Mine filling slurry concentration robust control method

Abstract

The invention provides a mine filling slurry concentration robust control method based on an observer and inversion control. According to the mine filling slurry concentration robust control method, on the basis of establishing a slurry production system model, interference is taken as an additional state of the system and estimated through the observer, finally, an inversion controller is designed through adopting an inversion control method, output of a controller and output of a slurry production system serve as input of the observer, and an interference estimation value of the system is obtained and then used for designing the inversion controller. The mine filling slurry concentration robust control method effectively overcomes the defects of a single type control method, and solves the problem that modeling is difficult in the actual production process; and the robust control method provided by the invention can effectively suppress parameter perturbation and external interference in the production process, can enable system output to quickly and accurately track an expected value, and has good engineering significance.

Description

technical field [0001] The invention relates to the technical field of process control, in particular to a method for robustly controlling the concentration of mine filling slurry. Background technique [0002] With the rapid development of economy and society, people's demand for minerals is increasing day by day. However, although the exploitation of a large number of mineral resources has provided solid material support for economic and social development, over-exploitation and backward mining technology have made environmental problems more and more prominent, seriously affecting the sustainable development of economic society. Especially in our country, quite a few mining enterprises have small production scale and backward technology, and the damage to the environment is more serious, which greatly affects the healthy development of our country's natural ecological environment. The filling mining method is a new mining method, which can make full use of mineral waste ...

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is to provide a method for robust control of mine filling slurry concentration, which effectively overcomes the defects of a single type of control method, and at the same time alleviates the difficulty of modeling the actual production process. Effective suppression of parameter perturbation and external disturbance can make the system output quickly and accurately track the expected value, which has good engineering significance

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