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By Arkady Senchenko

The paper deals with the problem of refractory gold-containing material processing. It is observed that all traditional methods for liberation of fine gold from this type of products are characterized by a number of essential disadvantages, where the main ones are ? considerable expenses for ore processing and big environmental impact. As an alternative to the existing methods there is considered a gold liberation method, which is based on the combination of ultra fine grinding process with the consequent atmospheric oxidation. The theoretical justification of atmospheric oxidation was carried out, in the result of this the mechanism and the degree of sulphide minerals? oxidation was found out, the dependence of gold dissolution speed on the slurry content in liquid phase produced by grinding and oxidation was identified. The experimental data and results of pilot-plant testing are given and the most effective grinding and atmospheric oxidation mode is selected on this basis. The performed complex of research works allowed us to use the provided technology at the gold processing plant having capacity of 8 mln. tons of ore per year. The questions, problems, advantages and disadvantages of atmospheric oxidation technology for refractory gold-containing concentrates are considered in this paper. Keywords: refractory gold-containing material processing, gold liberation method, cyanidation

Sep 1, 2012

By Wenying Liu, Marek Pawlik

Long-chain ionic surfactants, with fatty acids and amines as the most important representatives, are widely used as collectors in froth flotation. These surfactants, generally referred to as weak electrolyte collectors, frequently form solid insoluble precipitates within a certain pH range. However, the action and behavior of these colloidal precipitates in froth flotation systems are not well understood and has not been well decoupled from those of dissolved forms. The objective of this study was to understand and compare the role of colloidal precipitates with that of the dissolved forms at gas-liquid and gas-liquid-solid interfaces. Using primary amine as the model surfactant, experiments were carried out to measure: the maximum volume of bubbles generated in the presence of dissolved and precipitated forms of the surfactant; surface tension for both forms of the surfactant using the drop shape and maximum bubble pressure methods; and contact angle using the sessile drop method. The experimental results showed that: in the presence of the precipitate, bubble volume was smaller, which was correlated with the lower surface tension and higher contact angle measured; the surface tension of solutions containing surfactant precipitate was affected by the surface age of liquid droplets. This study enhances understanding of the interfacial behavior of long-chain ionic surfactants under different conditions, which would help improve the efficiency of reagent utilization in froth flotation.

Jan 1, 2014

By Jiang Wenli, Zhang Yimin

In order to enhance the quality of iron concentrate from magnetic separation, reverse-flotation technology is often applied in an iron ore dressing plant.However, this technology has disadvantages in terms of operating cost,energy consumptionand environmental protection(Zhao, Wu& Wang,2005).Developing innovative equipment to process magnetite ore more-effectively is a way to get rid of these disadvantages of reverse flotation and improve the quality of iron concentrate.This paper describes the development of Complex Flashing-Field Magnetic Cleaner,a new kind of equipment based on the principle of combination of separation in magnetic field and separation in gravity field(Hao & Jiang, 2002).This innovative equipment possesses a tailor-made magnetic system and has the characteristics of a magneticfieldwhich can strengthen the formation of magnetic agglomerations and the dispersion of gangue mineralsto improvethe quality of separation.The automatic control system developed specifically for this equipment can further increase the accuracy of separation and stabilize the process.

Jan 1, 2014

By Jorge Misle, Daniel Silva

"This paper addresses the need for advanced control technologies and strategies in the mining industry, its potential and actual impact on mining processes and the best practices for their implementation, operation, and long term sustainability. It is well known that advanced process control (APC) can be a very good source for incremental process improvement for the mining industry, yielding to higher production rates or helping maintain consistent production rates despite ore changes. The application and integration of new technology, process knowledge and innovation are key elements in building such a supporting structure. More specifically, and this cannot be emphasized enough, the correct application and assembly of control tools, the in-time presentation of key data to decision makers and the development of relevant statistics and KPI’s (key performance indicators) can and will make a difference not only in terms of production, but also in plant stability, availability and production costs. In deploying such ideas and aiming at the long-term goal of "Operational Excellence", Minera Los Pelambres (MLP) has developed a number of successful control strategies, best practices and technologies, which are not only the application of state-of-the-art automation and computing tools, but rather the assembly of the above presented structuring factors. This work discusses some of the key tools and ideas implemented for SAG & Ball milling and Flotation areas, their performance results and the roadmap taken for the integration of process knowledge and control tools. Also, cases studies are presented and discussed further to not only show the main areas of improvement, but also to highlight the benefits of such strategy that for the most part, deviate from the traditional mining industry control approach. Also, a word is given on the need for innovating in the design of control strategies and leveraging best practices and process knowledge that ultimately, will contribute to long-term reliable operations, improved mineral processing and, although unmeasured, lead to a superior overall performance and productivity of all mining personnel involved."

Jan 1, 2014

By David Deglon, Martin Harris, Mehdi Safari

This paper investigates the effect of energy input on the flotation of galena in a novel oscillating grid flotation cell (OGC). Oscillating grids generate near ideal hydrodynamic environments, characterised by turbulence which is relatively homogeneous and isotropic. Previous work was limited to quartz (-100 µm). Galena (-150 µm) was floated in the OGC at power intensities from 0.5 to 3 W/kg using 0.13, 0.58 and 0.82 mm mean bubble sizes (d10) and at three collector dosages. Results show that the effect of power intensity on flotation kinetics is strongly dependent on both particle and bubble size. For fine particles (-19 µm), increasing energy input increases the flotation rate at a low collector dosage but leads to an optimum at both the moderate and high collector dosages. For intermediate particles (+19-38 µm), increasing energy input has no effect on the flotation rate at the low collector dosage but leads to an optimum at both moderate and high collector dosages. For coarse particles (+38-150 µm), increasing energy input has no effect on the flotation rate at the low collector dosage and leads to a general decrease at both moderate and high collector dosages. Optimum conditions for fine particles are using small bubbles at a moderate collector dosage and an energy input of around 2 W/kg. Optimum conditions for moderate particles are using small bubbles at a high collector dosage and energy inputs of around 1.0 W/kg. Coarse particles do not benefit from agitation.

Jan 1, 2014

By J. Sachweh

The last few years have shown a significant increase in the demands for fine products, which means everything under 10µm. There are more and more applications requesting extremely fine ground powders leading to the development of several milling machines which are better adapted to the new products. Cost saving machinery is important for the worldwide competition. Especially the energy consumption is extremely important for any fine ground product. A worthwhile field for mechanical engineering companies is the dry milling machinery as there are not as many solutions available compared with wet milling applications. In many cases wet mil-ling is the only solution to reach the requested quality, but there are also a lot of applications which can be performed in a dry way on the premise that the right mill and classifier are available. Dry milling permits to save energy and allows to influence the particle size distribution more easily, as a classifier can be used in that case. This will significantly reduce production costs and can enable the production of new products with better properties. The Tower Mill is well-known already in the field of wet grinding. Recent research work and end user reports have shown clearly that this mill has a lot of advantages compared to a ball mill. Up to now this advantage is limited to wet grinding as only few mills have been used for dry grinding. There is no doubt about the efficiency of dry grinding, but new and improved feeding and discharg-ing systems have to be developed in order to enable the full range of its advantages. Especially the high production capacities are a challenge for mill and classifier designers. The Tower Mill with its special grinding mechanism allows to cope with very high feed rates, because machines with more than 1 MW are available. Improved grinding efficiency will decrease the circulation load through the classifier and also lead to smaller classifier sizes. Together with im-proved mills the classifier can work more efficiently because the feed material is finer. Results of a test center plant production will be shown together with a comparison between stan-dard machinery and the MaxxMill®. Preferential applications for each mill will be explained.

Jan 1, 2014

By H. Z. Kuyumcu

Coking of coal blends using high volatile coals with poor coking abilities to produce a high quality coke for blast furnace application can be achieved by compacting the coal blend prior to the carbonization process. Here densification up to a relative material density of 80 %, i.e. a compact density around 1100 kg/m3, has proven to be advantageous. Coal is compacted by stamping, if the so-called stamp charging process applied. Compacting of the coal by pressing is practised in case of the cokemaking with so-called heat-recovery ovens. Stamped and pressed coal cakes require over the cake volume uniform high density and mechanical stability. Besides the aspects of the coal selection, the efficiency of the process is mainly determined by the operating parameters compacting time and compacting energy for coal cake making. At the Department for Mechanical Process Engineering & Solids Processing of the Technical University Berlin the two sub-processes of densification and strengthening during stamping and during pressing are theoretically and experimentally investigated using specially developed lab-scale compacting test units and a strength test device. Describing cake density in terms of coal properties for a given coal and measured compacting energy input then leads to a compacting equation with the so-called Stampability as the integral model parameter for the stamping process. For the pressing process the cake density can be calculated with the measured compacting pressure and the Compressibility factor, respectively. Investigations were carried out to provide evidence of a significant influence of coal type, coal surface moisture, coal granulometric and mechanical properties on the densification process. The overall objective of the work is to establish a comprehensive mathematical model on the compacting behavior of large coal bulk quantities and the optimization of the compacting processes by stamping and by pressing. Keywords: coal compacting, agglomeration, stamping, pressing, cokemaking

Sep 1, 2012

By Leon Lorenzen, Trevor J. Britz, Pierre J. Van Zyl, Ellis R. Els

Enhanced granulation of UASB granules was tested on pilot scale with two different test reactors (about 5 litres capacity each). Sludge from a local sewage works was used, with peach cannery effluent as carbon source. Cyclic motion of the reactor contents, and a daily replenishment of feed material create the necessary stress conditions for enhanced growth. Sizable granules, bigger than 0.5 mm, were produced within 20 days. Of the two reactors tested, the reactor equipped with a horizontal agitation shaft proved more effective.

Jan 1, 2003

The air recovery from a flotation cell is the fraction of inlet air which overflows the weir as un-broken bubbles. The air recovery is an important factor in froth phase phenomena; such as gangue entrainment and froth recovery. Increasing the air recovery, results in a higher recovery of attached mineral particles. Air recovery can be measured experimentally on plant using image processing of the top surface of an overflowing froth. The air recovery is directly linked to froth stability and the bursting rate of the bubbles at the froth surface, making it very difficult to predict. Experimental results show a very strong correlation between the superficial velocity of the inlet air and the superficial velocity of the air leaving the cell through the froth surface due to bursting, calculated from the experimentally measured air recovery. This correlation holds over multiple banks from different plants. Development of a power law equation around the inlet air velocity and the bubble solids loading on the froth surface allows the superficial air velocity through the top surface of the froth to be predicted, and from this the air recovery. This model is valid for use when operating beyond the peak in air recovery.

Jan 1, 2014

By R. C. Miranda

This paper intends to demonstrate the applicability of tools for advanced process control and online particle size image analysis in crushing and autogenous grinding circuits. In a crushing plant, cameras are installed in the conveyor belts of the circuit products. The vision system continuously processes the acquired images and thus obtains the variation of the size distribution curve. From these measurements, the advanced control system can operate, for example, at the opening of the crusher, in order to keep the P80 in the desired range. In addition, through the power information and level of the crusher's chamber, it is possible to increase the capacity of the crushing circuit. If the crusher is not equipped with an automatic opening adjustment, a warning may be issued to the operator to provide this setting manually. In mineral processes that use autogenous and semi-autogenous grinding for fragmentation, obtaining online F80 through the vision system allows for manipulating the parameters of rotation speed and solids concentration, through which the amount of material at the critical particle size that is produced can be controlled. In addition, the noise produced in the mill can be measured and controlled. Thus, it is possible to prevent breaches and to optimise the mill capacity for grinding. Image analysis combined with an expert system that translates this information and acts to seek the most appropriate particle size distribution, brings greater stability to the process optimising the capacity of the equipment, which allows for significant gains in production.

Sep 1, 2012

By Christopher Davey, Professor Emeritus, Marian Mazurkiewicz, Peter Kanjorski

The concept of a high pressure liquid jet mill with highly unsteady flow, has been developed and recently patented by Cornerstone Technologies LLC (CsT), for the purpose of micron and sub-micron particle production. The mill accepts feed sizes up to 15mm for some materials and is capable of sub-micron production. Successful material range from precious metals such as silver and palladium to dielectric components and substrates such as Barium Titanate slips, zirconia, titania and silica. The process has also succeeded in adequately reducing the size of materials for both composite and coating uses such as anthracite coal, graphite, chrome metal, wollastonite and more than 100 others. A unique design approach has been taken to highly maximize the energy flux in the mill’s chambers to create extremely high turbulence and destructive cavitation. This is assisted by shock waves, which cause particles to undergo ultra high frequency pressure pulsations, high frequency collisions and then abrasion, shattering, hydro-wedging, and cleaving. Due to these extreme properties the processing occurs in just fractions of a second allowing throughputs up to 1000 kg/h on a machine that would fit inside a 60 cm box. The technical solution and technological advance, as well as the environmental and economic benefits indicate rapid and wide spread acceptance of high-pressure liquid jet milling in modern industry.

Jan 1, 2003

By H. Hamza, M. R. MacIver, M. Pawlik, L. Malin

"Size and shape are important properties of aggregates formed in engineering processes and natural systems. Measurement of aggregate size or shape is a challenge when the solids concentration is beyond the gel point, ?? > ??g, when the aggregates are in contact and it is difficult to distinguish or segment individual particles in the network. This paper describes the use of a micro-computed tomography (micro-CT) method for the calculation of the aggregate volume fraction, ??, and a characteristic aggregate length, ??a, based on a 3D chord length measurement algorithm. These parameters can be used to quantify changes in aggregate and pore size during a compressive yield stress test to help understand the impact of flocculation and network structure on dewatering. INTRODUCTION In a thickener, flocculation is often used as a pre-treatment step and the final solids content of the underflow depends on the network strength and permeability of the bed formed by settled aggregates (Usher, Spehar, and Scales 2009). This paper describes the measurement and analysis of micro-computed tomography (micro-CT) of flocculated mineral sediments to obtain a characteristic length, ??a, of the aggregate and pore phases during a staged compressive yield stress experiment. This parameter may be used as an indicator of changes in aggregate and pore size to quantify material behaviour in solid-liquid separation processes that depend on self-weight compression or applied pressure. This analysis was carried out to help understand the effect of flocculation on aggregate structure and the thickening process as part of a broader research on the improved solid liquid separation of tailings produced in the oil sands industry.Aggregate properties The solids phase of an aggregated or flocculated suspension will eventually settle – if left undisturbed – under the influence of gravity. As settling of a flocculated suspension continues, the solids volume concentration, ??, may increase to the gel point or gelation threshold (Landman and White 1994), ??g, above which the aggregates form a network of touching particles, or space-filling structure (Kranenburg 1994). In the sediment bed, the aggregates are surrounded by fluid and occupy a partial volume fraction, ??, according to"

Jan 1, 2018

By Fernando Concha

"Thickening development and innovation in the 20th Century occurred in two decades periods. From 1900 to 1920, Dorr invented the continuous thickener and the first method of thickener design was proposed by Coe & Clevenger. From 1920 to 1940, the operating variables of continuous thickening were discovered by Comings at the University of Illinois. From 1940 to 1960, the first theory of sedimentation was proposed by Kynch and several authors, Talmage and Fitch, Ysioka and Hasset used this theory to develop new thickener design methods. From 1960 to 1980 Shannon and Tory demonstrated that this theory applied exactly for the sedimentation for small rigid spheres in water and Scott showed that it is not valid for flocculated suspensions. From 1970 to 1990 the phenomenological theory of thickening was developed based on the theory of mixtures. Papers by Kos, Bascur, Thacker and Lavelle, Concha and Bascur, Concha and Barrientos, Auzeris, Buscal and White, Landman, White and Buscal show the application of this theory to thickening and Adorjan presented the first thickener design method based on this theory. In 1980s the mathematical analysis and solutions of Kynch’s model for batch and continuous thickeners was obtained by Bustos. The new Century brought solution to the phenomenological thickening model which was applied to thickener design, simulation and control. The method of thickener parameter determination was improved by designing new laboratory and on-line instruments and advanced control strategies was designed and validated in plants. Structural thickener design produced improved feedwells and feed dilution mechanism, stronger raking mechanism and different thickener shapes according to new ambient requirements, such as high rate thickener and paste thickeners that increase the water recovery. New challenges include better flocculation and advanced control strategies."

Jan 1, 2014

By S. Schade-Dannewitz

In terms of a sustainable waste management, high recycling rates and purities of the different collected waste components are very important. Especially the recycling of used packaging materials with valuable components like plastics, ferrous and non-ferrous metals and liquid cartons (light weight packaging) requires a complex technology. In plants to recycle those light weight packaging materials films cause problems and often manual sorting is necessary to remove them. The Nordhausen University of Applied Sciences together with the company Schulz & Berger from Altenburg tries to replace manual sorting with fully automated technologies. The objective is a technology that can enable a high recovery of recyclable film and satisfy the maximum purity requirements for the film fraction. For that purpose, a new machine called Low-pressure Separator was developed. The test materials used consist of separately collected recyclables from the yellow recycling bins or bags in Germany?s Dual System (Duales System Deutschland ? DSD), the recyclable waste collection system. First tests show that high purities of the film-fraction, for example the required 92% or higher, can be realized. Next to the film-purity, furthermore the mass yield and the recyclable yield are discussed because they play an important role to evaluate the efficiency of the recycling process. Further activities to improve and establish the developed technology are mentioned.

Sep 1, 2012

By S. Banisi, E. Arghavani, M. Pourkani, M. J. Rajabi, Gh. A. Mohamadian, H. Bidshahri, Gh. A. Parsapour

The Sarcheshmeh copper complex flotation circuit of plant No.1 consists of two identical north and south sections where each includes four rougher (each bank consists of 14 cells), two cleaners (each bank consists of 8 cells), two recleaners (each bank consists of 2 cells), and two scavenger banks (each bank consists of 10 cells). The reduction of feed grade along with a change in the mineralogical composition is the main reason of current lower concentrate grade (24%) compared with the design concentrate grade (32%). Because of a lower feed grade, the amount of rougher concentrate has decreased which in turn has significantly reduced the feed rate to the cleaner, recleaner, and scavenger banks. This has increased the mean residence time of the material in the cleaner section resulting in a lower final concentrate grade. A laboratory study showed that the final concentrate grade can be increased by 2-4% if one cleaner stage is added to the flotation circuit. In this research, based on the laboratory results, one cleaning stage was added to the current flotation circuit. In order to make this modification instrumentally possible in the plant, the final concentrate was gravity transported to the Mo-Cu thickeners. This released 2 pumps and associated tanks which made addition of one cleaning stage practicable. Finally, a part of the cleaner and scavenger cells were used as the third cleaning stage. This decreased the residence time in the cleaner and scavenger banks. After implementation of one cleaning stage in the south section of the plant, the performance of the circuit compared with the identical north section. It was found that at the same recovery, the concentrate grade of the south section increased by 2.5%. The promising results led to the implementation of adding one cleaning stage in all sections of the flotation circuit.

Jan 1, 2018

By Nirmal Weerasekara, Malcolm Powell, Mohsen Yahyaei

"The conditions under which rocks become superficially damaged during the grinding process are not well understood. The main purpose of the work presented here is to understand how superficial breakage occurs under incremental low-energy impacts. To enable this study a series of abrasion tests with multi-size pilot mills have been performed. Outcomes of numerical simulation corresponding to each test were examined to investigate the experimental results. Abrasion tests have been conducted using three grinding mill sizes (i.e. 1.8, 1.2, and 0.8 m). Two types of ore were used to investigate different hardness strengths. To ensure abrasion was the dominant mechanism, in all tests the mill speed was reduced to 40% of critical speed. The relationship between the Fractional mass loss rate and particle size was investigated by randomly collecting seven tracer particles from sizes -73+63, -53+45, and -37.5+31.5 mm. It was evident from the results that the Fractional mass loss rate of angular particles declines as the particle size increases whereas the Fractional mass loss rate decreases from fine to coarse in rounded particles. Results of Discrete Element Method (DEM) simulations indicate that fine particles experience higher levels of collision energy per particle and this value reduces as the particle size increases and mill size reduces. This explains the higher Fractional mass loss rate of smaller particles as well as the increase in the Fractional mass loss rate as the mill size increases. Linked DEM and experimental data indicates that under these test conditions surface damage attrition is the dominant mechanism. This work suggests that DEM simulation can be implemented to predict the abrasion wear of particles in mills."

Jan 1, 2014

By Egbert Burchardt

"Some of the challenges faced by the mineral industry in the future are the need to process low grade ores at the lowest operating cost, to deal with elevated energy cost and to address scarce water resources in some regions of the world. These challenges will increase the demand to develop highly energy-efficient and less water-consuming mineral processing systems. Experience from other industries suggests that HPGRs could help to achieve these goals, due to their high energy efficiency and their ability to be used as dry grinding systems. Historically, HPGRs have been used mainly as tertiary crushers in mineral applications for the production of ball mill feed. In the cement industry, however, HPGR systems have been successfully applied for grinding limestone, clinker and slag to a final product fineness (p80) of between 30 and 90 µm without the need of downstream ball milling. The total energy consumption of HPGR finish grinding systems in the cement industry has been found to be 30 to 50 % lower than in ball mill systems. This leads to the question of whether the same methodology can be adopted in the mineral industry. Such a step would require the use of dry rather than wet grinding systems. Traditionally, dry grinding systems have been only an exception in mineral processing, since most post grinding processes are wet. However, there are successful - mainly ball mill based - dry grinding examples in gold, nickel or iron ore. Experience from some of these dry grinding references are summarized in this paper. In addition, this paper explores two future-orientated questions: What opportunities does HPGR finish grinding offer the mineral industry? What are general conditions and challenges for adopting this technology for mineral applications?"

Jan 1, 2014

By Anatoly F. Usov, Vyacheslav A. Tsukerman

"The Russian scientists have developed a new energy saving method for an efficient destruction of the sturdy and hard materials (rocks, ores, frozen soils, concrete blocks ets.) - the Electric Pulse Discharge method of materials destruction (EPD). The detailed researches of a broad circle of problems connected to development EPD-disintegration of materials of a various nature and area of use are executed. The electrical and power characteristics of process, physical fundamentals of selectivity of a breakdown and destruction are investigated, the means of electric pulse splitting and refinements of materials are developed, the technological efficiency of disintegration of industrial minerals estimated.One of the most important characteristics of the EPD-disintegration of ores is the high selectivity of destruction, which provides a large ratio of useful minerals' grains opening, and at the same time, it destroy them less. This ensures in the subsequent stages of beneficiation of ores considerable increase of the extraction and improving the quality of concentrates.The technological tests of various industrial minerals have shown a possibility the EPD-disintegration, as a process that provides the best efficiency of disclosure of useful minerals in all types of ores. Technological and economic efficiency of the method of ore beneficiation is the highest for difficult beneficiated ores with rather low extraction by existing methods. The increase of extraction in this case can reach several percents. As a rule, at a EPD-disintegration the disclosure of mineral grains happens in earlier stages of material comminution than at a mechanical comminution, and with less damage of products. This promotes a simplifying the process of ore preparation and for reducing the power consumption."

Jan 1, 2003

By Anatoly N. Vinogradov, Vyacheslav A. Tsukerman

The North-West Russia for 70 years is one the main producers of Cu, Ni, Co, Al, P, REE, Zr, Ti, Ta, Nb, Fe ores and other minerals in the Europe. The largest mining companies locates in the Murmansk region, and they extracts about 100 mln. tons of ores and damps up to 250 mln. tons of waste annually. Nevertheless an environmental situation in the region is stable due to rational management and treatment of wastes on a base of the Noosphere Concept for Nature-using suggested by Vladimir Vernadsky. The Concept was performed practically in the Fersman’ scheme of “non-waste mining and metallurgical complex”, published in the monograph “Minerals of the Kola Peninsula: current status – analyses – prognoses” (1941) and served till now as a sort of “Bible” for industry managers lightening a strategy for an industrial “trophic chain”. The recent status of this scheme is shown on the picture below, and one can see that our concept is coincide with modern ideology known as the “Industrial Ecology”. Moving along this mainstream in the Kola Peninsula since 1929, when the first mining company “Apatit” was established, we provided the water close circuit in mineral dressing plants, hydrometallurgical treatment of slag and tailings, productions of building materials and adsorbents of wastes. The innovation set of technologies designed by the Kola Science Centre allow recently to involve tailing damps in re-exploitation as the technogenic deposits of valuable raw materials for fertilizers, tanning and cleaning agents, pigments, concretes and etc.

Jan 1, 2003

By Vincent C. Smith, Agit Singh, Daniel de V. van der Spuy, Bernard Muller

"Process control in the minerals industry is made difficult by factors such as the multivariable nature of the processes, noise, many disturbances, the changing nature of the processes, nonlinearities, process constraints, slow responses and large deadtimes. A good example of such a process is a milling circuit, where all these problems are experienced. Since model predictive control (MPC) effectively handles most of these difficulties, Mintek decided to develop, customise and test an MPC controller for milling control.Conventional MPC uses a dynamic model of the plant to calculate the future (predicted) plant outputs based on the movements of the manipulated variables in the past. The future moves of the manipulated variables can then be calculated using an optimisation algorithm that will minimise the difference between the setpoints and the predicted outputs. The least squares optimisation method is the quickest, but it does not cater for process constraints. Constraints can, however, be handled explicitly by using a quadratic programming optimisation method. This method ensures that the variables stay within the constraints at all times, but the calculation procedure is much more computationally intensive.• modifying MPC for the Minerals Processing IndustryIt was found that in order to obtain good, robust control using MPC in the minerals processing industry, the conventional MPC algorithm had to be adapted. The MPC controller was first tested on an extensive milling simulator, which was specifically developed for that purpose. Problem areas were identified and the MPC controller was specially adapted to accommodate for these difficulties. Some of the adaptations to the conventional MPC algorithm and special features added were as follows:Since milling plants contain many integrating processes (e.g. sumps), and integrating errors can cause offsets and poor control, it was essential that integrators be handled explicitly. This problem was solved by adapting the algorithm and also using an integrating error portion to compensate for integrating errors.Constraints on the inputs and outputs adversely affected the control. The controller using simple least squares optimisation was tuned with the constraints in place, while the maximum expected setpoint changes were made. This ensured that the process would be able to handle most setpoint changes up to these expected values without violating the constraints. A later improvement on this method was the incorporation of a quadratic programming algorithm to perform the optimisation. This method handles limits explicitly and was shown to perform better than the least squares methods (at the expense of a much higher computational cost)"

Jan 1, 2003