SU1255208A1 - Automatic control system for one-stage cycle of wet grinding - Google Patents

Description

2 "The system according to claim 1, so that the block-h of the classifier contains six f lac-block blocks J, three integrator and two subtraction blocks, the second and -full adders., And the output of the first integrator is connected to the inputs of the first and second large blocks and the input of the second integrator, whose output is connected to the inputs of the third and fourth scale blocks and the third integrator, the output of which is connected to the inputs of the fifth and last full blocks, the first and the third masibol blocks are connected to different polarity moves the first block J subtractor whose output is connected to a first input of the second sum: -. W torus to the second input of which is connected to the output of the fifth scale blo

Kaj outputs of the second and fourth scale blocks are connected to the first and second inputs of the third adder; the output of the sixth scale block, the output of the third adder, is connected to the first input of the second block of the upper link, no. To the second input of which is connected the output of the converter i acxc - yes water to the mill ;, the output of the second subtraction unit is connected to the input of the first integrator, and the output of the second adder - to the input of the first adder ,,

3 A system according to PP, 1 and 2, of which there is the fact that n; a new filter contains c, n; s: the eighth, ninth, tenth and eleventh scale blocks, the fourth, and the sixth integrator, the third and the fourth subtraction unit and the fourth adder, the output of the fourth integrator connected to the inputs of the seventh and eighth blocks and the input of the fifth integrator, which is connected to the inputs of the virgins, the tenth scale blocks to the pilot integrator, the output of which is eleven scale units Soybean, connected with the first input of the fourth adder, The second and third -; / inputs of which are connected to the outputs of the eighth and tenth scale blocks: z ;, the course of the fourth adder is connected to the first input of the third subtraction block whose output is connected to the input of the four-way integrator, the outputs of the seventh and ninth scale blocks are connected; ; United;; input M is the first of the sum-- roiJa, the second exit of the retego block: - read the indicator with the output of the regulator - hork. flow rate li li discharge classification- horz.,

 -Is system according to claim 1; about tl and h and rain a with: ts M; h: ts1 water flow regulator in the slmvv class fndiHRaTopa contains five el the first one tenth summator of the DENSITY1- preset of the reference siggsh. masitab - second block., tr5- :; b. Yuk ug uglechen ,,,: A logical block, a block for forming a time delay v: a numerical block neiJBfcn i a block, moreover, a series-connected filter and a differential-mode unit, an amplitude detector, second memory block, timer, trigger ,; Klyui and the seventh integrator, where the density sensor is connected to the first input of the first comparison block j the first output of the n-arvo memory block is connected to the first input of the computational block e., the output of the differentiation block is connected to the first block determine the mode, p 5 whose output;: is connected to the input of the amplitude detector, to another input of which the output of the time delay forming unit 5 is connected (:: d the differentiation unit is connected by the first input of the black metal integrator e, the sixth input adder, to d The other input is podo, 2, di: chen the output of the first b, multiply, to the first input of the ko-Tfipofo, as well as to the inputs of the first adder, the second block, multiply, the second, of the second; defined ms; blown inen, exhaust: filter whose input is under-:;: the first block of the first block is compressed}, and the amplitude go; :: the detector is connected;:: hard, trigger and nepBb & i input ; 1 of the twelfth scale unit,;, to, 1p;, the first input of which is connected to the first output of the trigger, the second output to the first one is connected to the first input of the timer, to the other: input to Wow: C -, 1, is connected to the first output of the second on a blink; Yeni, also connected to the left entrance of the block of the formation of you-, :: er: "ki time, to the other -4 to the input number the second input you1

the numeral block, the second input of the first memory block is connected to the first input of the thirteenth scale block and to the input of the fourteenth scale block; the first output of the second comparison block is connected to the second input and the third input of the computation block; the other output is connected to the second input of the thirteenth a scale unit, the output of which is connected to the first input of the third comparison unit, the other input of which, as well as the first input of the second comparison unit and the fourth input of the computing unit, are connected with the output of the timer, the output of the third comparison unit is connected to the first input of the key, the output of which is connected to the second input of the second memory unit, the third input of which is connected to the output of the differentiation unit, and the elevators of the second memory unit are connected to the second and third inputs of the logic unit, the first the output of which is connected to the third input of the first memory block, the fourth input of which and the first input of the third multiplication unit are connected to the first input of the computing unit, to the fifth input of which the output of the twelfth scale is connected The invention relates to the management of grinding and classification processes and can be used at concentrating plants of non-ferrous and ferrous metallurgy, chemical, construction and coal industries, in automating processes having variable static and dynamic properties and dips in the transient response.

A known system of automatic control of a single-stage wet-grinding cycle, comprising a circuit for regulating the loading of the mill with ore with frequency correction of an acoustic signal, a circuit for stabilizing the density of the pulp in the discharge of the classifier, and a circuit for controlling the flow of water into the mill l.

5208

the second output of the logic unit is connected to the second input of the second multiplication unit, to the third input of which the second input of the computing unit is connected, the second output of the second multiplication unit is connected to the sixth input of the computing unit and to the second input of the fifth adder, the output of which is connected to the second input The third multiplication unit, the output of which is connected to the input of the seventh integrator, the second input of the first multiplication unit and the fifth input of the first memory block is connected to the second output of the computing unit, the output of four The second unit of the second comparator unit is connected to the first input of the fourth comparator unit, the output of the second module of the module's definition is connected to the first input of the fourth comparator unit, and the second input of the first key is connected to the second input of the second comparator unit. the comparison unit — with the output. the first adder and the output of the sixth adder — with the inputs of the dynamic filter and the actuator of the valve for controlling the flow of water to the drain of the classifier.

The disadvantage of this system is the low quality and stability of regulation in the processing of ores with varying physicomechanical and textural and structural properties.

Closest to the invention is an automatic control system with a single-stage wet grinding cycle, which includes a pulp density sensor, a flow regulator for the classifier discharge, an actuator for an electric discharge valve of the classifier, an ore flow sensor, an ore flow converter, and a flow regulator ore, actuator actuator actuator, circulating load sensor, circulating load converter, re

the booster of the flow rate BO / U.I into the mill, the flow converter pmgl 8 -IG,; IJ-. to the nitsu, executive mech1 :: chzg - sh-tricheskogo valves by regulating the flow of water in the mill and for, and aa gcnk total consumption mater1:; ) :: about the swings of the isar-y.iKpoBa electric gate valve; to drain kg ssyft: at (pa, output of the ore consumption sensor is connected; not with the converter input; output; ores, the first output of which is connected to the first input of the flow controller ;; ore, the output of which is connected to the input of the actuator actuator actuator , the second output /, conversion -, - ore consumption meter is connected with the first input of the regulator to the mill, the output of which is connected through the converter of the water consumption into the mill with the input of the actuator of the electric grinder, controlling the water consumption of the mill, sensor output q a circulating load: through a circulating load converter is connected to the second inputs of the water flow regulator to the mill and the ore consumption regulator from the mill, near the third input of which is connected the output of the flow meter i of the material to the mill 2,

The disadvantage of the star system is the poor quality of the level; and low stability :: kstp.1Y5 P1Is that are isg: we use1 standard PI and Illi-I control: from the control of the closed system no no:; BOjr.4iOT fully take into account the type of transient process on the channel: change flow rate, i per cycle - change llotnost: pulpg to drain the classifier. -) This leads to the appearance of an ez; ; the practice of automation: enrichment of self-oscillations of both the finished prog-ukta and the whole process to the whole, which makes it impossible for d (: C: t: G to maximize the cycle of the finished product and causes detuning of the subsequent enrichment .

The aim of the invention is: s;) - improving the quality of control.

The goal is achieved by the fact that the system of automatic control of a single-stage wet grinding cycle, E. the key date; 84

boom dense-) pulp,; k-gul torus under |); slig; 1 -:;: assfi-ficant, idiom: i small c hl or m electric: a; 1 ро у ро у чи чи а aki flow rate o: g: lia classifier,; 1 counter-flow ;;; a. psg br; kk: vattel) consumption of ru; (, b, regul. gsr consumption of ore, executive fur 1 mever drive drive feeder: 1;.: agchik circus: -: iryuyuk: nd load, pre (p. pli1 1kul; ruyu1tsey gagruzki, i:, cryjiHTOp p cxn; ia no ii:; / - spruce) redesign the expense,;: vod; n melee5 me; t; h; : ek tricheskogo ;; 1I: zhki; jc- v-in ;: inquiries / g WATER in the mill I :: sa ;;;;. of the total consumption of the pump, .. :() ; -ttor I flow, water: C jniii to; 1ass1:; 1Ig; lt) 1) soy; 1ilsi from the entrance and ithl ;; o- 1 :; the mechanism of electric p C1 of clearing raskhgg w / you c) classifier, the output of the sensor;: 1askhod, g ore is connected to lx () / 1 :: reshaping | | e :; ore consumption, the first KOT01K1GO is connected to the first ii iLM input of the y y: 1 tch1ra ore expenditure; PMOT KOTopoi o is connected to the input

; ) L; power supply drive mechanism I c. TKj 1 is the second output of the converter; 1 output P} D1 (wasp;: aka with the first input D1; m control); water in the ground-linuy; pykhol;: tiTopor o is connected through the press; gb) P (. / -year to the ground-Iu with the entrance I (::; about; pitslk (G ;; i-sexa- -le 1 tr;; chesko1 ; -iaxji OKXH regul-) vr; and p; i;: o ;;; -app ;, h - pl (lgitsu. phol sensor ;; n-riKy ,. Hj iy: o; ie -; a; through pr (MG | p; Gg; he; bee dirkiriru- kie n, Gyu 5x; state;;::; p iipJiiMH B;.; |, ami re1y ;; 1) a consumption of iodine; B

me-hggg g PGL -NF ---.-,) -.-- v ,, T, .1 ore

f 1ts11goroi t IIIImarmar1I i LU S

1111 ijT-T l111III and 1 J and 11I with ora111 1I. 1 l - I ni i

1IIj, n class ii- / lnek

I1j1 L cs ci go: ea,

1rIl I IBYU 4 P tP II Ы к

1 rPS 11 mountain

II11III

 11-11Ne -1 s ,,., House of water flow regulator in

;; and, h k.chlssifikator, input Koi oporo. -Olina:, with r bixo; i. (TM of the first adder.

The classifier block model contains six scale blocks, three integrators, two subtraction blocks, the second and third adders, the output of the first integrator connected to the inputs of the first and second scale blocks and the input of the second integrator whose output is connected to the inputs of the third and fourth scale blocks and the third an integrator whose output is connected to the inputs of the fifth and sixth scale blocks, the outputs of the first and third scale blocks are connected to opposite inputs of the first subtraction block, the output of which is nen to a first input of a second adder, to the second input of which is connected to the output of the fifth scaling unit, the second outputs

25

thirty

and the fourth scale block connect the 20 input of the first block of comparison, are transferred to the first and second inputs of the third adder, to the third y input of which the output of the sixth scale block is connected, the output of the third adder is connected to the first input of the second subtraction unit, to the second input of which is connected the output of the conversion of water flow to the mill, the output of the second subtraction unit is connected to the input of the first integrator, and the output of the second adder is connected to the input of the first adder.

Moreover, the dynamic filter contains the seventh, eighth, ninth, tenth and eleventh scale blocks, j, the fourth, fifth and sixth integrators, the third and fourth subtraction blocks and the fourth adder, and the output of the fourth integrator is connected to the inputs of the seventh and eighth mayors headquarters blocks and the input of the fifth integrator, the OUT of which is connected to the inputs of the ninth and tenth scale blocks and the sixth integrator, the output of which through the eleventh 45 scale block is connected to the first input of the fourth adder, to the second and third The first inputs of which are connected to the outputs of the eighth and tenth scale blocks, the output of the fourth 50 adder is connected to the first input of the third subtraction unit, the output of which is connected to the input of the fourth integrator, the outputs of the seventh and ninth scale blocks are connected to 55 different polarity inputs of the fourth subtraction block, output which is connected to the input of the first adder,

The output of the first memory block is connected to the first input of the computational block, the output of the differentiation block is connected to the first block of the module definition, the output of which is connected to the input of the amplitude detector, to another input of which the output of the time delay shaping unit is connected to the first logic input block, the output of the seventh integrator is connected to the first input of a scale adder, to another input of which the output of the first multiplication unit is connected, to the first input of which, and also the first inputs of the fifth adder, the second multiplier, the second memory block and the second module definition module are connected to the filter output, to the input of which the output of the first comparison block is connected, the amplitude detector output is connected to the trigger input and the first input of the twelfth scale block, to the other input of which the first trigger is connected, the second input of which is connected to the first input of the timer, to the other input of which the first output of the second multiplication unit is connected, also connected to the first input of the pho to block time delay, to the other f input of which, as well as to the second input of the computing unit, to the first input of the thirteenth scale unit, and to the input of the fourteenth scale unit, a second output of the first memory block is connected, to the second input of which and to the third input of the third subtraction unit connected to the outlet of the water flow regulator in the drain of the classifier.

In addition, the water flow regulator in the classifier drain contains the fifth and sixth adders, a density adjuster, a reference signal adjuster, four comparison blocks, the first and second module definition blocks, the twelfth, thirteenth and fourteenth scale blocks, three multiplication blocks, a logical block, time delay shaping unit, computing unit, first memory block, successively connected filter and differentiation unit, amplitude detector, second memory block, timer, trigger, key, and seventh integrator, moreover ir density connected to nepBEjiM

the input of the first comparison unit, the first

The output of the first memory block is connected to the first input of the computational block, the output of the differentiation block is connected to the first block of the module definition, the output of which is connected to the input of the amplitude detector, to another input of which the output of the time delay shaping unit is connected to the first logic input block, the output of the seventh integrator is connected to the first input of a large-scale adder, to the other input of which the output of the first block is connected smartly to the first input of which, also the first inputs of the fifth adder, the second multiplier, the second memory block and the second module definition module are connected to the filter output, to the input of which the output of the first comparison block is connected, the amplitude detector output is connected to the trigger input and the first input of the twelfth scale block, to the other input of which the first trigger is connected, the second input of which is connected to the first input of the timer, to the other input of which the first output of the second multiplication unit is connected, also connected to the first input of the unit f arranging the time delay, to the other f input of which, as well as to the second input of the computing unit, to the first input of the thirteenth scale unit, and to the input of the fourteenth scale unit, a second output of the first memory block is connected, to the second input of which and ;;: - connected the first input of the second; D) L of the eye of comparison; 5 another output of which is connected to the second input of TP1 - ;: nal: the atom of the large-scale block, the output of which is connected to the first input - the third block of the comparison block, another cat ors PCs as well e the first input of the second: 3og unit of comparison and a quarter of the inlet of the main unit of the numerical unit are connected: n: -, 1 timer input, output of the third b. comparison path, which is connected to the first input of the key whose output is connected to the second INPUT of the second memory unit, t7) This input is connected to the Vi.ihod.h of the differentiation unit 5 a pyo. Tig of the second memory block is seediggens with the second and third inputs of the Hügich; sk ;; th block, the first output of which from ;; is uniform with the third input of the perzogs; memory block; the fourth input of the third multiplication unit is connected (with: the third output of the computational block5); the first input of which is connected;: i-; ie 1 is the output of the twelfth large-scale block, the second output is logical :: about b. ::; an eye is combined with the second input of the second () multiplication locus 3 to the third input btc, 1st start of calculation; -1.1: .lite block, second output second; - multiplication block is connected to the sixth input of the computing block ;; and with the second input of the sum: h :: ra. : you-- whose move is connected to the mute: s; M g: .ho-- the house of the third block is cleverly ken1- ::. which is connected to the input seven.: () rci integrator second input of the third multiplier unit and fifth fifth of the nepiisoro memory unit is connected to the BToptiM; the outputs of the fourteenth large-scale unit are connected to the second input BTOpoj C: comparison unit, output setting unit signals are connected to the first input of the fourth comparison unit, the second input of which is connected to the output of the second definition module, and the output of the fourth comparison block is connected to the second input of the key, - the input of the first co-operation unit g Matora: L E; Exit sixth adder - a dynamic filter inputs and executive O control valve mechanism rlskhe and water drain classifier,

Fig. 1 shows the transitional ave. :) sieves of the finished product of the grinding cycle by channels: change in consumption

; i ;;: i; /) i in a.kl ntmelchk; 1pi - change in the ratio of the pulp in the ../ class of the classification - 1 - at a reduction in the flow rate of 6–6 HS; 2 -; irn: increase in consumption because of the discharge of the sifter by 6%; ;: - GGG reduction of the consumption of E-YUDY - from the mill by 10%; : - when increasing; AHS1DA ZODA to .- 10% of the city :; Fig 2 shows the structure: urn :: heme systems; automatic;: m:; gulirova: {and od (-gost a / 1: iiny 1; hickey: .1 short and immel-eni; figt. 3 - structured block scheme of a black model classifier, loca-galug change

;: asyoz: z melyi zu - change y pusti pool zG1Y 3 (krafifikika - ora; on fig t - s: rukturna scheme :: ui: i; ibm4S; CKoro 1+) I. FIG. 5 FIG. 5: . g:; uktur1 a 6.a: i: -circuit of the regulator

c:; vod-i run into the drain of the classifier () BT) e; the control station is equipped with the physical: o: multiplex, consisting of, -1; ) this, .b::, working, looped:; class :: 1 latch 2 in

g: a gs .stBe. South American: - ::; gut to use-} s bottom- and 1: (zuhspirslnne e classification:; atory i- hydrs: cyclo-1

Siste: ma avtomatt cheskog about regul. (FIG. 2) co, 1: holding mill 1,

V с: anovated m; ;;: 1kve k; an assignment - .. l, atchik 3 n :: f) Ti;:; cTK pulpr. sensor -; ;; schola ru ;; ь :, aregsbrl-kizatel 5 ore ра rag ul torr 6 raskh; yes fivpihi, EXECUTE with; lkhy mehani 7 pr;; yes yes , sensor Yu circulating devices,, converse, 1 1 1 compasses ru .i :: ii (load 4i, regulator 12, flow rate norm, per mill, transducer 13

t :: l from move in; 1b executive) b- 5 gate valves 15 reg-y.-pgrsi ap rpskho-, and zhdy in ma: 1nnlu:; alatchik; 6 CVM-h: 1rn;) :: about consumption mate: 5Iala k, near-model 17 k.; Tass {ficatop;; uM | -; a op 1b; tsinamyask 5Y fg-il p 19. regulative - KH too 20 consumption;: EOD1,1 into the drain of the classic; sigma; operating mechanism; 21 i rical setting mechanism; 22 adjusting ii.-ts costs:) : fHB classifier.

The block model is a classifica1a (fig, 1) with a gradual scale; e:) locks 23-28, ints:, 29-3 L blocks 32 and 33 zychi- TTii: 1, sukmator: 34 and 35.

,: icamic filter 19 (fig. h)

forces - :: rzhit scale b. 36-40., In-. B.: 1 subtraction 44

9

The output of subtractor 44 is the input of the dynamic filter and the output of subtractor 45 is the output of the dynamic filter.

The water flow regulator 20 into the classifier drain (Fig. 5) contains a computing unit 47, a pulp density setting unit 48 in the classifier discharge, a reference signal setting unit 49, a differentiation unit 50, a module determining units 51-52, a logic unit 53, an amplitude detector 54, time delay shaping unit 55, scale blocks 56-58, comparison blocks 59-62, memory blocks 63 and 64, timer 65, trigger 66, key 67, filter 68, multiplication blocks 69-71, adders 72 and 73, integrator 74 .

The invention consists in countering the changing dynamic and static control properties by adapting the settings of the controller 20 and increasing the stability of the closed SAR through the control channels by eliminating dips in the transient characteristics of the control object and dynamic filtering of the processed signals.

The dependency in FIG. 1 is explained by the different directions of the influence of the hydrostatic pressure change in the classifier bath and the conditions of separation of particles of crushed material by size with time when the volume flow rate of the pulp in the classifier discharge and the ratio of the volumes of the solid and liquid phases of the pulp change.

Usually, in the practice of automating enrichment processes, a transient in the discharge of a classifier is approximated by an exponent (dashed line 1, Fig. 1), representing the transfer function of an object with delay Z and a time constant T.

However, control systems synthesized according to such a law using traditional PI and PID laws of regulation have low stability, and are prone to self-oscillations of the entire process. This is due to the fact that no selection of the K and K parameters for the PI control law can be used to sufficiently increase the degree of stability of the closed SAR due to the difference between the actual transient process and the optimal aperiodic one.

25520810

The real transient characteristic of the object (Fig. 1) is approximated by the expression

5 W (p) k, (T, p + 1) - - k, (Tjp +

(one)

where k ,, k are the gain factors; 10 T (and T are constant times of change of hydrostatic pressure and conditions of pulp separation; - delay time. 15 Expression (1) describes the transfer functions for all cycle control channels using the control function of changing the density modes of technological devices. For increase the stability and quality of the closed SAR, and also to control the flow of water to the drain of the classifier did not feel a failure in the transitional 25 characteristic of the object, the structure of the system was synthesized, compensating conductive unstable numerator of the transfer function of the object (1) and simultaneously possessing INSTALLS 30 degree maximum stability with the linear PI control by introducing into a closed structure parallel ATS object dynamic filter having a transfer function

five

W (C, p + C, p) (+ a, p +

 a, p + 1) (2)

The resultant control from the system is fed to the input of the filter, and its output is fed through the adder 18 to the input of the water flow regulator 20 to the drain of the classifier.

In this case, the transfer function 5 of the closed SAR has the form

W (p) Cr (a, p + + a, p +

4- (KK -f 1) p + KKj (3)

0

where K and K are the settings of the PI controller 20.

In this case, the settings of the parameters K, and Kj, of the controller are chosen so that the stability of the system for the object (1) coincides with the maximum degree of stability for the closed SAR of the form (3).

t1i2

 Maximum degree by usgo; inos; t g 1d „is equal to the extremely high root of the characteristic urameni root –lawKi-: for that SAR (3), t, e, TORG You can find by issuing the double denominator in the cutters (3j and equating it to zero, Dapee KOICHCI calculate K |, K.

Synthesized contour of regulating water consumption in the discharge of the class

cycle control boat: and: -

Melchani is described with a close-up ciiC theme of equations

U (t) K ,, (t) + К Е (t) dt; (i; (t) X - X (t) - X „, (t) (5j

About i

X (t) C, X, (t) - C ,. X ,, p (t); (c). i i

U (t)) + a, X, (t) -I + a, X, CP (t) -b X (p (t) ()

where U (t) is pi control ° „. X, P (t),

X, 4 (t) - the first., The second and third derived values of X, (t); X „the set value is dense

pulp ;; plum

Classifier j К and Кр - PI control settings

defined e1 .1e:; process

active ident1: ficats - i ,, This contour p (his) (h) (7) ensures the formation of an optimal aperiodic: transient process during stabilization dense t: .- pulp in the discharge of the classifier.

Additional factors, haemims, and the classification mode are changes in the water flow in the mill,

Fig. 1 (graphs 3 and -) by az; 1-- transients in the discharge of the classifier when the flow rate of the vignette to the mill is changed. Despite: the number of -: - differences of graphs 3 and o-: - graph: - :: - kov 1 and 2, both in time and magnitude of the response to Bozm, glitch, the qualitative nature of the data of the transition :: processes is the same as nosnci-jiH to synthesize the corrections: y ups: 1: :-( (4) predicted in magnitude: GE - ISMS; - density pooling: C in the discharge of the classifier. The forecast is made using a block model of the classifier by channel - change the classifier ;.

le (:. C1. s-, a, a - d gtamichesk

 J- I -; .-; J

IT a p -8 t r s

Structure 5; 1: .zh - m:} Delhi J Realization (), represented by iia FIG. 3,

The hygiene oguli system - G ovapi (fluchch 2) works as follows;: - brgzom,

Signal from .tat-geek ii consumption -5at- .kala 3 MCJ. L, y 1. y (; ta; 1o; angry I a. Lgitsats g., .Gogstugaet through: -; reob- L a iOBaTeJib:; - consumption:; aTepHaj:; a kregu.g. ltor 6 consumption of material E; .1IllenIV; to another input which receives a signal from the converter: zozatel 11 of the cir-; 1ulu: ruyu; gives a signal; setpoint adjuster 16 of the total consumption of the material. Regulator 6 through ISG: Sol1) is useful 1Y mechanic :: m / en the speed of the idler 8 pitate: „stabilize the flow rate;„ te-: l; a. 1a from the milestone: - :: |;, y, -.i- rsgu.g / gor 12:; ashoda vod; ; i: - :; 9.:i.: ost :: ak sig:; aly from the program owner 3 pacxcv- PG materk; and 1a:; pr. ::; educators}: 1 mfl1 - .: llyru: sascha and agr ;, cj;: yA; a; u; X for sog.: Extinguishing sig tax. Sensors with - are-1 -.1I chain and torus, Regulator tor 12 through: lk-about7) azose, ge.l 13, xo; ia pads g-inj.iii and iii - pts mechanism 1ts from: - s-lkst water consumption; -lijiCKTpK fecKoS a.: 1,; 11: l (which 15;: with respect to the total yield; ch.hgerialg B-stranded LF;:; At the Lod;:; e: -k-va: adnnio ratio -g raskho.p tse) g; about o - pacxoj :,; yudy.

;. sensor -J pulp density i ... SK13C to.tassnfgghator 2 pos -upat G input psr: -5th sum: ator 18. r itc.1roy nhad KOTopoio is given a signal from the block-model 17 of the classifier-Litij, the third of which is fed from r to: from .dynamic fi. 19. -) the result 18 determines the result; ,,, the zhemem enters the water flow regulator 20 and the classifier that produces: :: rppl y1tsee zoz deist outside --.- otor ;;: er.1 enters

131

the input of the dynamic filter 19 and the actuator 21. The regulator 20 through the actuator 21 changes the flow rate to the classifier by the electric valve 22 according to the generated resulting action U (t). The control action U (t) is formed as follows.

The signal X | (t) from the input of the adder 18 and its specified value z from the setpoint 48 is fed to the first comparison block 59, the output of which, noisy with interference, is sent to the input of the filter 68. The filtered signal Е "(t) goes to the first the input of the determination of the module 51 and through the differentiation unit 50 to the second block 52 of the determination of the module. The signals from the outputs of blocks 68 and 50 are recorded in a second memory block 64.

The filter 68 performs the smoothing of the error signal by the expression

one

(x, - z)

(9)

where n, n-1 are moments of discrete time;

 and filter constants 68. The coefficients K and K of the adjustment parameters of the controller, determined during the active identification in the calculator 47, A and the first identification consist in feeding to the input of the object a normalized discontinuous effect U, determined in the second multiplication unit 70 by the signals from the first the memory block 63 and the filter 68. The intermittent impact is proportional to the previous dynamic pairs From the output of the unit 55 seconds, 0.2 T, (n-1), the signal to the controller

30 detector 8, the second is the current module of the derived signal (E) from the second definition of the module,

g In blocks 72, 71, 69,

signals from blocks 47, routs control of view

40 and K, (p-1) E -f K, (p-1

out and served at time t, defined by JjE + K (n-1) Ejd

divisible in logic unit 55 from the condition that the first derivative E (tg) reaches zero the mismatch value (in block 17) by estimating the position of the system on the phase plane (E, E). The identification process begins when the phase trajectory passes through. E, when the logical conditions in logic block 53 are fulfilled.

which is from the output of block 45 to the object of regulation

In the amplitude detection, the magnitude of the maximum modulus of the derivative (x) steps on the trigger 66 and

The 50th scale block 56. trigger stroke 66 step 65, fixing the moment of the eye of the maximum ,, and at the input)

HER.

(ten)

(11) (12)

5520814

where (EZ) is the permissible value of the magnitude of the error value.

When conditions (10) - (12) are fulfilled 5, the signals from logic block 53 are fed to the control inputs of the first memory block 63 and multiplication unit 70, the logic block is blocked until the next signal arrives from the blocks

10 67 and 64, The value of K, (p-1) comes from the first input of memory block 63 to the third input of block 70, and the intermittent testing effect generated in block 70 goes to the first adding block 72, to the time delay forming unit 55 and by timer 65, marking the initial time t (} of searching for the maximum (x) modulus of the rate of change in the deviation of the TU,

20 A signal from the output of block 7 is fed to the control input of block 55 for the formation of a time delay, the OTHER input of which from the output of the first block 63 of memory receives the value T, back

25 is proportional to the previous value of the dynamic parameter). From the output of block 55 with a time delay equal to 0.2 T, (n-1), a signal arrives at the control input of the amplitude detector 8, the second input of which receives the current value of the derivative error module (Е) from the second block 48 . module definitions

g In blocks 72, 71, 69, 74, 73 according to

The signals from blocks 47, 63, 48 are formed by the control action U of the form

40 and K, (p-1) E -f K, (p-1).

(13)

which from the output of block 73 enters the object of regulation,

In the amplitude detector, the magnitude of the maximum value of the modulus of the derivative (x) that goes to trigger 66 and to the twelfth scale block 56 is estimated. The signal from the output of trigger 66 goes to timer 65, fixing the moment when the maximum search is completed, and to the second (control) input block 56,

At the output of block 56, the value of the maximum value of the modulus of the derivative is formed, taking into account the transition of the object to the right branch of the extremal characteristic, by means of the rational parameter (E.,). rsotgtm

tal amplitude degene1: torus B to cpN ri 66 to permanent (- ;:), where the value of the thresholds: p when searching for a maximum in AMG Pit-. n 54 detector

The output of the timer 55 f rmk; : -the new value of the parameter 1,., when the cog enters the block 47 vig-gjjurrejib the second block 60 comparison h g

block 61 comparison. i

On the second block 60 .zpa}; r; H -rii p ;; there is a value of 0.3 of the scale of that scale but block G 58, if TDP):. 0, ST, (p-1), then the controllers remain the same and k: efshits: gene with: - and K regulator n: e lresch; -: tov: 1 from If T, (p) 0.3 T., ( ), then SI1 from the output of block 60 enters the control inputs of block 63 of memory: the numeral unit. In section-1i: s; litnom block 47, rroisholite .pe1; new values of the coefficient of chs in Kj and on signals from blocks 63, g / C, 56 expressions

k

K (n-1) Ef, "

-21)

K, (n) /

 t 7l t

pn about pnee ko rfiktekt. defined by psi i: epEO- initial on the region of the psryjv G ora;

sixteen

compo1 l ush, her PI law 13 e g u l irovaki y

l - sina hopping of the airborne M-yiii hopper

The new values K, K and T are recorded in a block of 63 g: ti and arrive at blocks 71, 72, 69, 74 ,. 73 for the formation of ani ynj) av.1; the impact of pi expression (12),

Od; ovrem (;: nn o c these: m signals from the output of the second block 60 compared with: blunt on the control input of block 57 on which the circuit is fed from Sklok 63 units-: old value).

In the third comparison block 61, the value T, (n) from block 65-3 T (n-1) from block 57 is compared. If T (n) fe 3 l vti-Os TC; the signal from the block b is supplied to the key 67, permitting the new identification,

The introduction of blocks 57, 58, 60, 61 and b7 increases the noise immunity in the case of the coefficients K and K, i- eliminates the generation, the spool control, and the M regulator 20, improving the quality of the transition, the bottom;

Management of technological processes enrichment-: and with the help;, pre, alagamma system of automatic regulation- J: operation increases the reliability of information ,. islozuemoy when developing controllable influences, which allows you to increase the volume of commodity output production by 0.3% while simultaneously losing weight; and loss of useful labor-by 0.4%. The economic effect of the watt-output ratio is / About thousand rubles on one technological section.

I, /. 5 I „„, .- ;:

: W fJ3

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S ,,

FIG. 2

T

Fig 3

..J

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f.-... aJ ch L. ... J tfv L J / g /, r

G - 1 i n t i 1 - f-l S G

..,. „,. J i | -: SIi L. ™, .J

1, A

4- “J

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56

..... Jt

.-,., w. „,.„ .. Ф

Ml h h + h l

L. i. | .t .... JP

r

CH1L |

Ig

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Editor In: (kova T

Order A743 / 7 Tirpk .5y:.;

UNNII of the State in cases of izPret; -and 1; p MI 113015, Moscow, FH; ::::; Gchorrektor; ..,: erni

Claims (4)

1. AUTOMATIC CONTROL SYSTEM WITH A ONE-STAGE WET GRINDING CYCLE, including a pulp density sensor, a water flow regulator into the classifier drain, an actuator of an electric valve for regulating the water flow into the classifier drain, an ore flow sensor, an ore flow converter, an ore flow regulator, a feeder drive actuator, an actuator, circulating load sensor, circulating load transducer, regulator of water flow to the mill, transducer of water flow to the mill, the mechanism of the electric valve for regulating the flow of water to the mill and the master of the total consumption of material in the mill, and the output of the regulator of water consumption in the discharge of the classifier is connected to the input of the actuator of the electric valve of the regulation of water consumption in the discharge of the classifier, the output of the ore flow sensor is connected to the input of the ore converter the first output of which is connected to the first input of the ore flow controller, the output of which is connected to the input of the actuator of the feeder drive, the second output eobrazovatelya rudy'soedinen flow to the first inlet flow regulator to the mill, the output of which is coupled through the converter flow inlet to the mill with the actuator electric valve controlling water flow into the mill, _to You are a stroke sensor S3 load circulating through circulating load inverter is connected to the second the inputs of the regulator of the flow of water into the mill and the regulator of the flow of ore into the mill, to the third input of which is connected the output of the master of the total consumption of material in the mill, about The reason is that, in order to improve the quality of control, it is equipped with a classifier model block, a first adder and a dynamic filter, and the output of the water flow converter in the mill is connected to the input of the classifier modeled block, the output of which ^ is connected to the first input of the first adder, the second input of which is connected to the output of the pulp density sensor, the output of the dynamic filter is connected to the third input of the first adder, the input of which is connected to the output of the water flow regulator to discharge the classifier, output which is connected to the output of the first adder. SU „„ 1255208 2. The system by π. 1, about t and h ..... This is because block, the classifier target contains six scale blocks, three integrators, two subtraction blocks, the second and third adders, and the output of the first integrator is connected to the inputs of the first and second scale blocks and the input of the second integrator, the output of which is connected to the inputs of the third. and the fourth scale blocks and the third integrator, the output of which is connected to the inputs of the fifth and sixth scale blocks, the outputs of the first and third scale blocks are connected to the bipolar inputs of the first subtraction block, the output of which is connected to the first input of the second adder, the fifth scale blo ..... the outputs of the second and fourth scale units are connected to the first and second inputs of the third adder, to the third input of which the output of the sixth scale unit is connected, the output of the third adder is connected to the first input of the second subtraction unit, the output of the mill water flow converter is connected to its second input , the output of the second subtraction unit is connected to the input of the first integrator, and the output of the second adder is connected to the input of the first adder 3. The system of pops 1 and 2, characterized in that the dynamic filter contains the seventh, eighth, ninth, tenth and eleventh scale blocks, fourth, fifth and sixth integrators, third and fourth subtraction blocks and fourth adder, and the output of the fourth integrator is connected with the inputs of the seventh and eighth scale blocks and the input of the fifth integrator, the output of which is connected to the inputs of the ninth and tenth scale blocks "and the sixth integrator, the output of which through the eleventh scale block is connected to the first input of the fourth the output of the fourth adder is connected to the first input of the third subtraction unit, the output of which is connected to the input of the fourth integrator, the outputs of the seventh and ninth scale blocks are connected to the multipolar inputs of the fourth subtraction block, the output of which is connected to the input of the first adder, the second input of its subtraction unit is connected to the output of the water flow regulator into the classifier drain. , 4. The system according to claim 1, with a rain and the fact that the water flow regulator in the classifier drain contains the fifth and sixth adders, a density adjuster, a reference signal adjuster, four comparison units, the first and second determination units modules, twelfth, thirteenth and fourteenth scale blocks, three multiplication blocks, a logical block, a time delay forming block, a computing block, a first memory block, a filter and differentiation block connected in series, an amplitude detector, a second memory block, a timer, a trigger, a key. and seven an integrator, wherein the density adjuster is connected to the first input of the first comparison unit, the first output of the first memory unit is connected to the first input of the computing unit, the output of the differentiation unit is connected to the first module determination unit, the output of which is connected to the input of the amplitude detector, to the other input of which the output of the time delay forming unit, the output of the differentiation unit is connected to the first input of the logical unit, the output of the seventh integrator. connected to the first input of the sixth adder, to the other input of which the output of the first multiplication unit is connected, to the first input of which, as well as to the first inputs of the fifth adder, the second multiplication unit, the second memory unit and the second module determination unit, the filter output is connected to the input of which the output of the first comparison unit is connected, the output of the amplitude detector is connected to the input of the trigger and the first input of the twelfth scale unit, to the other input of which is connected the first output of the trigger, the second output of which is connected a. the first input of the timer, to the other input of which the first output of the second multiplication flea is connected, also connected to the first input of the time delay generation unit, to the other input of which, as well as to the second input of the computing block, to the first input of the thirteenth scale block and to the input of the fourteenth scale unit, the second output of the first memory unit is connected, to the second input of which and to the third input of the computing unit, the first output of the second comparison unit is connected, the other output of which is connected to the second input the house of the thirteenth scale unit, the output of which is connected to the first input of the third comparison unit, the other input of which, as well as the first input of the second comparison unit and the fourth input of the computing unit are connected to the timer output, the output of the third comparison unit is connected to the first input of the key, the output of which is connected to the second input of the second memory block, the third input of which is connected to the output of the differentiation unit, and the outputs of the second memory block are connected to the second and third inputs of the logical block, the first output of which is connected n with the third input of the first memory block, the fourth input of which and the first input of the third multiplication block are connected to the first input of the computing block, the output of the twelfth scale block is connected to the fifth input, the second output of the logical block is connected to the second input of the second multiplication block, to the third input which is connected to the second input of the computing unit, the second output of the second multiplication unit is connected to the sixth input of the computing unit and to the second input of the fifth adder, the output of which is connected to the second input m of the third multiplication unit, the output of which is connected to the input of the seventh integrator, the second input of the first multiplication unit and the fifth input of the first memory unit is connected to the second output of the computing unit, the output of the fourteenth scale unit is connected to the second input of the second comparison unit, the output of the reference signal generator is connected to the first the input of the fourth comparison unit, to the second input of which the output of the second module determination unit is connected, and the output of the fourth comparison unit is connected to the second key input, the second input of the first Lok comparison - with vyhodom.pervogo adder and the output of the sixth adder - a dynamic filter inputs and actuator regulating the valve mechanism flow in the classifier outlet.