Abstract
In order to synthesize a robust system of control over technological units, an analysis of appropriate mathematical models was performed. The uncertainty of models of technological iron ore processing units was accounted for by connecting a diagonal block at the top using a fractional linear transformation. To study robust control systems of technological units, we applied the following types of robust controllers: suboptimal H ∞ -controller, a controller that was synthesized using the method of circuit formation, and µ-controller. We performed an analysis of results of the study into indicators of robust quality and stability of control, created on the basis of these types of controllers. The best results were obtained using μ-controller, which ensures a minimal overshoot value of 2 %. Reducing the order of the selected μ-controller to the fourth order was performed by approximation using the Hankel norm. Under such a condition, a root-mean-square error relative to the base controller is 0.027. Results of present research could be used in the synthesis of control over technological iron ore processing units under conditions of uncertainty in parameters.
Highlights
Mining-metallurgical complex of Ukraine is one iron ore processing plant of the most important sectors of national industrial production
Numerous studies have proven that the most promising approach to increasing the efficiency of technological processes of the enrichment of iron ore raw materials is the comprehensive automation of control processes
In accordance with the approach proposed in paper [7], taking into account the uncertainty of parameters μ, θ, κ, it is advisable to represent them as two blocks, obtained with the use of fractional linear transformation and by connecting on top the respective blocks δμ, δθ, δκ
Summary
Mining-metallurgical complex of Ukraine is one iron ore processing plant of the most important sectors of national industrial production. Studies [1, 3, 4], with a sufficient degree of accuracy, represent technological units, as the objects of control, of the iron ore processing plant by transfer functions of the first and second order with a time delay, :. In paper [2], authors considered a heuristic approach to control objects of the iron ore processing production They proposed techniques for modeling and optimizing a control system, including the least square method and genetic algorithms. That is why we shall consider as a model example the synthesis of a robust controller for local ACS of parameters of the original product from a hydrocyclone of the second stage of shredding along the channel “pressure at the input – the output of class 0.074 mm”.
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