Automated Control System of Technological Process of Grinding Ore on the Basis of the Mathematical Model of Loading of the Mill

"In concentrating production energy-consuming power installations are wide used, the most powerful of them are the wet autogenous grinding mill operating in closed circuit with a spiral classifier. The analysis of the current state of the automation of the grinding process shows that the reserves for maximizing productivity and minimizing electricity consumption have not yet been exhausted on the existing process equipment. Usage of the achievements of the modern management theory reveals an opportunity for further optimizing of the grinding process. The purpose of the research is to develop an automated control system of complex ""the mill-classifier"" to conduct the grinding process in the most operating efficiency, ensuring the maximization of productivity and minimization of specific electricity consumption. The main idea of this work is to study the specific features of the ore grinding process and creation on this basis of automated control system complex ""mill-classifier"" which allows to find and to maintain the optimal mode of grinding based on identification of the current object parameters, observance and regulating of the object state coordinates. Research methods. We used the methods of system analysis, mathematical statistics, modern automated control theory, theory of systems identification, optimal control, modelling of dynamic processes. Developed scientific provisions: - identification algorithm of the loading sub-system management object of complex ""mill - classifier"" allowing to obtain the unbiased estimators of its parameters according to the data of normal object exploitation; - observing device, which differs from the classic version of the observer Luenberger with possibility of estimating not only the state coordinates of the control object, but also the low-frequency perturbation component; - automated system stabilizing the active power of the grinding mode on the basis of a states controller with Luenberger observer; - structure of the software and hardware that implements the developed models, algorithms, methods of control, management and optimization in the framework of the automation of grinding."