离心选矿系统模糊解耦控制器设计
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摘要
针对Knelson选矿机选矿系统强耦合、非线性的特点,以及选矿过程控制不稳定、精度低、响应慢等问题,提出一种基于模型解耦的模糊控制算法。将离心选矿系统多变量、强耦合的给矿过程,通过动态模型解耦变成两个互不干扰的单输入单输出环节,实现给水量直接控制给矿流量,固体给料量直接控制给矿质量分数。针对给矿流量和给矿质量分数这两个目标量分别设计模糊控制器,实行模糊解耦控制。通过Simulink建模仿真并与常规PID控制器对比,结果表明,采用模糊解耦控制,最大超调量为10%,稳态误差为±3%,控制效果显著提升,性能更优。设计试验,将设计的模糊解耦控制器应用于实验室现有Knelson离心选矿机中,验证了该控制器对离心选矿系统的稳定性能和动态性能有明显的提升。
A fuzzy control algorithm based on model decoupling was proposed to solve the problems of strong coupling,nonlinear complex process,low instability precision and slow response in the ore dressing process of Knelson concentrator. By decoupling the multi-variable and strong coupling ore feeding process of centrifugal mineral processing system into two single-input and single-output links without interfering with each other,the feed water quantity could directly control the ore feed flow,and the solid feed quantity directly controlled the ore feed concentration. The fuzzy controller and fuzzy decoupling control were designed for the two target variables of feed flow and ore concentration respectively. Through Simulink modeling and simulation,and compared with the conventional PID controller,the maximum overshoot was 10% and the steady-state error was ± 3% by using fuzzy decoupling control. The control effect was improved significantly and the performance was better.The designed fuzzy decoupling controller was applied to the existing Knelson centrifugal concentrator in laboratory. The results showed that the controller could improve the stability and dynamic performance of centrifugal mineral processing system.
A fuzzy control algorithm based on model decoupling was proposed to solve the problems of strong coupling,nonlinear complex process,low instability precision and slow response in the ore dressing process of Knelson concentrator. By decoupling the multi-variable and strong coupling ore feeding process of centrifugal mineral processing system into two single-input and single-output links without interfering with each other,the feed water quantity could directly control the ore feed flow,and the solid feed quantity directly controlled the ore feed concentration. The fuzzy controller and fuzzy decoupling control were designed for the two target variables of feed flow and ore concentration respectively. Through Simulink modeling and simulation,and compared with the conventional PID controller,the maximum overshoot was 10% and the steady-state error was ± 3% by using fuzzy decoupling control. The control effect was improved significantly and the performance was better.The designed fuzzy decoupling controller was applied to the existing Knelson centrifugal concentrator in laboratory. The results showed that the controller could improve the stability and dynamic performance of centrifugal mineral processing system.
引文
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[15]蔡改贫,许琴,曾艳祥,等.预磨机磨矿系统的IMC-PID串联解耦控制[J].北京工业大学学报,2016,42(1):35-41.CAI G P,XU Q,ZENG Y X,et al.IMC-PID series decoupling control for grinding system of pregrinding machine[J].Journal of Beijing University of Technology,2016,42(1):35-41.
[2]崔世俊.矿产资源综合利用不可忽视[J].西部资源,2014(2):51-52.CUI S J.Comprehensive utilization of mineral resources should not be ignored[J].Western Resources,2014(2):51-52.
[3]ZHAO Y,ZHANG Y,LIU T,et al.Pre-concentration of vanadium from stone coal by gravity separation[J].International Journal of Mineral Processing,2013,121:1-5.
[4]刘惠中.重选设备在我国金属矿选矿中的应用进展及展望[J].有色金属(选矿部分),2011(s1):18-23.LIU H Z.Application progress and prospect of gravity concentrators in Chinese metal processing plants[J].Nonferrous Metals(Mineral Processing Section),2011(s1):18-23.
[5]陈彦如,杨小平,孙志明,等.基于PLC和触摸屏的硅藻土离心选矿机控制系统的研究[J].非金属矿,2012,35(6):37-38.CHEN Y R,YANG X P,SUN Z M,et al.Study on control system of diatomite centrifugal concentrator based on PLC and touch screen[J].Non-metallic Ores,2012,35(6):37-38.
[6]段盛开.三菱PLC在离心式选矿机控制系统中的应用[J].自动化应用,2010(10):31-32.DUAN S K.Application of Mitsubishi PLC in control system of centrifugal concentrator[J].Automation Applications,2010(10):31-32.
[7]刘露玲,钟能.SLon-1600型离心选矿机在钨细泥选矿中的应用[J].中国钨业,2017,32(2):36-40.LIU L L,ZHONG N.Application of SLon-1600 centrifugal concentrator in tungsten fine mud dressing[J].China Tungsten Industry,2017,32(2):36-40.
[8]陈金仙.卧式离心选矿机控制系统的研究[D].昆明:昆明理工大学,2008.CHEN J X.Study on control system of horizontal centrifugal concentrator[D].Kunming:Kunming University of Technology,2008.
[9]廖敏.2 m变频离心选矿机控制系统研究[D].昆明:昆明理工大学,2015.LIAO M.Study on control system of 2 m frequency conversion centrifugal concentrator[D].Kunming:Kunming University of Technology,2015.
[10]肖洪力,胡显能,蔡改贫,等.离心选矿系统的IMC-PID串联解耦控制设计与实验研究[J].矿业研究与开发,2017(6):51-54.XIAO H L,HU X N,CAI G P,et al.Design and experimental study of IMC-PID series decoupling control for centrifugal ore dressing system[J].Mining Research and Development,2017(6):51-54.
[11]刘尚争,刘群坡,朱清慧.基于PAC的在线模糊自适应PID控制器设计[J].河南理工大学学报(自然科学版),2014,33(5):651-654.LIU S Z,LIU Q P,ZHU Q H.Design of online fuzzy adaptive PID controller based on PAC[J].Journal of Henan Polytechnic University(Natural Science),2014,33(5):651-654.
[12]汤兵勇.模糊控制理论与应用技术[M].北京:清华大学出版社,2002.TANG B Y.Fuzzy control theory and application technique[M].Beijing:Tsinghua University Press,2002.
[13]余发山,杨晓邦,张伟.基于模糊PID控制的瓦楞纸板横切机速度跟随控制器设计[J].河南理工大学学报(自然科学版),2009,28(3):316-320.YU F S,YANG X B,ZHANG W.Design of speed following controller for corrugated board crosscutting machine based on fuzzy PID control[J].Journal of Henan Polytechnic University(Natural Science),2009,28(3):316-320.
[14]王福忠,高彩霞,王巧莲,等.基于模糊控制的失重秤配料过程控制策略[J].河南理工大学学报(自然科学版),2008,27(3):302-306.WANG F Z,GAO C X,WANG Q L,et al.The control strategy of weight-weightless scale based on fuzzy control[J].Journal of Henan Polytechnic University(Natural Science),2008,27(3):302-306.
[15]蔡改贫,许琴,曾艳祥,等.预磨机磨矿系统的IMC-PID串联解耦控制[J].北京工业大学学报,2016,42(1):35-41.CAI G P,XU Q,ZENG Y X,et al.IMC-PID series decoupling control for grinding system of pregrinding machine[J].Journal of Beijing University of Technology,2016,42(1):35-41.
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