18th IFAC Symposium on Control, Optimization and Automation in

18th
18th IFAC
IFAC Symposium
Symposium on
on Control,
Control, Optimization
Optimization and
and Automation
Automation in
in
Mining,
18th
18th Mineral
IFAC
IFAC and Metal
Symposium
Symposium on Processing
on Control,
Control, Optimization
Optimization and
and Automation
Automation in
in
Mining,
Mining, Mineral
Mineral and
and Metal
Metal Processing
Processing Available online at www.sciencedirect.com
Stellenbosch,
Mining,
18th IFAC
Mining, South
Mineral
Symposium
Mineral and Africa,
and Metal
Metal August
Processing
on Control, 28-30, 2019
Optimization
Processing and Automation in
Stellenbosch,
Stellenbosch, South
South Africa,
Africa, August
August 28-30,
28-30, 2019
2019
Stellenbosch,
Mining, MineralSouth
Stellenbosch, Africa,
and Metal
South August
August 28-30,
Processing
Africa, 28-30, 2019
2019
Stellenbosch, South Africa, August 28-30, 2019
ScienceDirect
IFAC PapersOnLine 52-14 (2019) 1–6
Extension,
Extension, Validation,
Validation, and
and Simulation
Simulation of
of a
a
Extension,Cone
Validation,
Crusherand Simulation
Model  of a
Extension,Cone
Validation,
Crusherand Simulation
Model  of a
Cone Crusher Model 
Cone Crusher
Khalid ∗ Model
Tourkey ∗∗
Atta ∗ Thiago
∗ Euzébio ∗∗ Haroldo
∗∗ Ibarra ∗
∗
Khalid
Khalid Tourkey
Tourkey Atta
Atta ∗ Thiago
Thiago ∗∗∗ Euzébio
Euzébio ∗∗ Haroldo
Haroldo Ibarra
Ibarra
∗
∗
∗
Khalid
Khalid Tourkey
Vinicius
Tourkey Atta
Silva
Atta ∗ Thiago
MoreiraThiago Euzébio
Andreas
∗∗∗Euzébio
∗∗∗ Haroldo
∗∗ Johansson
Haroldo Ibarra
Ibarra
∗ ∗
Vinicius
Vinicius Silva
Silva Moreira
Moreira
∗ Andreas
∗∗∗ Andreas ∗∗ Johansson
Johansson ∗
∗
Khalid Vinicius
Tourkey
Vinicius Silva
Atta
Silva Moreira
MoreiraThiago Euzébio
∗∗∗ Andreas Johansson
Andreas Haroldo Ibarra ∗
Johansson ∗
Vinicius ∗ Silva
∗ Luleå Moreiraof∗∗∗technology
university Andreas(e-mail: Johansson ∗
∗ Luleå university of technology (e-mail:
∗
Luleå
Luleå university
university of
of technology
technology
{khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se)
∗ (e-mail:
(e-mail:
Luleå university of technology (e-mail:
∗∗ {khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se)
{khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se)
∗
∗∗ {khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se)
∗∗ Instituto Tecnológico
Luleå university Vale (e-mail:
of technology
{khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se) thiago.euzebio@itv.org).
(e-mail:
∗∗ Instituto
∗∗ Instituto
∗∗∗ Tecnológico
Tecnológico Vale
Vale (e-mail:
(e-mail: thiago.euzebio@itv.org).
thiago.euzebio@itv.org).
Instituto
Instituto
∗∗∗
∗∗∗ Vale S.A.
Tecnológico
(e-mail:
Tecnológico Vale (e-mail:
{khalid.atta,haroldo.ibarra,andreas.johansson}@ltu.se)
Vale S.A. thiago.euzebio@itv.org).
vinicius.silva.moreira@vale.com).
Vale (e-mail: thiago.euzebio@itv.org).
∗∗∗ Vale S.A. (e-mail:
∗∗ ∗∗∗ (e-mail: vinicius.silva.moreira@vale.com).
vinicius.silva.moreira@vale.com).
Vale S.A.
Instituto
Vale S.A. (e-mail:Vale
Tecnológico
(e-mail: vinicius.silva.moreira@vale.com).
(e-mail: thiago.euzebio@itv.org).
vinicius.silva.moreira@vale.com).
∗∗∗
Vale S.A. (e-mail: vinicius.silva.moreira@vale.com).
Abstract:
Abstract: This
This work
work presents
presents an an extension
extension and and validation
validation for for aa control
control oriented
oriented model
model of
of cone
cone
Abstract:
Abstract:
crushers. This
This work
Compared worktopresents
presents
earlier an
an extension
work, extension
the aspectand
andofvalidation
validation
energy for
for aaa control
consumption controlwas oriented
oriented
added model
model
to the of
of cone
cone
model.
Abstract:
crushers.
crushers. This
Compared
Compared work to
to presents
earlier
earlier an
work,
work, extension
the
the aspect
aspectand validation
of
of energy
energy for
consumption
consumption control was
wasoriented
added
added model
to
to the
the of cone
model.
model.
crushers.
Validation
Abstract:
crushers. Compared
was
This
Compared carried
work to
to earlier
out using
presents
earlier work,
an
work, the
measurement
extension
the aspect
aspectand of
data energy
from
validation
of energy consumption
two
for different
a
consumption control was
was added
crusher
oriented
added to
models
model
to the
the model.
and
of was
cone
model.
Validation
Validation was
was carried
carried out
out using
using measurement
measurement data
data from
from two
two different
different crusher
crusher models
models and
and was
was
Validation
based
crushers.
Validation both was
on
Compared
was carried
laboratoryto out using
data
earlier
carried outdata using and
work,measurement
field
the
measurement experiment
aspect data
of from
data.
energy
data data.
from two two
Using different
consumption the
different crusher
results
was from
added
crusher models
the
to
models and
field
the was
trials,
model.
and was
based
based both
both on
on laboratory
laboratory data and
and field
field experiment
experiment data. Using
Using the
the results
results from
from the
the field
field trials,
trials,
abased
plant
Validation both on
simulator
was laboratory
for
carried a data
secondary
out using and field
crushing
measurement experiment
circuit
data data.
has
from been Using
two the
implemented.
different results from
crusher the
models field
andtrials,
was
abased
a plant both on
simulator laboratory
for a data
secondary and field
crushing experiment
circuit data.
has been Using the
implemented. results from the field trials,
a plant
plantboth
based
a plant
simulator
simulator for
for a
on laboratory
simulator for a secondary
a data andcrushing
secondary
secondary crushing circuit
circuit has
field experiment
crushing circuit has
data.
has
been
been
been
implemented.
implemented.
Using the results from the field trials,
implemented.
a©plant
2019, simulator
Keywords:
IFAC (International
Cone Crushers,
Federation
for a secondary
Model
of Automatic
crushing
validation, circuit Control)
Energy hasModel.
beenHosting by Elsevier Ltd. All rights reserved.
implemented.
Keywords:
Keywords: Cone
Cone Crushers,
Crushers, Model
Model validation,
validation, Energy
Energy Model.
Model.
Keywords:
Keywords: Cone Cone Crushers,
Crushers, Model Model validation,
validation, Energy Energy Model.
Model.
Keywords: 1. Cone Crushers, Model validation, Energy
INTRODUCTION model, Model. accounting for motor current, is developed in
1. INTRODUCTION
1. INTRODUCTION model, also
model, also accounting
also accounting for for motor
motor current,
current, is is developed
developed in in
1. INTRODUCTION
1. INTRODUCTION model,
Lynch
model, also
et
alsoal. accounting
(1977).
accounting for
for motor
Herbst and
motor current,
Oblad
current, is
is developed
(1985) developed
developed in
in
Lynch
Lynch et
et al.
al. (1977).
(1977). Herbst
Herbst and
and Oblad
Oblad (1985)
(1985) developed
developed
Comminution 1. INTRODUCTION
(crushing and grinding) accounts for ap- aLynch
linear
model,
Lynch
a linear
et
also
et al.accounting
model
al.
model
(1977).
that
(1977).
that
Herbst
not
for
Herbst
not
anddivided
only
motor
and
only
Oblad
current,
Oblad
divided
(1985)
theis
(1985)
the
developed
crusher
developed into
developed
crusher in
into
Comminution (crushing
Comminution (crushing and and grinding)
grinding) accounts
accounts for for ap-ap- aLynch a linear
linear
zones and
et model
model
was
al. that
that
dynamic,
(1977). not
not
Herbst only
only
but divided
divided
considered
and Oblad the
the
size
(1985) crusher
crusher into
into
distribution
developed
Comminution
proximately
Comminution4% 4% (crushing
of the and
world’s grinding)
total energyaccounts for
consumption ap- a linear model that not only divided the crusher into
proximately
proximately 4%(crushing
of the
of and grinding)
the world’s
world’s total energy
total energyaccounts for ap- zones
consumption
consumption zones
zones
and
and
and
was
was
was
dynamic,
dynamic,
dynamic,
but
but
but
considered
considered
considered
size
size
size
distribution
distribution
distribution
proximately
according
Comminution
proximately
according to
to
4%
4% of
Pokrajcic the
(crushing
of
Pokrajcic the world’s
(2008). total
and grinding)
world’s
(2008). total energy
Meanwhile,
energy
Meanwhile, accounts for ap- aand
consumption
the environ-
consumption
the environ- zones
and provided
linear andmodel
provided wasformulas
that not
dynamic,
formulas for
but
for flow
only
flow and
divided
considered
and power
power sizeconsumption.
the crusher into
distribution
consumption.
according to Pokrajcic (2008). Meanwhile, the environ- and
and
Machado
zones provided
provided
and Leite
was formulas
formulas
(1990)
dynamic, for
for flow
flow
developed
but and
and
a
considered power
power
crusher size consumption.
consumption.
model with two
distribution
according
mental
proximately and to Pokrajcic
social
4% ofimpacts (2008).
the world’s from Meanwhile,
the production the of environ-
tailings
according
mental
mental andtosocial
and Pokrajcic
social impacts
impacts from total
(2008).
from the
the
energy consumption
Meanwhile,
production
production theof tailings and
ofenviron-
tailings Machado
Machado
Machado
modes
and
provided
of
provided
Leite
Leite
Leite
breakage
formulas
(1990)
(1990)
(1990)
so
formulas
for flow and
developed
developed
developed
that formaterial
flow a
and
powermodel
aa crusher
crusher
crusher
that did
power
consumption.
model
model
not
with
with
with
pass
two
two
two
would
consumption.
mental
(e.g.
according
mental due and
and to
to social
social impacts
overgrinding)
Pokrajcic
impacts from
can
(2008).
from the
be
the production
significant
Meanwhile,
production the of
and
of tailings
long-
environ-
tailings Machado
modes of Leite
breakage (1990)
so developed
that material a crusher
that did model
not with
pass two
would
(e.g. due
(e.g. due to to overgrinding)
overgrinding) can can be be significant
significant and and long-long- modes modes
be of
of breakage
breakage
reclassified
Machado Leite so
so
again
(1990) that
that
to material
material
apply
developed ana that
that did
did
appropriate
crusher not
not
model pass
pass would
would
breakage
with two
(e.g.
term
mental
(e.g. duedue
(Franks
and to overgrinding)
et
social al.,
to overgrinding) 2011).
impacts can
However,
from be
the significant
crushing
production
can be significant and
and
of long-
grind-
tailings
and grind-
long- be modes of breakage
reclassified so
again that
to material
apply an that did
appropriatenot pass would
breakage
term
term (Franks
(Franks et al.,
et al., 2011).
2011). However,
However, crushing and
crushing and grind- be
be
mode.
modesreclassified
reclassified
of breakage again
again
so to
to
that apply
apply
material an
an appropriate
appropriate
that did not breakage
breakage
pass would
term
ing
(e.g.
term (Franks
machinery
due
(Franks to et
et al.,
represents
al., 2011).
overgrinding)
2011). However,
capital
can
However,be crushing
intensive
significant
crushing and
equipment
and
and grind-
and
long-
grind- be reclassified again to apply an appropriate breakage
ing machinery
ing machinery representsrepresents capital capital intensive
intensive equipment
equipment and and mode. mode.
mode.
ing
ing machinery
cannot
term
cannot
cannot
be
(Franks
machinery quickly
be quickly
be quicklyetrepresents
al.,replaced,
represents2011).
replaced,
replaced,
capital
even
However,
capital intensive
if more
even intensive
even if more
if more
equipment
efficient
crushing andmodels
equipment
efficient
efficient models
modelsand be
and
grind- mode.
More
reclassified again to apply an appropriate breakage
recent works on cone crusher modeling have been
cannot
would
ing be
be
machinery
cannot be quickly
available.
be available. replaced,
represents
quickly replaced, Hence, even
capital if
controlling more
intensive
even if morethe efficient
the models
comminution
equipment
efficient and
models carried More
mode.
More recent
recent works
works on
on cone
cone crusher
crusher modeling
modeling have
have been
been
would
would be available. Hence, controlling
Hence, controlling the comminution
comminution More
More recent
out
recent works
by
works on
Evertsson
on cone
cone crusher
and
crusher modeling
co-workers
modeling in have
have been
Evertsson
been
would
chain
cannot
would tobe
be
be available.
minimize
quickly
available. Hence,
energy
replaced,
Hence, controlling
consumption
even if
controlling more the
and comminution
waste,
efficient
the while
models
comminution carried
carried out
out by
by Evertsson
Evertsson and
and co-workers
co-workers in
in Evertsson
Evertsson
chain
chain to
to minimize
minimize energy
energy consumption
consumption and
and waste,
waste, while
while carried
(1998,
More
carried out
1999,
recent
out by
works
by Evertsson
2000) where
on
Evertsson cone and
also
crusher
and co-workers
closed-loop
modeling
co-workers in
in Evertsson
control
have have
been
Evertsson
chain
chain to
maintaining beminimize sufficient energy consumption
production rate and waste,
quality while
is (1998, 1999, 2000) where also closed-loop control have
would to
maintaining
maintaining
available.
minimize
sufficient
sufficient
Hence,
energy controlling
consumption
production
production rate the
rate and comminution
and
and waste,
qualitywhile
quality is aaa (1998,
is carried
(1998,
been
1999,
(1998,considered,
been 1999,
out
1999,
considered, by2000)
2000)see where
where
Hulthén
Evertsson
2000)see where
Hulthén
also
also
and
alsoand
and
closed-loop
closed-loop
Evertsson
co-workers
closed-loop
Evertsson
control
control
(2009,
in
control
(2009,
have
have
2011).
Evertsson
have
2011).
maintaining
well-motivated
chain to
maintaining sufficient
minimize task.
sufficient For
energy production
this
production task,
consumption rate
we
rate focus
and
and quality
on
waste,the
quality is
cone
while
is aa been
been
Other
(1998, considered,
considered,
modeling
1999, 2000)see
see Hulthén
Hulthén
approaches
where alsoand
and
have Evertsson
Evertsson
also
closed-loop been (2009,
(2009,
control 2011).
2011).
attempted
have
well-motivated task.
well-motivated task. ForFor thisthis task,
task, we we focus
focus on on the
the conecone been considered, see Hulthén and Evertsson (2009, 2011).
well-motivated
crushers
maintaining
well-motivated
crushers as
as a
a
task.
central
sufficient
task.
central
For
component
For
component
this
production
this task,
in
task,
in the
the
we
rate
we focus
comminution
focus
comminution
on
and quality
on the
the is a Other
cone
chain.
cone
chain. Other
Other
recently,
been
modeling
modeling
modeling
such
considered, as
approaches
approaches
approaches
black-box
see Hulthén (a
have
have
have
and linear
also
also
also
been
been
been
dynamic
Evertsson
attempted
attempted
attempted
(2009,part and
2011).
crushers
crushers
The as
as
cone-crusher
well-motivated a
aa central
central is
task. component
component
endowed
For thiswith in
in
task, the
the
the comminution
comminution
weability
focus to thechain.
onadjust chain.
the
cone Other
recently,
recently, modeling
such
such as
as approaches
black-box
black-box (a
(a have
linear
linear alsodynamic
been attempted
dynamic part
part and
and
crushers
The
The as
cone-crusher
cone-crusher central is
is component
endowed
endowed with
with in the
the
the comminution
ability
ability to
to adjust
adjust chain.
the
the recently,
a static,
Other
recently, such
nonlinear
modeling
such as
as black-box
part)
approaches
black-box in (a
(a linear
Itävuo
have
linear et
also dynamic
al.
been
dynamic (2013,part and
2011)
attempted
part and
The
openingcone-crusher
crushers
The of
as the
cone-crusher a outlet
central is
is endowed
(Closed
component
endowed with
Side
with in the
the
the ability
Setting, CSS)
comminution
ability to
to adjust
and
adjust some-the
chain.
the a
a static,
static, nonlinear
nonlinear part)
part) in
in Itävuo
Itävuo et
et al.
al. (2013,
(2013, 2011)
2011)
opening of
opening of the
the outlet
outlet (Closed
(Closed Side Side Setting,
Setting, CSS)CSS) and some- arecently,
and some- a static,
andstatic,
Discrete nonlinear
such Element
nonlinearas part)
Method
black-box
part) in (aItävuo
in Itävuo
in Cleary
linear etdynamic
et al. al.
et
al. (2013,
(2017)
(2013,part2011)
and
2011)
opening
times
The
opening alsoof the
cone-crusher
of the outlet
option
the outlet is (Closed
of
endowed Side
manipulating
with Setting,
the the
abilityCSS)
eccentric
to and
adjust some-
speed.
the and
and Discrete
Discrete Element
Element Method
Method in
in Cleary
Cleary et
et al.
al. (2017)
(2017) and
and
times also the option(Closed Side Setting,
of manipulating
manipulating CSS) and speed.
the eccentric
eccentric some- aalso
speed. and
and Discrete
aa model
static,
Discrete Element
in
nonlinear
Elementthe Method
form
part)
Method of in
in aaItävuo Cleary
partial et
al. al. (2017)
etintegro-differential
(2013, and
(2017)2011)
times
times
Hence,
opening
times
Hence,
also
also
alsoof the
the
the the
option
option
importance
outlet
option
importance
of
of
ofof
of
manipulating
(Closed the cone
Side crusher
manipulating
the cone crusher
the
the
Setting,
the eccentric
is that
CSS)
eccentric
is that these
and
these
speed.
ma-
some-
speed.
ma-
also
also
also aa model
equation,
and model
model
Discrete where
in
in
in
Element
the
the
the
the
form
form
form
size
of
of
of aa in
distribution
Method
Cleary
partial
partial
partial
in Clearywas
et al.
integro-differential
integro-differential
integro-differential
represented
et al. (2017)
and
with
and
Hence,
Hence,
nipulated
times the
the
also importance
importance
variables
the optionenables of
ofof the
the cone
cone
it to
manipulating crusher
crusher
control is
is
thethe that
that these
these
performance
eccentric ma-
ma-
speed. also
equation,
equation,a model
where
where in the
the
the form
size
size of a
distribution
distributionpartial was
wasintegro-differential
represented
represented with
with
Hence,
nipulated the importance
variables of
enables the cone
it to crusher
control is
thethat these
performance ma- equation,
continuous
also
equation,a where
model functions
in the
the size
in
form distribution
Johansson
of a partial was
(2009). represented with
integro-differential
nipulated
nipulated
of the
Hence, wholevariables
variables enables
of theit
enables
comminution it to
to control
to control
chain in order the
the toperformance
performance
obtain the continuouswhere functionsthe size
in distribution
Johansson was represented with
(2009).
of
of the the
nipulated
the whole
whole
importance
variables enables
comminution
comminution
cone
it
chain
chain
crusher
control
in order
in order is that
the to
these ma-
toperformance
obtain
obtain the continuous
the continuouswhere
equation,
continuous
functions
functions
functions
in
in Johansson
the size
in Johansson
distribution
Johansson
(2009).
(2009).
was represented with
(2009).
of the
appropriate
nipulated whole comminution
material
variables
of the wholematerial size.
enables
comminution It chain
can
it to
chain act inasorder
control a to
regulator
the obtain
that
performance the
can In Atta et al. (2014) a control oriented model predicting
appropriate
appropriate material size. It
size. It can
can actinas
act asorder
a to obtain
a regulator
regulator that can
that the continuous
can In
In
In
Atta
Atta
Atta
et
et
et
al.
al.
al.
(2014)
functions
(2014)
(2014)
aa control
in
a
Johansson
control
control
oriented
(2009).
oriented
oriented
model
model
model
predicting
predicting
predicting
appropriate
receive
of the
appropriate a wide
whole material
range
comminution
material size.
of
size. It
It can
materials
chain
can act
with
act inas
as a
order
a regulator
different
to
regulator that
properties
obtain
that can
the
can flow
In
flowAtta and
and etsize
al.
size distribution
(2014)
distribution a of
control
of the
the material
oriented
material was
model
was presented.
predicting
presented.
receive
receive a
a wide
wide range
range of
of materials
materials with
with different
different properties
properties flow
flowAtta and size
andetsize
size distribution
distribution of the
of the material
theoriented
material was
was presented.
presented.
receive
and yet
appropriate
receive aa provide
wide
wide range
materiala
range of materials
consistent
size.
of It can
materials with
material
act
withas adifferent
to the
regulator
different properties
later
that stage
properties can Additionally,
In
flow and
Additionally, al. the idea
(2014)
distribution
the idea of
a
of handling
control
of
handling a mix
material
a mix of
of different
model
was mate-
predicting
presented.
different mate-
and
and yet
yet provide
provide a consistent
aeither
consistent material
material to
to the later
thespecific
later stage
stage Additionally,
Additionally, the
the idea
idea of
of handling
handling a mix
aa mix of
of different
different mate-
mate-
and
that
receive
and yet
can
yet a provide
produce
wide
provide a
range
a consistent
of a final
materials
consistent material
product
with
material to
withthe
different
to the later stage
properties
later sizes
stage rials
flow was
and
Additionally, introduced
size the idea and
distribution of simulated.
of
handlingthe material
mix of was presented.
different mate-
that can
that can produce
produce either either aa finalfinal product
product with with specific
specific sizessizes rials rials
rials
was
was
was
introduced
introduced
introduced
and
and
and
simulated.
simulated.
simulated.
that
or
and
that can
input
yet
can produce
material
provide
produce aeither
to a
grinding
consistent
either a final
final product
circuits.
material
product with
to
withthe specific
later
specific sizes
stage
sizes Additionally,
rials was the
introduced idea of
and handling
simulated. a mix of different mate-
or input
or input material
material to to grinding
grinding circuits.
circuits. In this work, an extension for the model presented in
or
thatinput
or inputcan material
produce
material to grinding
either
to grinding a final circuits.
product
circuits. with specific sizes In
In this
rials
this was work,
introduced
work, an
an extension
and
extension for
simulated.
for the
the model
model presented
presented in
in
The first step towards optimizing the operation of the In
Atta
In this
this et work,
al.
work, (2014)an
an extension
to also
extension for
model
for the
power
the model
model presented
consumption
presented in
will
in
The
or input
The firstmaterial
first step towards
step towards
to grinding optimizing
circuits.
optimizing the operation
the operation of the Atta
of the Atta
Atta
et
et
et
al.
al.
al.
(2014)
(2014)
(2014)
to
to
to
also
also
also
model
model
model
power
power
power
consumption
consumption
consumption
will
will
will
The
crushing
The first
first step
circuitry
step towards
is
towards the optimizing
modeling
optimizing the
of
the theoperation
different
operation of
of the
com-
the be
In
Atta
be presented.
this et work,
al.
presented. Validation
(2014)an extension
to
Validation also of the
for
model
of the model
the
power
model is
model carried
consumption
is carried out
presented
out on
in
will
on
crushing circuitry
crushing circuitry is is the
the modeling
modeling of of the
the different
different com- com- be be presented.
presented. Validation
Validation of
of the
the model
model is
is carried
carried out
out on
on
crushing
ponents.
The first circuitry
Pioneering
step
crushing Pioneering is
towards
circuitry iswork the
work
the in modeling
in the
optimizing
modeling of
modeling
the the
of theof ofdifferent
cone
operation com-
crushers
of the measurement
Atta
be et al.
presented. data
(2014) tofrom
Validation also two
model
of the crushers,
power
model isMetso
consumption
carried GP11M,
out will
on
ponents.
ponents. Pioneering work in the modeling
the modeling ofdifferent
cone crushers
cone com- measurement
crushers measurement
measurement
data
data
data
from
from set,
from
two
two
two
crushers,
crushers,
crushers,
Metso
Metso GP11M,
GP11M,
ponents.
is Gauldie
crushing
ponents. Pioneering
(1953),
circuitry
Pioneering iswork
and the
work in
Gauldie the
modeling
in the modeling
(1954),of the
modeling of
where
of conethe
different
cone crushers
idea
com-
crushers of using
be
measurement
using aa laboratory
presented.laboratorydata data
Validation
from set,
data of
twothe and Metso
model
crushers,
and Metso isMetso
carriedGP11M,
HP400
Metso
HP400 using
out ona
GP11M,
using a
is
is Gauldie
Gauldie (1953),
(1953), and
and Gauldie
Gauldie (1954),
(1954), where
where the
the idea
idea of
of using
using a
a laboratory
laboratory data
data set,
set, and
and Metso
Metso HP400
HP400 using
using a
a
is Gauldie
dividing
ponents.
is Gauldie the(1953),
crushers
Pioneering
(1953), and
work
and Gauldie
into inzones
Gauldie the (1954),
and
modeling
(1954), the where the
consideration
of
where conethe idea
crushers
idea of
of field
using trial
measurement a data
laboratory sets.
data Finally,
from
data two
set, aandsimulator
crushers,
Metso for
Metso
HP400 a complete
GP11M,
using a
dividing the
dividing the crushers
crushers into into zones
zones and and thethe consideration
consideration of of field field
field
trial
trial
trial
data
data
data
sets.
sets.
sets.
Finally,
Finally,
Finally,
aa simulator
a simulator
simulator
for
for
for
aa complete
a complete
complete
dividing
the
is Gauldie
dividing the
eccentric
the crushers
(1953),velocity
crushers and into
is zones
introduced.
Gauldie
into zones and
(1954),
and the
the consideration
Another
where early
the
consideration work
idea of
of crushing
using
field
crushing a
trial circuit
laboratory
data
circuit using
sets.
usingdatathe presented
set,
Finally,
the and
a
presented crusher
Metso
simulator
crusher formodel
HP400 a
model will
using
complete
will be
a
be
the
the eccentric
eccentric velocity
velocity is
is introduced.
introduced. Another
Another early
early work
work crushing
crushing circuit
circuit using
using the
the presented
presented crusher
crusher model
model will
will be
be
the
is eccentric
Whiten
dividing
theWhiten the
eccentric (1972),velocity
crushers
velocitywhere is
into introduced.
the crushing
zones
is introduced. and Another
process
the early
is work
modeled
consideration of described.
field
crushing trial data
circuit sets.
using Finally,
the a
presented simulator
crusher for a
model complete
will be
is Whiten (1972), where crushingAnother
the crushing process earlyis modeledwork described.
modeled
is
is
as
the
is
as
Whiten
aaeccentric
single
Whiten
single
(1972),
(1972),
stage
(1972),
stage in
velocity
in
where
where
steady
where
the
the crushing
state.
is introduced.
steady the crushing
state. A
A
process
process
single
Another
process
single unit
unit
is
is
is dynamic
early work described.
modeled
modeled
dynamic
described.
crushing
described.circuit using the presented crusher model will be
as a single
single(1972),
stage in in steady state. A single
single unit dynamic 2. A CRUSHER MODEL INCLUDING POWER
as a single stage in steady state. A single unit dynamic described.
as
is a
Whiten stage steady
where the state.
crushingA process unitis dynamic
modeled 2.
2. A A CRUSHER
CRUSHERCONSUMPTION MODEL
MODEL INCLUDING INCLUDING POWER POWER

as a
This single
work stage
is financedin steady
by the state.
program A single
SIP|STRIM unit
from dynamic
Sweden’s 2.
2. A
A CRUSHER
CRUSHER MODEL
MODEL INCLUDING
INCLUDING POWER POWER

 This work is financed by the program SIP|STRIM from Sweden’s CONSUMPTION
CONSUMPTION

 This
innovation
This work
work is
agency
is financed
VINNOVA
financed by
by the
theandprogram
by
programVale SIP|STRIM
S.A. The
SIP|STRIM from
efforts
from Sweden’s
from Tero
Sweden’s 2. A CRUSHER CONSUMPTION
MODEL
CONSUMPTION INCLUDING POWER
This work
innovation
innovation is financed
agency
agency VINNOVA
VINNOVA by theand
andprogram
by
by ValeSIP|STRIM
Vale S.A.
S.A. The fromfrom
The efforts
efforts Sweden’s
from Tero
Tero

Onnela
innovation from
This work
innovation Metso
agency
is
agency Minerals
VINNOVA
financed
VINNOVA by the Inc.,
and
and Finland
by
program
by Vale are
S.A.
ValeSIP|STRIM
S.A. highly
The appreciated
efforts
from
The efforts from
from in
Tero
Sweden’s
Tero
As
As a background
aa background to
to the
CONSUMPTION
the power
power consumption
consumption model,
model, we
we
Onnela
Onnela
providing
Onnela
from
from
fromthe
Metso
Metso Minerals
Minerals
laboratory
Metso Minerals data
Inc.,
Inc.,
and
Inc.,
Finland
Finland
the
are
are highly
highly
discussions.
Finland are highly
appreciated
appreciated
appreciated
in
in
in
As
As
will a background
background
briefly introduce to
to the
the
the power
power
control consumption
consumption
oriented model model,
model,
presentedwe
we
innovation
Onnela
providing
providing from agency
the
the Metso VINNOVA
Minerals
laboratory
laboratory data
data
and
Inc.,
and
and
by Vale
Finland
the
the
S.A. The efforts from
are highly appreciated in
discussions.
discussions.
Tero As
will
will a background
briefly
briefly introduce
introduce to the
the
the power
control
control consumption
oriented
oriented model
model model,
presented
presentedwe
providing
Onnela
providing fromthe laboratory
theMetso Minerals
laboratory data and
dataInc., the
and Finland discussions.
are highly appreciated in
the discussions. will
As briefly
a introduce
background to the
the control
power oriented
consumption
will briefly introduce the control oriented model presented model presented
model, we
providing
Copyright
2405-8963 © the laboratory
© 2019
2019, IFAC data and the discussions.
IFAC (International Federation of Automatic Control) will briefly introduce the control
1 Hosting by Elsevier Ltd. All rights reserved. oriented model presented 1
Copyright
Copyright ©
© 2019
2019 IFAC 1 1
Peer review
Copyright
Copyright © 2019 IFAC
© under
2019 IFAC
IFAC
1
responsibility of International Federation of Automatic
1 Control.
1
1
1
1
10.1016/j.ifacol.2019.09.154
Copyright © 2019 IFAC 1 1
2019 IFAC MMM
2
Stellenbosch, Khalid Tourkey Atta et al. / IFAC PapersOnLine 52-14 (2019) 1–6
South Africa, August 28-30, 2019

in Atta et al. (2014) and describe the division into N where Kω represents the power constant that is related
zones and the actions on the material in each zone. Also, to the speed (positive usually), and KCSS represents the
we consider the rate of these actions, which is governed power required to keep the crusher at a certain CSS
by the eccentric speed (ω) of the crusher. In each cycle (negative usually).
(stroke) actions illustrated in the block diagram of Fig. 1
are applied to the material. Here, Uia and Uib are vectors,
representing the input to zone i and constitute the mass Zai-1 αi Uai ω∫.dt Xai 1-Ci βi Zai
size distribution per cycle (stroke) accepted in the ith
zone for two materials a and b respectively. Similarly -1
Fai
Zia and Zib represent the output mass size distribution Uai
Bai Si -1 Uai+1
per cycle of Zone i, and are at the same time input to
Zone i + 1 (i.e. Ui+1 = Zi ). Xia and Xib represent the 1-Si
mass size distribution inside the ith zone while Fia and
P Pi
Fib represent the material that is retained in the zone ω
(i.e. did not pass down), after applying the actions of αi Ubi ω∫.dt Xbi 1-Ci βi Zbi
Zbi-1
selection and breakage on it. The input of the first zone
(U1a and U1b ) are the material fed into the crusher, and -1
Fbi
the output of the last zone (ZN a
and ZN b
) is the output Ubi
Bbi Si -1 Ubi+1
of the crusher. The breakage function Bi depends on
strength, size distribution, and shape of the material. The 1-Si
classification function depends on the chamber profile and P
the CSS. The selection function Si will be determined ω
by the chamber profile, stroke, and CSS. The acceptance
function αi is the factor that defines how much materials Fig. 1. Model for Zone i, including a power consumption
can be accepted from the previous zone and depends on the model, when two materials with different breakage
volumetric capacity, material density, and CSS. Finally, properties are crushed together
the passing function βi will depend on the length of the
zone Li and the eccentric speed ω.
3. CRUSHER MODEL VALIDATION
The modification of the crusher model is the addition
of a new block that calculates the energy required to 3.1 Laboratory data validation
convert the input size distribution into the output per
crushing cycle based on the improved work index presented
In this section, we describe model validation for a Metso
in Lindqvist (2008). This index correlates the potential
GP11M crusher based on laboratory data. The data in-
energy to the area under the inverse of the cumulative
cludes the size distribution of input and output at different
particle size distribution (CSD) of the particle sample. The
CSS, the throughput, and the power. The particle size
index of each sample is used instead the P80 index in the
distribution is the average of multiple test data sets while
classic Kick’s formula (King, 2012).
the throughput and power are the root mean square of the
fA (Xbreak ) test data sets. Also, the minimum and the maximum of
WM (Xsel , Xbreak ) = CM ln (1)
fA (Xsel ) the power and the throughput was provided. The Crusher
Geometry is considered to consist of 7 zones, see Fig. 2.
where Xsel and Xbreak represent the particle size distri-
bution of the materials before and after the breakage
operation respectively, and the function fA gives the area
under the inverse of the CSD. The constant CM is the work
index of the rock, obtained in a test. Since the crusher is Zone 1
gyrating at speed ω, we can say that the rate of energy will
equal the energy per cycle multiplied by ω. It should be Zone 2
noted that the power consumption model must be applied Zone 3
zone-wise to the crusher model. A single model associated
with the input/output behavior has not yielded accurate Zone 4
results. The total power due to crushing will be
N Zone 5

PCrushing = ω WM,i X̄break,i (2)
i=1 Zone 6
where X̄break,i represents the mass flow rate in the break-
Zone 7
age function in the ith zone. The modification to the model
from Atta et al. (2014) is illustrated in Fig. 1 with blocks
denoted P .
The power due to size reduction of all the zones (PCrushing )
is
PTotal = PCrushing + Kω ω + KCSS CSS (3) Fig. 2. Crusher geometry for GP11M.

2
2019 IFAC MMM
Khalid Tourkey Atta et al. / IFAC PapersOnLine 52-14 (2019) 1–6
Stellenbosch, South Africa, August 28-30, 2019 3

100
CSS= 20 mm Total Capacity of Crusher
240
%

50
Output 220

Capacity [t/h]
Sim. Output
Input
0
100 101 [mm] 102 200
CSS= 24 mm
100
sim.
180 rms
max
%

50
Output min
Sim. Output
160
Input
20 22 24 26 28 30 32
0
100 101 [mm] 102 CSS [mm]
CSS= 28 mm
100
Power of Crusher
250
sim.
%

50
Output rms
Sim. Output
max
Input
200 min

Power [Kw]
0
100 101 [mm] 102
CSS= 32 mm
100

150
%

50
Output
Sim. Output
Input
0 100
100 101 [mm] 102 20 22 24 26 28 30 32
CSS [mm]

Fig. 3. Size distribution of 4 different CSS for GP11M. Fig. 5. Total throughput and total power using Kick’s
Standard method.
Total Capacity of Crusher
240
ω = 210, and η = 0.75 at ω = 900. Note that Li is
220 the length of the zone that was derived from the crusher
Capacity [t/h]

200
geometry. The effective stroke was selected as a function of
sim.
eccentric speed and follow a linear function with effective
180 rms
max stroke factor 0.59 at ω = 210, and effective stroke factor
160
min
0.43 at ω = 900.
20 22 24 26 28 30 32
CSS [mm]

Power of Crusher
250
sim.
3.2 Plant data validation
rms
max
200 min
Serra Leste is one of Vale’s iron-ore processing plants
Power [Kw]

150
located in the Amazon region in northern Brazil. The plant
started its operation in 2014 and nowadays produces 6.0
100
million tons per year of sinter feed and natural pellets. The
20 22 24 26
CSS [mm]
28 30 32
primary ore processed is high-quality compact hematite,
which reaches 68% of iron content. Serra Leste does
Fig. 4. Total throughput and total power using modified not have concentration equipment so the crushing circuit
Kick’s method. constitutes the whole plant.

Validation of the models was carried out by tuning the
crusher parameters to a specific type of material. The
result of the comparison between the simulation and
the lab data is illustrated in Fig. 3 which shows the
input size distribution along with measured and simulated
output distribution. Overall, the simulations exhibit a
good agreement with the measurement data. Full details
on the validation experiments will be presented in a future
publication.
In Fig. 4, throughput and power are plotted. The plots
show the root mean square along with the minimum
and the maximum over the set of lab data and also
the simulation results. The power is calculated using the
modified Kick’s method. For comparison, Fig. 5 shows the
power calculated using the standard Kick’s approach.
For the power calculation, the modified Kick’s constant
was KA = 3.1, the CSS power constant was -1000, the
speed constant was selected to 4 and the bulk density was
1400 kg/m3 . The selection and breakage functions were
selected from Evertsson (2000), while the classification
function from King (2012) with α1 = 1, α2 = 1.1 and
n = 4.
2 validation test case, the selection and breakage functions
For the function βi = g2 ωη 2 L1i , that controls the relative
falling period of the cycle (and consequently η), we have
chosen η to be a linear function of ω with η = 0.65 at
The cone crushers used in Serra Leste are from the
Metso HP400 series. There are 2 cone crushers with fixed
CSS of 38mm in the secondary crushing circuit, and
another 2 cone crushers with fixed CSS of 25mm in the
tertiary crushing circuit. In order to compensate for wear,
maintenance technicians calibrate the CSS of the crushers
once a week and replace mantle and bowl once a month.
A crusher from the secondary crushing circuit in Serra
Leste was used to validate the proposed model with
plant data. Three tests were done, each test consisted of
operating the crusher for a period of time with a fixed
CSS value. The CSS values chosen were 35mm, 38mm and
41mm. For each test, the material rate through the crusher
and the current required by the motor were measured.
During each test about 600 kg of material was collected
for granulometric analysis in the laboratory. Fig. 6 shows
photos of the conveyor belt at the point where samples
were taken for analysis for the three different CSS values.
The geometry of the Metso HP400 crusher was acquired
and analyzed and the crusher was divided in 6 zones. For
the function βi , we have chosen η = 0.8. The effective
stroke was selected to equal 0.8. Similar to the lab data
were from Evertsson (2000), while the classification func-
tion from King (2012) with α1 = 0.9, α2 = 3 and n = 1.
The bulk density was 3250 kg/m3 .

3
2019 IFAC MMM
4
Stellenbosch, Khalid Tourkey Atta et al. / IFAC PapersOnLine 52-14 (2019) 1–6
South Africa, August 28-30, 2019

(a) 35mm (b) 38mm
Fig. 6. Pictures from the sampling of the crusher produc-
tion at three different CSS
Fig. 7 shows a comparison between measured and simu-
lated particle size distribution. Here also, there is a good
agreement between the measured and simulated distri-
butions. It should be kept in minds that due to plant
operation limitations, the number of samples were limited
and the operation could not be validated with several
samples as with the laboratory tests.
100
Throughput: real=883 t/h, simulation=784 t/h
80
60
%
and opens its exit in order to keep it filled around 70% and
avoid overflow of material in the conveyors. The feeders
are modeled exactly the same as the conveyors except
that they have much shorter lengths and lower speed. The
screen models are ideal, meaning that all material of 40
mm and under will pass and the rest will be rejected. The
second silo with a capacity of 117 m3 also has a PID control
for its opening at the exit but now controls the percentage
of material in the crushers by keeping them filled around
70% of their capacity. The crushers and silos work with
volumes while the rest of elements work with mass, an
appropriate conversion always takes place when necessary.
The simulation takes as input a size distribution vector
(c) 41mm
that defines the percentage of each size class. This vector
is multiplied by a rate of mass per time, set at the extreme,
which is the maximum of the lowest capacity conveyor
(1100t/h). The input material is first transported by the
conveyors which generate a delay of about 200 seconds,
then the material arrives at the first double-silo (with
capacity of 215 m3 ), and divided between two feeders, each
one passing material to a screen. Material with size of 40
mm and under passes, and constitutes the output of this
stage. Material over 40 mm goes to the other double-silo
(with capacity of 117 m3 ) by means of two consecutive
conveyor belts. From this lower capacity silo the material
is divided again between two feeders, each one feeding a
cone crusher. The output of the cone crushers leads to

40 Output

20
Sim. Output
Input the first conveyor belt where the material is mixed with
10
0
10
1
10
2
the input material, and this goes through the process just
[mm]
100
Throughput: real=986 t/h, simulation=912 t/h described but now the output material from the crushers
80 that is below 40 mm will pass through the screens as an
60
output of this system. The CSS of the cone crushers can
%

40 Output

20
Sim. Output
Input
be adjusted before each run as well as its eccentric speed.
10
0
10
1
10
2 The velocity of the conveyors can also be changed but are
[mm]
Throughput: real=998 t/h, simulation=993 t/h
kept fixed according to the flow chart. The velocity of the
100

80 feeders is set at maximum, being 0.29 m/s for the feeders

60 that feed the screens and 0.23 m/s for feeders that feed
%

40

20
Output
Sim. Output
Input
the crushers. The simulation is run for 1000 seconds.
10
0

[mm]
10
1
10
2
The relation between throughput and CSS for the crusher
and the screen can be seen in Fig.11. For the crusher, it
Fig. 7. Size distribution of 3 different CSS for HP400. is clear that decreasing the CSS reduces the throughput.
A larger CSS increases the throughput of the crusher and
also of the screen up to a point between a CSS of 37 and
4. PLANT SIMULATOR 38, after that less material will pass through the screen and
the throughput will be reduced. This plot is for a constant
The plant simulator can be seen in Fig. 9. It is structured velocity of 320 RPM.
according to the flow diagram of the crushing plant at
The dynamics of the plant simulator are illustrated in
Serra Leste, seen in Fig. 8. It was developed using Simulink
Fig. 12. It shows the simulation results from a constant
and built by creating the basic elements of a secondary
input of 110 t/h and the tonnes per hour that pass through
crushing stage, namely cone crushers, silos, feeders, screens
the screen, meaning that are 40 mm or smaller and the
and conveyor belts, which can be seen in Fig. 10. The
ones that are bigger are recirculated, Note the drastic
feeder and conveyor have the same mechanisms but the
changes with approximately 200 s interval that are due
former is much slower. There are two double-silos each one
to sudden changes in size distribution from the conveyors.
with two exits, modelled as one and dividing the output
The second part of this plot shows the level of material
between two feeders. The input of the simulation is a
in the silos which never exceed the 3% for the time of the
mixture of material coming from the first stage, which is
simulation. The plots in Fig. 13 show the cumulative par-
a jaw crusher (not part of this model) and the processed
ticle size distribution (CSD) and particle size distribution
material from the cone crushers. The output would be the
(PSD) at time t=1000 while in the simulator, these plots
material measuring 40 mm or less.
are updated online.
The conveyor model’s main function is to generate a
realistic delay of the material in the system. The first silo
with a capacity of 215 m3 has a PID control that closes

4
2019 IFAC MMM
Khalid Tourkey Atta et al. / IFAC PapersOnLine 52-14 (2019) 1–6
Stellenbosch, South Africa, August 28-30, 2019 5

TR 1310KL‐02
(1100t/h)
(100,56m)
(2.0m/s)

SI 1220KL‐01
(117m3) SI 1310KL‐01
(height 7m)
AL 1220KL‐01/02 AL 1310KL‐01/02
(1160t/h) (1500t/h)
(5.445m) +40mm (7m)
BR 1220KL‐01/02 +40mm
(800 a 1000t/h)
PN 1310KL‐01/02
(1140t/h)
TR 1210KL‐03
TR 1210KL‐02 (2700t/h)
(2700t/h) (104m)
(37.3m) (1.5m/s)
(1.5m/s)

Fig. 8. Flow chart of the secondary crushing circuit at Serra Leste

Conveyors Silo
. -

-"

Feeders Screens Crushers

. -
 . -

. -

- -#
-3

 

Silo

 
 
 
 
 $0"



Conveyors
. -

-


    
 0 


12 &% 0
3

 
 
 
  
$/0#3  $


 
 

12 &%

 
  
   
.
 

Feeders

/

 

   
12 &%
   
 
  +,%
 
 
 
  
+

     !

 . -
  /
 -!  
+,%

  

$


 ()*
& 0 "$   -
 
 
 
 


 
   

 
  


  "
 . -

%   -
    ' 
 
        
3

 
 
  /3

   #

  ()*
&  /0#


 
 3

12 &% 0   
/
 %

 
 

 
    3
    ' 
 0#!3
 
 
! 
/0$ 

12 &%

+,% 
$/0#3
12 &% /0 !

 
 
12 &%
"
 

12 &%




+,% 0!#$
+,% 
  -  

$0"


12 &% !$0
"

 
 
. -

-$  
 0 
 !


 
    
. 



   
12 &%
+
  !
     "

  



 

  

 

 /3

   #
/0#

 

$

 
    "

Fig. 9. Simulink simulator of the secondary crusher circuit. The figure is only intended to show the structure of the
simulator, as most of the text is unreadable at this zoom level

.
Fig. 10. Simulink building blocks.

5. CONCLUSION AND FUTURE WORK In order to simplify the use of these models, an automated
optimization mechanism should be developed to select
the optimal crusher parameters to adapt the model to
The introduction of the power consumption aspect in the measurement data.
control oriented modelling will open more opportunities
REFERENCES
of using the model in different operational scenarios. The
validation shows that the model behaves in a realistic Atta, K.T., Johansson, A., and Gustafsson, T. (2014).
manner. The plant simulator constitutes a good platform Control oriented modeling of flow and size distribution
for the testing of future control strategies. in cone crushers. Minerals Engineering, 56, 81–90.

5
2019 IFAC MMM
6
Stellenbosch, Khalid Tourkey Atta et al. / IFAC PapersOnLine 52-14 (2019) 1–6
South Africa, August 28-30, 2019

Evertsson, C. (1999). Modelling of flow in cone crushers.

Minerals engineering, 12(12), 1479–1499.
950
Evertsson, C. (2000). Cone crusher performance. Ph.D.
thesis, Chalmers University of Technology,.
Franks, D., Boger, D., Côte, C., and Mulligan, D. (2011).
900 Sustainable development principles for the disposal of
Throughput [t/h]

mining and mineral processing wastes. Resources Policy,

850 36, 114–122.
Gauldie, K. (1953). The performance of jaw crushers.
Engineering, Oct, 9.
800
Gauldie, K. (1954). The output of gyratory crushers.
Engineering, April, 30.
750 Crusher Herbst, J.A. and Oblad, A. (1985). Modern con-
Screen
trol theory applied to crushing part 1: Develop-
32 33 34 35 36 37 38 39 40 41 42 ment of a dynamic model for a cone crusher
CSS [mm]
and optimal estimation of crusher operating vari-
ables. IFAC Proceedings Volumes, 18(6), 301
Fig. 11. Crusher performance map – 307. doi:https://doi.org/10.1016/S1474-6670(17)
60525-1. URL http://www.sciencedirect.com/science/
article/pii/S1474667017605251. 1st IFAC Symposium
1000
Total Plant Input
Pass to next stage
on Automation for Mineral Resource Development.,
Recirculated Brisbane, Australia, 9-11 July.
[t/h]

500 Hulthén, E. and Evertsson, C.M. (2009). Algorithm

for dynamic cone crusher control. Minerals Engi-
0 neering, 22(3), 296 – 303. doi:10.1016/j.mineng.2008.
0 100 200 300 400 500 600 700 800 900 1000
time [seconds]
08.007. URL http://www.sciencedirect.com/science/
article/pii/S0892687508002070.
3
Hulthén, E. and Evertsson, C. (2011). Real-time algorithm
for cone crusher control with two variables. Minerals En-
Filling [%]

2
gineering, 24(9), 987 – 994. doi:10.1016/j.mineng.2011.
1 Main Silos 04.007. URL http://www.sciencedirect.com/science/
Crushers Silos
article/pii/S0892687511001403.
0
0 100 200 300 400 500 600 700 800 900 1000 Itävuo, P., Jaatinen, A., and Vilkko, M. (2011). Simulation
time [seconds] and advanced control of transient behaviour in gyratory
cone crushers. In Procemin 2011-8th International
Fig. 12. Dynamic plant simulation Mineral Processing Seminar, 63–72. GECAMIN.
Itävuo, P., Vilkko, M., Jaatinen, A., and Viilo, K. (2013).
100
CSD, Time=1000 Sec Dynamic modeling and simulation of cone crushing
80
Crusher Input circuits. Minerals Engineering, 43, 29–35.
Crusher Output

60
Johansson, A. (2009). Modeling and simulation of cone
40
crushers. In Proceedings of IFACMMM 2009 Workshop
20
on Automation in Mining, Mineral and Metal Industry.
0
King, R.P. (2012). Modeling and simulation of mineral
10 -1 10 0 10 1 10 2 10 3 processing systems. Elsevier.
[mm]
PSD, Time=1000 Sec, Total Input rate=300.188 kg/s,Total Output rate=300.188 kg/s Lindqvist, M. (2008). Energy considerations in compres-
0.3
Crusher Input sive and impact crushing of rock. Minerals Engineering,
0.2
Crusher Output
21(9), 631–641.
Lynch, A., Bush, P., and Asarco Inc. Silver Bell Unit
0.1 (1977). Mineral crushing and grinding circuits: their
simulation, optimisation, design, and control. Elsevier
0
10
-1
10
0
10
1
10
2
10
3 Scientific Publishing Company.
[mm] Machado Leite, M. (1990). Kinetic models for the simula-
tion of crushing circuits. Minerals Engineering, 3(1-2),
Fig. 13. Online CSD-PSD plots in the simulator 165–180.
Pokrajcic, Z. (2008). Energy efficient comminution circuits
Cleary, P., Sinnott, M., Morrison, R., Cummins, S., and a modified grinding strategy and the selection of a target
Delaney, G. (2017). Analysis of cone crusher perfor- product size. In 2nd annual conference, Brisbane, Aus-
mance with changes in material properties and operat- tralia, November 2008. CSRP08 (Centre for Sustainable
ing conditions using dem. Minerals Engineering, 100, Resource Processing).
49 – 70. doi:https://doi.org/10.1016/j.mineng.2016. Whiten, W. (1972). The simulation of crushing plants
10.005. URL http://www.sciencedirect.com/science/ with models developed using multiple spline regression.
article/pii/S0892687516303429. Journal of the South African Institute of Mining and
Evertsson, C. (1998). Output prediction of cone crushers. Metallurgy, 72(10), 257–264.
Minerals engineering, 11(3), 215–231.