Methods, systems, electronic equipment and storage media for controlling the dry ore flow at the bottom of a thickener

Abstract

This application provides a method, system, electronic device, and storage medium for controlling the underflow dry ore quantity of a thickener, relating to the field of equipment control technology. The method includes: acquiring historical underflow parameters, real-time underflow parameters, real-time scraper parameters, and real-time underflow pump pool level of the thickener; determining the control cycle of the thickener based on the historical underflow parameters; constructing a scraper control model based on the real-time underflow parameters and real-time scraper parameters within each control cycle; constructing a cascade control model of the underflow dry ore quantity and underflow pump speed of the thickener based on the real-time underflow parameters; constructing a safety protection mechanism based on the real-time scraper parameters and real-time underflow pump pool level; and controlling the underflow dry ore quantity of the thickener based on the scraper control model, the cascade control model, and the safety protection mechanism. This application constructs a collaborative control closed loop with underflow density as the leader, underflow volumetric flow rate as the mediator, and underflow pump speed as the execution means, effectively achieving stable control of the underflow dry ore quantity.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, specifically to a method, system, electronic device and storage medium for controlling the dry ore flow at the bottom of a thickener. Background Technology

[0002] A thickener is a solid-liquid separation device widely used in mining, metallurgy, and environmental protection industries. It is primarily used to concentrate and separate solid particles or slurries from suspensions. The stability control of the dry ore output from the thickener's underflow has a direct or indirect but significant impact on the overall production process.

[0003] Due to the complex production process mechanism of thickeners, which exhibits significant nonlinear and large hysteresis characteristics, coupled with substantial fluctuations in upstream feed and the difficulty in real-time monitoring and precise control of the settling state within the thickener, operators are unable to make effective pre-adjustments. This adjustment hysteresis makes it difficult to achieve stable control of the dry ore flow underflow from the thickener, thus affecting the overall control effect. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, this application provides a method, system, electronic device and storage medium for controlling the dry ore quantity of thickener underflow, which effectively solves the problem that it is difficult to achieve stable control of the dry ore quantity of thickener underflow.

[0005] In a first aspect, this application provides a method for controlling the dry ore quantity in the thickener bottom flow, the method comprising: Obtain historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; The control cycle of the thickener is determined based on the historical underflow parameters. Within each control cycle, a rake frame control model is constructed based on the real-time bottom flow parameters and the real-time rake frame parameters; Based on the real-time underflow parameters, a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener is constructed. A safety protection mechanism is constructed based on the real-time rake frame parameters and the real-time bottom flow pump pool liquid level. The underflow dry ore volume of the thickener is controlled based on the rake frame control model, the cascade control model, and the safety protection mechanism.

[0006] In an optional implementation, the real-time underflow parameters include real-time underflow density, real-time underflow volumetric flow rate, and ore dry weight ratio. The step of constructing a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener based on the real-time underflow parameters includes: The desired dry ore volume of the thickener is calculated based on the real-time underflow density, the real-time underflow volumetric flow rate, and the ore dry weight ratio. The desired underflow volumetric flow rate of the thickener is calculated based on the desired underflow dry ore volume and the real-time underflow density. The cascade control model is constructed based on the desired underflow volumetric flow rate and the real-time underflow volumetric flow rate.

[0007] In an optional implementation, the formula for calculating the desired underflow dry ore volume is as follows:

[0008] In the above formula, M ( t )express t Expected dry ore volume at any given time v ( t )express t Real-time bottom flow volumetric flow rate at any given moment express t Real-time undercurrent density at any given moment This indicates the dry weight ratio of the ore.

[0009] In an optional implementation, the cascade control model is constructed based on the PID model, and the expression of the cascade control model is as follows:

[0010] In the above formula, u ( t )express t The underflow pump speed of the thickener at that moment. e ( t )express t The deviation between the expected underflow volumetric flow rate and the real-time underflow volumetric flow rate at any given time. K P This represents the proportionality coefficient. T I Represents the differential time constant. T D This represents the integration time constant.

[0011] In an optional implementation, the real-time harrow frame parameters include the real-time harrow frame movement speed and the real-time harrow frame movement time, and the expression of the harrow frame control model is as follows:

[0012] In the above formula, express t The position of the rake frame of the thickener at that moment. express t- The position of the rake frame of the thickener at time 1. This indicates the real-time movement speed of the rake frame. This indicates the real-time action time of the rake frame. This represents the desired underflow density of the thickener. This indicates the upper limit of the fluctuation range controlled by the bottom current density. This indicates the lower limit of the fluctuation range for bottom current density control.

[0013] In an optional implementation, the real-time rake frame parameters include the rake frame torque, and the safety protection mechanism constructed based on the real-time rake frame parameters and the real-time underflow pump pool level includes: Based on the rake frame torque and the rake frame operating height, the following safety protection mechanism for the rake frame is constructed:

[0014] In the above formula, express t The position of the rake frame of the thickener at that moment. express t- The position of the rake frame of the thickener at time 1. This indicates the height of the rake frame's movement, and it is greater than 0. This indicates the torque of the rake frame. Indicates the safe torque of the rake frame; Based on the real-time underflow pump tank liquid level, the following underflow pump tank liquid level safety protection mechanism is constructed:

[0015] In the above formula, u ( t )express t The underflow pump speed of the thickener at that moment. u ( t -1) indicates t The underflow pump speed of the thickener at time -1. This indicates the velocity increment of the underflow pump, and is greater than 0. h ( t )express t Real-time bottom flow pump tank level at any given moment. h 1 indicates the maximum bottom flow pump tank level. h 2 indicates the minimum bottom flow pump pool level.

[0016] In an optional implementation, the historical undercurrent parameter is the historical undercurrent density, and determining the control cycle of the thickener based on the historical undercurrent parameter includes: Construct a historical underflow density variation curve based on the historical underflow density of the thickener; The control period is defined as the time interval at which the historical bottom flow density changes abruptly after the rake action, based on the historical bottom flow density change curve.

[0017] Secondly, this application provides a control system for the dry ore volume of a thickener bottom flow, the system comprising: The parameter acquisition module is used to acquire the historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; A cycle determination module is used to determine the control cycle of the thickener based on the historical underflow parameters. The first construction module is used to construct a harrow frame control model based on the real-time bottom flow parameters and the real-time harrow frame parameters in each of the control cycles; The second construction module is used to construct a cascade control model of the underflow dry ore quantity and underflow pump speed of the thickener based on the real-time underflow parameters. The third construction module is used to construct a safety protection mechanism based on the real-time rake frame parameters and the real-time bottom flow pump pool liquid level. The parameter control module is used to control the underflow dry ore volume of the thickener based on the rake frame control model, the cascade control model, and the safety protection mechanism.

[0018] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the thickener bottom flow dry ore quantity control method as described in the first aspect of this application.

[0019] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the thickener bottom flow dry ore quantity control method as described in the first aspect of this application.

[0020] The thickener underflow dry ore quantity control method, system, electronic equipment, and storage medium provided in this application, through deep integration of process mechanisms and real-time parameters, construct a collaborative control closed loop with underflow density as the guide, underflow volumetric flow rate as the mediator, and underflow pump speed as the execution means, achieving dynamic and stable characterization and precise control of underflow dry ore quantity. This significantly improves the adjustment inaccuracies caused by large lags, strong nonlinearity, and upstream disturbances in traditional thickening processes. By controlling the underflow density and underflow volumetric flow rate of the thickener within a reasonable range, stable control of the underflow dry ore quantity is achieved. Simultaneously, the scraper frame operating status and the liquid level in the downstream pump pool are incorporated into the safety constraint system, balancing control performance and inherent equipment safety. This effectively avoids typical operating condition accidents such as scraper frame overload, pump pool cavitation, or overflow, effectively improving the reliability and adaptability of the thickener in the entire intelligent mining process. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the thickener bottom flow dry ore quantity control method provided in the embodiments of this application; Figure 2 This is a diagram illustrating the underflow density control effect of the thickener in the embodiments of this application; Figure 3 This is a diagram illustrating the effect of controlling the underflow dry ore volume of the thickener in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the thickener bottom flow dry ore quantity control system provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0023] Explanation of key component symbols: 200. Thickener bottom flow dry ore quantity control system; 210. Parameter acquisition module; 220. Period determination module; 230. First construction module; 240. Second construction module; 250. Third construction module; 260. Parameter control module; 300. Electronic equipment; 310. Processor; 320. Communication interface; 330. Memory; 340. Communication bus. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be further described clearly and completely below with reference to the accompanying drawings of the embodiments. It should be noted that the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0027] Currently, real-time monitoring of key production conditions has been largely achieved at the thickening site. Stable control of the dry ore flow from the thickener underflow is a crucial aspect of mineral processing. However, due to its complex process mechanism, strong lag, and significant upstream interference, traditional control methods have limited effectiveness. Furthermore, large fluctuations in upstream feed and the inability to detect and control settling within the thickener itself hinder pre-adjustment by production personnel, resulting in adjustment lags and making it difficult to achieve stable control of the dry ore flow from the thickener underflow, thus impacting the overall control effectiveness.

[0028] Example 1 This application provides a method for controlling the amount of dry ore in the underflow of a thickener, which effectively solves the problem that it is difficult to achieve stable control of the amount of dry ore in the underflow of a thickener. Figure 1 This is a schematic diagram of the process for controlling the dry ore volume at the bottom of the thickener provided in this application, as shown below. Figure 1 As shown, the method specifically includes the following steps: S100: Obtain historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener.

[0029] In this embodiment of the application, the underflow dry ore volume is controlled for the thickener in the ore dressing plant. The historical underflow parameter is the historical underflow density data of the thickener. This historical underflow density data can be retrieved from the historical data storage and analysis module that integrates and archives the production data related to the thickener process in the software.

[0030] In this embodiment, the real-time underflow parameters include, but are not limited to, real-time underflow density, real-time underflow volumetric flow rate, and ore dry weight ratio. Specifically, a slurry flow meter can be installed on the underflow discharge pipe to obtain the real-time underflow density, which reflects the discharge velocity. The underflow density can be monitored online using a concentration analyzer to obtain the real-time underflow density and understand the changes in slurry concentration. The ore dry weight ratio can be periodically measured and obtained by a laboratory as a key correction factor.

[0031] In this embodiment, the real-time rake frame parameters include the real-time rake frame movement speed and the real-time rake frame movement time. The real-time rake frame movement speed can be monitored by directly measuring the displacement change per unit time by installing a displacement sensor or rotary encoder on the rake frame lifting mechanism. The real-time rake frame movement time can be monitored by using a PLC to collect motor start / stop signals, starting the timer when the drive contactor is engaged and stopping when it is disengaged, accumulating the pure movement time.

[0032] Understandably, the real-time liquid level in the underflow pump pool can be obtained using either a non-contact or contact level gauge.

[0033] S200. Determine the control cycle of the thickener based on historical underflow parameters.

[0034] As an optional implementation of this application, a historical underflow density variation curve is first constructed based on the historical underflow density of the thickener. Since the rake frame movement disturbs the settling layer, the underflow density fluctuates in stages. Specifically, when the rake frame scraper passes through the high-concentration zone, the underflow density rises sharply, and as the disturbance dissipates, the underflow density gradually returns to a stable state. Therefore, the time interval between the historical underflow density jumps following the rake frame movement can be used as the control period, i.e., the time span from when the rake frame movement triggers a density jump to when the density re-enters the steady-state range. This time interval directly reflects the time required for material recombination inside the thickener; setting it as the control period ensures that the adjustment command is synchronized with the material settling rhythm.

[0035] Based on this, a dynamic control cycle setting strategy is used to replace the traditional fixed control cycle. During periods of rapid density change, the adjustment frequency is kept in line with the disturbance rhythm, while the adjustment frequency is reduced during periods of stability. By responding in real time to the nonlinear characteristics of the settling process, it is possible to avoid rake accidents caused by adjustment lag, and also to prevent system oscillations caused by over-adjustment, ultimately achieving precise control of underflow concentration.

[0036] S300: Construct a rake frame control model based on real-time underflow parameters and real-time rake frame parameters within each control cycle.

[0037] In this embodiment, a rake frame control model is constructed based on the relationship between the real-time underflow density of the thickener and the desired underflow density. By periodically determining whether the density difference between the two exceeds a reasonable range in each control cycle, if it does not exceed the reasonable range, no rake frame action is performed; if it exceeds the reasonable range, one control trigger is initiated, thereby controlling the underflow density within the desired range. The expression of the rake frame control model is as follows:

[0038] In the above formula, express t The position of the rake frame of the thickener at any given time. express t- The position of the rake frame of the thickener at time 1. Indicates the real-time speed of the rake frame movement. This indicates the real-time movement time of the rake frame. This represents the desired underflow density of the thickener, which can be empirical data determined by production personnel based on the overall production conditions of the thickener. This indicates the upper limit of the fluctuation range controlled by the bottom current density. This indicates the lower limit of the fluctuation range for bottom current density control.

[0039] Understandably, by testing different harrow frame action times and running them continuously for a certain period of time, and by analyzing and calculating the standard deviation of the underflow density data, the harrow frame action time corresponding to the smaller deviation can be used as a reasonable harrow raising and lowering time, which can make the real-time underflow density adjustment rapid and stable.

[0040] S400: Construct a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener based on real-time underflow parameters.

[0041] In this embodiment, a cascade control model can be established between the underflow dry ore quantity, underflow flow rate, and underflow pump speed to optimize parameters such as the flow rate adjustment range and amplitude, and the underflow pump speed adjustment range and amplitude. Specifically, the following steps are included: First, the expected dry ore volume of the thickener is calculated based on the real-time underflow density, real-time underflow volumetric flow rate, and ore dry weight ratio. The formula for calculating the expected dry ore volume is as follows:

[0042] In the above formula, M ( t )express t Expected dry ore volume at any given time v ( t )express t Real-time bottom flow volumetric flow rate at any given moment express t Real-time undercurrent density at any given moment This indicates the dry weight ratio of the ore.

[0043] Secondly, the desired underflow volumetric flow rate of the thickener is calculated based on the desired underflow dry ore volume and the real-time underflow density. The calculation formula is as follows:

[0044] In the above formula, v 0 represents the desired underflow volumetric flow rate of the thickener.

[0045] Finally, a cascade control model is constructed based on the desired underflow volumetric flow rate and the real-time underflow volumetric flow rate. This cascade control model is based on the PID model, and its expression is as follows:

[0046] In the above formula, u ( t )express t The underflow pump speed of the thickener at that moment. e (t )express t The deviation between the expected bottom flow volumetric flow rate and the real-time bottom flow volumetric flow rate, i.e. e ( t )= v 0 -v ( t ), K P This represents the proportionality coefficient. T I Represents the differential time constant. T D This represents the integration time constant.

[0047] S500: A safety protection mechanism is constructed based on real-time rake frame parameters and real-time underflow pump pool liquid level.

[0048] In this embodiment, a rake frame safety protection mechanism is constructed based on the rake frame torque and the rake frame operating height to prevent damage to the thickener's rake frame. The rake frame safety protection mechanism is characterized as follows:

[0049] In the above formula, express t The position of the rake frame of the thickener at that moment. express t- The position of the rake frame of the thickener at time 1. This indicates the height of the rake frame movement, and it is greater than 0. Indicates the torque of the rake frame. This indicates the safe torque of the rake frame.

[0050] A safety protection mechanism for the underflow pump tank level is constructed based on the real-time liquid level to prevent the underflow pump tank from evacuating and overflowing. The characteristics of this safety protection mechanism are as follows:

[0051] In the above formula, u ( t )express t The underflow pump speed of the thickener at any given time. u ( t -1) indicates t The underflow pump speed of the thickener at time -1 This indicates the velocity increment of the underflow pump, and is greater than 0. h ( t )express t Real-time bottom flow pump tank level at any given moment. h 1 indicates the maximum bottom flow pump tank level. h 2 indicates the minimum bottom flow pump pool level.

[0052] S600 controls the underflow dry ore volume of the thickener based on the rake frame control model, cascade control model, and safety protection mechanism.

[0053] In the embodiments of this application, the underflow dry ore volume of the thickener can be kept within a stable range based on the rake frame control model, cascade control model and safety protection mechanism.

[0054] First, during the thickener underflow density control process, the rising and falling of the rake frame is controlled by calling the rake frame control model. Figure 2 This is a diagram illustrating the underflow density control effect of the thickener in an embodiment of this application. Figure 2 As shown, the underflow density of the thickener fluctuates within a reasonable range around the desired underflow density.

[0055] Secondly, in the process of ensuring the stability of the underflow density of the thickener through the rake frame control model, the underflow pump speed can be calculated and controlled by calling the cascade control model, and the range of underflow pump speed and the rising and falling height of the rake frame can be determined according to the safety protection mechanism. Figure 3 This is a diagram illustrating the effect of controlling the underflow dry ore volume of the thickener in the embodiments of this application, as shown below. Figure 3 As shown, by controlling the speed of the underflow pump, the underflow volumetric flow rate of the thickener is ensured to fluctuate around the calculated desired underflow volumetric flow rate, thereby achieving stable control of the dry ore underflow of the thickener.

[0056] The thickener underflow dry ore quantity control method provided in this application, through deep integration of process mechanism and real-time parameters, constructs a collaborative control closed loop with underflow density as the guide, underflow volumetric flow rate as the mediator, and underflow pump speed as the execution means, achieving dynamic and stable characterization and precise control of underflow dry ore quantity. Simultaneously, the scraper frame operating status and the liquid level in the bottom pump pool are incorporated into the safety constraint system, balancing control performance and inherent equipment safety, effectively avoiding typical operating condition accidents such as scraper frame overload, pump pool cavitation, or overflow, and effectively improving the reliability and adaptability of the thickener in the entire process of intelligent mining.

[0057] Example 2 Based on the same technical concept as Embodiment 1 above, this application also provides a thickener bottom flow dry ore quantity control system. Figure 4 This is a schematic diagram of the thickener bottom flow dry ore quantity control system provided in an embodiment of this application, as shown below. Figure 4 As shown, the thickener bottom flow dry ore quantity control system 200 includes: The parameter acquisition module 210 is used to acquire the historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener.

[0058] The cycle determination module 220 is used to determine the control cycle of the thickener based on historical underflow parameters.

[0059] The first construction module 230 is used to construct a rake frame control model based on real-time bottom flow parameters and real-time rake frame parameters in each control cycle.

[0060] The second building module 240 is used to build a cascade control model of the underflow dry ore quantity and underflow pump speed of the thickener based on real-time underflow parameters.

[0061] The third building module 250 is used to build a safety protection mechanism based on real-time rake frame parameters and real-time bottom flow pump pool liquid level.

[0062] The parameter control module 260 is used to control the underflow dry ore volume of the thickener based on the rake frame control model, cascade control model and safety protection mechanism.

[0063] The thickener underflow dry ore quantity control system provided in this application significantly improves the regulation inaccuracy problem caused by large lag, strong nonlinearity and upstream disturbance in the traditional thickening process. By controlling the underflow density and underflow volumetric flow rate of the thickener to fluctuate within a reasonable range, stable control of the underflow dry ore quantity is achieved.

[0064] It is understood that the implementation method of the thickener bottom flow dry ore quantity control method in the above embodiment 1 is also applicable to this embodiment and can achieve the same technical effect, so it will not be described again here.

[0065] Example 3 Based on the same concept, this application also provides an electronic device. Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 5 As shown, the electronic device 300 may include a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute the steps of the thickener bottom flow dry ore quantity control method as described in the above embodiments. For example, it includes: S100: Obtain historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; S200. Determine the control cycle of the thickener based on historical underflow parameters; S300. Construct a rake frame control model based on real-time underflow parameters and real-time rake frame parameters in each control cycle; S400. Construct a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener based on real-time underflow parameters. S500: A safety protection mechanism is constructed based on real-time rake frame parameters and real-time underflow pump pool liquid level. S600 controls the underflow dry ore volume of the thickener based on the rake frame control model, cascade control model, and safety protection mechanism.

[0066] The processor 310 can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.

[0067] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0068] The memory 330 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the processor, etc. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0069] Example 4 Based on the same concept, embodiments of this application also provide a computer-readable storage medium storing a computer program containing at least one piece of code executable by a master control device to control the master control device to implement the steps of the thickener bottom flow dry ore quantity control method as described in the above embodiments. For example, it includes: S100: Obtain historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; S200. Determine the control cycle of the thickener based on historical underflow parameters; S300. Construct a rake frame control model based on real-time underflow parameters and real-time rake frame parameters in each control cycle; S400. Construct a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener based on real-time underflow parameters. S500: A safety protection mechanism is constructed based on real-time rake frame parameters and real-time underflow pump pool liquid level. S600 controls the underflow dry ore volume of the thickener based on the rake frame control model, cascade control model, and safety protection mechanism.

[0070] Based on the same technical concept, this application also provides a computer program, which, when executed by a main control device, is used to implement the above-described method embodiments.

[0071] The computer program may be stored, in whole or in part, on a computer-readable storage medium packaged with the processor, or in part or in whole on a memory not packaged with the processor.

[0072] Based on the same technical concept, this application also provides a processor for implementing the above-described method embodiments. The processor can be a chip.

[0073] In summary, the thickener underflow dry ore quantity control method, system, electronic equipment, and storage medium provided in this application, through deep integration of process mechanisms and real-time parameters, construct a collaborative control closed loop with underflow density as the guide, underflow volumetric flow rate as the mediator, and underflow pump speed as the execution means, achieving dynamic and stable characterization and precise control of underflow dry ore quantity. This significantly improves the adjustment inaccuracies caused by large lags, strong nonlinearity, and upstream disturbances in traditional thickening processes. By controlling the underflow density and underflow volumetric flow rate of the thickener within a reasonable range, stable control of the underflow dry ore quantity is achieved. Simultaneously, by incorporating the scraper frame operating status and the liquid level in the downstream pump pool into the safety constraint system, balancing control performance and inherent equipment safety, typical operating condition accidents such as scraper frame overload, pump pool cavitation, or overflow are effectively avoided, significantly improving the reliability and adaptability of the thickener in the entire intelligent mining process.

[0074] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0075] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling the dry ore flow rate at the bottom of a thickener mill, characterized in that, The method includes: Obtain historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; The control cycle of the thickener is determined based on the historical underflow parameters. Within each control cycle, a rake frame control model is constructed based on the real-time bottom flow parameters and the real-time rake frame parameters; Based on the real-time underflow parameters, a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener is constructed. A safety protection mechanism is constructed based on the real-time rake frame parameters and the real-time bottom flow pump pool liquid level. The underflow dry ore volume of the thickener is controlled based on the rake frame control model, the cascade control model, and the safety protection mechanism.

2. The method for controlling the dry ore flow at the bottom of the thickener according to claim 1, characterized in that, The real-time underflow parameters include real-time underflow density, real-time underflow volumetric flow rate, and ore dry weight ratio. The step of constructing a cascade control model for the underflow dry ore quantity and underflow pump speed of the thickener based on the real-time underflow parameters includes: The desired dry ore volume of the thickener is calculated based on the real-time underflow density, the real-time underflow volumetric flow rate, and the ore dry weight ratio. The desired underflow volumetric flow rate of the thickener is calculated based on the desired underflow dry ore volume and the real-time underflow density. The cascade control model is constructed based on the desired underflow volumetric flow rate and the real-time underflow volumetric flow rate.

3. The method for controlling the dry ore flow at the bottom of the thickener according to claim 2, characterized in that, The formula for calculating the expected amount of dry ore from the underflow is as follows: In the above formula, M ( t )express t Expected dry ore volume at any given time v ( t )express t Real-time bottom flow volumetric flow rate at any given moment express t Real-time undercurrent density at any given moment This indicates the dry weight ratio of the ore.

4. The method for controlling the dry ore flow at the bottom of the thickener according to claim 3, characterized in that, The cascade control model is built based on the PID model, and its expression is as follows: In the above formula, u ( t )express t The underflow pump speed of the thickener at that moment. e ( t )express t The deviation between the expected underflow volumetric flow rate and the real-time underflow volumetric flow rate at any given time. K P This represents the proportionality coefficient. T I Represents the differential time constant. T D This represents the integration time constant.

5. The method for controlling the dry ore flow at the bottom of the thickener according to claim 1, characterized in that, The real-time harrow frame parameters include the real-time harrow frame movement speed and the real-time harrow frame movement time. The expression for the harrow frame control model is as follows: In the above formula, express t The position of the rake frame of the thickener at that moment. express t- The position of the rake frame of the thickener at time 1. This indicates the real-time movement speed of the rake frame. This indicates the real-time action time of the rake frame. This represents the desired underflow density of the thickener. This indicates the upper limit of the fluctuation range controlled by the bottom current density. This indicates the lower limit of the fluctuation range for bottom current density control.

6. The method for controlling the dry ore flow at the bottom of the thickener according to claim 1, characterized in that, The real-time rake frame parameters include the rake frame torque. The safety protection mechanism constructed based on the real-time rake frame parameters and the real-time underflow pump tank level includes: Based on the rake frame torque and the rake frame operating height, the following safety protection mechanism for the rake frame is constructed: In the above formula, express t The position of the rake frame of the thickener at that moment. express t- The position of the rake frame of the thickener at time 1. This indicates the height of the rake frame's movement, and it is greater than 0. This indicates the torque of the rake frame. Indicates the safe torque of the rake frame; Based on the real-time underflow pump tank liquid level, the following underflow pump tank liquid level safety protection mechanism is constructed: In the above formula, u ( t )express t The underflow pump speed of the thickener at that moment. u ( t -1) indicates t The underflow pump speed of the thickener at time -1. This indicates the velocity increment of the underflow pump, and is greater than 0. h ( t )express t Real-time bottom flow pump tank level at any given moment. h 1 indicates the maximum bottom flow pump tank level. h 2 indicates the minimum bottom flow pump pool level.

7. The method for controlling the dry ore flow at the bottom of the thickener according to claim 1, characterized in that, The historical undercurrent parameter is the historical undercurrent density, and determining the control cycle of the thickener based on the historical undercurrent parameter includes: Construct a historical underflow density variation curve based on the historical underflow density of the thickener; The control period is defined as the time interval at which the historical bottom flow density changes abruptly after the rake action, based on the historical bottom flow density change curve.

8. A control system for the dry ore flow at the bottom of a thickener, characterized in that, The system includes: The parameter acquisition module is used to acquire the historical underflow parameters, real-time underflow parameters, real-time rake frame parameters, and real-time underflow pump pool level of the thickener; A cycle determination module is used to determine the control cycle of the thickener based on the historical underflow parameters. The first construction module is used to construct a harrow frame control model based on the real-time bottom flow parameters and the real-time harrow frame parameters in each of the control cycles; The second construction module is used to construct a cascade control model of the underflow dry ore quantity and underflow pump speed of the thickener based on the real-time underflow parameters. The third construction module is used to construct a safety protection mechanism based on the real-time rake frame parameters and the real-time bottom flow pump pool liquid level. The parameter control module is used to control the underflow dry ore volume of the thickener based on the rake frame control model, the cascade control model, and the safety protection mechanism.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the thickener bottom flow dry ore quantity control method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for controlling the dry ore quantity at the bottom of the thickener as described in any one of claims 1-7.

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