Research On Simulation Model Of Emulsion Pump Station For Hardware-in-the-Loop

Emulsion pump station as a power source of liquid supply to the comprehensive mining face,the accuracy of its output pressure,stability and rapidity of response plays a key role in the efficient operation of the face,according to the energy equipment implementation plan clearly put forward the development direction of "intelligent clean and efficient integrated liquid supply system",focusing on improving China’s comprehensive mining intelligent liquid supply technology and equipment level.In order to realize intelligent liquid supply at the comprehensive mining face and improve the intelligence level of the emulsion pumping station,it is necessary to develop an intelligent control scheme for the emulsion pumping station,and the control strategy developed needs to be evaluated by experiments before its practical application.The use of hardware-in-the-loop simulation technology to verify the intelligent control strategy of emulsion pumping stations can effectively solve the difficulties of underground testing in coal mines and the occurrence of underground accidents due to improper control,while the core of establishing a hardware-in-the-loop simulation system is to establish a real-time simulation model of controlled objects.In this thesis,we analyze and study the emulsion pumping station to establish a real-time simulation model of the emulsion pumping station and lay the foundation for establishing a hardware-in-the-loop simulation system for the emulsion pumping station.The main research work and conclusions are as follows:(1)The dynamic model of three-phase asynchronous motor is established based on Simulink,and the accuracy and running speed of the motor model are preliminarily verified;based on the simultaneous constraint method,the dynamic model of emulsion pump is established,and the simulation model is established in Simulink.In order to verify its correctness,the simulation results of the dynamic model of emulsion pump station in ADAMS are compared.The results show that the simulation results of the parameters of the two models are almost the same,which proves the correctness of the mechanical system model of emulsion pump station.(2)The simulation model of hydraulic system of emulsion pumping station was established based on AMESim,combined with the simulation model of mechanical system of emulsion pumping station established by Simulink,and created the data interaction between the two models to establish the simulation model of machinehydraulic coupling of emulsion pumping station.Conduct on-site experiments using BRW80/20 emulsion pump station,and import the measured pressure of the upper and lower cavities of the hydraulic support column under different working conditions as real values into the coupling simulation model of the emulsion pump station.Simulate the outlet pressure values of the emulsion pump station under different working conditions.Comparing the actual value of the corresponding pump station outlet pressure with the simulation value,it was found that the simulation results were basically consistent with the experimental results,indicating that the established emulsion pump station coupling simulation model has high accuracy.To establish a real-time simulation model for a hardware in the loop system oriented emulsion pump station,a preliminary analysis of the running speed of the machine liquid coupling simulation model for the emulsion pump station is conducted.(3)In order to enable the coupling simulation model of emulsion pump station and liquid to be used for hardware in the loop system research,it is necessary to establish it as a real-time simulation model of emulsion pump station,and upload the preliminary real-time simulation model to the Simpole simulation platform to verify the accuracy and real-time performance of the model in the real-time simulation environment.According to the operation results,the simulation results after the operation of the realtime simulation model are basically consistent with the real results,and the relative error is small.At the same time,the real-time performance of the real-time simulation model of the emulsion pump station is analyzed by using the real-time simulation platform.The results show that the accuracy and real-time performance of the real-time simulation model of the emulsion pump station in the real-time platform meet the requirements.