On-line optimization of cone crushers using Extremum-Seeking Control

This article demonstrates the ability of on-line optimization of cone crushers, specifically maximization of the total throughput of the crusher by adjusting the eccentric speed (ω). The on-line optimization was based on the Extremum-Seeking Control (ESC) approach, which is advantageous when optimizing systems with unknown time varying characteristics. Two types of gradient based approaches are tested in simulation, the traditional Band-pass filters method and a method utilizing the Extended Kalman Filter (EKF). Both methods perform satisfactory, demonstrating the good potential of ESC for online-optimization of cone crushers. To deal with unwanted behavior of the EKF based approach for situations when the gradient is not correctly estimated, a modification is suggested based on detecting this condition and accommodating for it.