An Optimizing Regulator for the Control of Autogenous Milling Circuits

An adaptive steady-state on-line optimizing regulator is proposed as an integrated approach to the control of autogenous run-of-mine milling circuits. This optimizing regulator continuously estimates an internal model of the controlled process, and, based on this, determines mill fresh solids feed rate, mill water flow rate and sump water addition flow rate such that a circuit performance objective is optimized. The dual -requirement of controlling both the mill pulp load and the load of particles of grinding media size is thus directly and simultaneously addressed. The concept and theory underlying the operation of the adaptive optimizing regulator are discussed.