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By D. G. Almond

Nkomati Nickel Mine in South Africa processes one of the world?s hardest ores in a 375k TPM autogenous grinding circuit. The plant employs an unconventional processing circuit, comprising a primary autogenous mill (AG or FAG) and pebble crushing circuit followed by a secondary hybrid pebble/ball mill and classification cyclone cluster. Advanced Process Control (APC) or Expert Control is now generally accepted as an advantage in most modern high capacity concentrator grinding circuits. This paper reviews the installation of model predictive control at Nkomati and examines the results and benefits of installation in an autogenous mill during plant ramp-up. The paper also demonstrates how predefining process control objectives together with good plant and supplier cooperation can achieve a robust and reliable APC implementation on a very short site program. The results conclusively demonstrate operational and economic benefits during circuit operation with the advanced process control system ON. Production performance and circuit stability were significantly better than during manual control.

Jan 1, 2012

By K. Becerra, D. G. Almond, T. D. Maru

"Nkomati Nickel Mine in South Africa processes one of the world’s hardest ores in a 375k TPM autogenous grinding circuit. The plant employs an unconventional processing circuit, comprising a primary autogenous mill (AG or FAG) and pebble crushing circuit followed by a secondary hybrid pebble/ball mill and classification cyclone cluster.Advanced Process Control (APC) or Expert Control is now generally accepted as an advantage in most modern high capacity concentrator grinding circuits. This paper reviews the installation of model predictive control at Nkomati and examines the results and benefits of installation in an autogenous mill during plant ramp-up. The paper also demonstrates how predefining process control objectives together with good plant and supplier cooperation can achieve a robust and reliable APC implementation on a very short site program.The results conclusively demonstrate operational and economic benefits during circuit operation with the advanced process control system ON. Production performance and circuit stability were significantly better than during manual control."

Jan 1, 2012

By Vincent C. Smith, Agit Singh, Daniel de V. van der Spuy, Bernard Muller

"Process control in the minerals industry is made difficult by factors such as the multivariable nature of the processes, noise, many disturbances, the changing nature of the processes, nonlinearities, process constraints, slow responses and large deadtimes. A good example of such a process is a milling circuit, where all these problems are experienced. Since model predictive control (MPC) effectively handles most of these difficulties, Mintek decided to develop, customise and test an MPC controller for milling control.Conventional MPC uses a dynamic model of the plant to calculate the future (predicted) plant outputs based on the movements of the manipulated variables in the past. The future moves of the manipulated variables can then be calculated using an optimisation algorithm that will minimise the difference between the setpoints and the predicted outputs. The least squares optimisation method is the quickest, but it does not cater for process constraints. Constraints can, however, be handled explicitly by using a quadratic programming optimisation method. This method ensures that the variables stay within the constraints at all times, but the calculation procedure is much more computationally intensive.• modifying MPC for the Minerals Processing IndustryIt was found that in order to obtain good, robust control using MPC in the minerals processing industry, the conventional MPC algorithm had to be adapted. The MPC controller was first tested on an extensive milling simulator, which was specifically developed for that purpose. Problem areas were identified and the MPC controller was specially adapted to accommodate for these difficulties. Some of the adaptations to the conventional MPC algorithm and special features added were as follows:Since milling plants contain many integrating processes (e.g. sumps), and integrating errors can cause offsets and poor control, it was essential that integrators be handled explicitly. This problem was solved by adapting the algorithm and also using an integrating error portion to compensate for integrating errors.Constraints on the inputs and outputs adversely affected the control. The controller using simple least squares optimisation was tuned with the constraints in place, while the maximum expected setpoint changes were made. This ensured that the process would be able to handle most setpoint changes up to these expected values without violating the constraints. A later improvement on this method was the incorporation of a quadratic programming algorithm to perform the optimisation. This method handles limits explicitly and was shown to perform better than the least squares methods (at the expense of a much higher computational cost)"

Jan 1, 2003

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

By J W. Edl, F C. Wu

In instrumented model rock blasting experiments in granite blocks, best fragmentation results were obtained when delays between holes were 1 to 2 milliseconds per ft. of burden and when a rectangular shothole pattern was used with spacings larger than the burden. Effective fragmentation in multiple hole blasts seemed to depend primarily on the full development of the crack network around each hole before the charge in the next hole was detonated. The test results showed that simultaneous or almost simultaneous initiation of shotholes in bench blasting resulted in poor fragmentation.

Jan 1, 1975

"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 Szwedzicki T

Uniaxial testing was performed on model pillars to determine the effect of width to height ratio on pillar and surrounding rock mass stability. Samples were modelled in a shape similar to that of dumbbell weights, with the centre representing

Jan 1, 1994

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

While investigating on the aerodynamic resistance of airways supported with peripheral timber sets, at regular intervals, the following theoretical equations were developed by the author to estimate the resistance coefficient of such airways: [ ] for S < 1, where f is Darcy-Weisbach resistance coefficient of the airway, C is modified drag coefficient of the supporting member, D is equivalent diameter of the bare airway, 8 is ratio of the approach velocity over the sets to the average velocity of the bare airway, A is cross-sectional area of the bare airway, a is projected frontal area of the sets, A., is cross-sectional area of the air stream at the vena contracta inside the set, S is spacing of the sets, f, is resistance coefficient of the bare airway, l is length of aerodynamic influence of sets, p is perimeter of the bare airway, p, is setted portion of the perimeter of the bare airway, pe is unsetted portion of the perimeter of the bare airway, and P shielding factor. The equations were verified experimentally in a model rectangular airway supported with one- (bars), three-, and four-piece sets of square-section timber of three different sizes and were found to hold true. The work has been further extended to one-, three-, and four-piece sets of round timber of 2.6, 3.2, and 3.8 cm diam with the same experimental set up. Tests have been carried out for spacings of 25, 50, 75, 100, 150, and 200 cm over a regime of flow defined by the Reynolds number (with respect to the equivalent diameter of the bare duct) ranging from about 1.5 X 106 to 5 X 106 using the same experimental techniques. The values of f are calculated in the manner indicated in [Ref. 1]. Unlike with square-section timber, the resistance coefficient f of the airway setted with round timber shows a distinct variation with the Reynolds number of flow. This conforms to observations made by Sales and Hinsley.2 In order to have a comparable value of f for all types of sets with all sizes of timber, it was necessary to select the value of f at a fixed Reynolds number of flow. Since f is chiefly a function of the drag coefficient of the sets, the appropriate Reynolds number RE is that with respect to the diameter of timber in the set. Considering the diameters of timber used and the regime of flow over which measurements were made, f was chosen at a value of RE = 20,000 in all cases. The f vs. S curves are maximal in nature and in conformity with theory, the f vs. 1/S curves are straight lines up to a value of S = 1 beyond which they show a distinct flexure. The observed values of 1, the length of aerodynamic influence of sets, agree with the relation 1 = 42 e, developed for square-section timber sets, thus suggesting that the shape of timber has little influence on the length of aerodynamic influence. The value of the modified drag coefficient CD for round timber was calculated in the same way as for square timber in Ref. 1, taking the contraction factor Z = 1.5 for round-edged constrictions. CD has an average value of 0.96 with a standard deviation of 6.08% as compared to the free stream drag coefficient of 1.2 at RE = 20,000 for long cylindrical obstructions The shielding factor [ ] is plotted against S/1 in [Fig. 1]. The curves are more or less independent of the size of timber, but are different for the different types of sets, possibly due to their different degree of symmetry. Values of f calculated by the author&apos;s [Eqs. 1 and 2], using experimental values of CD&apos; and [ ] and taking I = 42 e, are plotted in [Fig. 2] against experimentally measured values of f for different types of sets with different sizes of round timber. The values agree closely with a standard deviation of only 5%, thus establishing the veracity of the theoretical equations developed by the author for round timber as well. A comparison was made between the Xenofontowa4 equations (the only other reasonable relations available for the estimation of the resistance coefficient of supported airways) and the author&apos;s [Eqs. 1 and 2] by comparing in [Fig. 3] the values of the resistance coefficient f computed by the Xenofontowa relations with those experimentally measured by the author. In order to make

Jan 1, 1975

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