Optimizing the control system of cement milling: process modeling and controller tuning based on loop shaping procedures and process simulations

Based on a dynamical model of the grinding process in closed circuit mills, efficient efforts have been made to optimize PID controllers of cement milling. The process simulation is combined with an autoregressive model of the errors between the actual process values and the computed ones. Long term industrial data have been used to determine the model parameters. The data include grinding of various cement types. The M - Constrained Integral Gain Optimization (MIGO) loop shaping method is utilized to determine PID sets satisfying a certain robustness constraint. The maximum sensitivity is con...