EP2051811B1 - Procédé pour déterminer un niveau de remplissage d'un broyeur - Google Patents

Procédé pour déterminer un niveau de remplissage d'un broyeur Download PDF

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Publication number
EP2051811B1
EP2051811B1 EP07730248A EP07730248A EP2051811B1 EP 2051811 B1 EP2051811 B1 EP 2051811B1 EP 07730248 A EP07730248 A EP 07730248A EP 07730248 A EP07730248 A EP 07730248A EP 2051811 B1 EP2051811 B1 EP 2051811B1
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EP
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Prior art keywords
drive
speed
torque
drum
mill
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EP07730248A
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German (de)
English (en)
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EP2051811A1 (fr
Inventor
Norbert Becker
Hans-Ulrich LÖFFLER
Stefan Smits
Kurt Tischler
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Siemens AG
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Siemens AG
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    • 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 (semiautogenously grinding) mill, which is suitable for grinding coarse-grained materials, such as. 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 grinding process, the degree of wear of these balls and the solids content of the suspension that is currently in the drum. These sizes largely change 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 DE 4215 455 A1 discloses a method according to the preamble of claim 1.
  • the object of the invention is therefore to provide a method and a device which allows a current level determination for the drum in a simple manner during operation of the mill.
  • 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. In particular, it is therefore also possible to determine a current measured value for the fill level become.
  • 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 measurand is thus already available in an appropriate, 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 included. Due to the impact of the ground material on the driver resulting in periodic drops in speed, which can be effectively detected 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 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.
  • an inertia of the loaded and driven drum is determined in the analysis of the speed curve.
  • 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 square 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.
  • 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 apart from the sign equal, so be formed symmetrically.
  • 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.
  • 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 in negative drive torque pulses, the influence of the mill torque is lower.
  • 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 brought about deliberately by the drive test sequence 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, it is not absolutely necessary to switch off the speed controller.
  • 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 PT1 element, and to determine the moment of inertia and the static friction factor, the PT1 element is calibrated at two times with measured values of the rotational speed and the drive torque.
  • a PT1 element has only two unknown parameters that can be easily determined by evaluating the PT1 element at two different times. 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 14 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 14.
  • 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 an embodiment of a mill 1 with a drum 2 and a control 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 module, 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 by means 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 mentioned individual components 9 to 11 are in with FIG. 1 for reasons of clarity not shown further components and / or units in interaction.
  • the control unit 3 as a be executed single unit or as a combination of several separate subunits.
  • FIGS. 2 and 3 show the contents 13 and two of its possible distributions within the rotating drum 2 in the cross-sectional views FIGS. 2 and 3 seen. 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. In the distribution state according to FIG. 2 is a part of the filling material 13 due to the entrainment effect of the drum 2 relatively high on the inner wall of the drum. After a slipping of this part in the direction of the lowest point of the drum interior, the filling material has the in FIG. 3 shown distribution state. 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 analyzed in response to a sudden change in a drive torque M of the drive 6.
  • 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.
  • FIG. 4 An example of such a drive test sequence 14 is shown in the upper diagram of FIG. 4 shown.
  • the course of the drive torque M plotted over the time t has short-term and minor deviations from a basic value M 0 , which the drive torque M assumes at this time on the basis of the specifications of the drive controller 11 due to the normal operating requirements. These deviations are abrupt.
  • the drive test sequence 14 comprises two square-wave pulses superimposed on the basic value M 0 with a pulse height ⁇ M 1 or ⁇ M 2 and a pulse duration ⁇ t 1 or ⁇ t 2 .
  • the two rectangular pulses have opposite signs.
  • the first rectangular pulse leads to a sudden lowering, the second of the square pulse to a sudden increase in the drive torque M.
  • This order is favorable because the mill 1 is usually operated at about 80% of its critical speed n crit .
  • it is initially recommended between the times t 0 and t 1 the negative rectangular pulse with the lowering of the drive torque M and only then between the times t 2 and t 3 provide the positive rectangular pulse with the increase of 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 .
  • FIG. 4 In the lower diagram of FIG. 4 are schematically a measured by means of the speed sensor 8 and an expected at constant moment of inertia time course 15 and 16 of the speed n shown. Based on an averaging of the measured time course 15 and based on a "Root Mean Square" fit to a curve with the known parameters .DELTA.t 1 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.
  • this can be done on the basis of a subtraction of the averaged in the range between the times t 1 and t 2 measured time course 15 from the rotational speed output value n 0 .
  • the averaging takes place in the control and regulation unit 3, wherein, for example, a low-pass filtering is used.
  • 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 dimensioned so that on the one hand results in a detectable measurement effect in the speed curve 15 or 16, 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 the throughput the mill 1 does not significantly affect.
  • 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 are actually given in good approximation.
  • the filling material 13 is located at least in the middle within a circular arc segment.
  • two distribution states are the respective bowstrings 17 and 18 of the assumed arc segments entered.
  • Their imaginary intersections with the drum wall form in FIGS. 2 and 3 also with registered filling angle ⁇ , which depend on the respective distribution state of the filling material 13 within the drum 2.
  • 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.
  • equation (12) is the differential equation of a damped pendulum.
  • the equation (13) can be solved numerically, for example by means of a development around the operating point ⁇ 0 .
  • 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.
  • n time or / and 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 course 15 are also evaluated in order to arrive at a very accurate and up-to-the-minute result for the filling 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 ( ⁇ , ⁇ 0 ( ⁇ ))) to better analyze and quantify. That's how the structure is made of equation (13), for example, estimate the shape of the step response.
  • n t n 0 - ⁇ ⁇ n ⁇ 1 - exp - t - t 0 T PT ⁇ 1
  • n t n 0
  • ⁇ t ⁇ 0 + ⁇ ⁇ ⁇ 1 t + ⁇ 2 ⁇ ⁇ 2 t + ...
  • ⁇ 0 (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 (numerical) solution of the differential equation (13) is the rotation angle ⁇ ( J ( t ), M ( t ), ⁇ 0 ( t )) which depends 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 t p 0 ⁇ J 0 + p 1 ⁇ J 1 t + p 2 ⁇ J 2 t + ...
  • 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 a "least square" fit with the measured data. This can in particular be automated and also online, that is, during the mill operation, take place.
  • the moment equation (3) is partially dynamized.
  • 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 PT1 member.
  • the amplification factor K and the time constant T PT1 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 PT1 can be identified, whereby the model of the mill behavior, ie the PT1 element, is linear.
  • the parameter identification is performed by a minimization algorithm that minimizes, for example, the quadratic error.
  • the parameter identification can be performed time-continuous or time-discrete. Since modern arithmetic units work time-discretely, the time-discrete parameter identification is explained below.
  • b 1 and b 2 are the elements of the vector b and a ij 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 consecutive time steps, whereby only five values, namely a 11 , a 12 , a 22 , b 1 and b 2 are to be evaluated.
  • the unknown parameters p 1 and p 2 can also be determined in computing units with limited computing power and storage capacity.
  • the parameters p 1 and p 2 and the known sampling time .DELTA.t can be calculated back to the gain K and the time constant T PT1 of the PT1 element. 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 unit 3 very accurately ascertained information about the current filling of the drum 2 is present. These may be used for improved control and / or regulation of the mill operation.
  • the method for level detection can be used without specially specified drive test sequence 14 and instead with the drive torque M, which adjusts to the drive 6 due to the instructions made by the controller 11 for the normal mill operation.
  • the course 15, which is also detected in this case, of the rotational speed n is then first subjected to a Fourier transformation in the control and regulation unit 3.
  • 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.

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  • 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 (ω). 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).

Claims (17)

  1. Procédé de détermination d'un niveau ( β, hf ) de remplissage d'un tambour ( 2 ) chargé d'un broyeur ( 1 ), dans lequel
    a) on soumet le tambour ( 2 ) à un couple ( M ) d'entraînement au moyen d'un entraînement ( 6 ) et on l'entraîne en un mouvement ( ω ) de rotation,
    b) on règle le couple ( M ) d'entraînement à l'entraînement ( 6 ) suivant une séquence ( 14 ; 19 ) de test d'entraînement pouvant être prescrite,
    caractérisé en ce que
    c) on relève une courbe ( 15 ), en fonction du temps, d'une vitesse ( n ) de rotation du tambour ( 2 ) provoquée par la séquence ( 14 ; 19 ) de test d'entraînement,
    d) on soumet la courbe ( 15 ) relevée de vitesse de rotation à une analyse en déterminant, lors de l'analyse de la courbe ( 15 ) de vitesse de rotation, un moment ( J ) d'inertie du tambour ( 2 ) chargé et entraîné, et
    e) on détermine le niveau ( β, hf ) de remplissage au moyen des résultats de l'analyse.
  2. Procédé suivant la revendication 1, caractérisé en ce que, lors de l'analyse de la courbe ( 15 ) de vitesse de rotation à partir de la courbe ( 15 ) de vitesse de rotation en fonction du temps qui a été relevée, on produit au moyen d'une transformation de Fourier un signal de fréquence de vitesse de rotation, dont on étudie notamment les composantes de fréquence.
  3. Procédé suivant la revendication 2, caractérisé en ce qu'à partir de la présence, de l'amplitude ou de la phase de certaines composantes de fréquence, on tire une déduction sur le niveau de remplissage.
  4. Procédé suivant la revendication 2 ou 3, caractérisé en ce que l'on prescrit comme séquence de test d'entraînement un couple d'entraînement constant ou on utilise un couple ( M0 ) d'entraînement qui est prescrit pour le fonctionnement normal du broyeur ( 1 ), notamment par un régleur ( 11 ) d'entraînement.
  5. Procédé suivant la revendication 1, caractérisé en ce que, lors de l'analyse de la courbe ( 15 ) de vitesse de rotation, on soumet la courbe ( 15 ) de vitesse de rotation qui a été relevée à un filtrage ou à une formation d'une moyenne.
  6. Procédé suivant la revendication 1, caractérisé en ce que l'on prescrit comme séquence ( 14 ; 19 ) de test d'entraînement un couple ( M ) d'entraînement ayant au moins une variation brusque, ayant notamment une variation sous la forme d'une impulsion rectangulaire.
  7. Procédé suivant la revendication 6, caractérisé en ce que la variation ( ΔM ; ΔM1 ; ΔM2 ) du couple ( M ) d'entraînement rapportée à une valeur ( M0 ) initiale du couple ( M ) d'entraînement se déplace dans une plage allant jusqu'à 30%, notamment allant jusqu'à 10% et notamment allant jusqu'à 2%.
  8. Procédé suivant la revendication 6, caractérisé en ce que l'impulsion rectangulaire a une durée ( Δt ; Δt1 ; Δt2 ) d'impulsion et une hauteur ( ΔM ; ΔM1 ; ΔM2 ) d'impulsion déterminant la variation du couple ( M ) d'entraînement et on détermine, au moyen de la durée ( Δt ; Δt1 ; Δt2 ) d'impulsion, de la hauteur ( ΔM ; ΔM1 ; ΔM2 ) d'impulsion et d'une variation ( Δn ) de vitesse de rotation détectée et provoquée par la séquence ( 14 ) de test d'entraînement, une première valeur de mesure du moment ( J ) d'inertie.
  9. Procédé suivant la revendication 8, caractérisé en ce que, pour la détermination du niveau ( β, hf ) de remplissage, on compare la première valeur de mesure déterminée pour le moment ( J ) d'inertie du tambour ( 2 ) chargé et entraîné au moment ( J ) d'inertie d'un segment de cercle et on en détermine notamment un angle ( β ) de remplissage ou un niveau ( hf ) de remplissage.
  10. Procédé suivant la revendication 1, caractérisé en ce qu'on tient compte d'une variation, en fonction du temps ou de la vitesse de rotation, du moment ( J ) d'inertie par au moins un facteur de correction prévu supplémentairement.
  11. Procédé suivant la revendication 1, caractérisé en ce qu'au moins pendant une durée ( TA ) de la séquence ( 14 ) de test d'entraînement, on déconnecte un régleur ( 10 ) de vitesse de rotation prévu pour le fonctionnement normale du broyeur ( 1 ).
  12. Procédé suivant l'une des revendications 1 à 11, caractérisé en ce qu'à partir de la courbe ( 15 ) de vitesse de rotation et de la séquence ( 14 ; 19 ) de test d'entraînement, on détermine un moment ( J ) d'inertie du tambour ( 2 ) chargé et entraîné et un facteur ( Mr* ) de frottement statique d'un couple de frottement, qui dépend de la vitesse de rotation.
  13. Procédé suivant la revendication 12, caractérisé en ce que l'on effectue la détermination du moment ( J ) d'inertie et du facteur ( Mr* ) de frottement statique sur la base d'un modèle linéaire décrivant la dépendance de la vitesse ( n ) de rotation en fonction du couple ( M ) d'entraînement.
  14. Procédé suivant la revendication 13, caractérisé en ce que le modèle linéaire est un élément PT1 et, pour la détermination du moment ( J ) d'inertie et du facteur ( Mr* ) de frottement statique, l'élément PT1 est égalisé en deux instants à des valeurs de mesure de la vitesse ( n ) de rotation et du couple ( M ) d'entraînement.
  15. Dispositif de commande d'un broyeur ( 1 ) comprenant un code de programme qui comporte des instructions de commande, lesquelles font que le dispositif de commande effectue un procédé suivant l'une des revendications 1 à 14.
  16. Côte de programme pouvant être lu par une machine pour un dispositif de commande d'un broyeur ( 1 ) qui a des instructions de commande, lesquelles font que le dispositif de commande effectue le procédé suivant l'une des revendications 1 à 14.
  17. Support de mémoire ayant un code de programme suivant la revendication 16, qui y est mémorisé et qui peut être exploité par une machine.
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)

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

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

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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)

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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

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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
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

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FR2792224B1 (fr) * 1999-04-15 2001-06-01 Alstom Procede pour controler le niveau de remplissage en charbon d'un broyeur a boulets
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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
WO2016189151A1 (fr) * 2015-05-28 2016-12-01 Abb Schweiz Ag Procédé permettant de déterminer un angle d'élévation et procédé permettant de positionner un broyeur
RU2719037C2 (ru) * 2015-05-28 2020-04-16 Абб Швайц Аг Способ определения угла подъема и способ позиционирования мельницы измельчения
US11007535B2 (en) 2015-05-28 2021-05-18 Abb Schweiz Ag Method for determining a lifting angle and method for positioning a grinding mill

Also Published As

Publication number Publication date
AR062324A1 (es) 2008-10-29
AU2007286366A1 (en) 2008-02-21
BRPI0715891A2 (pt) 2013-02-19
CA2661445C (fr) 2014-12-16
RU2440849C2 (ru) 2012-01-27
WO2008019904A1 (fr) 2008-02-21
CA2661445A1 (fr) 2008-02-21
AU2007286366B2 (en) 2012-08-09
RU2009109192A (ru) 2010-09-27
CN101500710B (zh) 2013-06-19
BRPI0715891B1 (pt) 2020-03-24
DE102006038014B3 (de) 2008-04-30
PL2051811T3 (pl) 2012-10-31
US8366029B2 (en) 2013-02-05
CN101500710A (zh) 2009-08-05
PE20080643A1 (es) 2008-08-02
BRPI0715891A8 (pt) 2019-01-22
CL2007002357A1 (es) 2008-04-11
ZA200900631B (en) 2009-12-30
EP2051811A1 (fr) 2009-04-29
US20100237175A1 (en) 2010-09-23

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