops, is used for following the tracks of the loop setting value that is calculated by the operation optimal controller.Operation optimal controller output procedure loop setting value, as shown in Figure 2, the process loop controller is controlled the virtual actuator (as valve, motor) of its concrete place process loop according to the loop setting value of input, virtual actuator will produce accordingly action (as valve opening become large or reduce, motor speed quickening or slack-off) so that the setting value of the real output value tracking loop in loop.
In the embodiment of the present invention, the process loop controller is supported two kinds of implementations: a kind of is the soft PLC technology that adopts based on embedded controller, realize the functions such as calculating, control, storage and programming of hardware PLC by software approach, complete the collection of data and the output of signal by physical equipments such as I/O module and fieldbus; Another kind is traditional hard PLC technology.Hard PLC technology refers to utilize the hardware control of large automatic company (as SIEMENS, ROCKWELL, HOLLYSYS etc.), and utilizes the corresponding control command of these companies to write the control system that software and process monitoring Development of Configuration Software go out.This implementation also can be supported by system of the present invention, but be had many disadvantages because its technology that adopts too relies on these Automation Co., Ltd, the implementation of the soft PLC technology of embodiment of the present invention employing.Process loop controller based on soft PLC technology is made of development environment and running environment two parts, as shown in Figure 4, the effect of development environment is to make the user can utilize the PLC programming language of standard to write specific control to use, provide simultaneously the test emulation instrument, in order to the correctness of debugging control application program.Development environment comprises several parts such as editor debugging, compiler and communication interface (Client), the user carries out writing of PLC language in editor's debugging, and grammar mistake is wherein found out in debugging, then compile in compiler, generate executable object code, at last object code is downloaded in running environment by communication interface.Object code is the bridge of linking up between development environment and running environment, it is a kind of pseudo-run time version, adopt the form of continuous binary code, has complete order set, these codes generate in development environment, be used for describing user's control function, explained by processor in running environment and carry out.The effect of running environment is to carry out the object code that produces after the development environment compiling, and it comprises communication interface (Server) module, processor module, I/O communication module and opc server module.Communication interface (Server) module is used for the object code of received communication interface (Client) module transmission to processor module.Processor is that the core of running environment is also the core of whole soft PLC, realize the function that the CPU of hardware PLC completes.The I/O communication interface modules is virtual machine and hardware device communication service, and the opc server module is used for depositing the variable information of all service datas of experiment porch.Development environment and running environment are Client/Server, both ask and adopt the COM/DCOM communication mechanism, and running environment provides the communication interface of standard as com server; Development environment is as the COM client application, and Local or Remote is accessed these interfaces of access, the operations such as operation information of downloading code, reading running environment.Shown in the effect of each functional module is specific as follows:
Editor's debugging (EDIT/DEBUG) module: provide and control editor and the debugging enironment of using, the programming language of user's Application standard is write controlling application program and to provide Real time dynamic display with online debug function, is facilitated the correctness of user test steering logic; The input message of editor's debugging (EDIT/DEBUG) module comes from the controlling application program that the user writes, and according to user's input message, finally generates the intermediate file of professional format, exports to compiler (COMPILE) module and compiles.
Compiler (COMPILE) module: check the program code that the user writes, show the correctness of compiling result, error message and the warning message that compiles is prompted to the user.The input message of compiler (COMPILE) module comes from the intermediate file that editor's debugging (EDIT/DEBUG) module generates, and carries out the grammatical and semantic inspection according to the IEC61131-3 standard, the final object code that is independent of running environment that generates.
Communication interface (CLIENT) module: the message reference passage is provided.Edit debugging (EDIT/DEBUG) module and compiler (COMPILE) module and realize and the running environment exchange message by communication interface (CLIENT) module, read as code download, variable etc.Communication interface (CLIENT) module meets the COM/DCOM standard, can local, remote access running environment.
Communication interface (SERVER) module: be the COM/DCOM server interface of realizing soft PLC controller, for communication interface (CLIENT) module provides service, by the COM/DCOM interface, the user can the reading processor module variable, the operation information of access processor, the running status of control processor is downloaded object code etc.
Processor (CPU) module: carry out the object code that compiler (COMPILE) module produces, control accordingly according to user's steering logic, its working method is " input computing output ", carries out the I/O variable by the I/O communication interface and reads.
Opc server (OPC SERVER) module: for soft PLC controller provides the data access interface that meets the OPC standard.By this module, the operation optimal controller on upper strata can have access to the data message in processor.
The I/O communication interface modules: be a dynamic link library (DLL), provide I/O to read service, processor is communicated by letter with physical hardware devices by the I/O communication interface modules, reads the I/O variable information.The I/O Development of Module meets standard OPC data-interface, is the client-side program of opc server.Meeting the OPC standard is the embodiment of soft PLC controller opening, and by the I/O module, processor can be accessed the hardware device of any OPC of meeting standard.
As shown in Figure 5, three-dimensional grinding process performer is used for production equipment that is virtually reality like reality and scene, gives one of user more true to nature and simulated environment intuitively.In the embodiment of the present invention, three-dimensional grinding process performer comprises two parts, and a part is the three-dimensional visualization performer, and another part is the virtual objects performer.
The three-dimensional visualization performer operates on virtual three-dimensional grinding process operation computing machine, represents the ore grinding industrial processes with the animation form, has roaming, what comes into a driver's scene rendering texts.The three-dimensional visualization performer comprises two modules, 3-D view MBM and 3D vision scene development module: the effect of 3-D view MBM is to use existing D modeling tool (as MultiGen Creator, Maya, 3DStudio, SoftImage, Lightware3D) complete modeling and real-time rendering requirement to physics material objects such as bowl mill, spiral classifier, valve, motors; The effect of 3D vision scene development module is that the physics mock-up that will set up is placed in specific industrial scene, can realize by softwares such as VTree.
The virtual objects performer operates on grinding process virtual objects operation computing machine, simulates the physics production run of industry spot with the object model algorithm, obtains the physical quantity actual value in production run; The virtual objects performer comprises base variable administration module, model bank administration module, model group morphotype piece, model running module and communication management module; Wherein, the major function of base variable administration module is all variablees that use in the management object model; The major function of model bank administration module is to realize the grouping management of virtual objects, provides simultaneously device model registration encapsulation and the function of safeguarding; The major function of model group morphotype piece is to be the relation according to each object-based device in real process, the virtual objects of setting up is sequentially carried out configuration according to this, thereby form virtual technological process; The function of model running module is the order according to the model configuration, i.e. logistics sequentially moves each model; The major function of communication management module is to guarantee to carry out communication by OPC between three-dimensional visualization performer and virtual objects performer, realizes both working in coordination with.
Adopt the grinding process operation to control the method that experimental system is tested: as shown in Figure 6, to comprise the following steps:
Step 1, user log in the operation optimal controller that enters grinding process operation control experimental system;
The multiple ore grinding system optimizing control of algorithms library administration module encapsulation in step 2, employing operation optimal controller; And in the algorithm groups morphotype piece of operation optimal controller, utilize the mode of configuration to select a kind of ore grinding system optimizing control to build the grinding process progress control method;
The restriction range of table 1. index and loop setting value
| Index | P 1* | P 2* | O f* | D m* | L s* | P f* | R t* |
| |
58±2 | 80±2 | 70±10 | 80±3 | 55±5 | 340±20 | 55±5 |
Step 9, process loop controller comprise mine-supplying quantity deviation E according to new loop setting value and the deviation of actual value
of(O
f*-O
f), ore milling concentration deviation E
dm(D
m*-D
m), revolve to flow deviation E
pf(P
f*-P
f), revolve to concentration deviation E
lsL
s*-L
s) and effluent concentration deviation E
rt(R
t*-R
t) produce the controlled quentity controlled variable of new virtual actuator, realize controlling the mine-supplying quantity motor to ore deposit speed F
1, one section grinding machine priming valve door add discharge F
2, pump pond moisturizing valve adds discharge F
3, Secondary grinding mill priming valve door adds discharge F
4Feed mineral slurry flux F with cyclone
5
If step 10 mine-supplying quantity actual value O
f, ore milling concentration actual value D
m, revolve to flow actual value P
f, revolve to concentration actual value L
sWith effluent concentration actual value R
t, one section granularity actual value P
1With two sections granularity actual value P
2Can not effectively follow the tracks of setting value, exceed user's experiment anticipation error, according to the tracking effect adjustment System system optimizing control parameter of above-mentioned actual value and setting value, make it satisfy customer requirements, perhaps return to step 2; If satisfy user's experiment anticipation error, put into production.
Foundation, the exploitation of process loop controller, the configuration of operation optimal controller and the experiment four-stage of grinding process system optimizing control that the experimental system specific implementation can be divided into three-dimensional grinding process performer controlled in the grinding process operation; Wherein,
Stage one: the foundation of three-dimensional grinding process performer, as shown in Figure 7:
Step 1.1, set up various physical equipment moving models in grinding process virtual objects operation computing machine, comprise one section grinding machine ore grinding Dynamic Mechanism model, spiral classifier mechanism model, pump pond Dynamic Mechanism model, Secondary grinding mill ore grinding Dynamic Mechanism model, cyclone mechanism model, motor model, pump model and priming valve door model, and the MATLAB algorithm file that adds these models is to corresponding model and the input/output variable of allocation models;
Step 1.2, set up the required variable of above moving model in grinding process virtual objects operation computing machine, comprise built-in variable and communication variable;
Step 1.3, carry out the model configuration in grinding process virtual objects operation computing machine, according to actual industrial process technological process shown in Figure 1, the virtual objects model is carried out configuration;
Step 1.4, utilize 3 d modeling software Creator to build three dimensional physical device model (one section bowl mill, spiral classifier, pump pond, two sections bowl mill, hydrocyclone, motor, pump and priming valve doors) and industrial premises model in grinding process virtual three-dimensional computing machine, build three-dimensional scenic, generate the file of .flt form;
Step 1.5, the format conversion instrument OpenFlight2VTree utilize VTree software in grinding process virtual three-dimensional computing machine in convert the .flt file that Creator produces to the .vt file, and this file is the private file of VTree;
Step 1.6, call the 3D vision api function that encapsulates in VTree that develops software load the .vt file in grinding process virtual three-dimensional computing machine, loading scenario, three-dimensional model are in the what comes into a driver's scene;
Step 1.7, the variable that will control concrete physical equipment model animation effect in grinding process virtual three-dimensional computing machine are associated with the OPC variable.
Stage two: the exploitation of process loop controller, as shown in Figure 8:
Utilize the FBD(Function Block Diagram of MULTIPROG software in the process loop development computer) language design mine-supplying quantity loop, ore milling concentration loop, revolve to the concentration loop, revolve to flow circuit, effluent concentration five, loop loop control unit, the PID (proportion integration differentiation) that the circuit controls algorithm adopts controls and realizes.
Stage three: the configuration phase of operation optimal controller, as shown in Figure 9:
Step 3.1, user log in and enter the operation optimal controller;
Step 3.2, newly-built grinding process industry Optimal Setting integrated project;
Step 3.3, import in the algorithms library administration module loop based on reasoning by cases preset algorithm, based on the feedforward compensation algorithm of fuzzy rule, based on the feedback compensation algorithm of fuzzy rule, based on the granularity forecast algorithm of reasoning by cases, based on the overload adjustment algorithm of Expert Rules with based on the overload diagnosis algorithm of procedural information, form the system optimizing control module;
Step 3.4, add all optimal control modules variable used in base variable, and initial value and bound are set;
Step 3.5, according to the system optimizing control module that imports in step 3.3, set up control strategy shown in Figure 10;
Step 3.6, set up communication configuration, the OPC label of process variable and correspondence is connected;
Step 3.7, interpolation monitor data comprise one section size indicator expectation value P
1*, one section granularity actual value P
1, one section granularity predicted value P
P1, two sections size indicator expectation value P
2*, two sections granularity actual value P
2, two sections granularity predicted value P
P2, mine-supplying quantity setting value O
f*, mine-supplying quantity actual value O
f, ore milling concentration setting value D
m*, ore milling concentration actual value D
m, revolve to concentration set point L
s*, revolve to concentration actual value L
s, revolve to flow setting value P
f*, revolve to flow actual value P
f, effluent concentration setting value R
t*, effluent concentration actual value R
t, raw ore hardness B
1, former mineral density B
2, original ore size distribution B
3
Step 3.8, interpolation monitoring trend comprise one section size indicator expectation value P
1*, one section granularity actual value P
1, one section granularity predicted value P
P1, two sections size indicator expectation value P
2*, two sections granularity actual value P
2, two sections granularity predicted value P
P2, mine-supplying quantity setting value O
f*, mine-supplying quantity actual value O
f, ore milling concentration setting value D
m*, ore milling concentration actual value D
m, revolve to concentration set point L
s*, revolve to concentration actual value L
s, revolve to flow setting value P
f*, revolve to flow actual value P
f, effluent concentration setting value R
t*, effluent concentration actual value R
t
Control strategy as shown in figure 10 is by grinding particle size index module, loop optimization setting controller, based on the overload adjusting module of Expert Rules, consist of based on overload diagnostic module and the output module of procedural information, wherein said loop optimization setting controller comprise the loop based on reasoning by cases preset module, based on the feedforward compensation module of fuzzy rule, based on the feedback compensation module of fuzzy rule with based on the granularity forecast module of reasoning by cases.Preset module based on the loop of reasoning by cases and adopt the algorithm that presets that Mtalab writes, according to given grinding particle size index expectation value (comprising one section granularity expectation value and two sections granularity expectation values), consider current operating condition optimization constraint and boundary condition, for the process loop controller provides optimal setting, obtain to guarantee the nominal runnability of controlled complex industrial process by the reasoning by cases algorithm; Based on the feedforward compensation module of fuzzy rule and based on the feedback compensation module of fuzzy rule be used for overcoming various dynamic disturbance and not modeling dynamically on the impact of operating index, thereby the overall operation performance of intensifies process greatly; Granularity forecast module based on reasoning by cases is used for size indicator is carried out On-line Estimation, realizes the difficult closed optimized control of surveying size indicator.Based on the overload adjusting module of Expert Rules and based on the overload diagnostic module of procedural information according to procedural information, the duty of supervision bowl mill, automatically revise the setting value of each basic loop control unit, by the amended setting value of the output tracking of control loop, make bowl mill away from the such precarious position of overload.Output module is used for realizing that the loop optimization control setting value that will calculate downloads to the process loop controller.
Stage four: the Qualify Phase of grinding process system optimizing control, as shown in figure 11:
Step 4.1, operation three-dimensional grinding process performer, and make it the OPC communication and be in connection status;
Step 4.2, the soft PLC process loop controller of operation;
Step 4.3, startup operation optimal controller, the grinding process integrated project that selection has configured, the system optimizing control of operation encapsulation also connects opc server;
Step 4.4, begin the experiment;
Step 4.5, analysis data; A(t=11:53 at a time), one section granularity expectation value in the operation optimal controller is made as P
1*=58, two a section granularity expectation value is made as P
2*=80, its loop setting value that produces by system optimizing control is O
f*=77.45, D
m*=80, L
s*=57.87, P
f*=340.58, R
t*=57.48.After operation a period of time, three-dimensional grinding process performer is in steady state (SS) substantially, and each loop actual value is O
f=77.45, D
m=80, L
s=57.87, P
f=340.58, R
tThe actual value of=57.48, one section size indicator is P
1The actual value of=57.96, one section size indicator is P
2=80.05, satisfy departure and be no more than 5% target.
When t=12:30, one section granularity expectation value is reduced to 57, system optimizing control has regenerated new loop setting value { O
f*=77.33, D
m*=79.90, L
s*=57.28, P
f*=340.18, R
t*=57.68}.One section granularity actual value and predicted value are observed two sections granularity predicted value P constantly all having shown tracking trend subsequently near t=12:45
P2=82.2, surpassed the restriction range (78,82) of two sections granularities, this product quality that shows the time in grinding production process can not meet the demands.In this case, based on the feedforward compensation module operation of fuzzy rule, begin to calculate the compensation rate of each loop setting value.Obtain Δ O according to Fuzzy Inference
f*=1.36, Δ D
m*=-2.40, Δ L
s*=2.19, Δ P
f*=-9.54, Δ R
t*=2.03.Upgrade the loop setting value, obtain new loop setting value O
f*=78.69, D
m*=77.5, L
s*=59.47, P
f*=330.64, R
t*=59.71.Within a period of time, the actual value in each loop is followed the tracks of upper setting value, and grinding particle size is in the scope of controlling.
When t=13:15, primary grinding granularity expectation value is increased to 58.5, system optimizing control has regenerated new loop setting value { O
f*=77.20, D
m*=79.7, L
s*=57.04, P
f*=335.58, R
t*=57.78}.One section granularity actual value and predicted value have all shown tracking trend constantly subsequently, observe two sections granularity actual value P2=77.9 near t=13:25, the restriction range (78 that has exceeded two sections granularities, 82), so just regulate by dynamic adjustments feedback compensation module, according to Fuzzy Inference, obtain new offset Δ O
f*=-0.4, Δ D
m*=-0.2, Δ L
s*=-0.79, Δ P
f*=1.76, Δ R
t*=-1.01.Upgrade the loop setting value, obtain new loop setting value O
f*=76.8, D
m*=79.5, L
s*=56.25, P
f*=337.34, R
t*=56.77.As shown in Figure 12-13, its corresponding setting value of the tracking that the actual value of size indicator and loop actual value can be good can reach the control target of expectation, shows the respond well effective control that can realize grinding process of the control algolithm of writing; If the actual value of size indicator can not realize the effective tracking to expectation value, the variation that the actual value in five loops can not the tracking loop setting value shows that there is certain defective in the control algolithm of writing, still needs to improve, and perhaps calls other control algolithms.
Step 4.6, complete experiment;
Step 4.7, stop three-dimensional grinding process performer;
Step 4.8, stopped process loop control unit;
Step 4.9, optimal controller out of service;
Step 4.10, end experiment.
Experimental system is controlled in grinding process operation of the present invention, this system is for the production of the simulation work in early stage, if parameter actual value and setting value tracking are effective, can go into operation according to the method, it consists of clear and definite in addition, operation optimal controller wherein, process loop controller and three-dimensional grinding process performer are easy to volume production, can fully satisfy the needs of large-scale production.
Claims (7)
1. experimental system is controlled in a grinding process operation, this system is used for the operation of two sections closed circuit grinding devices and controls experiment, and described two sections closed circuit grinding devices comprise one section bowl mill, spiral classifier, two sections bowl mill, pump pond, hydrocyclone, pump, motor and priming valve door; It is characterized in that: the grinding process operation is controlled experimental system and is comprised operation optimal controller, process loop controller and three-dimensional grinding process performer, described three-dimensional grinding process performer comprises virtual objects performer and three-dimensional visualization performer, wherein
(1) operation optimal controller: be the device that receives granularity expectation index, Optimal Setting key decision variable, monitor procedure data; The operation optimal controller is by using OPC mechanics of communication and process loop controller to carry out communication, obtain real-time process data, then product granularity expectation index and the boundary condition information according to input starts the ore grinding system optimizing control, thereby decision-making goes out the control loop setting value, and Real Time Monitoring control loop setting value and actual value, data monitoring interface by the operation optimal controller is revised the control loop setting value, and modified value is downloaded in the process loop controller;
(2) process loop controller: be the deviation of utilizing control loop setting value and actual value, carry out closed loop by process control algorithm and follow the tracks of the device of controlling; This device obtains the loop setting value of operation optimal controller and the control loop actual value of three-dimensional grinding process performer by the OPC mechanics of communication, utilize process control algorithm to produce the input control amount of controlling the virtual objects performer, the loop setting value that calculates to follow the tracks of the operation optimal controller;
(3) three-dimensional grinding process performer: be to utilize the object model algorithm to simulate the production run of ore grinding industry spot, the virtual-sensor of employing virtual objects performer obtains the physical quantity actual value in production run, and the device with 3D vision effect; The virtual objects performer is the device with model algorithm encapsulation, technological process configuration, model algorithm operation, produces the process data of grinding process by the controlled quentity controlled variable of receiving course loop control unit; The three-dimensional visualization performer is to utilize the mode of three-dimensional modeling to build the device of 3D vision effect, Dynamic Display grinding process.
2. experimental system is controlled in grinding process operation according to claim 1, it is characterized in that: described granularity expectation index comprises one section granularity expectation value and two sections granularity expectation values; Described key decision variable is the control loop setting value, comprises mine-supplying quantity loop setting value, ore milling concentration loop setting value, revolves to concentration loop setting value, revolves to flow circuit setting value, effluent concentration loop setting value; Described process data comprises to one section granularity actual value, two degree granularity actual values, mine-supplying quantity loop setting value and actual value, ore milling concentration loop setting value and actual value, revolves to concentration loop setting value and actual value, revolves to flow circuit setting value and actual value, effluent concentration loop setting value and actual value; Described boundary condition information comprises that raw ore density, raw ore hardness and original ore size distribute.
3. experimental system is controlled in grinding process according to claim 1 operation, it is characterized in that: described controlled quentity controlled variable comprises priming valve door aperture in electric machine frequency in the mine-supplying quantity loop, ore milling concentration loop, revolve to the priming valve door aperture in the concentration loop, revolve the priming valve door aperture to the underflow pump electric machine frequency in flow circuit and effluent concentration loop.
4. experimental system is controlled in grinding process operation according to claim 1, and it is characterized in that: described object model algorithm comprises one section grinding machine grinding process Dynamic Mechanism model algorithm, spiral classifier mechanism model algorithm, Secondary grinding mill grinding process Dynamic Mechanism model algorithm, cyclone mechanism model algorithm, pump pool model algorithm, topworks's model algorithm; Described physical quantity actual value comprises mine-supplying quantity actual value, ore milling concentration actual value, revolves to the flow actual value, revolves to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values.
5. experimental system is controlled in grinding process operation according to claim 1, and it is characterized in that: described ore grinding system optimizing control comprises reasoning by cases algorithm, Expert Rules reasoning algorithm, real-time optimization algorithm and model predictive control algorithm; Described process control algorithm comprises pid algorithm, adaptive control algorithm, Uncoupling Control Based and FUZZY ALGORITHMS FOR CONTROL.
6. experimental system is controlled in grinding process operation according to claim 1, and it is characterized in that: described process loop controller adopts hard PLC or soft PLC.
7. adopt grinding process operation claimed in claim 1 to control the method that experimental system is tested: to it is characterized in that: comprise the following steps:
Step 1, user log in the operation optimal controller that enters grinding process operation control experimental system;
Step 2, the multiple ore grinding system optimizing control of employing operation optimal controller encapsulation; And the mode of utilizing configuration is selected a kind of ore grinding system optimizing control;
Step 3, according to granularity expectation index, comprise one section granularity expectation value and two sections granularity expectation values, adopt the operation optimal controller to produce mine-supplying quantity loop, ore milling concentration loop, revolve to the concentration loop, revolve the setting value to flow circuit and effluent concentration loop by the ore grinding system optimizing control, namely mine-supplying quantity setting value, ore milling concentration setting value, revolve to concentration set point, revolve to flow setting value and effluent concentration setting value;
Step 4, according to process control algorithm, adopt the process loop controller to produce the virtual actuator controlled quentity controlled variable of three-dimensional grinding process performer, comprise priming valve door aperture in electric machine frequency in the mine-supplying quantity loop, ore milling concentration loop, revolve to the priming valve door aperture in the concentration loop, revolve the priming valve door aperture to the underflow pump electric machine frequency in flow circuit and effluent concentration loop;
Step 5, according to the priming valve door aperture in the electric machine frequency in the mine-supplying quantity loop, ore milling concentration loop, revolve to the priming valve door aperture in the concentration loop, revolve the priming valve door aperture to the underflow pump electric machine frequency in flow circuit and effluent concentration loop, that adopts that the virtual actuator of three-dimensional grinding process performer inside controls motor adds to ore deposit speed, one section grinding machine priming valve door that discharge, pump pond moisturizing valve add discharge, Secondary grinding mill priming valve door adds discharge and underflow pump motor rotation frequency;
Step 6, adopt the virtual objects performer configuration grinding process model of three-dimensional grinding process performer inside, and operation grinding process model;
Step 7, adopt the virtual-sensor of virtual objects performer inside to detect mine-supplying quantity actual value, ore milling concentration actual value in grinding process, revolve to the flow actual value, revolve to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values, and be sent in the process loop controller;
Step 8, employing process loop controller send one section granularity actual value and two sections granularity actual values in the operation optimal controller, and the one section granularity predicted value that produces according to the ore grinding system optimizing control, two sections granularity predicted values and one section granularity expectation value, two sections granularity expectation values form new control loop setting value, namely mine-supplying quantity setting value, ore milling concentration setting value, revolve to concentration set point, revolve to flow setting value and effluent concentration setting value;
Step 9, process loop controller are according to new loop setting value and the deviation of actual value, comprise mine-supplying quantity deviation, ore milling concentration deviation, revolve to flow deviation, revolve the controlled quentity controlled variable that produces new virtual actuator to concentration deviation and effluent concentration deviation, that realizes controlling the mine-supplying quantity motor adds to ore deposit speed, one section grinding machine priming valve door that discharge, pump pond moisturizing valve add discharge, Secondary grinding mill priming valve door adds discharge and cyclone feeds mineral slurry flux;
If step 10 mine-supplying quantity actual value, ore milling concentration actual value, revolve to the flow actual value, revolve to concentration actual value and effluent concentration actual value, one section granularity actual value and two sections granularity actual values and can not effectively follow the tracks of setting value, the experiment anticipation error that exceeds the user, according to the tracking effect adjustment System system optimizing control parameter of above-mentioned actual value and setting value, make it satisfy customer requirements, perhaps return to step 2; If satisfy user's experiment anticipation error, put into production.
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| CN112631215A (en) * | 2020-12-10 | 2021-04-09 | 东北大学 | Intelligent forecasting method, device, equipment and storage medium for industrial process operation index |
| CN113536614A (en) * | 2021-09-17 | 2021-10-22 | 矿冶科技集团有限公司 | Simulation system of ore grinding classification flow |
| CN114488775A (en) * | 2021-12-23 | 2022-05-13 | 东北大学 | Control method and device for suspension roasting product pulping process |
| CN114488775B (en) * | 2021-12-23 | 2024-02-06 | 东北大学 | Control method and device for pulping process of suspension roasting product |
| CN115712248A (en) * | 2023-01-10 | 2023-02-24 | 昆山市恒达精密机械工业有限公司 | Intelligent grinding control method and system based on feedback optimization |
| CN115712248B (en) * | 2023-01-10 | 2023-05-09 | 昆山市恒达精密机械工业有限公司 | Feedback optimization-based intelligent grinding control method and system |
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