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By Vincent C. Smith, Agit Singh, Bernard Muller

The control of minerals processing plants is by no means trivial. In order to address some of the difficulties, it was decided to develop and test a model predictive controller (MPC) for a milling circuit. A milling simulator was written to test the MPC controller. Due to the large number of tuning parameters in a controller of this type, an optimising algorithm was written that automatically tunes the controller. Good, robust control was obtained when the controller was tuned using this algorithm. The controller was tested for various scenarios that are often encountered in the minerals processing industry. When problems were encountered, the MPC algorithm was specially adapted to accommodate for these difficulties. Control was further improved by using feedforward control as well as quadratic programming. The movement of the manipulated variables was reduced by using a region of uncertainty that allows the controlled variable to vary within a specified region around the setpoint. Integrators were handled by adapting the algorithm slightly and adding an optional integral error portion in the MPC controller. The performance of the enhanced MPC controller was compared to PI controllers on both the simulator and a commercial plant. The MPC controller showed faster responses with less interaction in both cases.

Jan 1, 2003

By Donald Leroux, Martin Suichies, Andy Trusiak, Chris Dechert

"In modem concentrators, the operation of flotation machines is often stabilized by simple control loops. Froth level, slurry density and aeration rate are all physical parameters typically controlled through classical PID loops. Few concentrators, however make use of advanced computing technologies for controlling the grade of flotation product streams. Technical challenges such as long process delay and the long and uneven sampling interval of on-stream XRF analyzers often restrain their implementation. Model Predictive Control (MPC) is known to have better performance than PID for controlling processes with long delays (such as flotation circuits). This paper describes the implementation of a multi-input/single-output (MISO) MPC algorithm and an FIR model identification routine using an object-oriented graphical computing environment.The MPC module (controller and identification) was implemented on an industrial control system and applied to many sulfide flotation circuits in the Brunswick Mining concentrator (New Brunswick, Canada). In most cases, the manipulated variable was the collector addition. As long as it is provided with decent process models, the performance of the MPC controller is good on all the flotation circuits on which it was applied. Significant reductions of grade variance are reported and the controller responds well to set-point changes. The user-friendly, graphical nature of the computing environment led to a high degree of acceptance by both the process engineers and the flotation operators.1. INTRODUCTIONOver the past three decades, much instrumentation has been developed for flotation machines. The introduction of instruments such as pulp density gauges and cell level probes was particularly well received by the plants where pneumatic and electronic controllers were available for implementing PID control loops. In a way, these simple loops revolutionized the mineral industry. The operation of flotation circuits could then be stabilized through the use of automatic controllers."

Jan 1, 1999

By Anuj Narang

Large-scale separation or flotation cells, used in the primary extraction in the oil sands industry, are integral parts of the overall process of bitumen extraction. Good regulation of the interface level between the bitumen froth and the middlings in these cells can result in a significant improvement in bitumen recovery and throughput, and heavily influence process economics. Automatic control of such industrial processes presents challenges such as multi-phase flow dynamics, variable process gain and time delays, poor quality of measurements and significant disturbances. This paper details a case study application of development of multiple models of the dynamics of the interface level and the design of model predictive controllers (MPC) for a separation cell process. A Model predictive controller (MPC) using linear models is designed and implemented in real time on an industrial separation cell. The industrial implementation results show that the MPC scheme provides significant benefits over the current operations which use a PID controller. The benefits include significant reduction in the variance of the interface level resulting in higher bitumen recovery and smoother downstream operation plus energy savings due to reduced underflow pump speed.

Sep 1, 2012

"This model specification includes sample text shown in normal font with commentary in italics. The commentary is intended to highlight project-specific items the specification writer should consider during development of the specification. In some sections, typical values are presented to indicate common practice, and these values may be changed to reflect projectspecific requirements. The commentary should be removed before using the specification for a project.1. SCOPEThe work consists of designing, furnishing, installing, post-tensioning and testing helical anchors used to support tension loads, and any ancillary materials (e.g., load transfer devices, etc.) according to the project plans provided and these specifications. Unless otherwise noted, the installing contractor shall provide all labor, tools, equipment, and materials necessary to accomplish the work. The parties referred to in this specification are as follows:• The Owner is the property owner.• The Owner’s representative is the individual or firm hired by the Owner to execute project tasks required for the successful design and construction of the overall project. Tasks could include construction management, design, oversight, etc.• The anchor designer is the individual or firm generally hired by the installing contractor to design the helical anchors.• Installing contractor installs and tests (if necessary) the helical anchors, and possibly other tasks associated with the project.It is important to clearly define the roles and responsibilities of every party on each project to promote good communication and reduce potential for contractual misunderstandings. Different types of contractual vehicles (design-build, value engineering, etc.) require different roles and responsibilities for the various parties, which should be considered in specification development.The Owner will provide suitable access to the construction site for the installing contractor’s personnel and equipment. Unless specifically noted otherwise in the contract documents, the Owner will remove and replace any structures, utilities, pavements, landscaping or other surficial improvements in the work area as necessary to facilitate the work. The Owner will be responsible for overall construction oversight to minimize potential for developing unsafe conditions. The work may include post-construction monitoring of anchor performance if required by the Owner or the anchor designer to confirm performance of the anchors subsequent to their installation. The work may also include installation of additional anchors if the initial installation does not meet specified capacity or performance requirements. Responsibility for providing subsurface investigation shall be addressed in the bid documents. The Owner is responsible for providing to the installing contractor all available subsurface soils, rock and groundwater information and geotechnical testing data."

Jan 1, 2016

"This model specification includes sample text shown in normal font with commentary in italics. The commentary is intended to highlight project-specific items the specification writer should consider during development of the specification. In some sections, typical values are presented to indicate common practice, and these values may be changed to reflect project-specific requirements. The commentary should be removed before using the specification for a project. 1. SCOPE The work consists of designing, furnishing, installing, and testing helical piles used to support foundation loads (compression, tension and lateral), and any ancillary materials (e.g., load transfer devices, etc.) according to the project plans provided and these specifications. Unless otherwise noted, the installing contractor shall provide all labor, tools, equipment and materials necessary to install the required piles. The parties referred to in this specification are as follows: • The Owner is the property owner. • The Owner’s representative is the individual or firm hired by the Owner to design and oversee the overall project. • The pile designer is the individual or firm generally hired by the installing contractor to design the helical piles. • Installing contractor installs and tests (if necessary) the helical piles, and possibly tasks associated with the project. It is important to clearly define the roles and responsibilities of every party on each project to promote good communication and reduce potential for contractual misunderstandings. Different types of contractual vehicles (design-build, value engineering, etc.) require different roles and responsibilities for the various parties, which should be considered in specification development. The Owner will provide suitable access to the construction site for the installing contractor’s personnel and equipment. Unless specifically noted otherwise in the contract documents, the Owner will remove and replace any structures, utilities, pavements, landscaping or other surficial improvements in the work area as necessary to facilitate the work. The Owner will be responsible for overall construction oversight to minimize potential for developing unsafe conditions. The work may include post-construction monitoring of pile performance if required by the Owner or the pile designer to confirm performance of the piles subsequent to their installation. The work may also include installation of additional piles if the initial installation does not meet specified capacity or performance requirements. Responsibility for providing subsurface investigation shall be addressed in the bid documents. The Owner is responsible for providing to the installing contractor all available subsurface soils, rock and groundwater information and geotechnical testing data."

Jan 1, 2015

By D. K. Panda

The behavior of single drops with gas evolution at the interface is of interest because this is one of the important reactions that occur in oxygen steelmaking vessels, where a large amount of iron-carbon drops are dispersed in an oxidizing slag. The carbon dissolved in these drops, reacts with the slag to form CO, which is evolved as a gaseous phase. A room- temperature model was used to study the nature of this type of reaction including the effect of various factors such as viscosity and the presence of surface active impurities. Experiments were done for reacting drops over a wide size range to observe various regimes of behavior. Large single drops were levitated in a counter current flow to produce a sufficiently long residence time to allow the study of the various stages in the reaction. The emphasis of this work was to obtain photographic evidence of a high quality to describe all possible modes of behavior, and so a lot of effort was given to developing and perfecting experimental techniques.

Jan 1, 1994

By S. Kang, D. G. C. Robertson

Slag cleaning furnaces require extensive wall cooling because they involve the use of a superheated slag bath. This is in direct contrast to smelting furnaces, where the wall is usually (but not always) protected by "banks" of solid charge. In order to understand the heat transfer and flow in slag cleaning furnaces a number of model studies have been carried out using molten wax to simulate the slag. Wax is a good model fluid because, like slag, it has a high Prandtl number. Wax models cannot simulate the behavior close to the electrodes (DC arc or AC submerged), but they can and do give a good simulation of the flow and heat transfer at the wall. An understanding of these phenomena is of great importance for the design of cooling panels in the walls of the furnace. Since superheated molten slag will eventually wear away any refractory bricks over time, the wall cooling must be designed to form a frozen layer of slag, referred to as a "freeze lining". The heat flux density (Q/A) required to do this is given by Q/A = h* ?T, where h is the heat transfer coefficient in the slag phase at the wall, and Li T is the superheat (bulk slag temperature - liquidus temperature). Both Q/A and h vary greatly with position and both are usually a maximum at the slag line. In the experimental work, molten wax baths were heated by block heaters to provide similar energy densities to those encountered in commercial slag cleaning furnaces. This procedure was considered to be valid since most of the electrical energy into a furnace bath is dissipated as heat. Gas stirring was used to simulate the gas evolved at the electrode in real furnaces - the quantity of this gas could be estimated from a knowledge of electrode consumption. The similarity criterion was equal gas flow per unit area of surface, in model and prototype. Heat transfer coefficients were measured in the models as a function of power density, gas stirring, superheat, etc., and could be related to the full-scale operations by the use of dimensional analysis.

Jan 1, 1999

By R. C. Hirschfeld, H. H. Einstein, R. W. Bruhn, R. A. Nelson

The objective of the model studies described in this paper is to determine the effect of planar discontinuities on the strength and deformability of a rock mass. A model material was used because it satisfied concurrently three requirements that available natural-rock samples did not: (1) low strength, which was desirable for minimizing the loads that had to be applied in the laboratory; (2) ease of producing test specimens with geometrically regular joint patterns; and (3) uniformity of the test specimens. The model tests were performed on specimens made from a single modeling material and tested under triaxial stress conditions with [u,=u,]. Results are presented in this paper for tests on specimens that had (1) a single joint set inclined at several angles to the major principal direction, including 0º and 90°, and (2) two joint sets that were mutually perpendicular, one set perpendicular to and one set parallel to the major principal direction. Several different joint spacings were used in each series. Future tests will include a series with two sets of joints that make oblique angles with each other and with the major principal direction. The results of model tests and tests on cores of jointed rock by several investigators (e.g., Müller and Pacher,l Moore,2 Krsmanovic and Milic,3 Hayashi,4 Rosenblad,5 Jaeger,6 and Lane and Heck 7, have contributed significantly to the design of these experiments, which are believed to be the first in which a comprehensive study has been made of the combined effects under triaxial loading of joint spacing and joint orientation (Fig. 1).

Jan 1, 1970

By Kai Nielsen

Drilling and blasting design results in a fragmentation that will have an important economic influence on all subsequent operations such as loading, transport secondary blasting and primary crushing.

Jan 1, 1987

By Fourney W. L, Dick R. D

Tests were conducted in plexiglass and Rockite models to determine if crater blasting could be improved by changes in charge geometry or by alterations to the borehole. Circumferential grooves were placed at various locations in the borehole in an attempt to control the initiation site of the crater. Grooves located at or above the top of the cylindrical charge had no effect on the resulting crater. Grooves placed too low in the borehole were successful in controlling the initiation site but the growth of the fracture system was not sufficient to reach the upper surface. Grooves located at a height of two thirds of the charge length were quite successful in that resulting craters were bigger by at least a factor of six than the normal crater. Testing was conducted in Rockite models to investigate charge geometry. Spherical charges in ungrooved boreholes resulted in crater sizes that were three times larger than those caused by cylindrical charges.

Jan 1, 1990

By K. Krishnapisharody

The phenomenon of slag droplet formation under the action of gas-stirring in steel ladles has been analyzed with experiments conducted in a thin-slice room-temperature model using water and mineral oils as the working fluids. Visual and video investigations have been performed on the interface behaviour along with measurements of liquid velocities in both phases, using the Particle Image Velocimetry (PIV) technique. The measured velocity data and observations on the interface break-up establish that the droplet formation results primarily from an instability mechanism at the interface.

Jan 1, 2008

By G. B. Misra

Though resistance to flow offered by mine airways supported with timber sets has been an object of study over the last half century, no accurate relation has yet been established from which prediction of the resistance coefficient of a projected timbered airway can be made. Zenofontowa et al. developed an empirical relation, but this relation has not been found to satisfactorily correlate experimental data obtained by Sales and Hinsley. This led the author to develop a set of simple theoretical relations between the resistance coefficient of timbered airways and the various parameters affecting it, such as the type and spacing of sets as well as the shape and size of members forming the set. Experiments were designed with the help of a laboratory model airway to verify the validity of the relations developed. With the experiments conducted so far with 4, 3 and 1-piece sets of 3.4 x 3.4, 2..5 x 2.5, and 4.5 X 4.5-cm square-section timbers in a 45.8 x 38-cm model airway, the theoretical relations have been shown to hold.

Jan 1, 1972

By A. W. Khair

Surface subsidence is a phenomenon mainly associated with longwall mining, although it can also occur if the coal pillar left to protect the surface deteriorates with time and results in the collapse of the room and pillar system. A method has been developed that utilizes physical mine models and laser holographic interferometry. This method is capable of measuring displacements as small as 5 micro- inches by means of generating displacement contours on a surface, even that of granular materials. Analysis of subsidence in room and pillar mining using models of various extraction ratios ad overburden depths along with two different types of overburden model material (sand and gelatin) has been made. The sand represented the extreme brittle conditions of geologic material while the gelatin represented visco-elastic behavior of geologic material. This paper deals with the analysis of data which has been gathered up to date, and mainly associated with the use of sand as an overburden model material. The analysis included the effect of variation of geometric parameters on surface subsidence. Among these parameters are: variation in seam depth and thickness, surface and seam inclination, and extraction ratio.

Jan 1, 1984

The patterns of flow of reaction gases through the flash furnace at the Kalgoorlie Nickel Smelter were simulated in a 1:20 scale model using a flow of water. Particular features of the flow down the reaction shaft, through the settling chamber and into the uptake leading to the waste-heat boiler were examined. Inferences were made concerning the effects of the patterns of flow on the efficiency of the smelting reaction, on the entrainment of dust by the gas stream and on the erosion of the refractory lining of the furnace. In addition, the effects of geometrical modifications to the arrangement of the concentrate burners and to the profile of the settling chamber were explored by making these changes to the model and observing the resulting variations in the patterns of flow.

Jan 1, 1991

By Junpeng L, Huiguo Q

Field instrumentation was installed to monitor ground and lining behaviour during and after construction of the Mount Shaughnessy Tunnel (Rogers Pass Short Tunnel) in Canada. The instrumentation was placed in a soft ground section of the tunnel at its crossing with the Trans Canada Highway. The tunnel was excavated through a dense bouldery soil. Presentation of the field data and inter- pretation of the tunnel performance from a geological-geotechnical point of view form the basis of this paper. The loss of ground due to the tunnel excavation was found to be exceptionally small. This has been attributed to the unusually high strength and stiffness of the host soil. Evaluation using the Boundary Element Method, together with a simplified analytical technique, were applied to assess the relevant soil parameters and their influence on the tunnel performance.

Jan 1, 1987

By Zhansen P

This paper describes the test re- sults which give a complete proccess of failure of concrete lining embedded in sand medium under load, including the order of appearance of crack along the lining up to failure. nor each crack appearance corresponding calculation being made to assess the redistribution of moment and thrust force in critical section including crown section, section making 45¦ with the vertical etc. De- flection at the above stated critical sections are also measured at each stage of loading. The pressure along the top hori- zontal surface of embedded lining and the vertical sides are measured by pres -sure gauges embedded in sand medium. fhe test results show a complete figure of rupture characteristics of concrete lining embedded in soft ground which approximates alluvial deposite often occur in metro construction at cities near the river side. These test results have been taken as a reference in assessing the action behavior of concrete lining in certain cities in China.

Jan 1, 1987

By R. V. Ramani, V. T. Burgos, J. A. McClay

Model testing is a two part operation; first, to assure the valid¬ity of the mathematical statements and second, to evaluate the accuracy of the computer model for predictive purposes. Verification of both the conceptual and computational aspects can be achieved through the use of input data for which output results are available for comparison. In this dissertation, two test problems were selected for model testing from the Economic Evaluation Reports of the U.S. Bureau of Mines, Process Evaluation Group. Verification Data Set I Input data for this test was selected from an economic analysis of a hypothetical 1,056,000-ton-per-year mine in a 48-inch bituminous coal seam (Process Evaluation Group-Report No. 72-27, 1972). The mine was scheduled to operate five days per week, three shifts per day, 220 days per year with an estimated life of 20 years. Coal reserves covered an area of 6.4 square miles with an expected recovery rate of 70%. Production was achieved through 4 continuous miner sections with an average production rate of 400 tons per shift. The cost summary in the report included a breakdown of equipment and labor requirements. A depreciation schedule listed the expected capital expense per year of operation, assuming capital replacement with identical units and no change in the unit cost. Supply and oper¬ating costs were listed in both gross annual figures and cost per ton of production. The operating and investment costs were projected over the 20 year mine life and a discounted cash flow analysis performed to determine

Jan 1, 1975

By F. Vasilikou

Commercial deployment of Carbon Capture Utilization and Storage (CCUS) requires field testing of a scale that can stress the geologic reservoirs. One such reservoir of interest consists of unminable coal seams that exhibit favorable characteristics and depositional environments and lower pressure and temperature than other, deeper, reservoirs. Such conditions can reduce compression costs while utilizing the action of adsorption that offers a more effective carbon dioxide (CO2) bonding than free storage or solution. To ensure the success of such tests, a number of parameters should be accurately determined, such as the seam geometry and stratigraphy, coal porosity and permeability parameters as well as optimum injection conditions. In essence the CO2 injection model should be calibrated for the reservoir characteristics using all available data. History matching calibrations are based on gas and water production from existing wells prior to injection. This paper will present reservoir models that were developed for a pilot--scale 907 tonnes (1000 tons) CO2 injection test that was performed in 2009 through one legacy coalbed methane production well in Russell County, Virginia, USA. The model incorporates a number of individual coal seams about 0.3 m (1ft) in thickness located at depths ranging from 300 to 700 m (1,000 to 2,200 feet). Model calibration was performed through history matching to prior production data, and subsequently the model was utilized to develop different injection scenarios. The developed model was used after injection to calculate CO2 plume distribution patterns that were monitored at the injection test. The paper will present model data and assumptions with a special emphasis on the effect of hydraulic fractures and the skin factor to the coalbed methane (CBM) production model.

Aug 1, 2013

By O. Guyot, A. Broussaud, J. Björkman, P. Söderman, P. O. Samskog

Model-Based Expert Control systems (MBEC) are on-line supervisory dynamic optimization systems which combine the ability of a phenomenological model to generate a large amount of information about the state of the process and predict its evolution, with the flexibility of a rules-based approach to take plant constraints into account and apply a complex control strategy. For its new concentrator started in 1995 in Kiruna (Sweden), LKAB has implemented a progressive grinding flowsheet with closed-circuit autogenous grinding followed by closed-circuit pebble grinding with ore pebbles. The standard for instrumentation in this new plant is very high. The control hardware consists of a Distributed Control System (DCS) through which the operators interact with the plant, supplemented by a site-level Management Information System (MIS). A state-of-the-art MBEC system was imbedded in the MIS by the authors before plant start-up. It consists of several modeling and expertise software modules: a phenomenological process model and a Kalman filter estimate continuously the state of the process, an optimizer calculates an optimum feedrate, while rules-based modules establish production targets and key process set-points. The decision to install the MBEC system as an integral part of the new plant before start-up illustrates the current maturity of the technology, i.e., enough know-how was accumulated through former projects to design and develop the system to a large extent without accessing the plant. The feasibility and the power of dynamic optimization systems were previously demonstrated in Kiruna pre-existing concentrator by the authors. First, a MBEC system was installed on the three existing pebble mill circuits, providing both an increase in quality (stabilised size distribution) and a 10% increase in capacity. An on-line expert control system with limited modeling capabilities was also installed in the existing flotation plant, with the aim of stabilizing phosphorous content in the concentrate and optimizing collector additions. Both objectives have been achieved.

Jan 1, 1995

By B. Bergmark, O. Guyot, A. Broussaud, C. Bouché

The Boliden Aitik concentrator in Sweden processes 2,000 t/h (2,200 stph) of low-grade copper ore. The plant consists of five grinding lines that feed four bulk-flotation banks with a scavenger-concentrate regrind mill und a column cleaner circuit with a regrind mill. The authors installed a model-based expert optimizing control system to maximize copper recovery in the bulk-flotation circuit while maintaining an appropriate copper grude in the cleaner feed. The optimizing control system uses on-line assays and calculates and implements set points for cell pulp levels, air rates and reagent- addition rates. It combines the power of a dynamic population-balance model that estimates mineral liberation in each stream, an optimizer that computes appropriate set points and a rule-based module that implements the strategy. The benefits have been evaluated over a period of three months. The model-based expert optimizing control system generates a measurable increase in copper recovery, around 0.5%, and an optimized bulk-concentrate grade. The need to maintain the optimizing control system and other practical aspects are discussed.

Jan 1, 2000