SAG Mill Optimization using Model Predictive Control

SAG MILL OPTIMIZATION USING MODEL PREDICTIVE CONTROL W.A. Gough, P.Eng. ANDRITZ AUTOMATION Ltd. 13700 International Place, Suite 100ABSTRACT Semi-Autogenous Grinding mills can be optimized for maximum ore throughput or maximum

Gearless mill drives - Grinding | ABB

ABB’s GMD is the most powerful mill drive system in the market to power semiautogenous (SAG), ball and autogenous (AG) mills, This ’workhorse’ for grinding operations combines a robust, service-friendly and fit for purpose design to provide highest throughput, reliability and availability for your processing plant.

PDF Evolution of SAG Mill Process Control at the Xstrata

adequately control the mill; resulting in poor stability, frequent operator interventions and less than optimum performance. This paper describes the successful integration of advanced field systems such as mill feed image analysis (Wipfrag) and crusher gap controller (ASRi), into a multi-variable fuzzy logic SAG mill controller.

The Non-Linear adaptation of a Multi-Variable Predictive

Events leading to mill overload can show changes in model type (1 st order to integrating) and gain inversion. • The performance of the mill product sizing device (e.g. DSM screen) • Availability & reliability of process instrumentation. Controlling a SAG mill is a non-linear problem near capacity constraints.

Basic Control Loops Performance Monitoring — Yokogawa

Advanced control strategies are often organized hierarchically, with multivariable controllers that provide the set-points to low-level controllers, which are typically of the proportional-integral-derivative (PID) type. Thus, it has to be recognized that the overall process performance relies in any case on the performance of the PID controllers.

Modelling SAG milling power and specific energy consumption

mill diameter, mill length, grates openings, and pebble ports size; the power equation is also function of all the operational variables selected for this study. The applied force is a function of the mass inside the mill and it is composed of balls, ore and water. The ball charge is a function of the bulk fraction of the SAG mill volume (Jb)

PDF BrainWave: Control solutions for SAG mills

SAG mill #1 load control Plant staff, after extended testing and rigourous data analysis, determined that BrainWave reduced load variability by 14% while increasing production by 1.5%. This was a great success for everyone involved. Assuming a copper price of 4 USD/lb, ANDRITZ AUTOMATION estimates that BrainWave SAG mill led to an extra 12M USD

SAG Mill Process Control - Grinding & Classification

To participate in the 911Metallurgist Forums, be sure to JOIN & LOGIN Use Add New Topic to ask a New Question/Discussion about Grinding. OR Select a Topic that Interests you. Use Add Reply = to Reply/Participate in a Topic/Discussion (most frequent). Using Add Reply allows you to Attach Images or PDF files and provide a more complete input. Use Add Comment = to comment on someone else's

1multivariable controller for sag mill

1multivariable controller for sag mill SAG Mill Official Feed The Beast Wiki The SAG Mill is a machine added by Ender IO.It uses Micro Infinity (µI) to grind (or mill) items into their crushed variants, like Ores into Dusts.The SAG Mill has four output slots recipes can have 14 different outputs, with different chances of obtaining those outputs.

Control Engineering | Model-less multivariable control benefits

The term “model-based multivariable control” has been so ubiquitous for so long that many engineers don’t realize they can have multivariable control without all the work of models. Rather than being the latest twist in multivariable control, model-less multivariable

BrainWave SAG mill - ANDRITZ

Although the mill weight provides a reasonable and reliable indication of mill loading, it is known to be a challenge to control. Fortunately, the patented BrainWave controller has a unique ability to model SAG mill behavior so that responsive, precise control is possible.

Features Of Sag Mills - SlideShare

Sag Mill Controller 6. Working principle of sag mills is that the rotating drums causes traction and fiction between the ore particles and pebbles. Sag mill is a tubular running device and horizontal type having two warehouses. Its grid type and sag mill outside

Model Predictive Control for an Industrial SAG Mill

this controller a MIMO-ARX based MPC. We use an industrial Semi-Autogenous Grinding (SAG) mill to illustrate the performance of this controller. SAG mills are the primary units in a grinding chain and also the most power consuming units. Therefore, improved

PDF MillScanner™ - Automation Technology

SAG mill control, insight, and reliability.!!!!! The throughput and efficiency of a SAG mill depends on the volumetric load: An overloaded mill has reduced coarse ore breakage, as the cascading balls and rock cannot drop far enough, reducing kinetic energy for breakage. An underloaded mill will break coarse ore well, but at the expense of

PDF] Evolution of SAG Mill Process Control at the Xstrata Nickel Raglan Operation

1/18 · @inproceedings{Bartsch2008EvolutionOS, title={Evolution of SAG Mill Process Control at the Xstrata Nickel Raglan Operation}, author={E. Bartsch and Chief Engineer and Guy Comeau and Senior Metallurgist and C. Hardie and Former Chief Metallurgist}, year={

mill scanner (optimización para molinos SAG

Examinamos los principios del rompimiento de mineral en un molino SAG e identificamos los parámetros que gobiernan el quebrado de la roca y el rendimiento. S

SAGwise™ total process control The key to efficient SAG mill

SAG mill optimisation Take control of your SAG mill process Reducing downtime through data Downtime is the most inefficient thing of all for a processing plant, costing hundreds of thousands of dollars each hour. Mill loading is key to running the mill more efficiently and at lower expense.

PDF Gearless Drives - Siemens

foot SAG mill at the Cadia Hill Mine in Australia. While the details vary, there is a theme that links these projects - careful development and analysis, timely results and ultimately the delivery of reliable, efficient gearless drives. Since 1998, Siemens has been providing gearless drive systems for 40-foot SAG mills.

A Multivariable and Multi-Objective Approach for the Control of

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PDF) Experiences and Projections on SAG Multivariable

circumstances, the controller would be faced to a SAG mill with a new and nonlinear dynamic behavior, as previously mentione d and depicted in Fig ure 7, and consequently, the same controller will

Advanced Controller for Grinding Mills: Results from a Ball

throughput-limited ball mills and Semi-autogenous grinding (SAG) mills. Given this large operational benefit, several mineral processing facilities are currently evaluating and implementing these strategies. The key to successful acceptance in this industry will be the ability of these controllers to handle unusual

CiteSeerX — Multivariable Controller Design for Hot Rolling Mill

This paper describes a controller design for a hot rolling mill. The main purpose of the algorithm is to improve the control of the cross-width thickness prole of the plates. This is obtained by designing a controller which makes independent thickness control possible at the two sides of the rolling mill.

INFERENTIAL MEASUREMENT OF SAG MILL PARAMETERS V

Authors’ final version of paper published in Minerals Engineering 22(12): 1045-1052, Oct INFERENTIAL MEASUREMENT OF SAG MILL PARAMETERS V: MPC SIMULATION T. A. APELT* and N. F. THORNHILL Centre for Process Systems Engineering, Imperial College SW7 2BY. Centre for Process Systems Engineering, Imperial College SW7 2BY.

Evolution of SAG Mill Process Control at the Xstrata Nickel Raglan Operation

analysis (Wipfrag) and crusher gap controller (ASRi), into a multi-variable fuzzy logic SAG mill controller. The process of how a strategy for control was developed and implemented directly in the existing control system (exploiting standard system capabilities) is

SmartMill - Grinding | ABB

Combine ABB's variable-speed drive system with advanced process control - ABB Ability™ Expert Optimizer for grinding - to provide maximum mill control. It can be applied to new or existing AG, SAG and ball mills, powered by either ring-geared mill drives (RMD) or gearless mill drives (GMD).

Honeywell Multivariable Predictive Control Implementation in

Jan 01, · Grinding MPC was implemented in the SAG Mill in June 2015. This pilot application, called Phase 1, featured one of the first Multivariable Predictive Controllers to be installed in a Canadian mineral processing plant. Since the implementation of MPC, gold recovery from the gravity circuit has increased.

Electronic ear in SAG mill | Automation & Control

We have an application in a SAG Mill where we have installed an electronic ear in order to listen the noise produced by the balls falling to the bottom of the mill. Our idea is to convert the amplitude and frequency of noise to a 4-20mA signal (or something else) in order to determine if the ball is crushing the mineral or the mill lining.

Evolution of SAG Mill Process Control at the Xstrata Nickel

adequately control the mill; resulting in poor stability, frequent operator interventions and less than optimum performance. This paper describes the successful integration of advanced field systems such as mill feed image analysis (Wipfrag) and crusher gap controller (ASRi), into a multi-variable fuzzy logic SAG mill controller.

Unlock SAG mill capacity with process control optimization

The instrumentation installed on a SAG mill is integral to control. For example, the mill load and noise sensors are instruments that provide essential information for an optimized SAG mill operation. Insufficient understanding of the ore characteristics and feed composition can result in an ineffective SAG mill operation.

MILLING CONTROL & OPTIMISATION - Mintek

Figures 8 and 9 on the right show results from a gold plant’s SAG mill achieved with MillStar’s Segregated Ore Feed Controller combined with the Power Optimiser: • The standard deviation of the mill feed control is greatly reduced. • The cyclone feed is more stable, allowing for consistent size separation and feed to downstream processes.

PDF Automation Advanced Control Solutions for Mining

SAG mill control schematic responsive, precise control is possible. BrainWave accounts for changes in mill rotation, recycled pebbles and ore quality, to maintain mill weight and maximize production. As the weight controller adjusts the set point for fresh ore feed, a second BrainWave controller adjusts