基于模糊控制器实现的浮选柱液面控制系统设计与研究
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摘要
矿物加工工业同其它工业领域一样,面临着资源、环境、经济诸方面的挑战,严峻形势直接关系到其兴衰存亡。数十年的理论研究和工业生产实践表明,浮选柱是行之有效的物料分选设备,是提高矿物加工的分选效率和资源综合利用率,降低分选成本的可行途径,有着广泛的用途和良好的发展前景。本文系统地总结了浮选柱研究和应用的历史和现状,讨论了浮选柱的发展趋势。
在浮选过程中,由于矿浆性质变化、流量波动等因素,会使浮选设备矿浆液位经常改变。当液位太高时,精矿刮出量过大,品位降低;而当液位太低时,会使精矿产率减小,从而使金属回收率降低。可见,浮选柱矿浆液位的控制是直接影响回收率及精矿质量的一个非常重要的因素。
根据浮选柱工作过程的特点,本文提出利用超声波物位变送器通过间接的方式来检测浮选柱的真实液位。
通过对PID控制算法与模糊控制算法的比较、对PLC控制系统与单片机控制系统的比较,结合浮选柱的实际运行情况,本课题最终选取了利用单片机来开发模糊控制器对浮选柱的液位进行控制。
在模糊控制器的开发过程中利用了MATLAB软件的模糊逻辑工具箱来建立模糊推理系统。根据模糊推理规则对系统进行模糊推理,然后反模糊化得到模糊控制查询表。利用得到的模糊控制查询表,本文用C语言编写了整个控制系统的控制程序。本文还针对模糊控制器设计中隶属函数和控制规则选取有较大的主观性和随意性,最终参数的确定需要经过多次调试才能达到最优值的缺点,将遗传算法的优化方法引入到模糊控制器的设计中来,使设计过程效率更高。
该液位控制系统在浮选柱上安装运行之后,能够将液位控制在±4cm的小范围内波动,可以连续稳定地自动调节浮选柱液位,达到了既定的设计要求,为今后该设备的大型化和工业化,提供了借鉴和经验。
Mineral processing industry, like other industries, is also facing various challenges in resources, environment and economy. This stern situation is closely related to its prosperity and decline. Dozens of years' theoretical research and industrial production practice prove that the column flotation is the effective equipment to concentrate and separate minerals and it is also a feasible way to enhance the separation efficiency in mineral processing, to raise the utilization efficiency of the recourses and to reduce the separation cost. It has a widespread use and a good prospect for development.
This article summarizes the history and the current situation of the research on column flotation systematically and discusses the development tendency of column flotation.
During the flotation , pulp fluid positions of the floatable processing equipment change frequently because of the changes in the nature of pulp and the undulating discharge. When the fluid position is too high, the concentrate blows too much and the grade reduces. But when the fluid position is too low, it can cause the concentrate yield to reduce, which also results in the reduction in the recovery. Obviously, controlling the pulp position of the column flotation is one of the important factors that influence the recovery and the grade of concentrate.
According to the characteristics of the working process of the column flotation, The thesis proposes the indirect way to examine the real position of the column flotation by the ultrasonic position-transmitting instrument.
By means of comparing PID control algorithm with fuzzy control algorithm, PLC controlling system with single-chip processor controlling system, and the actual situation of the column flotation, the way of controlling the position using single-chip processor to develop the fuzzy controller is finally adopted in this project .
The MATLAB software' s fuzzy logic toolbox to establish the fuzzy reasoning system was used in the design of fuzzy controller. According to the fuzzy reasoning rule to deduce the fuzzy system, and then the fuzzy control questionnaire was obtained by the counter-fuzzy. Based on the fuzzy control questionnaire obtained, the entire control system programme was designed by language C. In fuzzy controller designing, the selection of m embership function and control rule are subjective and random, some parameters need to be modified over and over again. Genetic algorithm is introduced into the designing of fuzzy controller, which can solve the original drawbacks and make the designing more effectively.
The liquid level control system has been able to confine the liquid level fluctuating within±4cm and to regulate the liquid level of the overflow automatically and steadily. The liquid level control system meets the design requirements and provides experiences and advice for the large-scale and industrialized column flotation equipment in the future.
在浮选过程中,由于矿浆性质变化、流量波动等因素,会使浮选设备矿浆液位经常改变。当液位太高时,精矿刮出量过大,品位降低;而当液位太低时,会使精矿产率减小,从而使金属回收率降低。可见,浮选柱矿浆液位的控制是直接影响回收率及精矿质量的一个非常重要的因素。
根据浮选柱工作过程的特点,本文提出利用超声波物位变送器通过间接的方式来检测浮选柱的真实液位。
通过对PID控制算法与模糊控制算法的比较、对PLC控制系统与单片机控制系统的比较,结合浮选柱的实际运行情况,本课题最终选取了利用单片机来开发模糊控制器对浮选柱的液位进行控制。
在模糊控制器的开发过程中利用了MATLAB软件的模糊逻辑工具箱来建立模糊推理系统。根据模糊推理规则对系统进行模糊推理,然后反模糊化得到模糊控制查询表。利用得到的模糊控制查询表,本文用C语言编写了整个控制系统的控制程序。本文还针对模糊控制器设计中隶属函数和控制规则选取有较大的主观性和随意性,最终参数的确定需要经过多次调试才能达到最优值的缺点,将遗传算法的优化方法引入到模糊控制器的设计中来,使设计过程效率更高。
该液位控制系统在浮选柱上安装运行之后,能够将液位控制在±4cm的小范围内波动,可以连续稳定地自动调节浮选柱液位,达到了既定的设计要求,为今后该设备的大型化和工业化,提供了借鉴和经验。
Mineral processing industry, like other industries, is also facing various challenges in resources, environment and economy. This stern situation is closely related to its prosperity and decline. Dozens of years' theoretical research and industrial production practice prove that the column flotation is the effective equipment to concentrate and separate minerals and it is also a feasible way to enhance the separation efficiency in mineral processing, to raise the utilization efficiency of the recourses and to reduce the separation cost. It has a widespread use and a good prospect for development.
This article summarizes the history and the current situation of the research on column flotation systematically and discusses the development tendency of column flotation.
During the flotation , pulp fluid positions of the floatable processing equipment change frequently because of the changes in the nature of pulp and the undulating discharge. When the fluid position is too high, the concentrate blows too much and the grade reduces. But when the fluid position is too low, it can cause the concentrate yield to reduce, which also results in the reduction in the recovery. Obviously, controlling the pulp position of the column flotation is one of the important factors that influence the recovery and the grade of concentrate.
According to the characteristics of the working process of the column flotation, The thesis proposes the indirect way to examine the real position of the column flotation by the ultrasonic position-transmitting instrument.
By means of comparing PID control algorithm with fuzzy control algorithm, PLC controlling system with single-chip processor controlling system, and the actual situation of the column flotation, the way of controlling the position using single-chip processor to develop the fuzzy controller is finally adopted in this project .
The MATLAB software' s fuzzy logic toolbox to establish the fuzzy reasoning system was used in the design of fuzzy controller. According to the fuzzy reasoning rule to deduce the fuzzy system, and then the fuzzy control questionnaire was obtained by the counter-fuzzy. Based on the fuzzy control questionnaire obtained, the entire control system programme was designed by language C. In fuzzy controller designing, the selection of m embership function and control rule are subjective and random, some parameters need to be modified over and over again. Genetic algorithm is introduced into the designing of fuzzy controller, which can solve the original drawbacks and make the designing more effectively.
The liquid level control system has been able to confine the liquid level fluctuating within±4cm and to regulate the liquid level of the overflow automatically and steadily. The liquid level control system meets the design requirements and provides experiences and advice for the large-scale and industrialized column flotation equipment in the future.
引文
[1]周晓华,赵朝勋,刘炯天.浮选柱研究现状及发展趋势[J].选煤技术,2003,12(6):51-54.
[2]刘殿文,张文彬.浮选柱研究及其应用新进展.国外金属矿选矿[J].2002,(6):14-17.
[3]刘炯天,王永田,曹亦俊,等.浮选柱技术的研究现状及发展趋势[J].选煤技术,2006,(5):25-29.
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[15]熊善清.基于单片机AT90S8515的液晶显示屏LM32019T的控制.自动化与仪器仪表,2005,3(4):23-25
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[17]胡跃明.非线性控制系统理论与应用.北京:国防工业出版社,2002,55-68
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[21]张志丰,王汝琳.大型浮选柱液位检测新方法的研究[J].煤炭学报.2002,27(5):544-547.
[22]李挺.浮选柱浮选技术的发展[J].锡业科技.2000,(1):67-72.
[23]周俊武,潘远宏.LCF-1型浮选过程矿浆液位控制系统的研究[J].矿冶,1996,5(1):54-57.
[24]SHIMADEN CO.,LTD.SR-50 SERIES(SR-52,53 and 54)DIGITAL CONTR OLLER OPERATING INSTRUCTIONS.
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[26]蔡幼忠.浮选槽的液位检测控制探讨[J].有色矿山,2002,31(6):35-36.
[27]郭永新.煤泥浮选液位测控系统的研制[J].选煤技术,2000,(5):17-19.
[28]戎月莉.计算机模糊控制原理及应用.北京航空航天大学出版社,1995
[29]张晋格。计算机控制原理与应用[J].电子工业出版社,1995
[30]刘家贱。JMDM-2011控制器说明书,2005
[31]任开春,涂亚庆.20余种液位测量方法分析[J].工业仪表与自动化装置.2003,1(5):12-16.
[32]李丽宏,谢克明.液位自动检测的现状与发展[J].太原理工大学学报.2001,32(4):417-420
[33]Frank J.Berto.Hydrostatic tank gauges accurately measure mass.Oil & Gas Jounral.1990,(5):57-59.
[34]阮亚婕.智能电容式液位计系统设计[J].仪表技术.2002,(6):15-16.
[35]Wayne Labs.Level measurement:Pressure methods dominate.I&CS.1990,(2):37-38.
[36]Christopher P.Source.Time domain reflectometry liquid level sensors Nemarich.IEEE Instrumentation and Measurement Magazine.2001,4(4):40-44.
[37]杨万国,贾延刚.多种液位仪表的应用对比[J].石油工程建设.2004,(2): 38-43.
[38]赵辉.油罐计量技术的革命-超高精度磁致伸缩液位仪[J].中国仪器仪表增刊,2001.
[39]任波,陈祥光.磁致伸缩液位传感器机理研究.传感器术,2003,22(1)15-18.
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[41]S.Sivara man.Field tests prove radar tank gauge accuracy.Oil & Gas Journal.1990,(4):90.
[42]Olle Edvardsson.Rada used to measure hydrodarbon liquid level.Oil & 6as Journal.1989,(1):39-41.
[43]李春清,张有泉.雷达液位计的测量原理与故障处理[J].仪器仪表用户.2003,10(5):67-68.
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[2]刘殿文,张文彬.浮选柱研究及其应用新进展.国外金属矿选矿[J].2002,(6):14-17.
[3]刘炯天,王永田,曹亦俊,等.浮选柱技术的研究现状及发展趋势[J].选煤技术,2006,(5):25-29.
[4]周晓华,刘炯天,等.浮选柱数学模型研究现状[J].矿冶,2006,12,(1):18-21
[5]刘炯天.旋流-静态微泡柱分选方法及应用(之一):柱分选技术与旋流-静态微泡柱分选方法[J].选煤技术,2000,(1):42-44
[6]中国矿业大学.大型高效选矿设备研制,“十五”国家科技攻关计划项目研究报告[P].徐州:中国矿业大学,2003
[7]张兴昌.CPT浮选柱工作原理及应用[J].有色金属(选矿部分)2003,(2):22-24
[8]卢世杰.KYZ型浮选柱机理研究[J].有色金属(选矿部分),2002,(1):20-23
[9]陈泉源,张泾生.浮选柱的研究与应用[J].矿冶工程,2000,20(3):2-5
[10]中国矿业大学.矿用微泡浮选柱全流程分选技术研究:“十五”国家科技攻关滚动项目研究报告[P].徐州:中国矿业大学,2006
[11]章晓林,张文彬.浮选柱的PC计算机监控系统设计[J].矿冶工程,2005,25(4):39-41
[12]荣国强,刘炯天等.旋流-静态微泡浮选柱液位自动控制系统设计[J].金属矿山,2007,05:62-64
[13]郭廷玮,李安定.太阳能的利用和前景.科学出版社,2002:5-12
[14]韦巍.智能控制技术.北京:机械工业出版社,2003:45-53
[15]熊善清.基于单片机AT90S8515的液晶显示屏LM32019T的控制.自动化与仪器仪表,2005,3(4):23-25
[16]张先臣.一种实用太阳能热水器单片机控制器的设计.自动化与仪器仪表,2005,6(122):19-21
[17]胡跃明.非线性控制系统理论与应用.北京:国防工业出版社,2002,55-68
[18]L.A.Zadeh.FuzzySets,Information and Control[J].1965(8):338-353
[19]闰玉德,俞虹.MCS-51系列单片机原理及应用(C语言版).北京:机械工业出版社,2002:28-46
[20]王磊.太阳热水系统的研究与应用.[硕士学位论文].天津:天津大学控制理论与控制工程,2003
[21]张志丰,王汝琳.大型浮选柱液位检测新方法的研究[J].煤炭学报.2002,27(5):544-547.
[22]李挺.浮选柱浮选技术的发展[J].锡业科技.2000,(1):67-72.
[23]周俊武,潘远宏.LCF-1型浮选过程矿浆液位控制系统的研究[J].矿冶,1996,5(1):54-57.
[24]SHIMADEN CO.,LTD.SR-50 SERIES(SR-52,53 and 54)DIGITAL CONTR OLLER OPERATING INSTRUCTIONS.
[25]盖宝文.浸出调浆槽液位的自动控制[J].有色矿山,1997,5:32-34.
[26]蔡幼忠.浮选槽的液位检测控制探讨[J].有色矿山,2002,31(6):35-36.
[27]郭永新.煤泥浮选液位测控系统的研制[J].选煤技术,2000,(5):17-19.
[28]戎月莉.计算机模糊控制原理及应用.北京航空航天大学出版社,1995
[29]张晋格。计算机控制原理与应用[J].电子工业出版社,1995
[30]刘家贱。JMDM-2011控制器说明书,2005
[31]任开春,涂亚庆.20余种液位测量方法分析[J].工业仪表与自动化装置.2003,1(5):12-16.
[32]李丽宏,谢克明.液位自动检测的现状与发展[J].太原理工大学学报.2001,32(4):417-420
[33]Frank J.Berto.Hydrostatic tank gauges accurately measure mass.Oil & Gas Jounral.1990,(5):57-59.
[34]阮亚婕.智能电容式液位计系统设计[J].仪表技术.2002,(6):15-16.
[35]Wayne Labs.Level measurement:Pressure methods dominate.I&CS.1990,(2):37-38.
[36]Christopher P.Source.Time domain reflectometry liquid level sensors Nemarich.IEEE Instrumentation and Measurement Magazine.2001,4(4):40-44.
[37]杨万国,贾延刚.多种液位仪表的应用对比[J].石油工程建设.2004,(2): 38-43.
[38]赵辉.油罐计量技术的革命-超高精度磁致伸缩液位仪[J].中国仪器仪表增刊,2001.
[39]任波,陈祥光.磁致伸缩液位传感器机理研究.传感器术,2003,22(1)15-18.
[40]康健.磁致伸缩液位传感器[J].自动化仪表开发与实践,2002,(8):38-39.
[41]S.Sivara man.Field tests prove radar tank gauge accuracy.Oil & Gas Journal.1990,(4):90.
[42]Olle Edvardsson.Rada used to measure hydrodarbon liquid level.Oil & 6as Journal.1989,(1):39-41.
[43]李春清,张有泉.雷达液位计的测量原理与故障处理[J].仪器仪表用户.2003,10(5):67-68.
[44]广州周立功单片机发展有限公司.P89V51RB2/RC2/RD2器件手册,2004
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