EP2051811A1 - Procédé pour déterminer un niveau de remplissage d'un broyeur - Google Patents

Procédé pour déterminer un niveau de remplissage d'un broyeur

Info

Publication number
EP2051811A1
EP2051811A1 EP07730248A EP07730248A EP2051811A1 EP 2051811 A1 EP2051811 A1 EP 2051811A1 EP 07730248 A EP07730248 A EP 07730248A EP 07730248 A EP07730248 A EP 07730248A EP 2051811 A1 EP2051811 A1 EP 2051811A1
Authority
EP
European Patent Office
Prior art keywords
speed
drive
inertia
drum
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07730248A
Other languages
German (de)
English (en)
Other versions
EP2051811B1 (fr
Inventor
Norbert Becker
Hans-Ulrich LÖFFLER
Stefan Smits
Kurt Tischler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=38472844&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2051811(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Siemens AG filed Critical Siemens AG
Priority to PL07730248T priority Critical patent/PL2051811T3/pl
Publication of EP2051811A1 publication Critical patent/EP2051811A1/fr
Application granted granted Critical
Publication of EP2051811B1 publication Critical patent/EP2051811B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18—Details
    • B02C17/1805—Monitoring devices for tumbling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C25/00—Control arrangements specially adapted for crushing or disintegrating

Definitions

  • the invention relates to a method for determining a filling level of a loaded drum of a mill.
  • Such a mill can be, for example, a ball mill (ball mill) or even a SAG (semiauto-geno- nely grinding) mill, which is suitable for grinding coarse-grained materials, such as eg. As ores or cement, etc., is determined.
  • the current level in the drum where comminution takes place is normally unknown. The level depends on many sizes. Examples of this are the exact degree of grinding, the proportion of balls that are introduced into the drum to assist the milling process, the degree of wear of these balls and the solids content of the suspension that is currently in the drum. These sizes change for the most part during operation of the mill. Their current values are as unknown as the value of the level itself.
  • the level is estimated by the operator according to his empirical experience.
  • Supportive weight sensors are used, which determine the weight of the loaded drum on the bearings.
  • these estimation methods are very inaccurate.
  • acoustic measuring methods have been developed, but also need additional sensors for sound recording.
  • the object of the invention is therefore to provide a method and a device which allows a simple determination of the current level of the drum during operation of the mill.
  • A) the drum is acted upon by a drive with a drive torque and set in a rotary motion, b) the drive torque is set on the drive according to a predefinable drive test sequence, c) a speed curve of a rotational speed of the drum caused by the drive test sequence is detected, d) subjected to the detected speed profile of an analysis, and e) determined based on results of the analysis of the level.
  • the inventive method is distinguished from the hitherto usual very inaccurate estimation method on the one hand by a higher accuracy and on the other by the fact that it can also be carried out automatically and, above all, during operation of the mill.
  • a current measured value for the fill level can also be obtained. be averaged.
  • the method according to the invention is based primarily on the determination of the rotational speed provided anyway for the regulation of the normal mill operation. This measured quantity is thus already available in a suitable, for example electronic, form in an evaluation unit.
  • the drive test sequence can also be set in a simple manner on the drive, so that overall only a comparatively low realization effort is incurred for the method according to the invention.
  • a speed frequency signal is generated, which is examined in particular with regard to the frequency components involved. Due to the impact of the ground material on the drivers, there are periodic slumps in the rotational speed, which can be effectively recorded and evaluated by means of a Fourier analysis.
  • the fill level is preferably deduced from the presence, from the amplitude or from the phase of certain frequency components.
  • the detected speed signal can be examined particularly well and comprehensively. The effort for this is manageable.
  • a Fourier transformation can easily be carried out electronically and automatically.
  • a constant drive torque is specified as the drive test sequence or the drive torque is used, which is specified for normal operation of the mill, in particular by a drive controller.
  • the drive controller is thus available in any case anyway. He can usually specify both a drive torque and a speed.
  • the filling level determination method becomes particularly simple. So it comes with virtually no intervention in the specification or adjustment of the drive torque. The normal mill operation is then not even slightly affected by a change in the drive torque, which is due to the level detection. Nevertheless, based on the analysis of the Fourier transform of the speed curve, the information of interest regarding the fill level can be determined.
  • the detected speed curve is preferably subjected to a filtering, in particular a low-pass filtering, and / or an averaging (median). This way, fluctuations can be eliminated, and it is easier to determine an already very good first approximation for the level you are looking for.
  • a moment of inertia of the loaded and driven drum is determined.
  • the moment of inertia is a particularly suitable intermediate size, with which the current level can be determined easily and yet with high accuracy.
  • a drive torque with at least one sudden change in particular with a change in the form of a rectangular pulse
  • the drive test sequence has two successive rectangular pulse-shaped changes with opposite direction of change.
  • Such a step function in the drive torque leads to an easily detectable and evaluable reaction in the speed curve.
  • the corresponding step responses are evaluated. It is furthermore advantageous if the absolute change in the drive torque with respect to an initial value of the drive torque moves in a range of up to 30%, in particular of up to 10%, and in particular up to 2%. Then the change of the drive torque on the one hand is large enough to cause an evaluable reaction, and on the other hand still not too large to significantly affect the normal mill operation.
  • the two rectangular pulses can be the same except for the sign, that is to say symmetrical. Likewise, however, uneven or asymmetrical successive rectangular pulses are possible.
  • the two rectangular pulses may have different pulse durations and heights, but equal time integrals. This can be avoided, for example, exceeding a predetermined maximum mill speed. Therefore, the first pulse is preferably selected with negative change direction and the second pulse with positive change direction and with the same absolute pulse height as the first pulse. The first negative drive torque pulse then slows down the speed, while the second positive drive torque pulse accelerates the mill back to its original speed.
  • only a negative drive torque pulse is evaluated, since the influence of the mill torque is lower in the case of negative drive torque pulses.
  • the square-wave pulse has a pulse duration which is predefinable and thus known, and a pulse height determining the change of the drive torque, and a first based on the pulse duration, the pulse height and a speed change produced and detected on the basis of the drive test sequence Measured value for the moment of inertia is determined.
  • an average speed change and, derived therefrom, an average value of the moment of inertia is determined, wherein preferably a static, that is to say temporally immutable moment of inertia is assumed.
  • the first measured value determined for the moment of inertia of the loaded and driven drum is compared with the moment of inertia of a circular arc segment in order to determine therefrom in particular a filling angle or a filling height. It has been recognized that at the speeds commonly used during operation, the load is distributed within the drum so that the contents are always disposed within a circular arc segment to a good approximation. Accordingly, the fill level in the drum can be determined on the basis of the known moment of inertia of a circular arc segment and on the basis of the determined moment of inertia measured value.
  • a speed controller provided for normal operation of the mill is switched off at least during a duration of the drive test sequence. This prevents the speed controller from intervening and correcting the speed change caused by the drive test sequence specifically and for evaluation purposes. Even a partial readjustment can lead to inaccurate measurement results.
  • the speed controller has a very long time constant, which is in particular of the order of magnitude of the duration of the drive test sequence or even greater, switching off the speed controller is not absolutely necessary.
  • an inertia of the loaded and driven drum and a static friction factor of a rotational speed-dependent friction torque is determined from the speed curve and the drive test sequence.
  • the linear model is a PTI element, and to determine the moment of inertia and the static friction factor, the PTI element is calibrated at two times with measured values of the rotational speed and the drive torque.
  • a PTI element has only two unknown parameters, which can be easily determined by evaluating the PTI element at two different points in time. The resulting computational effort is very low, so that the determination of the parameters is feasible even with limited storage capacity and computing power.
  • control device with which the level of a loaded drum of a mill according to a method according to one of claims 1 to 15 can be determined.
  • control device is provided with a program code which contains control commands which cause the control device to carry out the method according to one of claims 1 to 15.
  • the invention further extends to a machine-readable program code for a control device for a mill, which has control commands that the control device for Carrying out the method described above.
  • the machine-readable program code can also be deposited on an already existing for the mill, not provided with the program code control device according to the invention and thus enable the implementation of the method according to the invention in a previously conventionally operated mill.
  • the invention extends to a storage medium or computer program product with a machine-readable program code stored on it, as has been described above.
  • FIG. 1 shows an embodiment of a mill with a loaded drum rotatably drivable about an axis of rotation and with a control unit
  • FIGS. 2 and 3 show a cross section II-II or III-III perpendicular to the axis of rotation through the drum of the mill according to FIG
  • FIG. 4 shows time diagrams of a drive test sequence set by the control and regulating unit for a drive torque acting on the drum and a detected and an expected course of a speed caused by the drive test sequence
  • FIG. 5 shows a circular arc segment corresponding to a mean distribution state of the drum contents
  • the mill 1 shows an embodiment of a mill 1 with a drum 2 and a control and regulation unit 3 is shown in a schematic representation.
  • the mill 1 is an ore mill, which is designed as a ball mill or SAG mill.
  • the drum 2 is connected to a feed chute 4, by means of which ore material 5 to be ground passes into the interior of the drum 2.
  • the loaded drum 2 is rotatably driven about an axis of rotation 7 by means of a drive 6 embodied as a gearless electric motor in the exemplary embodiment.
  • a speed sensor 8 for detecting a rotational speed n of the drum 2 is provided on the drum 2.
  • the speed sensor 8 is connected to the control unit 3.
  • the latter comprises, in particular, at least one central processing unit 9, for example in the form of a microcomputer, microprocessor or microcontroller assembly, a speed controller 10 connected to the speed sensor 8 and a drive controller 11 connected to the drive 6.
  • the speed controller 10 and the controller 11 are connected by means of a switch 12 with each other.
  • the speed controller 10, the controller 11 and the switch 12 are connected to the central processing unit 9.
  • the speed controller 10, the drive controller 11 and also the switch 12 can be physically existing, for example electronic modules or else software modules stored in a memory not shown in greater detail, which run after their call in the central processing unit 9.
  • the individual components 9 to 11 mentioned interact with further components and / or units (not shown in FIG. 1 for reasons of clarity).
  • the control unit 3 as a be executed single unit or as a combination of several separate subunits.
  • the filling material 13 and two of its possible distributions within the rotating drum 2 can be seen from the cross-sectional representations according to FIGS. 2 and 3. Shown are cross sections through the drum 2 perpendicular to the axis of rotation 7.
  • the distribution of the contents 13 in the drum 2 may vary during operation. It depends on various parameters, such as the level and, to a certain extent, the speed n. Typically, the drum 2 is filled to 45-50%, resulting in an angle ⁇ of 45 ° -55 ° and an angle ⁇ of about 140 °. Moreover, it is subject to stochastic fluctuations.
  • a part of the filling material 13 is located relatively high on the inner wall of the drum due to the entrainment effect of the drum 2. After a slipping of this part in the direction of the lowest point of the drum interior, the filling material has the in the distribution state shown in FIG. Such changes can be repeated cyclically and / or acyclically.
  • the degree of filling of the mill 1 changes depending on various influencing parameters.
  • a precise knowledge of the current filling state is desirable in order to set the mill operating parameters as well as possible and thus to make the operation of the mill 1 as efficient as possible.
  • the mill 1 allows due to specially implemented method to determine the level of the filling material 13 in the drum 2 in particular during operation. This level determination is based on the detection and evaluation of the rotational speed n of the drum 2.
  • step responses of the rotational speed n are a-nalysed in response to a sudden change in a drive torque M of the drive 6 a.
  • a special drive test sequence 14 for the drive torque M is set. This is done by means of appropriate specifications on the controller 11, which then controls the drive 6 so that it delivers a drive torque M corresponding to the desired drive test sequence 14.
  • the drive test sequence 14 comprises two square-wave pulses superimposed on the basic value M 0 with a pulse height AM 1 or ⁇ M 2 and a pulse duration ⁇ ti or ⁇ t 2 .
  • the two rectangular pulses have opposite signs. The first rectangular pulse leads to a sudden lowering, the second of the rectangular pulse to a sudden increase in the drive torque M.
  • the effect on the rotational speed is n.
  • the first negative square pulse of the drive test sequence 14 causes the rotational speed n to decrease while the second positive rectangular pulse leads to an increase back to the rotational speed output value n 0 .
  • a time curve 15 or 16 which is measured on the basis of the rotational speed sensor 8 and a time characteristic expected at a constant moment of inertia, are schematically shown in FIG.
  • Speed n shown. Based on an averaging of the measured time curve 15 and based on a "Root Mean Square" fit to a curve with the known parameters .DELTA.ti and .DELTA.t 2 and with a caused by the drive test sequence 14 speed change .DELTA.n as an unknown parameter, the speed change .DELTA.n can be determined. in the simplest case this can be the basis of a subtraction of the average in the range between times ti and t2 measured time course of 15 n from the speed output value of 0 take place. the averaging is performed in order for the control and regulating unit 3, wherein for example, a low-pass filtering is used. Overall, the speed change ⁇ n caused by the drive test sequence 14 can be determined in this way.
  • the speed controller 10 for a duration T A of the drive sequence 14 is switched off by means of the switch 12.
  • this measure is not mandatory. It can be omitted if the delay time of the speed controller 10 is greater than the duration T A of the drive sequence 14.
  • the parameters .DELTA.M and .DELTA.t of the drive test sequence 14 are so dimensioned that, on the one hand, a detectable measuring effect in the speed curve 15 or 16 results, but on the other hand, the speed change .DELTA.n remains small enough to the during the measurement phase in particular further going mill operation and especially do not significantly affect the throughput of mill 1.
  • a small resulting speed change .DELTA.n also ensures that the speed dependencies, for example, the moment of inertia J and the mill torque M m not come to fruition, and here initially assumed static conditions also are gege- ben actually a good approximation.
  • r denotes a distance of a differential mass dm from the axis of rotation 7.
  • the filling material 13 is located at least on average within a circular arc segment.
  • the respective bowstrings 17 and 18 of the assumed circular arc segments are also entered.
  • Their imaginary points of intersection with the drum wall also form in FIG. 2 and 3 with a filled filling angle ⁇ , which depends on the respective distribution state of the filling material 13 within the drum 2.
  • Equation (5) for the moment of inertia of a circular segment-shaped mass rotating about a rotation axis: where p denotes a constantly assumed and approximately known filling material density, R denotes a drum radius and 1 denotes an axial drum length in the direction of the axis of rotation 7.
  • the thus determined filling angle ß is already a measure of the filling of the drum 2. If necessary, it can be according to:
  • the measurement results can be further refined if the time dependencies of the various influencing variables, in particular those of the moment of inertia J, are taken into account.
  • the moment equation (3) is fully dynamized, i. dependencies of the single moments of time t are introduced:
  • M m * denotes a time-constant reset factor.
  • the time dependence is thus again determined only by the product factor sin ( ⁇ ), ie by the time-dependent rotation angle ⁇ .
  • Equation (8) can be transformed into:
  • equation (12) is the differential equation of a damped pendulum.
  • a secondary condition which describes the slip-through condition.
  • the filling material 13 falls or slips down again when it has reached a certain upper position on the drum inner wall.
  • This upper position can be assigned a limit rotation angle ⁇ 0 . It also depends on the angular velocity ⁇ .
  • a constraint of the rotation angle ⁇ determined by the speed-dependent limiting rotational angle ⁇ 0 can be added as a secondary condition:
  • the moment of inertia J of the empty drum 2 can be easily determined during startup.
  • the moment of inertia J of the drum 2 loaded with a test filling can also be determined by a run-out test carried out during the start-up phase in which the drive 6 is abruptly switched off. The period of the resulting oscillation results from the well-known equations for the damped physical pendulum.
  • the additional information obtained in this way can be used in particular for calibrating the filling level detection method.
  • time-dependent and / or rotational speed-dependent correction factors are determined, which are taken into account in the evaluation of equations (4) and (6).
  • These correction factors may, for example, describe a time-dependent deviation from the exact circular arc segment-shaped distribution of the filling material 13 within the drum 2.
  • the fluctuations contained in the detected curve 15 are also evaluated in order to arrive at a very accurate and up-to-date result for the fill level.
  • the fully dynamic simulation is used only offline to determine the influence of the friction described in equation (13) by M r * - ⁇ and that in equation (13) by M m * • sin (min ( ⁇ , ö: 0 (d :))) to better analyze and quantify the restoring mill torque described. That's how the structure is made of equation (13), for example, estimate the shape of the step response.
  • n (t) n 0 for t ⁇ t Q (16b)
  • ⁇ o (t) is the solution of the undisturbed system.
  • the rotational speed n or the moment of inertia J is initially determined from the measured data approximately by recalculation from the undisturbed solution.
  • the moment of inertia J and its first time derivative J are the unknown quantities to be determined.
  • the predetermined and optionally also measured drive torque M as well as the measured angular velocity ⁇ , which essentially corresponds to the rotational speed n are known.
  • the time-constant reset factor M m * and the time-constant friction factor M r * can be determined at least approximately by means of a static calculation.
  • the (numerical) solution of the differential equation (13) is the rotational angle a (J (t), M (t), a o (t)) dependent on various parameters or the rotational speed n (t) of the drum 2 which is easy to determine from this given J (t) and M (t).
  • Model inversion is the analytical resolution of equation (13) after J (t). This will not work for the general, dynamic differential equation.
  • J 0 denotes the solution of the static problem
  • the disturbance periodicity T st can be calculated in particular from the rotational speed n and from the circumferential spacing of the drivers in the drum 2.
  • the optimization problem in the parameters p n is solved, for example, by means of a "least square" fit with the measured data, which can in particular be automated and also done online, ie during mill operation.
  • the moment equation (3) is partially dynamized.
  • the moment of inertia J and the mill torque M n are assumed to be static, whereas the friction torque M r is assumed to be rotational speed dependent according to equation (9). This results in a moment equation:
  • equation (21) is considered for a jump of the drive torque ⁇ M, then it is simplified to:
  • Equation (22) has the structure of a PTI member, with the differential equation
  • Equations (24c) and (24d) establish a relationship between the friction factor M r * and the moment of inertia J unknown and to be determined in equation (21), and the gain K and the time constant T PT1 of a PTI member.
  • the amplification factor K and the time constant T PT i can be determined by means of a parameter identification from measured values of the drive torque M and the rotational speed n.
  • two parameters K and T PT i are to be identified, whereby the model of the mill behavior, ie the PTI element, is linear.
  • the parameter identification is carried out by a minimization algorithm which minimizes, for example, the quadratic error.
  • the parameter identification can be performed time-continuous or time-discrete. Since modern computation units operate in a time-discrete manner, the discrete-time parameter identification is explained below.
  • M is a matrix of a vector u and y, where u contains the measured input values Ui to u N and the vector y contains the measured values yi measurement to y N measurement .
  • equation (29) yields:
  • Equation (30) can be solved for p, giving the following equation:
  • the elements of the vector b and aij are the elements of the matrix A in the i-th row and the j-th column.
  • the unknown parameters P 1 and p 2 can be determined by evaluating two successive time steps, whereby only five values, namely, ai 2, a 22 / bi and b 2 are to be evaluated.
  • the unknown parameters pi and p 2 can also be determined in arithmetic units with limited computing power and storage capacity.
  • Time constant T PT1 of the PTl element are recalculated. From the gain K and the time constant T PT1 can also be calculated back to the unknown friction factor M r * and the unknown moment of inertia J. With these calculated sizes can be closed in a known manner to the level of the drum 2.
  • a singular value decomposition provides a remedy.
  • a Householdertransformation or a QR decomposition according to Gram-Schmidt can also be performed.
  • the presented method can also be used to determine more complex linear models with three or more free parameters.
  • control and regulation unit 3 All method steps described above are performed in the control and regulation unit 3, in particular in the central processing unit 9. This is preferably done automatically and cyclically during the ongoing mill operation, so that in the control and regulation unit 3 very nau determined information about the current filling of the drum 2 are present. These may be used for improved control and / or regulation of the mill operation.
  • the frequency signal of the speed curve n which is then present as a Fourier transform, is examined in particular with regard to the existing frequency components as well as their amplitude and phase positions. From this, it is possible to derive information about the current fill level of the drum 2 and optionally about further operating parameters, such as the mass distribution in the drum 2, the particle size distribution in the ore material 5 and the steel ball portion.

Landscapes

  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
  • Crushing And Grinding (AREA)
  • Testing Of Balance (AREA)
  • Food-Manufacturing Devices (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

Le procédé selon l'invention permet de déterminer le niveau de remplissage d'un tambour de broyeur (2) chargé. Le tambour (2) est sollicité par un couple d'entraînement (M) au moyen d'un entraînement (6) et amené à effectuer un mouvement de rotation (?). Le couple d'entraînement (M) à l'entraînement (6) est réglé selon une séquence de tests d'entraînement pouvant être prédéterminée. Une allure temporelle d'une vitesse de rotation du tambour (2) provoquée en raison de la séquence de tests d'entraînement est enregistrée et analysée. Le niveau de remplissage est déterminé à partir des résultats de l'analyse. Le procédé fournit des informations actuelles, précises et déterminées pendant le fonctionnement continu du broyeur sur le remplissage du tambour (2).
EP07730248A 2006-08-14 2007-06-19 Procédé pour déterminer un niveau de remplissage d'un broyeur Not-in-force EP2051811B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL07730248T PL2051811T3 (pl) 2006-08-14 2007-06-19 Sposób określenia stanu wypełnienia młyna

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006038014A DE102006038014B3 (de) 2006-08-14 2006-08-14 Verfahren zur Ermittlung eines Mühlenfüllstands
PCT/EP2007/056072 WO2008019904A1 (fr) 2006-08-14 2007-06-19 Procédé pour déterminer un niveau de remplissage d'un broyeur

Publications (2)

Publication Number Publication Date
EP2051811A1 true EP2051811A1 (fr) 2009-04-29
EP2051811B1 EP2051811B1 (fr) 2012-05-30

Family

ID=38472844

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07730248A Not-in-force EP2051811B1 (fr) 2006-08-14 2007-06-19 Procédé pour déterminer un niveau de remplissage d'un broyeur

Country Status (14)

Country Link
US (1) US8366029B2 (fr)
EP (1) EP2051811B1 (fr)
CN (1) CN101500710B (fr)
AR (1) AR062324A1 (fr)
AU (1) AU2007286366B2 (fr)
BR (1) BRPI0715891B1 (fr)
CA (1) CA2661445C (fr)
CL (1) CL2007002357A1 (fr)
DE (1) DE102006038014B3 (fr)
PE (1) PE20080643A1 (fr)
PL (1) PL2051811T3 (fr)
RU (1) RU2440849C2 (fr)
WO (1) WO2008019904A1 (fr)
ZA (1) ZA200900631B (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006038014B3 (de) 2006-08-14 2008-04-30 Siemens Ag Verfahren zur Ermittlung eines Mühlenfüllstands
EP2347828A1 (fr) * 2010-01-21 2011-07-27 ABB Schweiz AG Procédé et appareil pour détacher une charge collée dans un broyeur à tambour
DE102010012620A1 (de) 2010-03-24 2011-09-29 Siemens Aktiengesellschaft Verfahren zum Betrieb einer Mühle
DE102010064263A1 (de) 2010-07-29 2012-02-02 Siemens Aktiengesellschaft Anordnung, Betriebsverfahren und Schaltung für eine Ringmotor-getriebene Mühle
EP2535111B1 (fr) 2011-06-13 2014-03-05 Sandvik Intellectual Property AB Procédé pour vider un concasseur à cône à inertie
FI123801B (fi) * 2012-04-12 2013-10-31 Metso Minerals Inc Järjestelmä ja menetelmä murskaimen valvomiseksi ja ohjaamiseksi, murskain ja menetelmä murskaimen säätämiseksi
US9121146B2 (en) * 2012-10-08 2015-09-01 Wirtgen Gmbh Determining milled volume or milled area of a milled surface
CN103785519A (zh) * 2012-10-30 2014-05-14 刘爱帮 磨机经济运行仪
US9205431B2 (en) * 2013-03-14 2015-12-08 Joy Mm Delaware, Inc. Variable speed motor drive for industrial machine
NL2011600C2 (nl) * 2013-10-11 2015-04-14 Pharmafilter B V Werkwijze en inrichting voor het vermalen van afval.
CN104689888B (zh) * 2013-12-09 2017-02-22 珠海市华远自动化科技有限公司 动态测定球磨机筒体内物料量、钢球量及料球比的方法
CN104697575B (zh) * 2013-12-09 2017-05-17 珠海市华远自动化科技有限公司 动态测定球磨机内物料量、钢球量及料球比的方法
CN104028364A (zh) * 2014-04-30 2014-09-10 江西理工大学 一种多金属选矿磨矿分级优化测试方法
EP3097979A1 (fr) * 2015-05-28 2016-11-30 ABB Technology AG Procédé permettant de déterminer un angle de levage et procédé de positionnement d'un broyeur
CN105921229A (zh) * 2016-06-07 2016-09-07 淮南市宜留机械科技有限公司 一种球磨机出料精密组件
US20210237094A1 (en) * 2018-04-26 2021-08-05 Moly-Cop USA LLC Grinding media, system and method for optimising comminution circuit

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE8602176L (sv) 1985-05-14 1986-11-15 Anglo Amer Corp South Africa Styrning av kvarn
SU1607952A1 (ru) 1987-07-13 1990-11-23 Днепропетровский горный институт им.Артема Способ автоматического контрол барабанной мельницы
SU1620141A1 (ru) 1989-03-03 1991-01-15 Ленинградский горный институт им.Г.В.Плеханова Способ контрол загрузки шаровой мельницы
DE4215455C2 (de) * 1992-05-11 1996-05-15 Franc Godler Vorrichtung und Verfahren zur Bestimmung des Füllstandes von Mühlen
DE19747628A1 (de) * 1997-10-29 1999-05-06 Bayer Ag Verfahren zur Füllstandsüberwachung bei Strahlmühlen und Prallmühlen
FR2792224B1 (fr) * 1999-04-15 2001-06-01 Alstom Procede pour controler le niveau de remplissage en charbon d'un broyeur a boulets
FI115854B (fi) * 2003-01-17 2005-07-29 Outokumpu Oy Menetelmä myllyn täyttöasteen määrittämiseksi
DE102006038014B3 (de) 2006-08-14 2008-04-30 Siemens Ag Verfahren zur Ermittlung eines Mühlenfüllstands

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2008019904A1 *

Also Published As

Publication number Publication date
BRPI0715891B1 (pt) 2020-03-24
WO2008019904A1 (fr) 2008-02-21
US20100237175A1 (en) 2010-09-23
AU2007286366A1 (en) 2008-02-21
AU2007286366B2 (en) 2012-08-09
PL2051811T3 (pl) 2012-10-31
CA2661445A1 (fr) 2008-02-21
PE20080643A1 (es) 2008-08-02
RU2009109192A (ru) 2010-09-27
EP2051811B1 (fr) 2012-05-30
RU2440849C2 (ru) 2012-01-27
CL2007002357A1 (es) 2008-04-11
AR062324A1 (es) 2008-10-29
DE102006038014B3 (de) 2008-04-30
CN101500710B (zh) 2013-06-19
CN101500710A (zh) 2009-08-05
BRPI0715891A2 (pt) 2013-02-19
ZA200900631B (en) 2009-12-30
US8366029B2 (en) 2013-02-05
BRPI0715891A8 (pt) 2019-01-22
CA2661445C (fr) 2014-12-16

Similar Documents

Publication Publication Date Title
EP2051811B1 (fr) Procédé pour déterminer un niveau de remplissage d'un broyeur
EP2047098B1 (fr) Procédé de calibrage
EP2582972B1 (fr) Procédé et dispositif empêchant une oscillation transversale d'une éolienne
DE2754527C2 (fr)
DE3021237C2 (de) Selbstkorrigierendes und selbstprüfendes Flügelrad-Meßgerät
DE112014005213T5 (de) System und Verfahren zum Steuern einer Stabilität in Schwermaschinen
EP3176324B1 (fr) Procédé de détermination d'un état de compactage d'un sous-sol
EP3517687B1 (fr) Procédé de détection et de commande de compactage lors du compactage d'un sol au moyen d'un vibreur en profondeur
EP2665930B1 (fr) Procédé de détermination de l'inclinaison d'une tour
DE102010060843B4 (de) Verfahren und Vorrichtung zum Messen von Bodenparametern mittels Verdichtungsmaschinen
EP3530161A1 (fr) Appareil de préparation d'aliments pourvu d'outil de broyage
EP1715309B1 (fr) Balance à réservoir
EP2318893B1 (fr) Procédé de fourniture d'un signal d'avertissement du pilote pour un pilote d'un avion, progiciel d'ordinateur et dispositif d'avertissement
EP0731938B1 (fr) Circuit d'evaluation des signaux emis par un capteur de vitesse d'embardee
EP2805076B1 (fr) Élément roulant et palier de roulement
EP2805074B1 (fr) Élément roulant et procédé de détection
EP2914935B1 (fr) Dispositif de mesure, installation de mesure et procédé de détermination d'une grandeur de mesure
WO2024033178A1 (fr) Procédé, dispositif et programme informatique pour la détection d'une erreur dans la position réelle d'un essieu d'une machine
EP3115941A1 (fr) Procede de determination et de sortie de couts lors du fonctionnement d'une installation destinee a la preparation centrifuge d'eaux usees ou de boue de curage et installation d'execution du procede
EP4255703A1 (fr) Système mélangeur continu de matériau de construction, procédé de production d?un mélange de matériau de construction à humidité de mise en ?uvre au moyen d?un système mélangeur de matériau de construction et dispositif, doté en particulier d?une unité de contrôle ou d?une unité de stockage
EP3613290B1 (fr) Procédé de fonctionnement d'un dispositif de pétrissage de la pâte ainsi que dispositif de pétrissage de la pâte
DE69724930T2 (de) Verfahren zur automatischen Überprüfung der Kalibrierung einer Messvorrichtung
EP1181507B1 (fr) Dispositif de regulation pour doseur a vis sans fin
EP3415246B1 (fr) Procédé de détermination des couples de sortie efficaces d'une boîte de transfert
DE102020118385A1 (de) Motorauswahlvorrichtung und motorauswahlverfahren

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20090122

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

DAX Request for extension of the european patent (deleted)
AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 559794

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120615

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502007009947

Country of ref document: DE

Effective date: 20120726

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20120530

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

Effective date: 20120516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120930

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120831

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

BERE Be: lapsed

Owner name: SIEMENS A.G.

Effective date: 20120630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20121001

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: SIEMENS AKTIENGESELLSCHAFT

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20120830

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120619

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120910

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120630

26N No opposition filed

Effective date: 20130301

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20130426

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502007009947

Country of ref document: DE

Effective date: 20130301

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120830

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120830

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 559794

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120619

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120730

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120619

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120530

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120619

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070619

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20170621

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20170821

Year of fee payment: 11

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502007009947

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180619

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190101

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PL

Payment date: 20200615

Year of fee payment: 14

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210619