Construction of continuous and discrete non-linear prognostic models of the control system for the process of grinding ore materials

Abstract

The article analyzes the developed non-linear predictive model of the control system in continuous time of the state space, including states, control and controlled values. The transformation of the continuous form of a function into a discrete one is carried out according to the trapezoid rule. Based on the discrete model, the optimality criterion for the objective function is formulated. The efficiency of the grinding process is considered based on the weight components of the model, since it entirely depends on the accuracy of estimating the particle size of the product and the performance of the plant. To control the volume of water in the sump, a dynamic inversion controller is provided, which makes it possible to reduce control problems to a solution in a closed form and guarantee asymptotic stability of the error dynamics.