Decentralized Control of a Pilot Flotation Column: A 3 X3 System

This work details the application of a decentralized control strategy to a pilot flotation column working with a two-phase system (water-air). The process is represented by a multivariable system composed of three inputs and three outputs. The selected control variables are the froth depth, the air hold-up and the bias rate, whereas the corresponding manipulated variables are the set-points of the local flow controllers of tailings, air and wash water. All controlled variables are estimated using electrical conductivity based techniques. In particular, the results of a new method for estimating the bias rate, based on the measurement of the volumetric fraction of wash water under the interface, is presented. This method reduces the coupling problem associated to the bias estimation as a difference between feed and tailing water rates. Moreover, the nominal system transfer matrix can be represented by an upper triangular matrix, in such a way that the closed-loop system stability reduces to the stability of the independent control loops. The experimental results show that the closed-loop system performance, particularly that of the bias rate loop, is strongly dependent on the air flow rate, reaching in some cases the saturation point of the controller.