Reality-driven simulation of a hydraulic tower-press filtration machine
Katwal, Parvat (2023)
Katso/ Avaa
Sisältö avataan julkiseksi: 01.03.2025
Diplomityö
Katwal, Parvat
2023
School of Energy Systems, Konetekniikka
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2023022728736
https://urn.fi/URN:NBN:fi-fe2023022728736
Tiivistelmä
Tower-press filtration machines are typically used in mining, mineral processing, and metallurgical industries to process mineral concentrates. It is challenging to perform computer simulations of such machines, as they have complex mechanisms, and deal with stochastic chemical processes that cannot be easily integrated into the simulation. The reality-driven simulation combines the information from the real system with the inaccurate simulation models to provide a more accurate representation of the system. The objective of this thesis is to develop a framework for fusing the measurement data from the actual machine with the simulation model of the tower-press filtration machines. In this thesis, the mechanical sub-system is modeled using the index-3 augmented Lagrangian formulation, and the hydraulic sub-system is modeled using the lumped fluid theory. Reality-driven simulation as a state estimator based on information fusing is implemented using the error-state extended Kalman filter (eEKF). The estimator is simulated using three different sensor configurations and the performance of the estimator is also studied for these different configurations. It is found that the estimator provides a reliable representation of reality even where there are some unmodeled dynamics in the simulation model.