Disturbance rejection of ball mill grinding circuits using DOB and MPC
Disturbance rejection of ball mill grinding circuits using DOB and MPC
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DOI：
10.1016/j.powtec.2009.11.010
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发表时间：
2010-03
影响因子：
5.2
通讯作者：
Jun Yang;Shihua Li;Xisong Chen;Qi Li
中科院分区：
文献类型：
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作者：
Jun Yang;Shihua Li;Xisong Chen;Qi Li
球磨机粉磨回路本质上是一个多变量、强耦合、大时滞和强干扰系统。许多先进的控制方案，包括模型预测控制（MPC）、自适应控制、神经控制、鲁棒控制、最优控制等，在磨削加工领域已有报道。然而，这些控制方案，包括MPC方案通常不能达到令人满意的效果，在存在强干扰。本文引入了在运动控制中广泛应用的扰动观测器（DOB）来估计磨削回路中的扰动。提出了一种由基于DOB的前馈补偿部分和基于MPC的反馈调节部分组成的复合控制方案。在考虑模型失配和外部干扰的情况下，对系统的抗干扰性能进行了严格的分析。仿真结果表明，在控制球磨机磨矿回路时，DOB-MPC方法比MPC方法具有更好的抗干扰性能。
Ball mill grinding circuit is essentially a multivariable system with couplings, time delays and strong disturbances. Many advanced control schemes, including model predictive control (MPC), adaptive control, neuro-control, robust control, optimal control, etc., have been reported in the field of grinding process. However, these control schemes including the MPC scheme usually cannot achieve satisfying effects in the presence of strong disturbances. In this paper, disturbance observer (DOB), which is widely used in motion control applications, is introduced to estimate the disturbances in grinding circuit. A compound control scheme, consisting of a feedforward compensation part based on DOB and a feedback regulation part based on MPC (DOB–MPC), is thus developed. A rigorous analysis of disturbance rejection performance is given with the considerations of both model mismatches and external disturbances. Simulation results demonstrate that when controlling the ball mill grinding circuit, the DOB–MPC method possesses a better performance in disturbance rejection than that of the MPC method.