CN109225661B - Flotation machine process control device and control method - Google Patents
Flotation machine process control device and control method Download PDFInfo
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- CN109225661B CN109225661B CN201811324716.1A CN201811324716A CN109225661B CN 109225661 B CN109225661 B CN 109225661B CN 201811324716 A CN201811324716 A CN 201811324716A CN 109225661 B CN109225661 B CN 109225661B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03D—FLOTATION; DIFFERENTIAL SEDIMENTATION
- B03D1/00—Flotation
- B03D1/14—Flotation machines
- B03D1/16—Flotation machines with impellers; Subaeration machines
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
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Abstract
A process control device and a control method of a flotation machine are provided, wherein a sensor in a detection system detects different working condition parameters of a flotation process and outputs the detected parameters, and then a data acquisition card converts acquired signals into digital signals to be output; the computer in the controller performs optimization calculation on different working condition parameters according to the parameters output by each sensor in the detection system and according to the intelligent optimization algorithm module, and transmits an optimized process parameter control signal to the execution part; after the execution part receives the control signal transmitted by the computer, the change of the motor rotating speed, the impeller height (angle) and the baffle plate height (angle) is realized by adjusting the servo motor. The invention establishes an optimal matching model integrating multiple parameters, ensures the normal operation of the flotation machine by timely and properly adjusting various variables, greatly improves the accuracy of a process control system and realizes the automatic and intelligent control of the flotation process.
Description
Technical Field
The invention relates to a flotation machine process control device and a control method, in particular to a flotation machine stirring process parameter nonlinear change process control device and a control method according to different working conditions.
Background
Flotation is a technology for separating minerals and is also a main beneficiation method. The main principle is the scientific technology for separating minerals on the three-phase interface of gas-liquid-solid according to the difference of the physical and chemical properties of the surfaces of the minerals. The flotation process is a series of continuous processes from preparation of ore raw material before flotation to production of concentrate. In the flotation process, a plurality of process factors influencing the flotation process are included, but more important are: ore separation granularity, ore pulp separation concentration, medicament system, ore pulp concentration, ore pulp temperature, water quality, flotation time, flotation process flow and the like. The automatic control of the flotation production process plays a very important role in guaranteeing the product quality index and improving the beneficiation benefit, and the main implementation method is realized by adopting a proper controller, a detection instrument and an execution unit as a hardware basis and simultaneously through participation and cooperation of designers or field operators. Flotation process control is an important method to increase flotation efficiency.
The process control system of the flotation machine relates to the aspects of process parameter adjustment, intelligent optimization algorithm, signal acquisition, signal processing, communication control and the like. At present, when the flotation machine works, the flotation machine is properly regulated according to the properties of raw materials, the processing capacity, the product requirement, the equipment abrasion condition and the like, and mainly comprises the regulation of the liquid level of ore pulp, the aeration capacity, the ore pulp circulation capacity, the gap of a stirring mechanism and the like. However, under the condition that the specification such as the ore flotation granularity, the ore pulp flotation concentration, the water quality, the flotation time, the flotation process flow and the like are certain, parameters such as the impeller rotating speed, the impeller height (angle), the baffle plate height (angle) and the like in the stirring device also have important influence on the flotation effect, so that the control optimization of the flotation machine also needs to be optimized.
In order to solve the above problems, an automatic detection technology is generally adopted to effectively indicate the change of each parameter in the beneficiation process, and the flotation related parameters are timely, accurately and automatically adjusted according to the feedback result. At present, the automation integration degree of concentrating mills at home and abroad is higher and higher, wherein the control system of a flotation machine is divided into three different layers according to the complexity degree, the hardware requirement and the performance, and the three layers are sequentially stable control, supervisory control and optimal control. In the flotation process, only the feed amount, the feed concentration and the flotation reagent amount are generally automatically controlled. However, this method has drawbacks, since the flotation process is not a simple industrial process, it involves many intractable, complex technical difficulties in automation, such as non-linearities, time-varying, overshoot, multivariate and random disturbances that are easily present in the control system, i.e. the control unit is required to have a strong robustness and adaptability. Only parameters such as feed amount, feed concentration, flotation machine liquid level and the like are detected and controlled, but the coupling relation among process parameters is not considered, and the regulation and control on other influencing factors are incomplete, so that the control optimization of the flotation machine cannot be truly realized.
Disclosure of Invention
The invention aims to: the invention mainly aims to provide a flotation machine process control device which can obviously improve the flotation efficiency, ensure the flotation quality and prolong the economic service life of a flotation machine; the invention further aims to provide a control method of the flotation machine process device, which can realize that the impeller rotating speed and the impeller (or the flow baffle) height angle of the flotation machine can be adjusted in real time according to flotation working conditions, so that the purposes of high efficiency and energy conservation of the flotation machine are achieved.
The technical scheme is as follows:
a flotation machine process control device, characterized by:
comprising the following steps:
an adjustment system, a detection system, and a controller;
the adjustment system includes:
an impeller with a liftable center of the cylinder wall, and blades with adjustable angles are arranged on the impeller; the impeller main shaft is connected with the motor;
the inner side of the cylinder wall is provided with a fixed plate, and a plurality of longitudinally arranged baffle plates are arranged on the baffle plate guide rail and connected with the fixed plate; each flow baffle is connected with a flow baffle guide rail through a revolute pair; a plurality of baffle plates on the same baffle plate guide rail are connected together through a linkage rod; the linkage rod and the baffle plate guide rail are respectively connected with a driving device;
the fixed plates are uniformly distributed on the circumference of the cylinder wall;
the detection system comprises a flow sensor, a concentration sensor and a liquid level sensor which are all arranged in the cylinder wall, and each sensor is connected to a computer through a data acquisition card;
the controller is a computer connected with the sensors.
The flotation machine process control device is characterized in that: the impeller main shaft is connected to the motor through a coupler; the motor is arranged on the cantilever bracket, and the cantilever bracket is connected with the upright post on the outer side of the cylinder wall through the upright post guide rail.
The flotation machine process control device is characterized in that: the main shaft coincides with the axis of the cylinder wall; the impeller, the main shaft and the motor can move up and down along the upright post guide rail in the axial direction of the cylinder wall through the cantilever bracket.
The flotation machine process control device is characterized in that: the linkage rod and the baffle plate guide rail are respectively connected with the servo motor.
The flotation machine process control device is characterized in that: the number of the blades on the impeller is three, and the root of each blade is provided with an angle adjusting device.
The control method of the control device is characterized in that: the method comprises the following steps:
step 1, detecting different working condition parameters of flotation machine process control by a sensor in a detection system, wherein the parameters comprise feeding amount, feeding concentration, flotation agent and flotation machine liquid level change, converting acquired signals into digital signals through a data acquisition card, outputting the digital signals, and executing step 2;
step 2, judging whether the flotation process parameter is lower than a target value, if yes, executing step 3, and if not, executing step 4;
step 3, the computer in the controller outputs the impeller rotating speed, the impeller height and the impeller angle according to the parameters output by each sensor in the detection system; baffle height, angle; transmitting a control signal to the execution part, and then executing step 5;
step 4, optimizing calculation is carried out on different working condition parameters according to the calculation result of the intelligent optimization algorithm module, and the optimized impeller rotating speed, impeller height and angle are output; the control signals of the height and the angle of the flow baffle are sent to the execution part, and then the step 5 is executed;
step 5, after the flotation adjustment system receives the control signal transmitted by the computer, adjusting and controlling the flotation adjustment system through the servo motor, so that the rotation speed, the height and the angle of the impeller are realized; and optimizing the height and angle parameters of the baffle.
The advantages and effects: compared with other flotation machine process control technologies, the flotation machine process control device and the control method can comprehensively consider the influence of cross coupling among process parameters of the flotation machine, and improve the defects of the prior art by timely and properly adjusting the rotation speed of the impeller, the height angle of the impeller (or the flow baffle) and other equipment parameters, so that the flotation machine can normally operate, the accuracy of a process control system is greatly improved, and the economic service life of the flotation machine is prolonged.
Description of the drawings:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a spindle configuration of the present invention;
FIG. 3 is a schematic view of a baffle structure according to the present invention;
fig. 4 is a flow chart of the operation of the present invention.
Description of the drawings: 11 cylinder walls; 12 cantilever supports; 13 upright posts; 14 upright post guide rails; a 21 motor; a 22 coupling; 23 main shaft; 24 blades; 31 a fixing plate; 32 baffle guide rails; 33 baffle plates; 34 linkage bars.
The specific embodiment is as follows:
the invention comprises a flotation machine process control device, which has the following structure:
a flotation machine process control device, characterized by:
comprising the following steps:
an adjustment system, a detection system, and a controller;
the adjustment system includes:
an impeller with a liftable center of the cylinder wall, wherein the impeller is provided with blades 24 with adjustable angles; the impeller main shaft 23 is connected with the motor 21;
the inner side of the cylinder wall is provided with a fixed plate 31, and a plurality of flow baffle plates 33 which are longitudinally arranged are arranged on a flow baffle plate guide rail 32 and connected with the fixed plate 31; each baffle 33 is connected with the baffle guide rail 32 through a revolute pair; a plurality of baffle plates 33 on the same baffle plate guide rail 32 are connected together through a linkage rod 34; the linkage rod 34 and the baffle guide rail 32 are respectively connected with a driving device;
the fixed plates 31 are uniformly distributed on the circumference of the cylinder wall;
the detection system comprises a flow sensor, a concentration sensor and a liquid level sensor which are all arranged in the cylinder wall, and each sensor is connected to a computer through a data acquisition card;
the controller is a computer connected with the sensors.
The flotation machine process control device is characterized in that: the impeller main shaft 23 is connected to the motor 21 through a coupling 22; the motor 21 is arranged on the cantilever bracket 12, and the cantilever bracket 12 is connected with the upright post 13 at the outer side of the cylinder wall through the upright post guide rail 14.
The flotation machine process control device is characterized in that: the main shaft 23 coincides with the axis of the cylinder wall; the impeller, the main shaft 23 and the motor 21 can move up and down along the upright guide rail 14 in the axial direction of the cylinder wall through the cantilever bracket 12.
The flotation machine process control device is characterized in that: the linkage rod 34 and the baffle guide rail 32 are respectively connected with a servo motor.
The flotation machine process control device is characterized in that: the number of the blades 24 on the impeller is three, and the root parts of the blades are provided with angle adjusting devices.
The control method of the device is also included:
the method comprises the following steps:
step 1, detecting different working condition parameters of flotation machine process control by a sensor in a detection system, wherein the parameters comprise feeding amount, feeding concentration, flotation agent and flotation machine liquid level change, converting acquired signals into digital signals through a data acquisition card, outputting the digital signals, and executing step 2;
step 2, judging whether the flotation process parameter is lower than a target value, if yes, executing step 3, and if not, executing step 4;
step 3, the computer in the controller outputs the impeller rotating speed, the impeller height and the impeller angle according to the parameters output by each sensor in the detection system; baffle height, angle; transmitting a control signal to the execution part, and then executing step 5;
step 4, optimizing calculation is carried out on different working condition parameters according to the calculation result of the intelligent optimization algorithm module, and the optimized impeller rotating speed, impeller height and angle are output; the control signals of the height and the angle of the flow baffle are sent to the execution part, and then the step 5 is executed;
step 5, after the flotation adjustment system receives the control signal transmitted by the computer, adjusting and controlling the flotation adjustment system through the servo motor, so that the rotation speed, the height and the angle of the impeller are realized; and optimizing the height and angle parameters of the baffle.
The process control of the flotation machine is arranged in a flotation machine system and is used for adjusting the rotation speed of an impeller, the height (angle) of the impeller, the height (angle) of a baffle plate and other equipment parameters of the flotation machine system.
The present invention will be described in detail with reference to the accompanying drawings.
Through the control to impeller rotational speed, assisted with impeller height (angle), the regulation of fender flow plate height (angle), can carry out effective control to flotation process parameter, improve the working property and the reliability of flotation machine.
The detection system consists of a plurality of sensors and a data acquisition card, wherein the sensors comprise a flow sensor, a concentration sensor, a liquid level sensor and the like; when the flotation machine system works normally, parameters under different working conditions are detected and the result is output. And each sensor monitors working condition parameters of the flotation machine system under the running condition in real time and transmits the system parameters to a computer through a data acquisition card.
The flotation detection system transmits sensor signals to the data acquisition card, further transmits the sensor signals to the controller for data processing, transmits the signals to the flotation adjustment system, correspondingly adjusts the signals through the impeller adjustment device and the baffle adjustment device, forms a closed-loop control system after feedback, and finally realizes automatic control of flotation process parameters.
FIG. 2 is a schematic diagram of a spindle configuration of the present invention;
FIG. 3 is a schematic view of a baffle structure according to the present invention;
the controller sends out instructions to control the servo motor to enable the flow baffle plate to move up and down integrally, and meanwhile, the linkage rod 34 is controlled to enable the angle of the flow baffle plate 33 to be adjustable. The height and angle adjustment of the baffle 33 can be controlled either simultaneously or separately.
FIG. 4 is a flow chart of the operation of the present invention; as shown in the figure, a software platform of the intelligent control method of the flotation machine process device of the invention is used for pre-establishing a nonlinear relation between working condition parameters (feeding amount, feeding concentration, flotation agent and flotation machine liquid level) of a flotation machine system and equipment parameters such as impeller rotating speed, impeller height (angle), baffle plate height (angle) and the like, thereby executing the following steps:
step 1, detecting technological parameters of different working conditions of a flotation machine system by a sensor in a detection system, converting acquired signals into digital signals through a data acquisition card, outputting the digital signals, and then executing step 2;
step 2, judging whether the parameters such as the flotation reagent, the liquid level of the flotation machine and the like are lower than the optimal target values (namely, a group of preset values corresponding to preset working condition parameters, including impeller rotating speed, impeller height (angle), baffle plate height (angle) and the like) stored in a sample database, if so, executing the step 3, and if not, executing the step 4;
step 3, the computer in the controller transmits a control signal to the executing part according to the parameters output by each sensor in the detection system, namely the impeller rotating speed, the impeller height (angle) and the baffle plate height (angle), and then the step 5 is executed;
the corresponding relation between the working condition parameters stored in the computer sample database of the controller and the equipment parameters such as the impeller rotating speed and the like enables a group of preset working condition parameters to correspond to a preset optimal value, and the impeller rotating speed and the optimized rotating speed are compared and analyzed. In the experiment, a group of working condition parameters are preset, the feeding concentration value is 20%, and the flotation reagent 400g/tFeed amount 50m 3 /hThe liquid level 5 of the flotation machine, and the rotating speed of the blade corresponding to the set of working condition parameters is 80; a group of preset working condition parameter feeding concentration values of 25% and a floatation agent 450 are additionally arrangedg/tFeed amount 55m 3 /hAnd the liquid level 8 of the flotation machine, wherein the rotating speed of the blade corresponding to the set of working condition parameters is 90. And by analogy, each group of working condition parameters corresponds to an impeller rotating speed, and a nonlinear relation between the impeller rotating speed and the working condition parameters is established.
Step 4, optimizing calculation is carried out on different working condition parameters according to the calculation result of the intelligent optimization algorithm module, and optimized impeller rotating speed, impeller height (angle) and baffle plate height (angle) control signals are output to an executing part, and then step 5 is executed;
and 5, after the execution part receives the control signals transmitted by the computer, the servo motor is regulated to further optimize parameters such as the rotation speed of the impeller, the height (angle) of the flow baffle and the like, the rotation speed of the impeller is kept unchanged, the step 1 is returned, and the steps 1 to 5 are repeatedly executed, so that the rotation speed of the impeller is changed in time according to the change of the working condition parameters of the flotation machine system.
In the experiment, the feed concentration value was 28%, and the flotation reagent 430g/tFeed amount 45m 3 /hAnd the liquid level 7 of the flotation machine, wherein the rotation speed of the blades optimized by the intelligent optimization algorithm is 75, and then a control signal is transmitted to control the executing part (namely, the rotation speed of the impeller, the height (angle) of the baffle plate and other equipment). After that, the detection system sensor collects signals and the controller part analyzes and processes the signals continuously, and the control of the rotation speed of the impeller, the height (angle) of the baffle plate and other equipment parameters is realized by adjusting the servo motor.
After the operation of the steps, the whole output signal of the system comprises stirring equipment parameters such as impeller height (angle), baffle plate height (angle) and the like besides the impeller rotating speed signal.
Claims (4)
1. A control method of a process control device of a flotation machine, characterized by:
the flotation machine process control device comprises:
an adjustment system, a detection system, and a controller;
the adjustment system includes:
an impeller with a liftable center of the cylinder wall, and blades (24) with adjustable angles are arranged on the impeller; the impeller main shaft (23) is connected with the motor (21);
the inner side of the cylinder wall is provided with a fixed plate (31), and a plurality of longitudinally arranged baffle plates (33) are arranged on a baffle plate guide rail (32) and connected with the fixed plate (31); each baffle plate (33) is connected with a baffle plate guide rail (32) through a revolute pair; a plurality of baffle plates (33) on the same baffle plate guide rail (32) are connected together through a linkage rod (34); the linkage rod (34) and the baffle guide rail (32) are respectively connected with a driving device;
the fixing plates (31) are uniformly distributed on the circumference of the cylinder wall;
the detection system comprises a flow sensor, a concentration sensor and a liquid level sensor which are all arranged in the cylinder wall, and each sensor is connected to a computer through a data acquisition card;
the controller is a computer connected with the sensors;
the impeller main shaft (23) is connected to the motor (21) through a coupling (22); the motor (21) is arranged on the cantilever bracket (12), and the cantilever bracket (12) is connected with the upright post (13) at the outer side of the cylinder wall through the upright post guide rail (14);
the control method comprises the following steps:
step 1, detecting different working condition parameters of flotation machine process control by a sensor in a detection system, wherein the parameters comprise feeding amount, feeding concentration, flotation agent and flotation machine liquid level change, converting acquired signals into digital signals through a data acquisition card, outputting the digital signals, and executing step 2;
step 2, judging whether the flotation process parameter is lower than a target value, if yes, executing step 3, and if not, executing step 4;
step 3, the computer in the controller outputs the impeller rotating speed, the impeller height and the impeller angle according to the parameters output by each sensor in the detection system; baffle height, angle; transmitting a control signal to the execution part, and then executing step 5;
step 4, optimizing calculation is carried out on different working condition parameters according to the calculation result of the intelligent optimization algorithm module, and the optimized impeller rotating speed, impeller height and angle are output; the control signals of the height and the angle of the flow baffle are sent to the execution part, and then the step 5 is executed;
step 5, after the flotation adjustment system receives the control signal transmitted by the computer, adjusting and controlling the flotation adjustment system through the servo motor, so that the rotation speed, the height and the angle of the impeller are realized; and optimizing the height and angle parameters of the baffle.
2. The control method of a process control device for a flotation machine according to claim 1, wherein: the main shaft (23) coincides with the axis of the cylinder wall; the impeller, the main shaft (23) and the motor (21) can move up and down along the upright post guide rail (14) in the axial direction of the cylinder wall through the cantilever bracket (12).
3. The control method of a process control device for a flotation machine according to claim 1, wherein: the linkage rod (34) and the baffle guide rail (32) are respectively connected with a servo motor.
4. The control method of a process control device for a flotation machine according to claim 1, wherein: the number of the blades (24) on the impeller is three, and the root parts of the blades are provided with angle adjusting devices.
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| CN110918266B (en) * | 2019-12-10 | 2020-09-29 | 中南大学 | Control device and method for improving flotation froth quality |
| CN113634369A (en) * | 2020-05-11 | 2021-11-12 | 北矿机电科技有限责任公司 | Permanent magnetism cylinder magnet separator self-adaptation control system |
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