A robust control method for mine filling slurry concentration

Abstract

The present invention proposes a method for robust control of mine filling slurry concentration based on observer and inversion control. On the basis of establishing a slurry production system model, the disturbance is regarded as an additional state of the system and estimated by an observer. Finally, the inversion controller is designed by the inversion control method, and the output of the controller and the slurry production system is used as the input of the observer to obtain the disturbance estimation value of the system, which is then used in the design of the inversion controller. The invention effectively overcomes the defects of a single type of control method, and at the same time alleviates the problem of difficulty in modeling the actual production process; the proposed robust control method can effectively suppress parameter perturbations and external disturbances in the production process, and can make the system output quickly , Accurately track the expected value, which 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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