Multivariable control strategy for a bucket wheel reclaimer.

Abstract

Mining operations are generally done by large machines working in very harsh environments and historically having shy embedded technology. The use of control strategies, in many cases, dramatically increases the operating efficiency without large financial investments. In this context, this paper presents the method of choice and practical application of a multivariable control strategy for a bucket wheel ore reclaimer. This strategy adopts PI and PID controllers following a type override strategy acting on the manipulated variable: the slewing angular velocity. This manipulated variable was chosen because its actions affect the controlled variable very fast, so, allowing correcting disturbances in an adequate time. In addition, a fuzzy type controller was implemented to act on a second manipulated variable: the translation step. The second manipulated variable aims at taking the first one (angular speed) out of saturation states. When working together, these controllers seek to increase the equipment and process performance, taking into account, however, their operating limitations. Finally, a statistical analysis of results was performed in order to validate the feasibility of the implanted strategy when compared with the method previously in operation.