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Article(id=1241321994818482220, tenantId=1146029695717560320, journalId=1235980550691926019, issueId=1241321979433767757, articleNumber=null, orderNo=null, doi=10.3969/j.issn.0253-6099.2024.02.009, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1695830400000, receivedDateStr=2023-09-28, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773883826212, onlineDateStr=2026-03-19, pubDate=1711900800000, pubDateStr=2024-04-01, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773883826212, onlineIssueDateStr=2026-03-19, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773883826212, creator=13701087609, updateTime=1773883826212, updator=13701087609, issue=Issue{id=1241321979433767757, tenantId=1146029695717560320, journalId=1235980550691926019, year='2024', volume='44', issue='2', pageStart='1', pageEnd='191', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773883822544, creator=13701087609, updateTime=1773884556149, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1241325056454881881, tenantId=1146029695717560320, journalId=1235980550691926019, issueId=1241321979433767757, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1241325056454881882, tenantId=1146029695717560320, journalId=1235980550691926019, issueId=1241321979433767757, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=34, endPage=37, ext={EN=ArticleExt(id=1241321995128860744, articleId=1241321994818482220, tenantId=1146029695717560320, journalId=1235980550691926019, language=EN, title=Design of Slurry Concentration Meter Based on Kalman Filtering, columnId=1236276106932842717, journalTitle=Mining and Metallurgical Engineering, columnName=MINERAL PROCESSING, runingTitle=null, highlight=null, articleAbstract=

A Gamma-ray concentration meter based on Kalman filtering was designed, and the relationship between ray intensity attenuation and slurry concentration was established by analyzing the measurement principle of ray concentration meter. To suppress the disturbance of the results, an optimal estimation of ray intensity was actualized by using Kalman filtering. The corresponding concentration is segmentally simulated and calculated by using the least square method. The results show that the concentration meter can provide timely and accurate measurement, with a maximum error of 0.328 percentage points and a root mean square error of 0.194 percentage points, presenting effective improvement in accuracy.

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设计了一种基于卡曼滤波的γ射线浓度计。通过分析射线浓度计的测量原理，建立了射线强度与矿浆浓度的关系式；利用卡曼滤波对射线强度进行最优估计，以抑制测量结果的扰动；最后通过最小二乘法分段拟合计算对应的浓度。结果表明，该浓度计测量及时、准确，最大误差0.328个百分点，均方根误差0.194个百分点，测量精度得到有效提高。

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张胜广（1973—），男，山东曹县人，正高级工程师，主要研究方向为选冶自动化。E-mail：
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肖晶峰（1999—），男，湖南邵阳人，硕士研究生，主要研究方向为选冶感知器件与技术。E-mail：

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肖晶峰（1999—），男，湖南邵阳人，硕士研究生，主要研究方向为选冶感知器件与技术。E-mail：

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肖晶峰（1999—），男，湖南邵阳人，硕士研究生，主要研究方向为选冶感知器件与技术。E-mail：

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Industrial applications of the kalman filter: a review[J]. 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（a）原始数据频数直方图；（b）滤波后数据频数直方图；（c）原始数据与滤波后数据对比；（d）不同参数滤波结果对比

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（a）脉冲-浓度对应关系；（b）间距的影响；（c）钢板数量的影响（间距10 cm）；（d）工业现场测试

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实际浓度/%测量浓度/%误差/百分点
3434.0000
3635.6760.324
3838.328-0.328
4040.201-0.201
4242.006-0.006
4443.7930.207
4645.8870.113
4848.177-0.177
5050.0000
), ArticleFig(id=1241327497485283476, tenantId=1146029695717560320, journalId=1235980550691926019, articleId=1241321994818482220, language=CN, label=表1, caption=

测试数据对比

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3434.0000
3635.6760.324
3838.328-0.328
4040.201-0.201
4242.006-0.006
4443.7930.207
4645.8870.113
4848.177-0.177
5050.0000
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基于卡曼滤波的矿浆浓度计设计
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肖晶峰 , 刘石梅 , 刘洋 , 肖盛旺 , 李然 , 罗国奇 , 张胜广
矿冶工程杂志 | 选矿 2024,44(2): 34-37
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矿冶工程杂志 | 选矿 2024, 44(2): 34-37
基于卡曼滤波的矿浆浓度计设计
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肖晶峰 , 刘石梅, 刘洋, 肖盛旺, 李然, 罗国奇, 张胜广
作者信息
  • 长沙矿冶研究院有限责任公司，湖南　长沙　410012

    • 肖晶峰（1999—），男，湖南邵阳人，硕士研究生，主要研究方向为选冶感知器件与技术。E-mail：

通讯作者:

张胜广（1973—），男，山东曹县人，正高级工程师，主要研究方向为选冶自动化。E-mail：
Design of Slurry Concentration Meter Based on Kalman Filtering
Jingfeng XIAO , Shimei LIU, Yang LIU, Shengwang XIAO, Ran LI, Guoqi LUO, Shengguang ZHANG
Affiliations
  • Changsha Research Institute of Mining and Metallurgy Co Ltd, Changsha 410012, Hunan, China
出版时间: 2024-04-01 doi: 10.3969/j.issn.0253-6099.2024.02.009
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摘要
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设计了一种基于卡曼滤波的γ射线浓度计。通过分析射线浓度计的测量原理，建立了射线强度与矿浆浓度的关系式；利用卡曼滤波对射线强度进行最优估计，以抑制测量结果的扰动；最后通过最小二乘法分段拟合计算对应的浓度。结果表明，该浓度计测量及时、准确，最大误差0.328个百分点，均方根误差0.194个百分点，测量精度得到有效提高。

矿浆浓度  /  浓度检测  /  射线浓度计  /  卡曼滤波  /  最小二乘法

A Gamma-ray concentration meter based on Kalman filtering was designed, and the relationship between ray intensity attenuation and slurry concentration was established by analyzing the measurement principle of ray concentration meter. To suppress the disturbance of the results, an optimal estimation of ray intensity was actualized by using Kalman filtering. The corresponding concentration is segmentally simulated and calculated by using the least square method. The results show that the concentration meter can provide timely and accurate measurement, with a maximum error of 0.328 percentage points and a root mean square error of 0.194 percentage points, presenting effective improvement in accuracy.

slurry concentration  /  concentration measurement  /  ray concentration meter  /  Kalman filtering  /  least square method
肖晶峰, 刘石梅, 刘洋, 肖盛旺, 李然, 罗国奇, 张胜广. 基于卡曼滤波的矿浆浓度计设计. 矿冶工程杂志, 2024 , 44 (2) : 34 -37 . DOI: 10.3969/j.issn.0253-6099.2024.02.009
Jingfeng XIAO, Shimei LIU, Yang LIU, Shengwang XIAO, Ran LI, Guoqi LUO, Shengguang ZHANG. Design of Slurry Concentration Meter Based on Kalman Filtering[J]. Mining and Metallurgical Engineering, 2024 , 44 (2) : 34 -37 . DOI: 10.3969/j.issn.0253-6099.2024.02.009
正文
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矿浆浓度是选矿过程中的重要参数，它对磨机的磨矿效果，磁选机、浮选机和摇床等选矿设备的选矿效率以及最终精矿质量等有重要影响，及时准确地测量矿浆浓度对稳定生产质量和提高选矿效率有着重要意义[1-2]。目前矿浆浓度在线实时测量技术普遍存在测量准确度低、易受介质状态影响的问题[3-4]。采用射线浓度计可以有效改善上述问题[5]，但由于噪声干扰，射线浓度计测量结果存在较大扰动。卡曼滤波能有效消除干扰噪声对系统测量的影响。为了解决目前矿浆浓度检测存在的不足，本文通过优化硬件结构，引入卡曼滤波，设计了一种基于卡曼滤波的Na22射线浓度计，它具有受噪声干扰小、测量准确率高和安装维护方便的优点。
1　射线浓度计基本原理
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1.1　测量原理
常规射线浓度计（如Cs137、Co60）放射性较强，而采用豁免级别Na22作为浓度计的放射源，可极大降低其对人体和环境的威胁。Na22放射源释放的γ射线穿透管道和矿浆到达探测器时，其强度会发生相应衰减，衰减后的射线强度通过探测器进行检测，输出为脉冲信号，测量原理如图1所示。
射线浓度计测量矿浆浓度基于物质吸收低能射线，测量条件一定时，射线穿过介质后其强度的衰减遵循郎伯-比尔定律[6]：
式中Ix为穿过介质后的射线强度，Bq；I为标定时的射线强度，Bq；μ为介质对射线的质量吸收系数，cm2/g；ρ为待测物质密度，g/cm3；d为测量路径长度，cm；λ为放射源的衰变常数，s-1；t为标定后放射源的衰变时间，s。
1.2　探测器原理
γ射线探测器结构如图2所示。它主要由闪烁体、光导和光电倍增管组成。闪烁体吸收射线能量后产生的闪烁光子经光导到达光电阴极，由于光电效应，光电阴极吸收光子后发射出光电子，光电子经过光电倍增管形成电子束，最终在阳极上产生电脉冲信号[7]。
光电倍增管输出的所有电流脉冲数N与塑料闪烁体吸收射线的能量成正比[8]，由此可以得到测量物质密度ρ与电流脉冲N的关系[9]为：
式中ρb为标定密度，g/cm3；I0为标定射线强度；N0为标定射线强度对应的电流脉冲数；斜率k=-1/（μd）。通过对式（2）标定，可得到斜率k、标定密度ρb和表达计数Nb，从而测量电流脉冲数得到待测物质密度ρ。再通过干矿密度ρ0、待测物质密度ρ与待测物质浓度C的关系，最终得到待测物质浓度C与电流脉冲数N的对应关系为：
1.3　卡曼滤波
管道抖动、空间电磁辐射、电源干扰、传感器探头的本底噪声以及放大器的线性度等因素会对脉冲信号产生干扰，如不去除干扰，会严重影响浓度测量结果的准确性。卡曼滤波在去除噪声方面有着广泛的应用，已知过程噪声和测量噪声方差时，能从存在噪声的数据中估计出动态系统的真实状态，从而滤除噪声干扰，实现快速准确测量矿浆浓度[10]。
假设基于状态空间表达式的状态方程为：
观测方程为：
式中ωk∈N（0，Qk），为过程噪声；vk∈N（0，Rk），为观测噪声。具体迭代如下：
预测方程：
状态更新方程：
整个方程中有两个超参数，即Q（过程噪声方差）和R（观测噪声方差）。在实际滤波过程中，需要调整该参数使得数据快速收敛至稳定水平以达到最优滤波效果。
2　系统设计
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2.1　硬件设计
选用STM32F427VIT6嵌入式单片机作为主机对信号进行运算，具有低功耗、运算快和精度高的优势。浓度结果通过HMI触摸屏显示，方便现场实时观测数据和调控。硬件系统框架如图3所示。
2.2　软件设计
通过HMI触摸屏交互可进入软件系统选择不同功能，便于查看或操作不同系统参数。系统软件流程如图4所示。
3　实验结果分析
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3.1　滤波结果分析
通过系统测量得出辐射源Na22辐照下的脉冲数，对计数值进行卡曼滤波处理，得到去噪后的电流脉冲数N。原始数据分布如图5（a）所示，其中最大值为2 847，最小值为2 443，平均值为2 649，标准差为58.5，数据呈高斯分布。经过卡曼滤波后的数据如图5（b）所示，其中最大值为2 681，最小值为2 628，平均值为2 655，标准差为13.3，数据基本呈高斯分布。经过滤波后数据明显变平滑，数据波动范围大幅缩小，滤波效果较好，没有损失原始数据信息，数据对比如图5（c）所示。
选取不同的Q值和R值，测试算法对浓度突变时（浓度从20%降至10%，脉冲数从2 400升至3 400附近）的滤波跟踪效果，比较不同滤波效果筛选出最合适的Q值和R值。滤波结果见图5（d）。图5（d）结果显示，当Q值减小时，滤波后的数据更加平滑，但快速性不好；Q值越小，则对模型预测值越信任，系统收敛也越快；R值越大，代表对测量值信任越低，R值过低则系统表现为慢响应，会出现振荡。Q=1×10-6、R=1×10-2可同时保证收敛性和快速性，为当前最佳选择。
3.2　工业实际验证
为进一步验证所提方法的有效性，依次对工业现场实际的空管、0、5%、10%等浓度进行测量，得到浓度与脉冲数对数的对应关系。采用最小二乘法分段拟合的方法对结果进行拟合，测试结果见图6。
由图6（a）可以看出，矿浆浓度与脉冲数对数呈负相关，随着浓度增加，信号接收器接收的脉冲数及脉冲对数逐渐降低，由此可见，放射源射线衰减基本与所穿透矿浆浓度呈负指数相关，基本符合预期线性关系。由图6（b）和图6（c）可得，随着间距变大或钢板数量增多，信号接收器接收的脉冲数及脉冲对数逐渐降低，放射源射线衰减与距离和所穿透物体的厚度呈负指数相关。测得衰减规律后，可以将脉冲数代入式（3）计算对应矿浆浓度。
工业现场测试结果表明，浓度计测量及时准确，最大误差0.328个百分点，均方根误差0.194个百分点，与实验室采样分析比对，误差在允许范围内。具体数据见表1。
4　结论
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通过分析射线浓度计中射线强度衰减与矿浆浓度变化的关系，并探究γ射线探测器中闪烁体和光电倍增管中如何将测量的射线强度转化为电流脉冲信号，建立了射线强度与矿浆浓度的关系式。为改善测量过程中存在的噪声干扰和传感器探头转换非线性失真问题，创新性地引入卡曼滤波以改善测量结果，提高测量精度，并分析了滤波过程中超参数Q（过程噪声方差）和R（观测噪声方差）对滤波结果的影响。工业现场测试结果显示，本文提出的射线浓度计测量最大误差0.328个百分点，均方根误差0.194个百分点，表明该设备在现场使用时测量精度高、抗干扰能力强、运行稳定可靠，可广泛应用于矿浆浓度的测试。此外，该浓度计采用非接触式测量矿浆浓度，不会受到矿浆流速、压力、温度等因素的影响。综上所述，基于卡曼滤波的射线浓度计可有效检测矿浆浓度，且抗干扰能力强，在测量领域具有重要应用价值。
基金
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  • 湖南省科技创新计划(2022RC1053)
文献
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doi: 10.3969/j.issn.0253-6099.2024.02.009
  • 接收时间：2023-09-28
  • 首发时间：2026-03-19
  • 出版时间：2024-04-01
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  • 收稿日期：2023-09-28
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湖南省科技创新计划(2022RC1053)
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    长沙矿冶研究院有限责任公司，湖南　长沙　410012

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张胜广（1973—），男，山东曹县人，正高级工程师，主要研究方向为选冶自动化。E-mail：
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2种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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