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Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit
Thesis (PhD)--University of Pretoria, 2009.
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University of Pretoria
2013
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| _version_ | 1867613552099983360 |
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| access_status_str | Open Access |
| author2 | Craig, Ian K. |
| author_browse | Craig, Ian K. |
| author_facet | Craig, Ian K. |
| collection | Thesis |
| dc_rights_str_mv | © 2009, University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. |
| description | Thesis (PhD)--University of Pretoria, 2009. |
| format | Thesis |
| id | oai:repository.up.ac.za:2263/28231 |
| institution | University of Pretoria (South Africa) |
| last_indexed | 2026-06-10T12:37:57.427Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UPSpace — University of Pretoria Institutional Repository |
| publishDate | 2013 |
| publishDateRange | 2013 |
| publishDateSort | 2013 |
| publisher | University of Pretoria |
| publisherStr | University of Pretoria |
| record_format | dspace |
| source_str | UPSpace — University of Pretoria Institutional Repository |
| spelling | oai:repository.up.ac.za:2263/28231 Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit Craig, Ian K. lccoetzee@gmail.com Coetzee, Lodewicus Charl Rom Rnmpc Robust nonlinear model predictive control Run-of-mine ore milling circuit UCTD Thesis (PhD)--University of Pretoria, 2009. This thesis presents a robust nonlinear model predictive controller (RNMPC), nominal nonlinear model predictive controller (NMPC) and single-loop proportional-integral-derivative (PID) controllers that are applied to a nonlinear model of a run-of-mine (ROM) ore milling circuit. The model consists of nonlinear modules for the individual process units of the milling circuit (such as the mill, sump and cyclone), which allow arbitrary milling circuit configurations to be modelled easily. This study aims to cast a complex problem of a ROM ore milling circuit into an RNMPC framework without losing the flexibility of the modularised nonlinear model and implement the RNMPC using open-source software modules. The three controllers are compared in a simulations study to determine the performance of the controllers subject to severe disturbances and model parameter variations. The disturbances include changes to the feed ore hardness, changes in the feed ore size distributions and spillage water being added to the sump. The simulations show that the RNMPC and NMPC perform better than the PID controllers with regard to the economic objectives, assuming full-state feedback is available, especially when actuator constraints become active. The execution time of the RNMPC, however, is much too long for real-time implementation and would require further research to improve the efficiency of the implementation. Electrical, Electronic and Computer Engineering unrestricted 2013-09-07T13:05:44Z 2009-10-02 2013-09-07T13:05:44Z 2009-09-02 2009-10-02 2009-09-27 Thesis Coetzee, LC 2009, Robust Nonlinear Model Predictive Control of a closed run-of-mine ore milling circuit, PhD thesis, University of Pretoria, Pretoria, viewed yymmdd < http://hdl.handle.net/2263/28231 > D676/ag http://hdl.handle.net/2263/28231 http://upetd.up.ac.za/thesis/available/etd-09272009-103725/ © 2009, University of Pretoria. All rights reserved. The copyright in this work vests in the University of Pretoria. No part of this work may be reproduced or transmitted in any form or by any means, without the prior written permission of the University of Pretoria. application/pdf application/pdf application/pdf application/pdf application/pdf application/pdf University of Pretoria |
| spellingShingle | Rom Rnmpc Robust nonlinear model predictive control Run-of-mine ore milling circuit UCTD Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title | Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title_full | Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title_fullStr | Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title_full_unstemmed | Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title_short | Robust nonlinear model predictive control of a closed run-of-mine ore milling circuit |
| title_sort | robust nonlinear model predictive control of a closed run of mine ore milling circuit |
| topic | Rom Rnmpc Robust nonlinear model predictive control Run-of-mine ore milling circuit UCTD |
| url | http://hdl.handle.net/2263/28231 http://upetd.up.ac.za/thesis/available/etd-09272009-103725/ |