Design of Self-tuning PID Decoupling Controller of Grinding Process

According to the mathematical model of the grinding process,an improved shuffled frog leaping algorithm(SFLA) was proposed to optimize the PID controller to control the grinding process.Through decoupling,two single-input single-output channels was created,which made the milling mine feed to control the milling discharge velocity and the water feed rate of the pump pool to control the milling particle size directly.The new frog leaping rule adjusted the frog local search space and the each flog's jump stepsize dynamically and randomly by emulating frog's perception and action uncertainties in order to prevent premature convergence and improve the search efficiency of SFLA.The simulation results clearly prove the feasibility and effectiveness of the proposed control method.