MOCCA: A Grinding Circuit Control Application (0d4f6c07-b557-47b1-ac79-b1bfbd3ce0e4)

MOCCA is a Multivariable Optimal Constrained Control Algorithm developed specifically for non-square industrial control applications with practical difficulties such as interactions, time delays, constraints, modelling development, etc. MOCCA consists of an off-line simulation/translation module, for tuning the control parameters, and an on-line module that implements the designed control law. This paper describes an evaluation of MOCCA on the Hemlo grinding circuit which comprises one open circuit ball mill and two closed circuit ball mills in series. In this case a 4x4 unconstrained control problem was considered. The manipulated variables included the fresh ore feed rate and three pump box water additions. The controlled variables were the grinding circuit product particle size and three pump box levels. In this application soft constraints were implemented through control action and control error weighting. The feedforward capability of MOCCA was used to compensate for a measured water flow disturbance to one of the pump boxes. MOCCA performed very well during plant evaluations when compared to the original classical multi-loop control strategy and proved to be quite robust. Perhaps most importantly, the process engineers and plant operators have a high level of comfort both in understanding MOCCA's general operating principles, and with its demonstrated performance.