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Andreas Johansson
Control Engineering Group
Lule
a University of Technology
SE-971 87 Lule
a, Sweden
Email: andreas.johansson@ltu.se
Phone +46 920 49 23 34
Abstract: A generic structure for dynamic models of cone crushers is presented, in the form
of a partial dierential equation depending on both time and a spatial variable as well as the
size distribution of the particles. Assumptions on the size classication of the ow through the
crusher and the velocity of the particles enable modeling the eect of the main manipulated
variables, i.e. closed side setting and rotational velocity. It is also shown how the model may
be discretized and approximated by an ordinary dierential equation. Simulations show that
the model exhibits the expected behavior of a cone crusher. Notable is the eect of changing
the rotational speed, which suggests that this variable is potentially valuable for improving the
control of the crusher.
Keywords: Cone crusher, distributed parameter system, partial dierential equation
1. INTRODUCTION
The cone crusher has received attention for several decades
for at least two reasons. Firstly, as all comminution operations, the crushing consumes lots of electric power. Secondly, even quality of the crushing product is important,
regardless of whether it is the nal product of the plant or
going on to further processing. In the latter case, variations
in the crusher product may cause problems in e.g. the
grinding stage.
Feeder
Chamber
Bowl
Mantle
CSS
1.1 Notation
(1a)
(1b)
(1c)
D+dD
p() d =
D0 ed
p() d =
D0 e
p(D0 e )D0 e d =
=
=
() d
d
(t, y, )
(t, y, )dy v(t)dtd
(5)
y
where the approximation was obtained by a 1st order
Taylor expansion. The net decrease of the mass density in
the control volume due to transportation is thus obtained
(t, y, )v(t)dt
(6)
y
x
= w( sx) v
t
y
or, by substituting and ,
x
B(D0 ed , D0 e1 ) B(D0 e , D0 e1 )
B (D0 e , D0 e1 )D0 e d
where the rst approximation was obtained by replacing
d1 with the end point D1 of the interval and the second
approximation is a 1st order Taylor expansion where B
denotes the derivative of B with respect to its rst argument. By dening b(, 1 ) = B (D0 e , D0 e1 )D0 e ,
the mass of particles in Y that are broken down from size
D1 into D is
(7)
b(, 1 )s(1 )x(1 )dd1 dy
The total mass of particles in Y broken down into size
interval D may now be obtained by integrating (7) over
all sizes 1 from 0 to , i.e.
b(, 1 )s(1 )x(1 ) d1 ddy
0
x(t, y1 , 1 ) x(t, y1 , M )
..
..
..
X(t) =
.
.
.
x(t, yN , 1 ) x(t, yN , M )
xy (t, y1 , 1 ) xy (t, y1 , M )
..
..
..
Xy (t) =
.
.
.
xy (t, yN , 1 ) xy (t, yN , M )
and similar denitions for matrices Xt (t), C(t), Cy (t), S,
and (t) using the values of x(t,
y, ), c(t, y, ), cy (t, y, ),
s(y, ), and (t, y, ). We may now express the PDE (11)
on the grid as
Xt (t) =w(t)((t) S X(t))
(12)
v(t)((1 C(t)) Xy (t) Cy (t) X(t))
xy (t, y1 , j )
x(t, y1 , j )
xy (t, y2 , j )
x(t, y2 , j )
+ Ly x(t, y0 , j )
Ly
..
..
0
.
.
x(t, yN , j )
xy (t, yN , j )
j1
k=0
On vector form
(t, yi , 0 )
s(t, yi , 0 )x(t, yi , 0 )
(t, yi , 1 )
s(t, yi , 1 )x(t, yi , 1 )
..
..
.
.
(t, yi , M )
s(t, yi , M )x(t, yi , M )
where
0
0
10
=
.
..
..
.
M 0 M 1,0 M,M 1 0
and ij = b(i , j )(i i1 ). Thus (t)T = (S X(t))T
so that
vec((t)) =vec((S X(t))T )
=( I)vec(S) vec(X(t))
using (1b) and (1c). Vectorizing (12) gives
vec(Xt (t)) =w(t)(vec((t)) vec(S) vec(X(t)))
v(t)(vec(1 C(t)) Xy (t)
vec(Cy (t)) vec(X(t)))
z(t)
=w(t)(( I) I)Sz(t)
v(t)((I C(t))(I
Ly ) Cy (t))z(t)
v(t)(I C(t))(I
Ly0 )x0 (t)
which is a linear, time-varying, nite-dimensional system,
readily implemented in Matlab Simulink.
4. SIMULATION ASSUMPTIONS
4.1 Classication
A typical form of the classication function is (King
(2001))
d d2
1
, d1 d < d 2
d 1 d2
cd (d) =
d < d1
0,
1,
d d2
where d1 = 1 U and d2 = 2 U + d and where U is the
closed side setting while n, 1 , 2 , d are parameters.
Here, we shall use this classication function for each level
interval in the crusher with U replaced by the chamber
thickness at nip at this level. This chamber thickness
depends on the closed side setting u and is denoted l(u, y),
see Fig. 3. Thus
1,
D0 e d2 (t, y)
where
n
D0 e d2 (t, y)
c0 (t, y, ) =1
d1 (t, y) d2 (t, y)
d1 (t, y) =1 l(u(t), y)
d2 (t, y) =2 l(u(t), y) + d
The chamber thickness at nip l(u, y) is assumed to depend
linearly on the closed side setting as l(u, y) = l0 (y) + u
where l0 (y) is the chamber prole, dened as the chamber
thickness when the closed side setting is u = 0.
4.2 Selection and breakage
A selection function of the form sd (d) = kda is often used
(Kapur (1971)). Then s() = sd (D0 e ) = kD0a ea . We
1
0
0
0
y1 y0
1
1
0
0
y1 y2 y2 y1
.
.
.
.
.
.
Ly =
.
.
.
0
0
0
yN 1 yN 2
1
1
0
0
yN 1 yN yN yN 1
T
1
and Ly0 = y0 y
0 0 . The grid has been chosen as
1
yi = iY /N and i = iM /M where N = 6, M = 23, and
M = 6.9.
kg/s
40
30
20
10
0
1
10
10
Size (mm)
10
10