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Evolution of SAG Mill Process Control at the Xstrata

DEVELOPMENT OF A SAG MILL CONTROLLER Owing to the highly variable feed conditions, the mill required the constant attention of plant operators in order to prevent overloading or losing the SAG charge resulting in consequent damage to liners. Focus was therefore placed specifically on improving SAG control. The optimisation project had delivered a mill that should have been set up for success

SAG Mill Control: It Shouldn’t be that Hard E & MJ

SAG mill control fundamentally means managing the load in the mill by adjusting the feed rate of ore to the mill and/or manipulating the rotational speed of the mill. The best way to measure load is to mount the mill on load cells.

Supervisory Fuzzy Expert Controller for Sag Mill Grinding

03/04/2017 This article presents the basis of a supervisory fuzzy expert controller for SAG mill circuits. Although leading companies in control and automation have their own commercial packages, this supervisory controller is coded in Matlab using Mamdani method and is able to connect to plant lower level control system. In the proposed controller, fuzzy system calculates optimum set points to the

SAG Mill Optimization using Model Predictive Control

SAG MILL OPTIMIZATION USING MODEL PREDICTIVE CONTROL . W.A. Gough, P.Eng. ANDRITZ AUTOMATION Ltd. 13700 International Place, Suite 100 . Richmond, BC Canada V6V 2X8 ([email protected]) SAG MILL OPTIMIZATION USING MODEL PREDICTIVE CONTROL . ABSTRACT Semi-Autogenous Grinding mills can be optimized for maximum ore throughput or

Model Predictive Control for an Industrial SAG Mill

this controller a MIMO-ARX based MPC. We use an industrial Semi-Autogenous Grinding (SAG) mill to illustrate the performance of this controller. SAG mills are the primary units in a grinding chain and also the most power consuming units. Therefore, improved control of SAG mills has the potential to signi cantly improve e ciency and reduce the speci c energy consumption for mineral processes

Model Predictive Control of SAG Mills and Flotation Circuits

Precise control of SAG mill loading and flotation cell level is critical to maximize production and recovery in mineral concentrators. While expert systems are commonly used to optimize these process operations, the underlying regulatory control is often implemented using traditional proportional-integral­ derivative (PID) controllers or rule-based schemes in the expert systems themselves

SAG Mill Process Control Grinding & Classification

To participate in the 911Metallurgist Forums, be sure to JOIN & LOGIN Use Add New Topic to ask a New Question/Discussion about Grinding. OR Select a Topic that Interests you. Use Add Reply = to Reply/Participate in a Topic/Discussion (most frequent). Using Add Reply allows you to Attach Images or PDF files and provide a more complete input. Use Add Comment = to comment on someone else’s

SAG Mill Expert System Grinding Circuit

The original process control interface consisted of a series of stand alone 4-20 ma controllers requiring the operators to dial in set points for the numerous processing parameters. In many cases these controls were set to their manual mode of operation with the operators making all the dynamic process changes. This procedure was very time consuming and labor intensive with results tied to

Expert mill control at AngloGold Ashanti

The ROM SAG mill circuit—a brief description The typical ROM SAG mill circuit is depicted in Figure 1. The circuit is usually closed with either a screen or, more commonly, a cyclone for product size classification. The focus of control can be divided into two parts, viz. the mill and the cyclone. The importance of cyclone performance should not be underestimated as it is directly related to

What's the Difference Between SAG Mill and Ball Mill

SAG mill is usually used to grind large pieces into small pieces, especially for the pre-processing of grinding circuits, thus also known as primary stage grinding machine. Based on the high throughput and coarse grind, AG mills produce coarse grinds often classify mill discharge with screens and trommel.

Model predictive control of semiautogenous mills (sag

01/10/2014 2.4. Multivariable predictive control. In the present work, a three-input-three-output scheme of control was performed. The total water feed to the mill (the feed water flow rate was added to the dilution water flow rate, so they could be specified separately, but for the SAG mill model, the total water content was the variable of interest), the fresh ore feed rate, and the mill rotation speed

Model Predictive Control for an Industrial SAG Mill

this controller a MIMO-ARX based MPC. We use an industrial Semi-Autogenous Grinding (SAG) mill to illustrate the performance of this controller. SAG mills are the primary units in a grinding chain and also the most power consuming units. Therefore, improved control of SAG mills has the potential to signi cantly improve e ciency and reduce the speci c energy consumption for mineral processes

Advanced Controller for Grinding Mills: Results from a

(MPC) is described for a SAG mill circuit in a bauxite processing refinery at Wagerup, Australia (Refs: Gopinath, Mathur et al, 1995 and Le Page, Freeman et al 1996, Luse, Mathur et al 1997). The MPC controller presented in this paper is perhaps the first successful implementation of MPC for ball mills described in the literature. Current MPC software has its roots in a set of heuristic, model

Supervisory Fuzzy Expert Controller for Sag Mill Grinding

(2017). Supervisory Fuzzy Expert Controller for Sag Mill Grinding Circuits: Sungun Copper Concentrator. Mineral Processing and Extractive Metallurgy Review: Vol. 38, No. 3, pp. 168-179.

INFERENTIAL MEASUREMENT OF SAG MILL PARAMETERS V: MPC

performance of the MPC controller simulation is compared to the that of a simulated PID controller. A SAG mill operating curve is developed and projected into three dimensional space for visualisation. MPC controller actions are super-imposed and discussed in terms of moving the process from one set of conditions to another. Translating the simulation study results to the real plant is an

Features Of Sag Mills

Sag Mill Controller 6. Working principle of sag mills is that the rotating drums causes traction and fiction between the ore particles and pebbles. Sag mill is a tubular running device and horizontal type having two warehouses. Its grid type and sag mill outside runs along the gear. Material evenly and spirally enters sag mill first warehouse along with the hollow axis input material by its

[PDF] Expert mill control at AngloGold Ashanti Semantic

The typical South African ROM (run of mine) SAG (semi-autogenous) milling circuit is described with the emphasis on the process control systems employed. The history of the circuit (process) controller is then discussed briefly to illustrate the differences between historical and new techniques. The evolutions of the control philosophy, as well as the financial benefits, are described.

Electronic ear in SAG mill Automation & Control

25/08/2004 We have an application in a SAG Mill where we have installed an electronic ear in order to listen the noise produced by the balls falling to the bottom of the mill. Our idea is to convert the amplitude and frequency of noise to a 4-20mA signal (or something else) in order to determine if the ball is crushing the mineral or the mill lining. Any help will be appreciated. Many thanks, Hernan Vega

Gearless mill drives Grinding ABB

Go gearless to meet your business objetives by exceeding standard availability targets in your grinding operations. ABB’s GMD is the most powerful mill drive system in the market to power semiautogenous (SAG), ball and autogenous (AG) mills, This ’workhorse’ for grinding operations combines a robust, service-friendly and fit for purpose

Welcome to Manta Controls Manta Controls

Welcome to Manta Controls Manta Controls ® offers specialised consulting services in optimisation process control, general process control, safety systems and process information management systems. We have extensive practical operational experience on various significant mine sites across Australia, Canada and Africa.

Model Predictive Control for an Industrial SAG Mill

this controller a MIMO-ARX based MPC. We use an industrial Semi-Autogenous Grinding (SAG) mill to illustrate the performance of this controller. SAG mills are the primary units in a grinding chain and also the most power consuming units. Therefore, improved control of SAG mills has the potential to signi cantly improve e ciency and reduce the speci c energy consumption for mineral processes

Advanced Controller for Grinding Mills: Results from a

(MPC) is described for a SAG mill circuit in a bauxite processing refinery at Wagerup, Australia (Refs: Gopinath, Mathur et al, 1995 and Le Page, Freeman et al 1996, Luse, Mathur et al 1997). The MPC controller presented in this paper is perhaps the first successful implementation of MPC for ball mills described in the literature. Current MPC software has its roots in a set of heuristic, model

Supervisory Fuzzy Expert Controller for Sag Mill Grinding

(2017). Supervisory Fuzzy Expert Controller for Sag Mill Grinding Circuits: Sungun Copper Concentrator. Mineral Processing and Extractive Metallurgy Review: Vol. 38, No. 3, pp. 168-179.

INFERENTIAL MEASUREMENT OF SAG MILL PARAMETERS V: MPC

performance of the MPC controller simulation is compared to the that of a simulated PID controller. A SAG mill operating curve is developed and projected into three dimensional space for visualisation. MPC controller actions are super-imposed and discussed in terms of moving the process from one set of conditions to another. Translating the simulation study results to the real plant is an

[PDF] Expert mill control at AngloGold Ashanti Semantic

The typical South African ROM (run of mine) SAG (semi-autogenous) milling circuit is described with the emphasis on the process control systems employed. The history of the circuit (process) controller is then discussed briefly to illustrate the differences between historical and new techniques. The evolutions of the control philosophy, as well as the financial benefits, are described.

Gearless AG/SAG Mills TON Automation PDF

TON Minerals Industries, Inc. 240 Arch Street, P.O. Box 15312 York, Pennsylvania,USA 17405-7312 Phone: + 1 717 843 8671 +1 717 845 5154 TONminerals E-mail: [email protected] Gearless Autogenous/ Semi-Autogenous Mills. Open the catalog to page 1. The sights and sounds of large grinding mills in operation are

Gearless mill drives Grinding ABB

Go gearless to meet your business objetives by exceeding standard availability targets in your grinding operations. ABB’s GMD is the most powerful mill drive system in the market to power semiautogenous (SAG), ball and autogenous (AG) mills, This ’workhorse’ for grinding operations combines a robust, service-friendly and fit for purpose

Welcome to Manta Controls Manta Controls

Welcome to Manta Controls Manta Controls ® offers specialised consulting services in optimisation process control, general process control, safety systems and process information management systems. We have extensive practical operational experience on various significant mine sites across Australia, Canada and Africa.

ABB ring geared mill drives YouTube

05/06/2013 For more information: bit.ly/15Iu5GGABB continuously extends technical and performance frontiers of ring-geared mill drive technology to fit site requ...

Ring-geared mill drives Grinding ABB

Mill application features. Frozen charge protection Detects frozen charge in the mill, minimizing equipment wear and liner replacements.; Coupling supervision Detects if a failure or slippage occurs in the couplings and stops the system in case, preventing major damages.; Stand-still detection Prevents the motors from re-starting if the mill is still rocking or moving after a stop