Mintek’s Process Control Tools for Milling and Flotation Control

"During 2000 Mintek Developed the PlantStar plant wide control platform for the minerals processing industry. The flexibility of the PlantStar control platform has enabled Mintek to investigate and easily develop new control strategies for both milling and flotation. This includes a Solids Feed Controller, a Safety Limit Controller, Mill Power Optimiser and Flotation Optimiser, amongst others.Processes with long dead times, like a feed belt to a mill, are difficult to control. The solids feed controller was developed for minerals processing plants using a specialised time delay compensator. Using conventional time delay compensators that are purely model based, results in robustness problems due to model uncertainties. The Mintek Solid Feeds Controller makes use of a plant model, but compensates for model inaccuracies, giving more controller stability and a more robust delay compensation algorithm.Often there are more variables on a plant that need to be controlled (process variables) than there are variables to control them with (manipulated variables). Process constraints are often reached and violated. Safety control loops are necessary to prevent constraints being reached. The safety limit controller has been developed to switch smoothly between normal and safety control loops without bumping the process. The safety loop output is chosen in accordance with a predefined list of priorities and whether the respective constraint boundaries are exceeded.The Mill Power Optimiser helps to find the power peak on the mill power curve. It continuously perturb the solids feed rate to learn ‘where’ on the curve the mill ‘was’ and then to drive it continuously toward the middle, maximum power drawn. This insures maximum grind with maximum throughput. It also prevents power dips due to mill overloads by cutting the solids feed to a minimum if the power drop below a specified threshold. Once the power rises above the threshold the solids feed is increased again to an intermediate value from where it start the perturbations again to find the maximum. This makes the milling circuit easier to operate."