a b s t r a c tOften the most difficult step in establishing a control system is the development of a suitable dynamic process model. As such a model is not available elsewhere, a first principle dynamic mathematical model was developed for a coal dense medium separation circuit. Each unit operation was modelled individually and then integrated together to form a complete non-linear state-space model for the circuit. This model was used to simulate the process and it was validated using real process data derived from a plant experiment.When developing models from first principles, it is necessary to estimate the model parameters. These parameters, specifically for non-linear state-space relationships, require a unique solution. A parameter identifiability method was used to show that the non-linear dynamic models developed have unique parameters for a specific set of input-output data.

Coal dense medium separation is a popular beneficiation process used for the upgrading of coal ore into power station and metallurgical coal. The control systems used in coal beneficiation are often limited to localised regulatory control of feed rate and medium density. A coal dense medium separation process can benefit substantially from process control provided that a dynamic model for this process is available as was previously developed by the authors for a fine coal dense medium cyclone (DMC) circuit. In this paper, the previous model is adapted to a coarse coal DMC circuit and validated over a wider range of operating conditions using real plant data. The model is further validated by reducing it to steady-state to form a partition curve. This curve is then compared to one derived from actual production data. The derived model is able to provide an estimate of the DMC overflow coal product that should be sufficient for process control.

Dense medium drum (DMD) separators are unit processes that are typically used to beneficiate coal, iron ore and other minerals by making use of density separation. Some coal dense medium separation plants typically include a DMD separator. The operational management of this unit process is often limited to localised control of medium density and feed mass flow rate. Dynamic models for coal dense medium separation have been developed by the authors with the intention of using them for dynamic control.A suitable dynamic model for a DMD separator could not been found in the available literature. This paper shows how the dynamic model for a dense medium cyclone has been applied to a DMD separator. The model parameters were determined and the performance of the model is evaluated using actual plant data from a Wemco drum. An additional aspect employing coal washability and drum partitioning behaviour is applied to estimate the grade of the product for model grade simulation and validation.

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