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By Claude Bazin, François Robichaud

"The control of the operation of semi autogeneous grinding (SAG) mills is mainly achieved through adjustments of feed rate, water addition and speed of rotation. With the introduction of image based sensors it is possible to have on-line measurements of the size distribution of the ore feeding a SAG mill. This information could be used for the development of a control strategy to regulate a SAG mill feed size distribution to a set-point. The control of the size distribution is carried out by adjustment of the speed of the ore extractors underneath the ore stockpile. The potential and difficulty associated with the implementation of such control are assessed using a multivariable statistical analysis of data collected from the operation of the grinding circuit of the Agnico-Eagle Goldex mine in Val d’Or, QC. A control strategy for the ore feed size distribution is assessed using a simulator of the ore stockpile operation.INTRODUCTIONThe popularity of autogeneous (FAG) and semi autogeneous (SAG) grinding mills has been increasing over the last 20 years (Napier Munn et al., 1996). These mills use the ore or a combination of ore and steel balls as the grinding media. Since the ore is used as a media for the size reduction the mill ore feed size distribution impacts the performance of the mill. Several papers were recently published on this subject (Dance et al.,2011; Wennen & Murr, 2011; Dance & Valery, 2011; Allaire et al., 2011) showing the advantages of preparing the feed size distribution to maximize the circuit throughput or mill efficiency (Wennen & Murr, 2011; Dance & Valery, 2011; Allaire et al., 2011). With the availability of particle size sensor based on image analysis of the ore on a conveyor (Partanen et al., 2001; Bobo et al. 2004; Edwards et al., 2002; Wei & Craig, 2009) it is possible to control the size distribution of the ore feeding autogeneous or semi autogeneous mills (Partanen et al., 2001).This paper describes a method to control a size distribution index to a set point via the manipulation of the speed of the extractors that withdraw the ore from the stockpile feeding the grinding circuit. The paper consists of 4 sections. The first section describes the considered grinding circuit. A statistical analysis of the collected data on the grinding circuit is presented in the second section. This analysis demonstrates the necessity of using real-time adaptation mechanisms to develop a control strategy for the size distribution of a grinding circuit. The third section describes the method used to simulate the ore stockpile operation and the last section describes the preliminary development and assessment of a control strategy of size distribution of the ore feeding a SAG mill."

Jan 1, 2013

By E. M. De Souza, A. M. Coode

"When Canadian potash was brought into production in the 1960s substantial research was carried out to develop the technology needed to cope with the unique conditions in Saskatchewan mines. The intense research has established Saskatchewan's position as a leader in production technology on a world scale, and as a leader in setting international standards for potash production. The industry is now more than two decades old and, although the mines operate efficiently, there are a number oj prominent areas of concern. High among these is the prediction, prevention and control of sodium rich brine inflows. Control has proven difficult or elusive in the potash mining horizon, but work continues in this area. Control of brine in the superincumbent limestone formation has proven to be easier and more conclusive.The first part of this paper describes the rehabiltation, diamond drilling, and grouting completed at Central Canada Potash, which reduced the brine inflow from approximately 82 l/min . at the beginning of the work to O.9/1min. when the backfilling was placed.The second part of the paper describes the rationale for choosing the rock mechanical instrumentation, the reasons for their placement and the rock mechanical data recorded with some interpretation.IntroductionCentral Canada Potash is located approximately76 km southeast of Saskatoon, near the Yellowhead Highway. The commercial production of potash at CCP started at the end of 1969 at a depth of 1021m below surface. The potash zone, which is presently mined, is approximately 3.35 m thick . Stress relief methods using yielding pillars are used in the design of the mining layouts. The planned extraction ratio averages 35070 . The mine is designed to produce approximately 3.3 million tonnes of sylvinite per year to give approximately 1.3 million tonnes of finished product (muriate of potassium) per year."

Jan 1, 1990

By E. M. De Souza, A. M. Coode

"Since potash was discovered substantial rock mechanics research has been done to develop the technology needed to cope with the unique conditions in Saskatchewan mines, to assure general mine safety and to assess the problems associated with mining potash at depth.The practical result of this research was the development of multiple entry systems incorporating yielding pillars for access ways and the chevron type layouts for production panels. These developments proved the viability of extracting potash from between 950 m and 1100 m depth using a high degree of mechanization. High extraction ratios could not, however, be achieved using the developed technology.The presence of a competent salt back is critical to mining the potash, and underground practice is governed by the presence of anomalous geological zones. These factors may be associated with the occurrence of brine inflows. One potash mine in Saskatchewan ceased its underground operations and was closed due to flooding of the entire mine. Two other potash mines in Saskatchewan had significant brine inflows. The costs involved in brine pumping, equipment relocation, bulkhead construction, grouting, and in auxiliary operations can run into the tens of millions of dollars.At Central Canada Potash, the use of stress relief and yielding pillars in the design of the mining layouts has resulted in over-all stable underground excavations and safe mining practices. There are two types of production room s, the chevron and the hybrid, which result in a planned block average extraction ratio of 35010. Mining activity has resulted in brine ingresses in two areas, and additional operating costs have been incurred over the years. These mining areas have demonstrated abnormally high closure rates, and rapid back deterioration. A program was established in those two areas to ensure the practice of safe mining procedures.The short-term perspectives inherent in the program included the elimination of all uncertainties associated with the possibility of an increase in brine inflow leading to flooding, the elimination of the abnormal ground behaviour and ground deterioration in the inflow areas, and the reduction of the long-term adverse effects of mining on regional mine stability. The program was also designed to provide means for developing alternative safe mine layouts which would improve the exploitation of potash resources. Details of the extensive work performed during the program are found elsewhere (E. De Souza, 1988).Grouting and salt backfilling are viable techniques to control brine inflows in underground excavations in potash mines. Detailed instrumentation of the backfilled test areas provides information on the long-term behaviour and effectiveness of the grout/backfill system, allowing for rational decisions on the complete abandonment of these mined out areas, thus resulting in considerable operational cost savings.This paper is presented in two parts: the first addressed the problems of diamond drilling , grouting and backfilling in Panel 209 and the second, addresses the problems of instrumentation and rock mechanics."

Jan 1, 1990

By Pier-Olivier Devin, Daniel Hodouin, Maryam Sadeghi, COREM, Claude Bazin, François Lavoie

"Spiral concentrators are used for processing coal and heavy minerals such as it is the case for the concentration of iron oxide from light silica gangue. The concentration process for iron ore usually consists of a rougher bank of spirals followed by two stages of spiral cleaning. The process control applied to the concentration circuit aims at maintaining a target iron content of the final concentrate and is mainly conducted by adjusting the wash water addition and the position of the splitter gates at the discharge of the spiral. This paper describes the use of a simulator to study control strategies for a gravity concentration circuit using spirals.INTRODUCTION The Canadian iron ore mines are located in the Northern part of Quebec and in Labrador (Neal, 2000). These iron ores consist mainly of hematite with some ore bodies rich in magnetite and ilmenite. The processing of the coarse hematite iron ore consists of the extraction from an open pit mine, followed by the conventional crushing and autogeneous grinding of the ore to obtain a particle size smaller than 1.2 mm. The ground ore assaying 40% hematite (Fe2O3) with quartz (SiO2) as the main gangue is processed by spirals to produce an iron oxide concentrate assaying 90 to 95% hematite.Spirals separate the particles according to their specific gravity and size (Burt, 1984; Bazin et al., 2014). These environment friendly devices have been used for decades and are still used for the preparation of coal and for the concentration of heavy minerals such as iron oxide (Staff, 1977; Wills, 1992). However very little information is available concerning the control of gravity concentration circuits. This paper analyzes the control practice of a gravity concentration circuit using a simulator. The paper consists of 3 sections. The first section describes the operation of spirals and spiral concentration circuits. The second section briefly describes the simulator and shows some simulation results for a gravity concentration circuit. The third section shows the application of the simulator for the study of control strategies for a spiral concentration circuit."

Jan 1, 2016

By B. Das

Most coals are susceptible to spontaneous heating which in turn creates problem to mining, storage and transportation of coal. It is impossible in actual practice o eliminate spontaneous heating but spontaneous combustion can effecively be controlled through a clear understanding of its mechanism and the factors affecting it. There are altogether six stages in the process of spontaneous combustion. This includes the water adsorption stage and six oxidation stages: chemi-sorption (upto 70°C), decomposition of peroxygens (70°C-150°C), oxy-coal formation (150°C-230°C), combustion initiation (230°C) and active combustion (> 230°C). Heat is produced in all these stages. On the other hand heat is also dissipated so that some equilibrium temperature is reached. If this temperature exceeds a certain critical value (generally about 70°C), coal oxidation may advance to spontaneous combustion. The major factors influencing spontaneous combustion of coal are: coal rank, maceral composition,, water, mineral matter, joints and fissures, seam depth and thickness, mine Layout, method of ventilation, etc. Susceptibility is high for low rank coals and generally decreases with increase in rank. Of the macerals, the exinites are generally most susceptible, the inertinites least and the vitrinites somewhere in between. Water plays a major role on the spontaneous heating of coal, assisting in someways and inhibiting in other. Unrecovered coal in the gob (generally in thick seams) is a major source of fire hazards and this is specially important in shallow mine. Proper design of mine ventilation system can substantially reduce the risk of mine fire. Panel layout and load transfer can affect the development of induced cracks which in turn influence spontaneous heating. Finally, the difference between the spontaneous heating of coal in a seam and that in storage or transportation is mainly due to the change in moistured content, air circulation through the coal and coal fragmentation. These aspects have been analyzed in this paper with a view o reducing the risk of spontaneous combustion.

Jan 1, 1986

By A. McGarr

The shear stress t that can be sustained by the rock mass in the environs of a mining-induced earthquake controls the near-fault peak ground velocity v of that event according to v=0.25(ß/G)t, where ß is the shear wave speed and G is the modulus of rigidity. To estimate t at mining depths, I review the results of four studies involving Witwatersrand tremors that relate to the bulk shear strength. The first and most general analysis uses the common assumptions that the seismogenic crust is pervasively faulted, has hydrostatic pore pressure before mining, and an extensional stress state that is close to failure. Mining operations reduce the pore pressure to zero within the mine and redistribute the stresses such that, in localized regions, the state of stress is again at the point of failure. Laboratory friction experiments can be used to estimate t in the zero-pore-pressure regime. Second, model calculations of states of stress in the vicinity of mining at about 3 km depth indicated the shear stress available to cause faulting near the centre of a distribution of induced earthquakes. Third, laboratory experiments combined with microscopic analyses of fault gouge from the rupture zone of a mining-induced event provided an estimate of the average shear stress acting on the fault to cause this earthquake at a depth of 2 km. Fourth, moment tensors determined for mining-induced earthquakes usually show substantial implosive components, from which it is straightforward to estimate t. These four different analyses yield estimates of t that fall in the range 30to 61 MPa which implies that near-fault particle velocities could be as high as about 1.5 m/s. To the extent that the causative fault ruptures previously intact rock, both t and v, in localized regions, could be several times higher than 61 MPa and 1.5 m/s.

Jan 1, 2002

By A. Jarosz

The surface manifestation of underground mining usually entails five distinct types of surface movements, which can affect or damage surface structures, facilities and renewable resources. These movements developing at the surface can be described by (Bell, 1975; Bhattacharya and Singh, 1984): - vertical displacement, i.e. subsidence, - horizontal displacements, - slope or tilt, i.e. the derivative of the vertical displacement with respect to the horizontal distance, - curvature, i.e. the second derivative of the vertical displacement with respect to the horizontal distance, and, - horizontal strain, i.e. the derivative of the horizontal displacement with respect to the horizontal distance.

Jan 1, 1986

By Fulian He, Jianhang Chen, Dongdong Chen, Shoubao Zhang

"The Wangjialing Coal Mine is the main colliery of the China Coal Huajin Energy Limited Liability Company. The average thickness of the coal seam in District 201 is 6.21 m. Fully mechanized longwall mining was used in this district. The ventilation roadway of panel 20102 was influenced by the retreat mining of the adjacent panel 20104. Therefore, large deformation and severe roof falls occurred in this roadway, seriously influencing the safety production of this coal mine. To support the roadway, cable truss was proposed to strengthen the reinforcement of this ventilation roadway. First, numerical simulation was used to optimize the reinforcement parameters, including the cable installation angle, cable length, and eccentric distance. Based on numerical simulation results, in-situ tests were conducted in the ventilation roadway of panel 20102 with the cable truss technology. In-situ monitoring results showed that the roof-to-floor convergence and the convergence of roadway on two sides were within the safety range. Furthermore, no apparent separations occurred in the roof. These indicate that based on the designed parameters, the cable truss system can effectively maintain the roadway stability under the severe influence of the adjacent longwall mining.INTRODUCTIONCable bolts are flexible tendons composed of multi steel wires, which are wound into a strand (Chen, Hagan, and Saydam, 2018). They were initially introduced in the hard rock mining industry in the 1960s. Later, they found rapid application in coal mines to maintain the stability of excavations (Wang et al., 2015).The standard cable bolt is composed of seven steel wires with a diameter of 15.2 mm. Laboratory and in-situ tests showed that there is a low bonding capacity between the standard cable bolt and the grout (Craig and Holden, 2014; Chen, Hagan, and Saydam, 2018). Then, modified cable bolts are developed based on the standard cable bolts. They are improved by changing the surface geometry of standard cable bolts, such as birdcaged cable bolts (Hutchins et al., 1990) or nutcaged cable bolts (Hyett et al., 1993). Further tests proved that modified cable bolts have better mechanical interlock and friction between the cable bolt and grout, leading to larger load transfer capacity of cable bolts.Although cable bolts have been used for many years, failure of the cable bolting system still occurs. A common failure mode is the damage of surrounding confining medium while the cable bolt is still hanging in the roof, which is caused by the bond failure of the cable/grout interface (Hutchinson and Diederichs, 1996). To prevent the cable bolting system from failing, the cable truss system is more widely used in mining engineering."

Jan 1, 2019

When the mining and milling of 1100 copper orebody commenced at Mount Isa a satisfactory grade of copper concentrate was difficult to produce. The major concentrate contaminants were fine pyrite and silica, particularly in the minus 10 microns fraction. Studies of the 1100 orebody showed that much of the fine grained pyrite and a proportion of the silica present in the ore contained carbonaceous matter in the form of complete or partial rims and as internal carbon films disseminated throughout grains. The hydrophobic surface property of the carbonaceous material resulted in inherently flotable fine pyrite and siliceous particles.The addition of a 60:40 mixture of nigrosine and dextrine, initially to a prefloat concentrate of the inherently flotable carbonaceous material and finally to the total copper flotation feed, successfully controlled the flotation rates of the carbonaceous pyrite and silica. The objective of a 25 per cent Cu concentrate grade was then achieved without decreasing copper recovery.

Jan 1, 1971

By Jorge Cárdenas, Piero Mejía, Diego Gamarra

The present case study details the solution to a complex situation in a mining operation, involving the challenge of expanding the tailings storage facility in high-criticality areas adjacent to electrical rooms that provide continuous power to the entire mining process, including water pumping and drainage systems. For this purpose, blasting is required to prepare the construction areas for the new expansion facilities. Upon deciding to proceed with blasting, a comprehensive engineering assessment was conducted to ensure operational continuity without impacting the process, while generating sufficient fracturing in the rock mass to allow extraction with auxiliary equipment. Support from specialists through the Technical Assistance area was requested, and a detailed evaluation was carried out through advanced studies. Field vibration studies were conducted to define attenuation models and characterize the rock mass in the sector. With this information, simulations were carried out using predictive and probabilistic models with Monte Carlo methods to select delay charges and optimal timing for reducing vibration levels and increasing frequency levels. With these measures, the three blasts conducted near the Gas Insulated Substation room, which had distances ranging from 30 to 100 meters, produced the following results: • Vibrations; The three blasts conducted at distances of 100, 30, and 50 meters recorded vibration values of 5.3, 40.2, and 9.5 mm/s, all of which were below the maximum vibration level of 50 mm/s set by the projects area. According to the USBM RI8507-OSMRE standard, all values for Peak Particle Velocity (PPV) and frequency were below the permissible limits. • Flyrock; Through filming and post-blast inspection, it was confirmed that the ejections were within the safety zone. • Fragmentation; The results obtained showed a maximum overbreak size of 1.5 meters, allowing the broken material to be moved effectively.

Jan 21, 2025

By Fuqiang Zheng, Yufeng Guo, Pengfei Li, Guanzhou Qiu, Tao Jiang, Andrew Yakovlevich Travyanov

Low content of TiO2 and high impurities content of Ca and Mg are the shortcomings of domestic ilmenite. To meet the requirements of the material in the titania produced by chlorination process and titanium sponge industry, enrichment of ilmenite is necessary. In the process of enriching ilmenite, high temperature and reductive condition were beneficial to the formation of anosovite, but the high content of magnesium oxide which was solid soluble in anosovite baffled the following separation. So the effects of pre-oxidation and reductive conditions including reduction temperature, reduction time and hydrogen concentration on the phase composition and metallization rate were studied. The characteristics of reduction samples were analyzed by X-ray diffraction and optical microscope. Results have shown that the reduction product is mainly composed of Fe, Fe(Mg)TiO3 and TiO2 at 1123K, its metallization rate is about 65%,magnesium exists in Fe(Mg)TiO3.

Jan 1, 2015

By E. Lwamba

The aim of this study was to examine the effect of grain size distribution control of the raw material mixture on the permeability of the green sinter bed and the properties of the produced sinter. This was achieved by evaluating the granulation characteristics of the sinter mixture (moisture content, granulation time and mean granule diameter) in terms of its green bed permeability, and evaluating the productivity of the sinter bed, the coke rate, tumble index (TI), abrasion index (AI), reduction disintegration index(RDI) and reducibility (RI) of the produced sinter. The raw sinter mixtures contained combinations of Thabazimbi iron ore, Sishen iron ore, coke, lime and return fines. The grain size distributions were controlled by removing the ?0.5 mm size fractions of the return fines and coke, and the ?1 mm size fraction of lime. Of the examined mixtures, a mixture of 20 mass% Thabazimbi iron ore, 80 mass% Sishen iron ore and fluxes where the coke, lime and return fines were all sized had the highest granulation effectiveness and permeability. The sintering properties of the mixtures in which the grain size distributions were controlled, were very similar for all the mixtures, but superior to the base case mixture in which the grain size distribution was not controlled. Keywords: Thabazimbi iron ore; Sishen iron ore; granulation, permeability, grain size distribution; sinter.

Jan 1, 2008

By P. K. Kaiser

A rational approach for the design of fully grouted bolts in underground excavations is presented. An analytical model involving elasto-plastic concepts and the mechanics of bolt/ground interaction was developed and tested by comparison with laboratory tests and field measurements. The theory elucidates the influence of shear stress distribution, bolt pattern and geometry on tunnel convergence. Laboratory simulation has provided convincing evidence to support the theoretical predictions. A dimensionless bolt efficiency parameter is introduced as a design tool that relates the reduction of tunnel convergence to the bolt length and density. Its application in practice is highlighted by the analysis of one case history.

Jan 1, 1987

Problems caused by water discharge from surface mine ventilation shafts can be significant and are usually unforseen. The discharged water is often hyper-saline or acidic and can cause environmental degradation over a wide radius. It can also lead to recurring power pole fires and primary fan breakdowns. A range of solutions to the water discharge problem has been implemented in many Australian mines. In most cases the solutions have been ad hoc, with the overall cost and effectiveness varying tremendously. This paper reviews and contrasts the practicality and effectiveness of the various available remedial options.

Jan 1, 2002

By Humberto Tronconi Coelho

The use of friction dampers are wide proposed for a variety of mechanical systems for which it is not possible to apply viscoelastic materials, fluid based dampers or others viscous dampers. An important example is the application of friction dampers in aircraft engines to reduce the blades vibration amplitudes. In most cases, friction dampers have been studied in a passive way, however, a significant improvement can be achieved by controlling the normal force in the contact region. The aim of this paper is to study four control strategies for friction dampers based on three different hysteresis cycles. The first control strategy maximizes the energy removal in each harmonic oscillation cycle, by calculating the optimum normal force based on the last displacement peak. The second control strategy combines the first one with the maximum energy removal strategy used in the smart spring devices. Finally, is presented the strategy which homogenously modulates the friction force. Numerical studies were performed with these four strategies defining the performance metrics. The best control strategy was applied experimentally. The experimental test rig was fully identified and its parameters were used for numerical simulations. The obtained results have shown the good performance for the friction damper and selected strategy, also, the agreement between numerical and experimental results.

Jul 31, 2018

By Luis G. Bergh

Today, large size mechanical flotation cells of 100 to 300 m3 are used in rougher operation in different flotation industrial plants, in Chile and worldwide. However, in spite of the advances in fundamental research and the notable growing in equipment size, with more complete instrumentation systems, there are still a lack of reliable data for industrial flotation modeling and simulation to advance in better control systems design. In this work, a model of a rougher flotation circuit, based on operating variables and parameters fitted from industrial data, obtained in some previous work, is used to develop a set of logic rules in order to aid operating decisions. The simulator was first used to sensitize the effect of changing the froth depth profile on target variables, and then to find out the best profile to reject common disturbances coming into the plant. The flotation circuit simulator was redesigned to incorporate an expert system following the proposed control algorithm. Several tests were performed to evaluate the control responses to different correlated series of input variables, such as feed grade, tonnage, particle size distribution, and solid percentage. Control alternatives are discussed based on the circuit simulator. Keywords: modeling, industrial data, flotation control, mineral processing.

Sep 1, 2012

By Jay P. Chapman

The basic control requirement for multi-pump, long distance slurry pipelines are discussed and a particular example of an operating slurry pipeline using programmable controllers is presented.

Jan 1, 1983

By Michel Ruel

"PID loops – also known as base layers or regulatory controls – form the foundation of any plant’s control layer and it is generally accepted that PID loop health has a direct impact on the plant’s bottom line. Keeping these thousands of control loops in good health has a direct impact on the plant’s bottom line: it reduces variability, improves quality and throughput, and decreases energy costs and raw material usage. This has been well proven and documented in many articles. In the last ten years, technology has evolved: control engineers can now keep track of control loop performance and link it to the root causes of variability. However, they lack industry-wide best practices and criteria for determining what can be considered as excellent, good, fair, or poor performance. To ensure that PID control loops continue to perform well and meet their objectives, control engineers need a combination of (a) an appropriate monitoring technology and (b) best practices for doing the maintenance of base layer controls.Most plants have limited resources and operate with an increasing number of constraints; therefore, using the right tools and including reports in daily workflow is key for success. This paper suggests roles and responsibilities of key players needed to work toward control performance best practices and discuss organisational changes to succeed.INTRODUCTIONAlthough PID controllers are reliable workhorses in the process industry, they are often underrated. Since the 1980’s, computer control has evolved and the control algorithms used by control engineers have become increasingly complex. However, PID controllers still handle over 90% of the control loops in operating plants. Table 1 shows the savings that can be realized by achieving best-practice in several different process control categories (Brisk, 2004). The savings are expressed as a percentage of production costs."

Jan 1, 2011

In 1987 the control strategies at the then ZC Mines' New Broken Hill Consolidated concentrator were a miscellaneous mixture of computer hardware and technology for ISA, grinding and residue thickener control. Field instrumentation was based on current-to-air technology of approximately the 1960s. Decisions were made to rationalise computer and field instrumentation technologies; the object being to consolidate control loops into one system to enable expansion of the system to include all facets of plant operation. The first stage was to install a DEC Micro PDP 11/23 computer and serial line communication as recommended by AMDEL Ltd, for the ISA system, as discussed by Walsh and Freeman (1988). The second stage was to select and install a distributed control system for the centralisation of the control loops into one system, and to replace field instrumentation with state-of-the-art technology. This paper deals with the second stage of the rationalisation, in an attempt to give an insight into what is required when personnel are faced with such a decision, details of costs involved in keeping a system functioning and utilised; and the requirement to train personnel for acceptance of further control strategies.

Jan 1, 1991

By Modesto Pereira Júnior

A operação da moagem é de grande importância na mineração, uma vez que é a área da fragmentação que requer maiores investimentos, há maior gasto de energia e seu desempenho afeta diretamente a taxa de recuperação do mineral de interesse. O controle do circuito de moagem é desafiador por se tratar de um sistema multivariável, não-linear e por se caracterizar pela existência de forte acoplamento entre variáveis e diferentes atrasos de tempo. Na indústria, grande parte desses circuitos é controlada apenas por PIDs. Nesses casos, quando há perturbações no sistema, tais como variação do tamanho das partículas na alimentação ou variação na dureza do minério, a interferência de operadores alterando setpoints é exigida para manter a estabilidade do sistema. Neste trabalho é desenvolvido um controlador fuzzy multivariável aplicado a um simulador de moagem. A camada de controle proposta encontra-se acima da camada regulatória. O objetivo é o de variar dinamicamente os setpoints dos PIDs para maximizar a taxa de produção dentro de uma faixa granulométrica.

Oct 30, 2017