Dong Shijian, Zhang Yuzhu, Zhou Xingxing, Niu Dapeng, Wang Xuesong
Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116, China.
School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China.
ACS Omega. 2023 Feb 10;8(7):6559-6570. doi: 10.1021/acsomega.2c06830. eCollection 2023 Feb 21.
Hydrometallurgy technology can directly deal with low grade and complex materials, improve the comprehensive utilization rate of resources, and effectively adapt to the demand of low carbon and cleaner production. A series of cascade continuous stirred tank reactors are usually applied in the gold leaching industrial process. The equations of leaching process mechanism model are mainly composed of gold conservation, cyanide ion conservation, and kinetic reaction rate equations. The derivation of the theoretical model involves many unknown parameters and some ideal assumptions, which leads to difficulty and imprecision in establishing the accurate mechanism model of the leaching process. Imprecise mechanism models limit the application of model-based control algorithms in the leaching process. Due to the constraints and limitations of the input variables in the cascade leaching process, a novel model-free adaptive control algorithm based on compact form dynamic linearization with integration (ICFDL-MFAC) control factor is first constructed. The constraints between input variables is realized by setting the initial value of the input to the pseudo-gradient and the weight of the integral coefficient. The proposed pure data-driven ICFDL-MFAC algorithm has anti-integral saturation ability and can achieve faster control rate and higher control precision. This control strategy can effectively improve the utilization efficiency of sodium cyanide and reduce environmental pollution. The consistent stability of the proposed control algorithm is also analyzed and proved. Compared with the existing model-free control algorithms, the merit and practicability of the control algorithm are verified by the practical leaching industrial process test. The proposed model-free control strategy has advantages of strong adaptive ability, robustness, and practicability. The MFAC algorithm can also be easily applied to control the multi-input multi-output of other industrial processes.
湿法冶金技术能够直接处理低品位和复杂物料，提高资源综合利用率，并有效适应低碳和清洁生产的需求。在金浸出工业过程中通常会应用一系列级联连续搅拌槽式反应器。浸出过程机理模型的方程主要由金守恒、氰离子守恒以及动力学反应速率方程组成。理论模型的推导涉及许多未知参数和一些理想假设，这导致在建立浸出过程精确机理模型时存在困难且不够精确。不精确的机理模型限制了基于模型的控制算法在浸出过程中的应用。由于级联浸出过程中输入变量的约束和限制，首先构建了一种基于具有积分的紧凑形式动态线性化（ICFDL-MFAC）控制因子的新型无模型自适应控制算法。通过设置输入到伪梯度的初始值和积分系数的权重来实现输入变量之间的约束。所提出的纯数据驱动的ICFDL-MFAC算法具有抗积分饱和能力，能够实现更快的控制速率和更高的控制精度。这种控制策略可以有效提高氰化钠的利用效率并减少环境污染。还对所提出控制算法的一致稳定性进行了分析和证明。通过实际浸出工业过程试验验证了所提出的控制算法与现有无模型控制算法相比的优点和实用性。所提出的无模型控制策略具有自适应能力强、鲁棒性和实用性等优点。MFAC算法也能够很容易地应用于控制其他工业过程的多输入多输出。
