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By Gregory Harbort, Sarah K. DeBono, Alan J. Monaghan, Emmanual V. Manlapig

"The Jameson Cell is a type of flotation machine in which air and pulp are brought together in a vertical tube called a downcomer. Within the downcomer the air and pulp are dispersed into a dense foam of fine bubbles, which creates a favourable environment for bubble-particle collision and subsequent collection of hydrophobic particles. The intense collection zone within the downcomer can be considered similar to the zone between the rotor and stator in mechanical flotation cells.Research into the bubble-particle collision and fluid dynamics of mechanical cells rotor-stator zone has been limited by the difficulty of achieving accurate measurements in production sized machines. With the Jameson Cell the downcomer is largely external and separated from the flotation tank, allowing ready access to the primary contacting zone for measurement and analysis.An investigation has been undertaken into the operating characteristics of the downcomer relating to bubble-particle collision. An effective mapping of the downcomer has been made through measurements of void fraction and bubble size taken across cross sections of the downcomer. Analysis of these measurements has provided an interpretation of the variations in the air and fluid dynamics, bubble size and distribution throughout the downcomer chamber.Existing models of bubble-particle collision efficiency are reviewed in respect to the collected information and refinements conducted. The area of maximum bubble-particle collision efficiency is defined. Findings are related to operation within the rotor-stator zone of mechanical flotation cells."

Jan 1, 2003

By Yuqing Feng, Ping Fang, Dezhou Wei, Zichuan Guan, Shuling Gao, Baoyu Cui

"Air core, as an inevitable phenomenon of rotational flow field inside hydrocyclone, has a major impact on hydrocyclone’s separation characteristics. The air core formation process, its structural features and its influencing factors were investigated systematically in this paper. Numerical study on the air core of a f50 mm hydrocyclone was carried out using a commercial computational fluid dynamics (CFD) modelling software package ANSYS/Fluent with the selection of Reynolds Stress Model (RSM) for the turbulence model and Volume of Fluid (VOF) for capturing the air-liquid interface. Physical experiments were conducted under the same geometry and operation conditions and the particle image velocimetry (PIV) technology was used to measure the liquid flow. The CFD results are compared with the experimental measurement with good agreement demonstrated. The air core was formed generally at around 0.7 s, air outsides of the air core was eliminated completely after 1.7 s. The centreline axial velocities and the water blocking hydrocyclone simulations showed that air of the air core entered the hydrocyclone from the underflow area and exhausted from the overflow area, but there was also some air flowing into the air core from the overflow area. The largest swing of the air core occurred on the top of the underflow pipe, and a protuberance similar to the shape of Adam’s apple appeared when the air entered the vortex finder. CFD simulation results also showed that the air core diameter was decided by axial position and parameters of hydrocyclone. The structural parameters have more effects on the air core diameter than the operational parameters."

Jan 1, 2014

By Weiguo Xie, Malcolm Powell, Lian Liu, Ping Yu

"In order to develop a common mathematical and simulation platform for tumbling mills, a review of existing mechanistic models was made identifying the key aspects of grinding and slurry transport which are common to all tumbling mills. A mill model structure has been developed for all types of tumbling mills based on the population balance framework by incorporating breakage characteristics, slurry and solids transport, product classification and discharge, and energy consumption. A size-dependant breakage model developed by the JKMRC is applied. Transport is separated from breakage events and treated as a main sub-model in the new model structure. The model structure is based on dynamic time-stepping technique to enable dynamic simulation capability for non-steady-state simulation and control modelling. It is envisaged that the new model will cover a full range of milling conditions. It should enable a smooth transition between different mill types, such as from AG (Autogenous Grinding) to SAG to ball mill. The dynamic mill model structure developed here is the first step towards mechanistic modelling of grinding mills and provides great potential for the optimization of the comminution process."

Jan 1, 2014

By Jiongtian Liu, Guixia Fan, Caom Yijun

A cyclonic-static micro bubble flotation column (FCSMC) is an effective separation device for fine grain treatment. The separation of fine ilmenite by FCSMC was explored in this work. The influence of reagents dosage (regulator, collector and auxiliary collector), pulp density, circulation pressure and aeration quantity on TiO2grade and recovery wasinvestigated.The optimal conditions of a rougher are follows: pulp density 45%, pH 5.0, MOH collector dosage 2800 g/t, diesel oil dosage 700 g/t, circulationpressure 0.19 MPa, aeration quantity 0.8 m3/(m2•min). The optimal conditions of a cleaner are follows: pH 4.0, circulation pressures 0.16 MPa, and aeration quantity 0.5 m3/(m2•min).A pilot plant continuous test with a rougher-cleaner by FCSMC for 72 hours was proceeded under the optimum conditions. Compared with industrial flotation machines, the concentrate grade of FCSMC is 48.11% with an improvement of 1.08 percentagepoints, while the recovery is 82.36% with 13.64 percentagepoints increment. Moreover, the flowsheet is simplified from six parts (a rougher-two scavenger-three cleaner) in flotation machines to two parts (a rougher-cleaner) in FCSMC. Proofs were also provided by the analysis of the by-size grade and recovery of concentrate.Results show the FCSMC is an effective separation device to recover -74 µm size fraction.

Jan 1, 2014

By P. Basarova

The attachment of bubbles onto a collecting surface is an ubiquitous natural phenomenon, playing a critical role in numerous practical processes. The goal of the project is to broaden the knowledge about hydrodynamic interactions between small bubbles and large solids that occur in nature and industrial processes. Focusing on collision processes between a single rising bubble (Db<1 mm) and a larger falling spherical particle in stagnant liquid, the theoretical model describing the bubble trajectory is given here. The model is based on analysis of forces acting on the bubble, and utilizes equation for the bubble motion. Mobile and immobile type of bubble surface mobility are considered. The calculated results are compared with the experimental data; here a high-speed video camera was used to capture the bubble motion and bubble-particle interaction. Very good agreement between experimental and calculated data was found. For both types of surface mobilities, the bubble deviation in the horizontal direction is nearly linear. The proportion constant is bigger for immobile bubble surface and increases with the bubble size. Furthermore, particular forces acting on bubble were studied. A similar course of relative bubble velocity and force impact was observed for identical bubble position. For cases when the bubble centre is close to the particle axis, only deflection in one direction is observed. When the bubble is reaching the maximum trajectory, the force ratio is changed. The bubble is firstly pushed away from the particle, but when it is within close distance from the particle, the bubble is pushed towards the particle.

Sep 1, 2012

By Julian Dimitrov, Kremena Dedelyanova

"The paper presents research on hydrodynamic processes occurring at the elementary act of flotation. Discussed existing models to determine the effectiveness of conflict of bubbles with particles in vibration column flotation machine. The paper presents a disperser for a column flotation machine, in which the dispersion of the gas phase is carried out using vertical vibration with defined frequency and amplitude. The paper presents research of mechanism for the creation of air bubbles in vibratory column flotation machine. The factors influencing the increase in the duration of the bubble in the area of contact with the mineral particles are discussed. Research was carried out on the effect of frequency and amplitude of vibrations on speed of precipitation of mineral grains of different density. Formulas are derived for the parameter effect of vibrations, applicable to the design of flotation machine. The collision efficiency of the bubbles in vibratory column flotation machine is determined. The vibrations of the hydrated layer allow for cost-effective implementation of the elementary act of flotation by providing larger relative velocities at the contact point between the bubble and the solid phase. It is proposed to complement the model more accurate representation the mechanism of attachment of the particles to the bubble."

Jan 1, 2014

By Juan Pablo Segovia, Alonso Pereira, Fernando Concha, Daniel Sbarbaro, Samuel Vergara

A robust theory of sedimentation-consolidation evolved and was accepted by researchers worldwide in the last two decades of the 20th century. This theory provides a reliable method of thickener design, simulation and control. However, a process model, simple or sophisticated, empirical or phenomenological, is useful only if it is possible to determine, in an objective way, its experimental parameters. Although it is important for a mineral processing plant to perform periodical laboratory test to determine thickening parameters, and in this way adjust the operation, not always these tests represent the behavior of the material in the process. It is important to be able to determine these parameters directly in the thickeners. Research workers at the University of Concepción developed new instrumentation, algorithms and software for the determination of thickening parameters. In this paper, two new instruments for the on-line determination of the settling velocity and the compressibility of the sediment are presented and results of tests in a major mineral processing plant in Chile are described.

Jan 1, 2014

By S. S. Indi, D. Santhiya, S. Subramanian, K. A. Natarajan

The interaction of sphalerite- and galena-adapted Bacillus polymyxa (B. polymyxa) cells with sphalerite and galena has been investigated through adsorption, electrokinetic and flotation studies. The amount of sphalerite-adapted cells adsorbed onto sphalerite and galena is found to decrease with increase in pH. On the other hand, the adsorption density of galena-adapted cells onto galena shows a feeble maximum around pH 8, and the amount adsorbed is marginally higher in the pH range of 8 . 11.5. In the case of sphalerite the amount adsorbed is higher in the pH range of 5 to 7. The adsorption density of both the adapted cells is higher for galena vis-à-vis sphalerite. Electrokinetic studies indicate significant surface chemical changes on the chosen sulphide minerals and the bacterial cells, consequent to microbe-mineral interactions. Selective flotation tests on a synthetic mixture of galena and sphalerite confirm that sphalerite could be preferentially floated from galena, using galena-adapted cells, but not with the sphalerite-adapted cells. The cells adapted to galena assay a higher polysaccharide content and are more hydrophilic, while the sphalerite-adapted cells have a higher protein content and possess greater hydrophobicity. Transmission electron microscopic studies have provided evidence in support of the differences between the cell surface characteristics of sphaleriteand galena-adapted cells. Possible mechanisms of interaction between the minerals and the bacterial cells are discussed.

Jan 1, 2003

By L. Stamenov, H. Bouzahzah, S. Gaydardzhiev, D. Naumov

"The Chelopech epithermal arsenic bearing high-sulphidation, copper-gold deposit located in Bulgaria is often referred as the richest European gold deposit currently under exploitation. Key points from the flotation circuit of the processing plant have been sampled and selected physicochemical parameters measured. Plant survey has followed with selected samples being submitted to chemical and mineral liberation analysis (MLA). Quantitative analysis has enabled to link the flotation response of the main copper bearing minerals with the physiochemical parameters (Eh, DO, EDTA extractable Cu and Fe) being measured. Data from mineral liberation analysis have highlighted an important process-relevant information explaining the variable floatability in the various granulometric classes.The low chalcopyrite recovery could be linked to the non-sufficient amount of dissolved oxygen measured in the copper selective flotation circuit. Given the finely-disseminated copper bearing minerals, the observed copper losses inside the flotation could be also explained by the insufficient degree of liberation of the mineral grains. Suggestions for improvement in metallurgical recovery are therefore proposed.INTRODUCTIONThe Chelopech deposit is a high sulphidation (HS) volcanic-hosted epithermal gold-copper one (Bonev et al., 2002; Kouzmanov et al, 2009; Strashimirov, et al. 2002). It is considered as one of the largest and economically most important ore deposits in Bulgaria, and often is referred to Europe’s largest currently mined gold resource. It is located in the Srednogorie zone which falls within the central sector of the extensive Tethyan–Eurasian copper belt formed during Mesozoic–Cenozoic time along the southern margin of Eurasia. The Srednogorie zone has the features of a subduction-related, Late Cretaceous island arc, with development of a calk-alkaline to sub-alkaline volcano-plutonic magmatism and associated hydrothermal ore deposits (Bonev et al., 2002).Ore mineralisation occurs as veins, mineralised breccia, and massive sulphide replacements and disseminations. Three mineralisation stages have been identified at Chelopech deposit. An early pyrite–marcasite mineralisation (stage I), characterised by disseminated to massive pyrite followed and partly brecciated by enargite– luzonite and tennantite–chalcopyrite–bornite (stage II) mineralisation. The gold is met in ores belonging to the stage II. Sphalerite and galena veins characterise stage III, best developed below and adjacent to the pyrite–enargite– chalcopyrite ore bodies. Advanced argillic altered volcanoclastic rocks commonly host this mineralisation (Chambefort and R. Moritz, 2014)."

Jan 1, 2018

By I. I. Beloglazov, G. A. Iusupov, A. Ju. Feoktistov

"The aim of this paper is to study the numerical modeling of the crushing process in a jaw crusher with complex motion jaws using Discrete Element Method (DEM). The main goals are to ensure the conformity of numerical simulation results to the experimental data, optimize the operating modes and the crusher design and develop automated verification and calibration methodology. It is offered to use automated selection of mathematical model parameters using large- or laboratory-scale experiments instead of deriving parameters from conventional intensive material tests (e.g. drop-weight test). Experimental data were obtained from a large-scale crusher designed and manufactured by the company “Mekhanobr-Tekhnika”. Both jaws have their drive shafts located asymmetrically; one jaw is driven in the upper part, the second at the base. The crushing process involves fragmentation of single smoothed rectangular granite particles of the same weight. During the experiment, the required parameters such as particle size distribution were obtained for further computer simulations. Based on the obtained experimental data, the Rocky DEM model was built. Simulation breakage parameters were calibrated using automated parameter selection methodology based on multiple set of parameter-controlled simulations. A good correlation of the experimental data and numerical simulation data was obtained. The methodology in combination with well-known capabilities of simulation modeling will help reduce the research time in the development of new mineral processing equipment.INTRODUCTION Preparation of rock mass for enrichment includes the power-consuming processes of crushing and grinding. Initial rock mass crushing is performed by means of drilling and blasting operations. To reduce the average size of a rock piece, primary crushers, mostly jaw crushers, are further applied. The advantages of the jaw crusher are simple design, easy maintenance and repair. One of the drawbacks is large oscillating masses and, thus, high power consumption during operation (55 - 200 kW). Jaw crushing simulation will help optimize the crushing process and improve further rock transportation and processing performance."

Jan 1, 2018

By H. Palza, C. Ihle, S. Contreras

"Processing of minerals, particularly treatment of tailings, has been increasingly challenged by the presence of clays in the feed of thickeners. This occurrence is expected to become increasingly important given the nature of ore deposits currently being exploited and those that have been recently discovered. In sedimentation operations (solid-liquid separation), industrial flocculants often fail to coagulate clay-containing fines, generating supernatants with high levels of turbidity, thus implying operational problems. Recently, it has been reported that graphene oxide (GO), a graphite derivative with high oxygen-containing groups, could enhance the flocculation of clay systems, due to the interaction between clays and GO functional groups. In the present work, we investigated the effect of doping industrial flocculants (commercial polyacrylamide) with GO on the floculation of kaolinite suspensions in a solid-liquid separation stage. Separation performance was evaluated by studying flocculation kinetics using a focused beam reflectance measurement (FBRM) instrument, in a set of batch tests. A statistical analysis of the flocculation kinetics and floc population distribution was further carried out. Our results suggest the existence of a synergistic effect between the studied flocculants and GO. This effect is observed as a decrease of clay fine contents in the supernatant, thus improving solid-liquid separation eficiency for high clay containing tailings. INTRODUCTION Copper, given its mechanical, physical and chemical characteristics, is a critical material for the progress of society and so has been from early stages of mankind. Demand for this metal has increased due to the growth of cities and the technological explosion, leading to increase current mining production and reinforce the efforts in exploration for new deposits (Elshkaki et al. 2016). As copper-rich deposits are being depleted, it has been necessary to develop proper technology to mine deposits of lower grades and more complex mineralogies, keeping in mind that the economic window that allows the exploitation of them is reduced by the increase on operating costs (Crowson 2012 and Northey et al. 2014). High clay bearing minerals are found in many of those low-grade copper deposits, and they induce problems in all stages of the mineral processing route (Taner and Onen 2016). Particularly, in the solid-liquid separation stage, the flocculation process fails to remove the clay fraction from suspension and it leads to operational issues such as filter damage, overconsumption of reagents and the need to add an extra clarifying step for the recovered process water. Those problematics pose an interesting challenge."

Jan 1, 2018

By Matt Kilburn, Liming Lu, Steve Suthers, Alexander Edenton, Rodney Smyth, Matt Adam

"Magnetite concentrate is naturally good for pelletising. However, due to the depletion of reserves of traditional high grade hematite iron ore worldwide, the usage of magnetite concentrate in sintering is expected to increase substantially. Magnetite concentrate is typically high in Fe grade and releases extra heat when oxidised to hematite. This will not only improve the quality of agglomerates produced, but also have a potential beneficial impact on the fuel consumption of the agglomeration process. There are an increasing number of magnetite projects currently being considered and developed. However the concentrates from some of these projects are too coarse as pellet feeds and much finer and denser than normal sinter feeds. Accordingly, special strategies are required in order to utilise the coarse magnetite concentrates at high proportions in pelletising and sintering. This paper discusses various raw material preparation technologies and blending optimization methods demonstrated to be effective for improving the sintering and pelletising performance of coarse magnetite concentrates. Pre-granulation and addition of binders, such as hydrated lime, were found to be particularly efficient in recovering the sintering productivity of sinter blends containing magnetite concentrates. In pelletising, HPGR (High Pressure Grinding Rolls) grinding enabled production of good quality pellets from 100% magnetite concentrates and optimized blends containing up to 70% magnetite concentrates also formed good pellets.INTRODUCTION Magnetite concentrates are often used as feed materials for pellet plants or sinter plants depending on their grades and grain sizes. To achieve the required quality of green and fired pellets, the concentrates often need to be ground very fine (80% passing 38- 45 m), which inevitably consumes a great amount of energy. Therefore, efficient grinding processes are required to reduce the amount of energy consumption needed to achieve the sizing and chemical specification of pellet feeds. The use of magnetite concentrates in sintering has the potential to improve sinter chemistry, which is deteriorating over time due to the slowly decreasing grade of direct shipping iron ores around the world (Yang and Mathews, 1997; Yang and Witchard, 1998, Yang and Davis, 1999; Yang 2005). However, methods are required to allow the utilisation of high levels of concentrates in sintering while maintaining productivity and sinter quality (Han and Lu, 2017)."

Jan 1, 2018

By Rod Hocking, Nenad Djordjevic, Randolph Pax

"Semi Autogenous (SAG) mills exhibit complex interactions between the competing processes occurring inside them. Traditional practice is to measure the operation of the SAG mill at an operating point in terms of its load, power draw, steel load, ore throughput rate, water addition rate and more recently the feed size distribution. However significant departures of operating conditions can occur due to changes, for example, in ore hardness, the quest for higher throughputs and mill internal geometry.Fundamental to SAG mill operation are the internal processes that ensure that a given ore throughput and discharge grind size are obtained and maintained. These processes can be measured using non-contact acoustic emissions from the SAG mills which utilise the information rich noise that is generated by the grinding, flow and charge movement inside a mill.Non-contact acoustic in-mill measurements can be used for the validation of discrete element modelling (DEM). The approach being reported in this paper is to model the individual physical processes and then to simulated the assemblage of a physical mill."

Jan 1, 2003

By Luis Bergh, Francisco Díaz, Isabel Panire, Juan Yianatos, Luis Vinnett

"In this paper, industrial data of residence time distribution (RTD) in mechanical flotation cells is presented, which were measured in several plants using the radioactive tracer technique. Results include mechanical flotation cells of 100 - 300 m3, which were operated with effective residence times from 2 to 7 min. Tests were developed in forced air and self-aerated cells for liquid and solids (non-floatable) per size classes. Different RTD model structures including perfect mixer, Large and Small Tanks in Series (LSTS) and by-pass flow plus perfect mixer were evaluated and compared for single cells. The actual mixing regime was related to the effective residence times and cell designs based on the model fitting. By-pass flow percentages were typically lower than 10%, therefore the perfect mixer model plus a dead time was a suitable model structure in most cases. On the other hand, the arrangement of cells in series was effective in reducing the bypass flow observed in single cells (by-pass flow percentage greater than 5%). In addition, the N perfectly mixed reactor in series model was used to represent the mixing regime along flotation banks, which were operated with mean residence times in the range of 18 - 53 min. Results showed that N tanks in series plus dead time were closer to the actual values in most cases."

Jan 1, 2014

By Fatemeh Saeidi, Malcolm S. Powell, Mohsen Yahyaei

In order to deal with the problems of existing comminution models a new approach towards the development of mechanistic models has been made so as to better understand the physics of milling processes and environments. Despite enormous improvement in this field a comprehensive study of rock breakage characterisation, appropriate for use in these types of models, is still scarce. This paper reviews the existing models of comminution according to ore characterisation techniques and parameters. The authors have looked into the existing testing methods and their applied mechanisms of breakage, using standard test results available at the JKMRC. The study includes classifying testing devices such as the drop weight tester, rotary breakage tester, slow compression, and piston and die based on the few major fundamental mechanisms of breakage that are experienced by rocks in the breakage process. The paper compares the range of particle size and energy utilisation, applied strain rates and loading mechanisms for the equipment. The product size distributions from the various equipment is compared for equivalent input energies, various loading rates but the same level of energy intensity, a broad range of energy including low energy utilisation and fines generation rate for equivalent specific energy input. The results clearly show that the outcomes and conclusions on competence and energy for breakage are a function of the test method that is applied. In ongoing work, it is proposed to investigate common tests that can be applied to characterising ores in a manner suited to modelling a range of comminution devices.

Jan 1, 2014

By A. Buchanan, M. Mirnezami, A. L. Restrepo, J. A. Finch, M. S. Hashemi

Settling rate studies on slurries from Cu/Zn flotation plants occasionally revealed two aggregation maxima at pH 8-10 and 10-12. From measurements on sphalerite and silica suspensions the double maxima were replicated by Zn ions (pH 8-10) and Mg ions (pH 10-12) corresponding to the presence of zinc hydroxide and magnesium hydroxide, respectively. A combination of chemical and electrostatic bridging by the hydroxides is considered to be the aggregation mechanism.

Jan 1, 2003

By W. S. Eu

Reduction of weathered mineral ores can initiate phase transformation which can affect either their activation or deactivation, subsequently influencing the extent of extraction of desired metals in a leaching reagent. The reduction of ilmenite ores for one occurs as a series of parallel, solid state reactions which at present has no known mechanisms, although the evidence of their effects is abundant. Understanding these reactions may well be the key to uncovering the mechanism of ilmenite activation, hence enabling precise control of its reaction process to maximize yield of TiO2 extraction. However, documenting the solid state reactions in the reduction of ilmenite is challenging due to the ore complexity, the number of simultaneous reactions and the difficulty of capturing critical intermediate reactions and phase transformations during processing. The phase transformations of ilmenite minerals reduced at temperatures up to 850°C were investigated in this study. Mineral transformations were studied in-situ using synchrotron radiation based X-ray powder diffraction with temperature resolved tests. The effect of the extent of reduction and specific mineral transformations were verified by leaching reduced ore with sulphuric acid. The re-sults suggest that transformation of major mineral phases occurs within of specific window of operation and thermal treatment appears to influence the extent of activation and leachability of ilmenite minerals.

Jan 1, 2014

By Megan Becker, Cyril O’Connor, Jenny Wiese, Gaynor Yorath

The effect of particle shape on true flotation has been widely reported. The present paper presents results obtained in investigating the effect of particle shape on the entrainment of particles during the flotation process. Different hydrophilic minerals with particles of varying aspect ratios were used and their shape determined using rheological tests and QEMSCAN. Their entrainment properties showed a close relationship to their shape with the recovery due to entrainment increasing as the aspect ratio of the particles increased. The effect of surface charge, by changing pH, and size of particles showed that the effect of shape was sustained at different pHs and particle sizes. Proposals are made to explain these observations in terms of the known relationships between drag coefficients and terminal velocities and shape. Since it has been previously reported that different milling procedures can affect particle shape, these results indicate that it is possible that such different procedures may result in increased entrainment of hydrophilic minerals.

Jan 1, 2014

By J. Gebhardt, D. McBride, M. Cross, S. Gilbert

Heap leaching of ores containing chalcopyrite offers a low cost option to treat low grade complex copper sulfide ore bodies. However, the slow leach kinetics of chalcopyrite at ambient conditions typically results in unacceptably low recoveries. As the mineralogy of new ore deposits becomes more complex and the effects of gangue chemistry exert a greater influence on copper sulfide leach behavior, the control of leach reaction chemistry becomes more critical. Computational fluid dynamics (CFD) technology has been useful in the capture of multi-phase interactions and provides a path to simulate complex fluid flow, gas and liquid phases, through the heap, along with species transport. Coupling the flow models with the reactive mineral dissolution, and the sometimes competing aqueous chemical and solid-liquid reactions, yields a comprehensive model of the heap leach process. The leach kinetics of chalcopyrite dissolution in heap conditions is examined, and the incorporation of chalcopyrite leach kinetics in the CFD model is described. The application of the model to investigate optimization of the heap is discussed.

Jan 1, 2014

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