Proceedings, 5th IFAC Workshop on Mining, Mineral and Metal

Proceedings,
Processing 5th IFAC Workshop on Mining, Mineral and Metal
Proceedings,
Processing 5th IFAC Workshop on Mining, Mineral
Available onlineand
at Metal
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Shanghai, China,
Proceedings,
Processing August
5th IFAC 23-25, 2018
Workshop on Mining, Mineral and Metal
Shanghai, China, August 23-25, 2018
Processing
Shanghai, China, August 23-25, 2018
Shanghai, China, August 23-25, 2018
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IFAC PapersOnLine 51-21 (2018) 99–104
Three-Phases
Three-Phases Dynamic
Dynamic Modelling
Modelling of
of
Three-Phases
Column Dynamic
Flotation Modelling
Process 
 of
Three-Phases
Column Dynamic
Flotation Modelling
Process  of
Column Flotation Process 
Column
Yahui Tian ∗,∗∗
Flotation∗∗ Process ∗ ∗
∗,∗∗ , Maryam Azhin ∗∗ , Xiaoli Luan ∗ , Fei Liu ∗ ,
Yahui Tian ∗,∗∗ , Maryam Azhin ∗∗ , Xiaoli ∗∗ Luan ∗ , Fei Liu ∗ ,
Yahui Tian ∗,∗∗ , Maryam StevanAzhinDubljevic , Xiaoli
∗∗ Luan , Fei Liu ,
Yahui Tian , MaryamStevan Dubljevic
∗∗
, Xiaoli Luan ∗ , Fei Liu ∗ ,
StevanAzhinDubljevic ∗∗
∗ Stevan Dubljevic ∗∗
∗ Key Laboratory of Advanced Process Control for Light Industry
∗ Key Laboratory of Advanced Process Control for Light Industry
(Ministry of Education), Institute
Key Laboratory of Advanced ProcessofControl
∗ (Ministry of Education), Institute of Automation, Jiangnan
Automation,
for Light Jiangnan
Industry
Key
University,Laboratory
(Ministry Wuxi, of214122,
Advanced
of Education), Process
China ofControl
(e-mail:
Institute for Light
tian894@hotmail.com;
Automation, Industry
Jiangnan
University,
(Ministry
University, Wuxi,
of
Wuxi, 214122,
Education),
214122, China (e-mail:
Institute
China of
(e-mail: tian894@hotmail.com;
Automation, Jiangnan
tian894@hotmail.com;
xlluan@jiangnan.edu.cn; fliu@jiangnan.edu.cn).
∗∗ University, xlluan@jiangnan.edu.cn;
Wuxi, 214122,and China fliu@jiangnan.edu.cn).
(e-mail: tian894@hotmail.com;
∗∗ Department of Chemical
xlluan@jiangnan.edu.cn; Materials Engineering,
fliu@jiangnan.edu.cn). University of
∗∗ Department of Chemical and Materials
xlluan@jiangnan.edu.cn;
Alberta, Edmonton, Alberta, T6G
Engineering, University of
fliu@jiangnan.edu.cn).
2V4, Canada (e-mail:
Department of Chemical and Materials Engineering, University of
∗∗ Alberta, Edmonton,
Department of ChemicalAlberta,and T6G 2V4,
Materials Canada (e-mail:
Engineering, University of
azhin@ualberta.ca;
Alberta, Edmonton, stevan.dubljevic@ualberta.ca)
Alberta, T6G 2V4, Canada (e-mail:
azhin@ualberta.ca;
Alberta, Edmonton, Alberta,
azhin@ualberta.ca; stevan.dubljevic@ualberta.ca)
T6G 2V4, Canada (e-mail:
stevan.dubljevic@ualberta.ca)
azhin@ualberta.ca; stevan.dubljevic@ualberta.ca)
Abstract: In this work, a three-phases discrete dynamic model of column flotation which
Abstract:
Abstract: In this work, aa three-phases discrete dynamic model of column flotation which
accounts forIn thethis work, and
interface three-phases
froth regionsdiscrete dynamic
is developed. Themodelsystemofiscolumn
described flotation which
by transport
accounts
Abstract: for the
In interface and froth regions is developed. The system is described by transport
hyperbolic
accounts fornonlinearthethis work,
partial
interface a differential
and three-phases
froth regions discrete
equations dynamic
(PDEs).
is developed. The
The modelsteady
system ofisstate
column flotation
profiles
described byare which
utilized
transport
hyperbolic
accounts fornonlinear
theoriginal partial
interface and differential
froth equations
regions (PDEs).The
is Cayley-Tustin
developed. Thesystem
steady isstate profilesbyare
described utilized
transport
to linearize
hyperbolic the
nonlinear nonlinear
partial system.
differential The
equations (PDEs). The time discretization
steady state transformation
profiles are utilized
to linearize nonlinear
hyperbolic the original nonlinear
partial system.
differential The Cayley-Tustin time discretization transformation
is
to applied
linearizetothe theoriginal
linear hyperbolic
nonlinear PDEsequations
system. system (PDEs).
and
The Cayley-TustinmapsThe the
time steady
continuousstateinfinite
discretization profiles are utilized
dimensional
transformation
is
to applied
linearize to the linear hyperbolic PDEs system and maps the continuous infinite dimensional
system
is applied to toathe
the original
discrete nonlinear
linear infinite
hyperbolic system.
dimensional Thesystem
PDEs system Cayley-Tustin
andwithout
maps the time discretization
spatial discretization.
continuous transformation
infinite The final
dimensional
system
is applied to toa thediscrete
linear infinite
hyperbolic dimensional
PDEs system systemandwithout
maps thespatial discretization.
continuous infinite The final
dimensional
discretized
system to amodel discreteis structure
infinite preserving
dimensional and does
system not imply
without any model
spatial reduction.
discretization. Discrete
The final
discretized
system to amodel
discreteis structure
infinite preserving
dimensional and does without
system not implyspatial any model reduction.The
discretization. Discrete
final
model
discretizeddynamicsmodelare is compared
structure with high fidelity
preserving and doesnumerical
not imply simulations
any model of continuous
reduction.linearized
Discrete
model
discretizeddynamicsmodel areis compared
structure with high fidelity
preserving and numerical
does not simulations
imply any modelof continuous
reduction. linearized
Discrete
model dynamics
in order toare demonstrate
compared with applicability of the
high fidelity proposedsimulations
numerical discrete model development.
of continuous linearized
model
model in order toare demonstrate applicability of the proposedsimulations
discrete model development.
model dynamics
in order to demonstrate compared with high fidelity
applicability numerical
of the proposed discrete model of continuous
development. linearized
© 2018,inIFAC
model order (International
to demonstrate Federation of Automatic
applicability of Control)
the Hosting
proposed by Elsevier
discrete model Ltd. All rights reserved.
development.
Keywords: Column flotation; Process modelling; Hetero-directional hyperbolic PDEs;
Keywords:
Keywords: Column
Column flotation;
flotation; Process
Process modelling;
modelling; Hetero-directional
Hetero-directional hyperbolic hyperbolic PDEs; PDEs;
Cayley-Tustin discretization
Cayley-Tustin
Keywords: Column
Cayley-Tustin discretization
flotation; Process modelling; Hetero-directional hyperbolic PDEs;
discretization
Cayley-Tustin discretization
1. INTRODUCTION and Lofftus (1988) extended the model introduced by
1.
1. INTRODUCTION
INTRODUCTION and Lofftus (1988) extended the model introduced by
Sastry
and and Fuerstenau
Lofftus (1988) extended (1970)the andmodelobtained a general
introduced by
Sastry and Fuerstenau (1970) and obtained a
a general
Column flotation 1. is aINTRODUCTION
commonly used separation method dynamic and Lofftus
Sastry and (1988) extended
Fuerstenau
mathematical (1970)the
model andmodel
based obtainedintroduced
on detailed by
general
mecha-
Column flotation is dynamicand mathematical model
(1970)based on detailed mecha-
Column flotation
in the mineral is a
a commonly
industry. commonly
The process
used
used separation method
of separation
column flotation method is Sastry
nistic description.
dynamic Fuerstenau
mathematical Cruz model(1997) and obtained
formulated
based on detailed a general
a three-phase
mecha-
in the nistic description. Cruz model(1997) based
formulated a three-phase
in the mineral
Column flotation
mineral
described
industry.
industry.
by complex
The
The process
is a dynamical
commonly process used
model
of column
of separation
column flotation
method
flotation
which includes
is
is dynamic
air, dynamic
nistic mathematical
model,
description. which
Cruzrepresents on detailed
a simultaneous
(1997) formulated mecha-
solution
a three-phase
described
in the by
mineral complex
industry. dynamical
The processmodel of which
column includes
flotation air,
is dynamic
nistic model, which
description. Cruz represents
(1997) a simultaneous
formulated a solution
three-phase
described
water and by solidcomplex dynamical
three-phases flows.model which includes
This model accountsair, for the airmodel,
for dynamic phase which
and therepresents
solid phase in the froth equations
a simultaneous solution
water and solid three-phases flows. This model accounts for for
for the air phase and the solid phase in the froth
froth equations
described
water by
andphysical
different solidcomplex dynamical
three-phases
surface flows.model
properties This which
of model
mineral includes
accounts for dynamic
air,
particles, based theonairmodel,
phase which
population therepresents
and balance solidmodel.
phase a simultaneous
in the recently,
More solution
equations
Brito-
different
water
welland
different
as
physical
solid
asphysical
for the
surface
three-phases
surface
differences
properties
flows.
properties
in the Thisof
of mineral
model
mineral
flotability accounts for based
particles,
particles,
of sorted for
Parada
based theonair
on
population
phase
etpopulation and balance
al. (2012) the solidmodel.
considered
balance phase
model.
More
in
unsteady
More
recently,
the state Brito-
froth equations
dynamics
recently, Brito-
as well
different as for
physical the differences
surface in
properties the flotability
of mineral of sorted Parada
based onet al. (2012)
population considered
balance model.unsteady
More state dynamics
recently, Brito-
as well as
mineral for the(2009),
(Kawatra differences
Sbárbaroin the and Villarparticles,
flotability
Del of(2010)). in three et
sorted Parada dimensions
al. (2012)and extendedunsteady
considered the model of Neethling
state dynamics
mineral
as well (Kawatra
as for the (2009), Sbárbaro
differences in theand Del Villar
flotability of(2010)).
sorted in three et
Parada dimensions
al. (2012) and extendedunsteady
considered the model of Neethling
state dynamics
mineral
Compared (Kawatra (2009), Sbárbaro
to conventional mechanical and Del Villar (2010)).
flotation process, in et al. (2000)
three to the proposed
dimensions and extended computational
the model fluid dynamics
of Neethling
Compared to et al. (2000) to the proposed computational fluid dynamics
Compared
column to conventional
mineral flotation
(Kawatra (2009),
conventional
has
mechanical
manySbárbaro
mechanical
advantages, and Delflotation
Villar
flotation
such
process,
process, in
(2010)).
as simplicity (CFD)
et three
al. dimensions
model
(2000) and extended
torealization.
the proposed the model
computational of Neethling
fluid dynamics
column flotation has many advantages, such as simplicity
process, et (CFD) model
al. (2000) realization.
Compared
column
of to conventional
flotation
construction, has energy
low mechanical such
many advantages,
consumption, flotation
as simplicity
higher recovery Based
(CFD) on
model thetorealization.
the proposed
former study, computational
it is known that fluidflotation
dynamics is
of construction, low energy consumption, higher recovery Based on the realization.
former study, it is known that flotation is
column
of
and flotation
construction,
product grade, hasetc.
low many
energy advantages,
consumption,
(Mathieu (1972)).suchhigher recovery (CFD)
as simplicity a process
Based model
on withformer
the many study,
inputsitand variousthat
is known important
flotationpa- is
and product grade, etc. (Mathieu (1972)). a process withformermany study,
inputsitand variousthat important pa-
of construction,
and
Columnproduct grade,
flotation low energy
etc.
separation consumption,
(Mathieumethod (1972)).
has beenhigherwidely used Based
recovery arameters
processonbeing
the
with highly
many interrelated,
inputs and is known
as well as
various flotation
various
important is
sub-
pa-
Column flotation separation method has rameters
processbeing highly interrelated, as well as various sub-
andindustry
Column
in product grade,
flotation
for etc. (Mathieu
separation
decades. Since method has been
the (1972)).
1980s, been widely used
withwidely used arameters
the exten- processes withoccur
that
being many
highly inputs
during theand
interrelated, various
operation,
as wellsuch important
as pa-
as particle-
various sub-
in
in
sive
industry
Column
industry
study
for
flotation
forthe
of
decades.
separation
decades.
structure
Since
Since the
the 1980s,
method
parameters has been
1980s, with
and
the
widely
withthe used processes
exten-
thecolumn
exten- rameters that occur
being
bubble attachment,
processes that occurhighlyduring
detachment,
during
the operation,
interrelated, and
the operation, wellsuch
as bubble such
as particle-
as various sub-
coalescence,
as particle-
sive
in study
industry of
for the structure
decades. Since parameters
the 1980s, and
with the
the column
exten- bubble
processes attachment,
that occur detachment,
during the and bubble
operation, such coalescence,
as particle-
sive study
flotation of the structure
mathematical modelparameters
various column and models
the column which makes
have bubble the flotation
attachment, detachment,processand more complex
bubble and un-
coalescence,
flotation mathematical model various columnand models have which makes the flotation process more complex and
and un-
sive study
flotation
been of theThe
mathematical
developed. structure
modelparameters
availability various column
of mathematical the column
models have bubble
models which
predictableattachment,
makes forthe detachment,
flotation
modelling. processand
Hence, more
after bubble
complex
several coalescence,
decades un-
of
been developed.
flotation mathematical The availability
model of mathematical models
have whichpredictable
makes forthe modelling. Hence,
flotation Hence,
process after several
moreflotation
complex decades
and un- of
been
is developed.
essential requirement for thevarious
The availability column
of mathematical
application models models
of optimization research
predictable andfor development,
modelling. the columnafter several process
decades is
of
is essential
been requirement
developed. for
The availabilitythe application of
of mathematical optimization research
models predictable and fordevelopment,
modelling. Hence, the column flotation
after flotation
several process
decades is
of
is
andessential
automated requirement
operation forofthetheapplication
flotation of optimization
process (Luttrell still not and
research fully understood.
development, At column
the present, a general mathe-
process is
and
is automated
essential operation
requirement for of the
the flotation
application process
of (Luttrell
optimization still not and
research fullydevelopment,
understood. the At column
present,flotation
a general mathe-
process is
and automated
Yoon (1983)). operation
One among of the flotation
first reportsprocess on(Luttrell
column still maticalnot model that can accurately
fully understood. At present, describe the flotation
a general mathe-
and
and Yoon
automated (1983)). One
operation among
of the first
flotation reports
process on column
(Luttrell matical
still
maticalnot model
fully
model that
that can
understood.
can accurately
At
accurately describe
present, a
describe the
general
the flotation
mathe-
flotation
and Yoonmodelling
flotation (1983)). One is givenamong by first
Sastry reports on column process has not yet been developed. All aforementioned
and Fuerstenau
flotation
and Yoon
flotation
(1970), and
modelling
(1983)).
a steadyOne
modelling is given
isstate among
given model
by Sastry
by first
Sastry
is
and
and Fuerstenau
reports
developed column process
on describe
Fuerstenau
to matical has
model
models account
process has
notthat
notfor
yet can
beenaccurately
yetspecific
developed.
been developed.
All aforementioned
modellingdescribe
setting, the flotation
for example,
All aforementioned
(1970),
flotation and a steady
modelling state
isstate
given model byand is developed
Sastry to
and solids describe
Fuerstenau models
process account
has not for
yet specific
been modelling
developed. setting,
All upward for example,
aforementioned
(1970),
the and
concentration a steady profiles ofmodel
free is developed
attached to describe only foraccount
along models particles forinteraction betweensetting,
specific modelling the air and
for example,
the concentration profiles
stateof free and attached only foraccount
particles forinteraction betweensetting,
the upward air and
(1970),
the and a steady
concentration
collection regionprofiles
based ofmodel attached solids
is developed
freeaxially-dispersed
on and toplug
solids along
flow models
describe
along the downward
only for particles waterspecific
phases,
interaction modelling
neglecting
between thefor
the upward example,
interaction
air and
the collection region based on axially-dispersed plug flow the downward water phases, neglecting the interaction
the
the concentration
modelcollection
of bubble regionprofiles
andbased ofon
slurry free and attached
Dobby solids
axially-dispersed
phases. and flow only
along
plugFinch betweenfor particles
the downward bubbleswater interaction
and phases,between
particles neglecting
in the upward
the upward the water airphase
interactionand
model
model
(1986)
of
of bubble
the collection bubble
extended region and
andbased
modelling
slurry
toonthe
slurry phases.
phases.
scale-up
Dobby
axially-dispersed
Dobby
modeland
andplug
of flow between
Finch
Finch
column the
entrained
between
bubbleswater
downward by the and
bubbles
and particles
bubbles. phases,
These
particles
in
in
the upward
neglecting
three the water
phases
the upward
phase
interaction
(air phase,
water phase
(1986)
model extended modelling to entrainedbubblesby the and bubbles. These three phaseswater(air phase,
(1986)
flotation of bybubble
extended and slurry
modelling
considering to the
mixing the scale-up
phases.
effectsDobby
scale-up model
model
in detial.
of
of column
and Finch between
column
Sastry downward by
entrained and theupward particles
bubbles. water
These in the upward
phase)
three should
phases be phase
(aircoupled
phase,
flotation
(1986) by
extended considering
modelling mixing
to the effects
scale-up in detial.
model of Sastry
column downward
entrained and
by the upward
bubbles. water
These phase)
three should
phases be
(air coupled
phase,
flotation by considering mixing effects in detial. Sastry downward
 with each other. and upward water phase) should be coupled
This work byis supported by mixing The National Natural ScienceSastry
Foun- with
with each
downwardeach other.
and
flotation

 This work is considering
supported by The National effects in detial.
Natural Science Foun- Motivated other.
by theupward
notion to water
includephase) should be
and account for coupled
all rele-
dation
This of China
work (NSFC: 61773183),
is supported The China
by The National Scholarship
Natural ScienceCouncil
Foun- Motivated
with each by the notion to include and account for all rele-
other.
dation
 of China (NSFC: 61773183), The China Scholarship Council vant transport
Motivated by processes
the notion in
to the column,
include and a column
account forflotation
all rele-
and The
This
dation of 111
work Project
China (NSFC: (B12018).
is supported by The National
61773183), The China Natural ScienceCouncil
Scholarship Foun- vant transport
Motivated by the processes
notion to in include
the column, a column
and account forflotation
all rele-
and The 111 Project (B12018).
dation
and Theof 111
China (NSFC:
Project 61773183), The China Scholarship Council
(B12018).
vant transport processes in the column, a column flotation
and The 111 Project (B12018).
vant transport processes in the column, a column flotation
2405-8963 ©
Copyright © 2018
2018, IFAC
IFAC (International Federation of Automatic Control)99 Hosting by Elsevier Ltd. All rights reserved.
Copyright
Peer review© under
2018 IFAC 99 Control.
responsibility of International Federation of Automatic
Copyright © 2018 IFAC 99
10.1016/j.ifacol.2018.09.399
Copyright © 2018 IFAC 99
IFAC MMM 2018
100
Shanghai, China, August 23-25, 2018 Yahui Tian et al. / IFAC PapersOnLine 51-21 (2018) 99–104

of interface and froth regions. Feed components include

mineral (M), locked (L), and gangue (G) particles.
Table 1. Parameters for the model equations

Column heights h1 = 0.2 h2 = 1.0

Transfer rate from upward
M: 0.1; L: 0.8; G: 0.9
water to downward water, ρ
Transfer rate from air
M: 0.2; L: 0.7; G: 0.8
to downward water, k
Initial condition coefficient, a1 M: 0.5; L: 0.25; G: 0.04
Initial condition coefficient, a2 M: 0.03; L: 0.4; G: 0.1
Initial condition coefficient, a3 M: 0.15; L: 0.1; G: 0.01
Symbol Interface Froth
Air holdup, Ha 0.4 0.7
Downward water holdup, Hwd 0.1 0.1
Upward water holdup, Hwu 0.5 0.2
Air velocity, Ua 0.2 0.2
Downward water velocity, Uwd 0.1 0.1
Upward water velocity, Uwu 0.1 0.1
Fig. 1. Schematic representation of a flotation column. Bubble saturation parameter, Ca∗ 5 5
Air water interfacial area, Av 0.8 0.4
dynamic model is developed with accounting for upward M: 1.0; M: 1.0;
water, downward water and rising air dynamics in this Settling/slip velocity, Us L: 0.7; L: 0.7;
paper. The upward water phase is added in order to fully G: 0.5 G: 0.5
describe for the effect of entrainment on the dynamic M: 2.0; M: 1.5;
Attachment rate parameter
process of column flotation. Taking into account mutual L: 1; L: 0.6;
for downward water, α
G: 0.6 G: 0
coupling of these three phases, the nonlinear hyperbolic
M: 2.5; M: 2.0;
PDEs system is constructed for interface and froth re- Attachment rate parameter
L: 1.2; L: 1.0;
gions. This nonlinear hyperbolic PDE model belongs to for upward water, σ
G: 1.0 G: 0
the class of heterodirectional PDE models and accounts M: 0.4; M: 0;
for transport properties in upward and downward direc- Detachment rate parameter, β L: 1.5; L: 1.0;
tion. In order to obtain the linearized model, steady state G: 2.0 G: 1.5
profiles and Jacobian are utilized in the linearization of the *In this paper, I and F are marked in the upper right corner
original nonlinear system. Finally, the Cayley-Tustin time of the parameters to indicate the Interface region and the Froth
discretization transformation is applied to the linear PDEs region, respectively.
system to provide the discrete-time model representation.
Through the comparison of the simulation results, the 2.2 Model Equations
fact that the discrete model preserves the nature of the
transformed model is demonstrated. Based on the above description and by making appropriate
mass balances, the following equations are obtained to
2. MODEL DEVELOPMENT describe the column flotation process. The state variables
for the process are mass concentrations of solid particles
2.1 Process Description (mineral, locked, and gangue) with air phase (Ca ), down-
ward water phase (Cwd ) and upward water phase (Cwu ).
A typical column flotation consists of three regions - (i)
the collection region; (ii) the interface region; (iii) the froth ∂(Ha Ca ) ∂(Ua Ca )
=− + αAvf Cwd
region, see Fig. 1. Column flotation utilizes the principle ∂t ∂z
of countercurrent flow, in which air is introduced into the +σAvf Cwu − βCa (1)
column at the bottom, through a sparger or in the form ∂(Hwd Cwd ) ∂[(Uwd + Hwd Us )Cwd ]
of externally generated bubbles, and rises through the =
downward flowing slurry. By countercurrent flow, contact ∂t ∂z
and collision, hydrophobic particles attach to the bubbles −αAvf Cwd + ρCwu + kβCa (2)
forming bubble-particle aggregates and reach the top of ∂(Hwu Cwu ) ∂(Uwu Cwu )
the column, and subsequently are removed at the top as =− − σAvf Cwu
∂t ∂z
valuable product. Above the overflowing froth, there is a −ρCwu + (1 − k)βCa (3)
fine spray of water, washing down the undesired particles Ca
that could have been entrained by the bubbles from the where f = 1− C ∗presents the fractional free surface area of
a
froth region (Dobby and Finch (1985), Yianatos et al. the bubbles. The term αAvf Cwd represents the transfer of
(1987)). Meanwhile, rising bubbles entrain some water flow particles from the downward flow to the bubble; σAvf Cwu
together through bubble coalescence, and the interaction represents the transfer of particles from the upward flow to
of wash water and particles also simultaneously occurs. the bubble; βCa represents the particles detachment from
Therefore, the essential process step in column flotation is the bubble; ρCwu represents the transfer of particles from
the transfer of particles between water phase and air phase the upward flow to the downward flow.
as well as between upward and downward water phase. Modelling equations (1), (2) and (3) are applied to regions
This paper focuses on the dynamic model development of interface and froth as well. The symbols used in the

100
IFAC MMM 2018

Shanghai, China, August 23-25, 2018 Yahui Tian et al. / IFAC PapersOnLine 51-21 (2018) 99–104 101

above equations and throughout this paper are defined in

Table 1.
The boundary conditions are given by:
Ca (0, t) = Ca0 ; Cwu (0, t) = Cwu 0 ; Cwd (h2 , t) = 0 (4)
The additional conditions at the interface point z = h1 are
given by:
CaF (h1 , t) = CaI (h1 , t)
F I
Cw u
(h1 , t) = Cw u
(h1 , t)
I F
Cw d
(h1 , t) = Cw d
(h1 , t) (5)
The initial conditions are given by:
0 < z < h1 : Fig. 2. Steady state profile of mineral.
Ca (z, 0) = faI (z); Cwu (z, 0) = fwI u (z); Cwd (z, 0) = fwI d (z) (6)

h1 < z < h2 :
Ca (z, 0) = faF (z); Cwu (z, 0) = fwFu (z); Cwd (z, 0) = fwFd (z) (7)
The steady state profiles of mineral, locked and gangue
with three different phases are illustrated in Figs. 2-4.

3. LINEARIZED MODEL

The system described by equations (1)-(3) is nonlinear,

and it is essential to be linearized for further analysis.
Cas , Cwd s and Cwu s are defined as variables at steady
state. By considering steady state conditions and defining Fig. 3. Steady state profile of locked.
xa (z, t) = Ca (z, t)−Cas (z), xwd (z, t) = Cwd (z, t)−Cwd s (z)
and xwu (z, t) = Cwu (z, t) − Cwu s (z), one can obtain the
following linear PDE system:

∂xa (z, t) ∂xa (z, t)

= −m1 + J11 (z)xa (z, t)
∂t ∂z
+ J12 (z)xwd (z, t) + J13 (z)xwu (z, t) (8)
∂xwd (z, t) ∂xwd (z, t)
= m2 + J21 (z)xa (z, t)
∂t ∂z
+ J22 (z)xwd (z, t) + J23 (z)xwu (z, t) (9)
∂xwu (z, t) ∂xwu (z, t)
= −m3 + J31 (z)xa (z, t)
∂t ∂z
+ J32 (z)xwd (z, t) + J33 (z)xwu (z, t) (10) Fig. 4. Steady state profile of gangue.
with the boundary conditions αAv αAv
J22 (z) = − + Cas (z)
Hwd Hwd Ca∗
xa (0, t) = 0; xwu (0, t) = 0; ρ
J23 (z) =
xwd (h2 , t) = 0; xF I Hwd
a (h1 , t) = xa (h1 , t);
(1 − k)β σAv
xF I
wu (h1 , t) = xwu (h1 , t); xIwd (h1 , t) = xF
wd (h1 , t) (11) J31 (z) = + Cw s (z)
Hwu Hwu Ca∗ u
Ua U +H U U
where m1 = H a
; m2 = wd Hw wd s ; m3 = Hwwu . J32 (z) = 0
d u
Jij (z) (i = 1, 2, 3; j = 1, 2, 3) is the Jacobian of the σAv σAv ρ
nonlinear term evaluated at steady state. J33 (z) = − + Cas (z) −
Hw u Hwu Ca∗ Hw u
β αAv σAv Then, the equivalent state-space description of the lin-
J11 (z) = − − Cw s (z) − Cw s (z) earized model (8)-(10) is given as follows:
Ha Ha Ca∗ d Ha Ca∗ u
αAv αAv
J12 (z) = − Cas (z) ẋ(z, t) = Ax(z, t), x(z, 0) = x0 (12)
Ha Ha Ca∗
Here, the state x(z, t) and the operator A are given by
σAv σAv
J13 (z) = − Cas (z)
Ha Ha Ca∗  
xa (z, t)
kβ αAv x(z, t) = xwd (z, t)
J21 (z) = + Cw s (z)
Hw d Hwd Ca∗ d xwu (z, t)

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 
∂ where G(δ) denotes the transfer function of the system,
−m1 +J11 (z) J12 (z) J13 (z) G(δ) = C[δ − A]−1 B + D. Operator Ad can be expressed
 ∂z 
 ∂  as Ad = −I +2δ[δ −A]−1 , where I is the identity operator.
A =
 J21 (z) m2 +J22 (z) J23 (z) 

 ∂z 
∂ 4.2 Time Dicretization of The System
J31 (z) J32 (z) −m3 +J33 (z)
∂z
From the previous section, it can be noticed that as long
4. DISCRETIZED MODEL
as the express of the resolvent R(δ, A) = [δ − A]−1 of the
operator A is obtained, all operators (Ad , Bd , Cd , Dd ) can
4.1 Time Discretization for linear hyperbolic PDEs be easily obtained by Cayley-Tustin transformation. Back
to the system (12), the resolvent operator can be obtained
In this section, Cayley-Tustin time discretization trans- by taking Laplace transform. Therefore, one gets:
formation is used to discretize the model without con-
sideration of spatial discretization and/or any other type ∂x(z, s)
of spatial approximation. Xu and Dubljevic (2017) intro- = Āx(z, s) + M x(z, 0) (18)
duced the Cayley-Tustin time discretization for distributed ∂z
 1 
parameter systems and provided the discrete-time model 0 0
representations for both scalar hyperbolic and parabolic  m1 
 1 
PDE systems. where M =   0 − 0 ,

Let us consider the state x(z, t) ∈ H, H is a real Hilbert  m2
1 
spaces with the inner product < ·, · >. The input u(t) ∈ U 0 0
and the out put y(t) ∈ Y , U and Y are real Hilbert spaces. m3
 1 1 1 
For the linear infinite-dimensional system described by the (J11 (z)−s) J12 (z) J13 (z)
following state space system:  m1 m1 m1 
 1 1 1 

Ā =  − J21 (z) − (J22 (z)−s) − J23 (z)  .
ẋ(z, t) = Ax(z, t) + Bu(t), x(z, 0) = x0  m2 m2 m2 
1 1 1
J31 (z) J32 (z) (J33 (z)−s)
y(t) = Cx(z, t) + Du(t) (13) m3 m3 m3
The operator A : D(A) ⊂ H → H is a generator of a
C0 -semigroup on H and has a Yoshida extension operator By solving this ODE, one obtains:
A−1 . B, C and D are linear operators associated with the
actuation and output measurement or direct feed forward x(z, s) = [sI − A]−1 x(z, 0) = R(s, A)x(z, 0)
element, i.e. B ⊂ L(U, H), C ⊂ L(H, Y ) and D ⊂ L(U, Y ). z
Given a time discretization parameter d > 0, the Tustin = e x(0, s) + eĀ(z−η) M x(η, 0)dη
Āz
(19)
time discretization is given by Franklin et al. (1998):
0

x(jd) − x((j − 1)d) x(jd) + x((j − 1)d) For simplicity, we considered Jij to be a spatial average
≈A + Bu(jd) of Jij (z), so that the matrix exponential of Ā can be
d 2
computed directly.
x(jd) + x((j − 1)d)
y(jd) ≈ C + Du(jd) According to the boundary condition (11) and the solution
2 (19), one gets:
x(0) = x0 (14)
√    
d
Let uj / d be an approximation to u(jd), and with the xa (h1 , s) I
0
√ xwd (h1 , s) = eĀ h1 xwd (0, s)
assumptions that yjd / d converges to y(jd) as d → 0. xwu (h1 , s) 0
Then, one gets discrete time dynamics as follows:  I 
h1 xa (η, 0)
I
xdj − xdj−1 xdj + xdj−1 √ + eĀ (h1 −η) M I  xIwd (η, 0)  dη
=A + Budj / d
d 2 0 xIwu (η, 0)
√ x d
+ xdj−1 √  
j 0
yjd / d = C + Dudj / d = P I xwd (0, s) + QI (20)
2
xd0 = x0 (15) 0
   
After some calculations, one gets the form of discrete xa (h2 , s) xa (h1 , s)
ĀF (h2 −h1 )
system: 0 =e xwd (h1 , s)
xwu (h2 , s) xwu (h1 , s)
 F 
x(z, k) = Ad x(z, k − 1) + Bd u(k), x(z, 0) = x0 h2 x a (η, 0)
F

y(k) = Cd x(z, k − 1) + Dd u(k) (16) + eĀ [(h2 −h1 )−η]M F  xF 

wd (η, 0) dη
F
h1 xwu (η, 0)
where δ = 2/d, and the operators Ad , Bd , Cd , and Dd are  
given by xa (h1 , s)
√ = P F xwd (h1 , s) + QF (21)
   
Ad Bd [δ − A]−1 [δ + A] 2δ[δ − A]−1 B xwu (h1 , s)
= √ (17)
Cd Dd 2δC[δ − A]−1 G(δ) Then,

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Fig. 5. Continuous linearized model simulation by finite Fig. 6. Continuous linearized model simulation by finite
difference using ∆t = 0.004 and ∆z = 0.01 for mineral difference using ∆t = 0.004 and ∆z = 0.01 for mineral
in air phase. in downward water phase.
Q1 (2, 1) + Q2 (2, 1)
xwd (0, s) = − (22)
P (2, 2)
xa (h1 , s) = P I (1, 2)xwd (0, s) + QI (1, 1) (23)
I I
xwd (h1 , s) = P (2, 2)xwd (0, s) + Q (2, 1) (24)
I I
xwu (h1 , s) = P (3, 2)xwd (0, s) + Q (3, 1) (25)
where P = P F P I , Q1 = P F QI , Q2 = QF .
The discretized model can be written as follows:
   
xa (z, k) xa (z, k − 1)
xwd (z, k) = Ad xwd (z, k − 1) (26)
xwu (z, k) xwu (z, k − 1)
for Interface region (0 < z < h1 ):
 
xa (0, s)
ĀI z
Ad (·) = −(·) + 2δ(e xwd (0, s) Fig. 7. Continuous linearized model simulation by finite
xwu (0, s) difference using ∆t = 0.004 and ∆z = 0.01 for mineral
z in upward water phase.
I
+ eĀ (z−η)
M I (·)dη)
0
for Froth region (h1 < z < h2 ):
 
F
xa (h1 , s)
Ad2 (·) = −(·) + 2δ(eĀ (z−h1 )
xwd (h1 , s)
xwu (h1 , s)
z
F
(z−h1 −η)
+ eĀ M F (·)dη)
h1

5. NUMERICAL SIMULATION

In this section, the applicability of the proposed discrete

model development is demonstrated by comparison among
high fidelity numerical simulations of continuous linearized
and discretized models (take mineral for example). From
the steady-state profiles Figs. 2-4, it can be seen that dis-
crete model developed in this paper describes the column
flotation process accurately. When simulating linearized
model, the forward in time and the backward difference in
space is used by choosing ∆t = 0.004 and ∆z = 0.01 to
meet the numerical stability requirement. According to the
values of the system parameters given in Table 1 and the
Fig. 8. Discretization of mineral with air phase.
steady state in Fig. 2, the profiles of linearized system are
shown in Figs. 5-7. By choosing d = 0.25, which implies
that the δ = 8, the state profiles of time discretization
system (26) is shown in Figs. 8-10. The initial conditions
of both systems are given as follows (0 < z < h2 ):
xa (z, 0) = a1 sin(πz)

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Fig. 9. Discretization of mineral with downward water
phase.
Fig. 10. Discretization of mineral with upward water
phase.
xwd (z, 0) = a2 sin(πz)
xwu (z, 0) = a3 sin(πz)
By comparing the simulation results of the linearized
model and the discretized model, it can be seen that the
proposed discretization method can well preserve charac-
teristics of the original infinite-dimensional system.
6. CONCLUSION
A three-phases dynamic model for the interface and froth
regions of column flotation was developed in this work,
based on the dynamic process of hydrophobic particles
transfer between three phases with various sub-processes.
The system is described by transport hyperbolic nonlinear
PDEs and steady state profiles are utilized in the lin-
earization of nonlinear system. Then, the Cayley-Tustin
time discretization is introduced, by using this method,
the continuous infinite dimensional system is mapped into
discrete infinite dimensional system without spatial dis-
cretization, and the discrete models of the two different
regions are considered in this contribution. Finally, the
simulation results show that the discrete model preserves
the conservative characteristics of the transformed sys-
tem. This modelling provides foundation to apply discrete
model designs well knows in the theory of finite dimen-
sional systems. Based on this work, the future work will
address the model predictive controller (MPC) and moving
horizon estimator (MHE) design for the column flotation
processes.
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