Knelson选矿机分选过程建模与控制研究
发布时间：2018-09-05 13:38
【摘要】：尼尔森选矿机(Knelson Concentrator)是一种在离心状态下矿物分选的重选设备,由于尼尔森重选技术具有选矿富集比高、处理固体矿量大等优势,使得Knelson选矿机受到选矿界的广泛采用。但是以往的重选设备主要是靠经验进行控制,不同的操作参数对精矿富集比和回收率产生不同影响,Knelson选矿机分选理论也不够完善。因此通过建立离心选矿机数学模型,利用先进控制策略设计控制器对提高选矿机的自动化控制水平具有较好的研究价值和实际意义。论文采用理论研究、实验分析和数值模拟相结合的方法完成以下工作:在流态化理论的基础上,对Knelson选矿机流膜运动规律进行理论分析;通过搭建选矿实验平台,为找出最佳的操作参数组合进行相关的实验研究;根据分选运动规律和物料平衡,建立Knelson选矿机非线性随机状态空间模型及进行参数估计;将选矿系统给矿环节引入内模控制策略,并通过数值模拟验证该控制方法实现控制量定值控制的快速性和稳定性。论文的主要研究成果:(1)在流态化理论的基础上,探讨了基于离心流态化运动分选的Knelson选矿机分选过程和颗粒的受力情况,描述了颗粒分选特性及矿浆流膜的运动分层,并掌握了影响分选过程的主要操作参数,同时根据颗粒的运动方程推导出颗粒径向上的干涉沉降速度。(2)根据单因素试验探讨了各主要操作参数对富集比和精矿回收率的影响,并确定了合适的操作条件,进一步利用响应曲面优化方法建立选矿指标预测模型,找出了各操作参数的匹配关系,并通过实验验证了选矿指标的响应面预测模型的可靠性;同时发现,各操作参数之间匹配的合理性,直接影响回收精矿的选矿指标。(3)建立了Knelson选矿机非线性随机状态空间模型,利用扩展卡尔曼滤波算法对Knelson选矿机状态及参数进行估计;根据Knelson选矿机模型EKF估计输出与实际输出的对比结果,证明了所建立Knelson选矿机数学模型的正确性;根据Knelson选矿机模型状态的估计结果能较好地反映矿物分选过程的动态变化规律。(4)设计出IMC-PID串联解耦的控制方法对选矿系统给矿环节进行定值控制,仿真结果表明,IMC-PID串联解耦控制方法能可靠地实现控制量按设定值跟踪输出,选矿系统的稳定性和抗干扰性能明显得到提高。通过以上表明,本课题的研究将对尼尔森重选理论应用具有现实指导意义,为提高选矿机的自动化水平提供了有效途径。
[Abstract]:Nielsen concentrator (Knelson Concentrator) is a kind of gravity separation equipment for mineral separation under centrifugal condition. Because of the advantages of Nielsen gravity separation technology such as high ore concentration ratio and large amount of solid ore treatment, Knelson concentrator is widely used in the field of mineral processing. However, in the past, the gravity separation equipment was mainly controlled by experience, and different operating parameters had different effects on the enrichment ratio and recovery rate of concentrate. The separation theory of Knelson concentrator was not perfect. Therefore, by establishing the mathematical model of centrifugal concentrator and using advanced control strategy to design controller, it is of great research value and practical significance to improve the automatic control level of concentrator. In this paper, theoretical research, experimental analysis and numerical simulation are used to accomplish the following work: on the basis of fluidization theory, the flow film motion law of Knelson concentrator is theoretically analyzed; In order to find out the best combination of operation parameters to carry on the related experiment research, according to the separation movement rule and the material balance, establishes the Knelson concentrator nonlinear random state space model and carries on the parameter estimation; The ore feeding link of mineral dressing system is introduced into the internal model control strategy, and the speed and stability of the control method are verified by numerical simulation. The main research results are as follows: (1) on the basis of fluidization theory, this paper discusses the separation process of Knelson concentrator based on centrifugal fluidization motion separation and the stress of particles, describes the separation characteristics of particles and the moving stratification of slurry flow film. At the same time, according to the motion equation of particles, the interference settlement velocity in radial direction is deduced. (2) based on the single factor test, the influence of main operating parameters on enrichment ratio and recovery rate of concentrate is discussed. The suitable operating conditions are determined and the prediction model of mineral dressing index is established by using the optimization method of response surface. The matching relation of each operation parameter is found out and the reliability of the response surface prediction model of mineral dressing index is verified by experiments. At the same time, it is found that the rationality of the matching among the operation parameters directly affects the mineral dressing index of the recovery concentrate. (3) the nonlinear random state space model of the Knelson concentrator is established. The state and parameters of Knelson concentrator are estimated by using extended Kalman filter algorithm, and the correctness of the mathematical model of Knelson concentrator is proved by comparing the estimated output of Knelson concentrator model with the actual output. According to the estimation results of the model state of Knelson concentrator, the dynamic change law of mineral separation process can be well reflected. (4) the control method of IMC-PID series decoupling is designed to control the feed link of mineral processing system. The simulation results show that the IMC-PID series decoupling control method can reliably track the output of the control quantity according to the set value, and the stability and anti-interference performance of the mineral dressing system are obviously improved. The above results show that the research of this subject will be of practical significance to the application of Nielsen gravity separation theory and provide an effective way to improve the automation level of concentrator.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD45
本文编号：2224434
[Abstract]:Nielsen concentrator (Knelson Concentrator) is a kind of gravity separation equipment for mineral separation under centrifugal condition. Because of the advantages of Nielsen gravity separation technology such as high ore concentration ratio and large amount of solid ore treatment, Knelson concentrator is widely used in the field of mineral processing. However, in the past, the gravity separation equipment was mainly controlled by experience, and different operating parameters had different effects on the enrichment ratio and recovery rate of concentrate. The separation theory of Knelson concentrator was not perfect. Therefore, by establishing the mathematical model of centrifugal concentrator and using advanced control strategy to design controller, it is of great research value and practical significance to improve the automatic control level of concentrator. In this paper, theoretical research, experimental analysis and numerical simulation are used to accomplish the following work: on the basis of fluidization theory, the flow film motion law of Knelson concentrator is theoretically analyzed; In order to find out the best combination of operation parameters to carry on the related experiment research, according to the separation movement rule and the material balance, establishes the Knelson concentrator nonlinear random state space model and carries on the parameter estimation; The ore feeding link of mineral dressing system is introduced into the internal model control strategy, and the speed and stability of the control method are verified by numerical simulation. The main research results are as follows: (1) on the basis of fluidization theory, this paper discusses the separation process of Knelson concentrator based on centrifugal fluidization motion separation and the stress of particles, describes the separation characteristics of particles and the moving stratification of slurry flow film. At the same time, according to the motion equation of particles, the interference settlement velocity in radial direction is deduced. (2) based on the single factor test, the influence of main operating parameters on enrichment ratio and recovery rate of concentrate is discussed. The suitable operating conditions are determined and the prediction model of mineral dressing index is established by using the optimization method of response surface. The matching relation of each operation parameter is found out and the reliability of the response surface prediction model of mineral dressing index is verified by experiments. At the same time, it is found that the rationality of the matching among the operation parameters directly affects the mineral dressing index of the recovery concentrate. (3) the nonlinear random state space model of the Knelson concentrator is established. The state and parameters of Knelson concentrator are estimated by using extended Kalman filter algorithm, and the correctness of the mathematical model of Knelson concentrator is proved by comparing the estimated output of Knelson concentrator model with the actual output. According to the estimation results of the model state of Knelson concentrator, the dynamic change law of mineral separation process can be well reflected. (4) the control method of IMC-PID series decoupling is designed to control the feed link of mineral processing system. The simulation results show that the IMC-PID series decoupling control method can reliably track the output of the control quantity according to the set value, and the stability and anti-interference performance of the mineral dressing system are obviously improved. The above results show that the research of this subject will be of practical significance to the application of Nielsen gravity separation theory and provide an effective way to improve the automation level of concentrator.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD45
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