【摘要】：尼爾森選礦機(jī)(Knelson Concentrator)是一種在離心狀態(tài)下礦物分選的重選設(shè)備,由于尼爾森重選技術(shù)具有選礦富集比高、處理固體礦量大等優(yōu)勢,使得Knelson選礦機(jī)受到選礦界的廣泛采用。但是以往的重選設(shè)備主要是靠經(jīng)驗(yàn)進(jìn)行控制,不同的操作參數(shù)對精礦富集比和回收率產(chǎn)生不同影響,Knelson選礦機(jī)分選理論也不夠完善。因此通過建立離心選礦機(jī)數(shù)學(xué)模型,利用先進(jìn)控制策略設(shè)計控制器對提高選礦機(jī)的自動化控制水平具有較好的研究價值和實(shí)際意義。論文采用理論研究、實(shí)驗(yàn)分析和數(shù)值模擬相結(jié)合的方法完成以下工作:在流態(tài)化理論的基礎(chǔ)上,對Knelson選礦機(jī)流膜運(yùn)動規(guī)律進(jìn)行理論分析;通過搭建選礦實(shí)驗(yàn)平臺,為找出最佳的操作參數(shù)組合進(jìn)行相關(guān)的實(shí)驗(yàn)研究;根據(jù)分選運(yùn)動規(guī)律和物料平衡,建立Knelson選礦機(jī)非線性隨機(jī)狀態(tài)空間模型及進(jìn)行參數(shù)估計;將選礦系統(tǒng)給礦環(huán)節(jié)引入內(nèi)�？刂撇呗�,并通過數(shù)值模擬驗(yàn)證該控制方法實(shí)現(xiàn)控制量定值控制的快速性和穩(wěn)定性。論文的主要研究成果:(1)在流態(tài)化理論的基礎(chǔ)上,探討了基于離心流態(tài)化運(yùn)動分選的Knelson選礦機(jī)分選過程和顆粒的受力情況,描述了顆粒分選特性及礦漿流膜的運(yùn)動分層,并掌握了影響分選過程的主要操作參數(shù),同時根據(jù)顆粒的運(yùn)動方程推導(dǎo)出顆粒徑向上的干涉沉降速度。(2)根據(jù)單因素試驗(yàn)探討了各主要操作參數(shù)對富集比和精礦回收率的影響,并確定了合適的操作條件,進(jìn)一步利用響應(yīng)曲面優(yōu)化方法建立選礦指標(biāo)預(yù)測模型,找出了各操作參數(shù)的匹配關(guān)系,并通過實(shí)驗(yàn)驗(yàn)證了選礦指標(biāo)的響應(yīng)面預(yù)測模型的可靠性;同時發(fā)現(xiàn),各操作參數(shù)之間匹配的合理性,直接影響回收精礦的選礦指標(biāo)。(3)建立了Knelson選礦機(jī)非線性隨機(jī)狀態(tài)空間模型,利用擴(kuò)展卡爾曼濾波算法對Knelson選礦機(jī)狀態(tài)及參數(shù)進(jìn)行估計;根據(jù)Knelson選礦機(jī)模型EKF估計輸出與實(shí)際輸出的對比結(jié)果,證明了所建立Knelson選礦機(jī)數(shù)學(xué)模型的正確性;根據(jù)Knelson選礦機(jī)模型狀態(tài)的估計結(jié)果能較好地反映礦物分選過程的動態(tài)變化規(guī)律。(4)設(shè)計出IMC-PID串聯(lián)解耦的控制方法對選礦系統(tǒng)給礦環(huán)節(jié)進(jìn)行定值控制,仿真結(jié)果表明,IMC-PID串聯(lián)解耦控制方法能可靠地實(shí)現(xiàn)控制量按設(shè)定值跟蹤輸出,選礦系統(tǒng)的穩(wěn)定性和抗干擾性能明顯得到提高。通過以上表明,本課題的研究將對尼爾森重選理論應(yīng)用具有現(xiàn)實(shí)指導(dǎo)意義,為提高選礦機(jī)的自動化水平提供了有效途徑。
[Abstract]:Nielsen concentrator (Knelson Concentrator) is a kind of gravity separation equipment for mineral separation under centrifugal condition. Because of the advantages of Nielsen gravity separation technology such as high ore concentration ratio and large amount of solid ore treatment, Knelson concentrator is widely used in the field of mineral processing. However, in the past, the gravity separation equipment was mainly controlled by experience, and different operating parameters had different effects on the enrichment ratio and recovery rate of concentrate. The separation theory of Knelson concentrator was not perfect. Therefore, by establishing the mathematical model of centrifugal concentrator and using advanced control strategy to design controller, it is of great research value and practical significance to improve the automatic control level of concentrator. In this paper, theoretical research, experimental analysis and numerical simulation are used to accomplish the following work: on the basis of fluidization theory, the flow film motion law of Knelson concentrator is theoretically analyzed; In order to find out the best combination of operation parameters to carry on the related experiment research, according to the separation movement rule and the material balance, establishes the Knelson concentrator nonlinear random state space model and carries on the parameter estimation; The ore feeding link of mineral dressing system is introduced into the internal model control strategy, and the speed and stability of the control method are verified by numerical simulation. The main research results are as follows: (1) on the basis of fluidization theory, this paper discusses the separation process of Knelson concentrator based on centrifugal fluidization motion separation and the stress of particles, describes the separation characteristics of particles and the moving stratification of slurry flow film. At the same time, according to the motion equation of particles, the interference settlement velocity in radial direction is deduced. (2) based on the single factor test, the influence of main operating parameters on enrichment ratio and recovery rate of concentrate is discussed. The suitable operating conditions are determined and the prediction model of mineral dressing index is established by using the optimization method of response surface. The matching relation of each operation parameter is found out and the reliability of the response surface prediction model of mineral dressing index is verified by experiments. At the same time, it is found that the rationality of the matching among the operation parameters directly affects the mineral dressing index of the recovery concentrate. (3) the nonlinear random state space model of the Knelson concentrator is established. The state and parameters of Knelson concentrator are estimated by using extended Kalman filter algorithm, and the correctness of the mathematical model of Knelson concentrator is proved by comparing the estimated output of Knelson concentrator model with the actual output. According to the estimation results of the model state of Knelson concentrator, the dynamic change law of mineral separation process can be well reflected. (4) the control method of IMC-PID series decoupling is designed to control the feed link of mineral processing system. The simulation results show that the IMC-PID series decoupling control method can reliably track the output of the control quantity according to the set value, and the stability and anti-interference performance of the mineral dressing system are obviously improved. The above results show that the research of this subject will be of practical significance to the application of Nielsen gravity separation theory and provide an effective way to improve the automation level of concentrator.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TD45

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