Development Of A Model Predictive Controller For A Milling Circuit

Milling circuits are known to be difficult to control. In order to address these difficulties, it was decided to develop and test a model predictive controller (MPC) for a milling circuit. A milling simulator was written using Microsoft Visual C++ and used to design and test the MPC controller. Due to the large number of tuning parameters in a controller of this type, an optimizing algorithm was written that automatically tunes the controller. Good, robust control was obtained when the controller was tuned using this algorithm. Control was further improved by combining feedback and feed forward control and by using quadratic programming in the MPC algorithm. The movement of the manipulated variables was reduced by using a novel technique that allows the controlled variable to vary within a specified region around the set point. An optimiser controller was also successfully implemented to control the circuit at its maximum throughput.