Deep well filling method and system with potential energy recovery and pressure regulation and control functions

Abstract

The embodiment of the invention discloses a deep well filling method and system with potential energy recovery and pressure regulation and control functions, and relates to the technical field of deep well filling pipeline conveying. The filling method comprises the steps that filling slurry of a filling station is conveyed to a goaf through a pipeline; the filling slurry drives the turbine to drive the permanent magnet synchronous generator to generate power, and the electric energy is stored in the hybrid energy storage assembly; collecting pressure and flow of an outlet of the hydraulic turbine in real time through a pressure sensor and a flow meter; according to a pressure value and a flow value collected by a pressure sensor and a flow meter in real time and an energy storage state of the hybrid energy storage assembly, the current adjustment amount of a turbine excitation module of the permanent magnet synchronous generator and the opening adjustment amount of an electro-hydraulic proportional valve are calculated; and adjusting the excitation current of a turbine excitation module of the permanent magnet synchronous generator based on the current adjustment amount, and adjusting the opening degree of the electro-hydraulic proportional valve based on the opening degree adjustment amount. The method is suitable for a deep well filling scene.

Description

Technical Field

[0001] The present invention relates to the technical field of deep well filling pipeline transportation, and particularly to a deep well filling method and system with potential energy recovery and pressure regulation functions. Background Art

[0002] In deep well (well depth > 1000m) filling, the filling slurry is transported through a pipeline to the goaf, and its gravitational potential energy is converted into kinetic energy, resulting in the pipeline outlet pressure far exceeding the strength requirement of the filling body.

[0003] Traditional solutions generally use throttle valves or pressure reducing valves to directly relieve pressure or increase pipeline resistance, directly consuming the potential energy of the slurry, causing energy waste; reducing the pipeline outlet pressure through mechanical throttling is likely to cause pipeline vibration, cavitation and valve wear, and cannot meet the requirements of energy recovery, precise pressure control and long-term operation of equipment at the same time. Summary of the Invention

[0004] In view of this, the present invention provides a deep well filling method and system with potential energy recovery and pressure regulation functions, which is convenient to realize the unity of efficient energy utilization, precise control of the filling pipeline pressure and long-term operation of equipment.

[0005] In a first aspect, the present invention provides a deep well filling method with potential energy recovery and pressure regulation functions, characterized in that the filling method is applied to a slurry filling system, and the filling system includes: a filling station, a goaf, and a pipeline connecting the filling station and the goaf. A hydraulic turbine and a permanent magnet synchronous generator connected to the hydraulic turbine are provided at a preset position of the pipeline, and the permanent magnet synchronous generator is connected to a hybrid energy storage component; a pressure sensor, a flow meter and an electro-hydraulic proportional valve are provided downstream of the hydraulic turbine; the filling method includes: transmitting the filling slurry of the filling station to the goaf through the pipeline; the filling slurry drives the hydraulic turbine to drive the permanent magnet synchronous generator to generate electricity, and stores the electric energy in the hybrid energy storage component; the pressure value and the flow value at the outlet of the hydraulic turbine are collected in real time through the pressure sensor and the flow meter; according to the pressure value and the flow value collected in real time by the pressure sensor and the flow meter, and the energy storage state of the hybrid energy storage component, calculate the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator and the opening adjustment amount of the electro-hydraulic proportional valve, and adjust the excitation current of the turbine excitation module of the permanent magnet synchronous generator based on the current adjustment amount, and adjust the opening of the electro-hydraulic proportional valve based on the opening adjustment amount.

[0006] Optionally, the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator is calculated according to the following formula :

[0007] ; where is the pressure PID control coefficient, is the fuzzy membership weighted coefficient, is the error between the actual pressure and the target pressure at the outlet of the hydraulic turbine, and Fuzzy() is the fuzzy logic function, is the error between the actual flow rate and the target flow rate at the outlet of the hydraulic turbine, is the error between the target energy storage state and the real-time energy storage state of the hybrid energy storage component.

[0008] Optionally, the opening adjustment amount of the electro-hydraulic proportional valve is calculated according to the following formula :

[0009] ; where, is the energy storage state compensation coefficient of the hybrid energy storage component, is the fuzzy membership weighted coefficient.

[0010] Optionally, when the outlet pressure of the hydraulic turbine exceeds the specified value, the current of the turbine excitation module of the permanent magnet synchronous generator is reduced to reduce the power generation power of the permanent magnet synchronous generator, and the opening of the electro-hydraulic proportional valve is increased; conversely, the opening of the electro-hydraulic proportional valve is reduced and the current of the turbine excitation module of the permanent magnet synchronous generator is increased to increase the power generation power of the permanent magnet synchronous generator.

[0011] Optionally, the filling method further includes: when the energy storage of the hybrid energy storage component is <70%, switching to the potential energy recovery priority mode; when the energy storage of the hybrid energy storage component is ≥90% or the pressure value collected by the pressure sensor fluctuates beyond the limit, switching to the pressure stability priority mode; where, the potential energy recovery priority mode is: reducing the blade angle of the turbine of the hydraulic turbine to increase the power generation power of the permanent magnet synchronous generator, and then reducing the opening of the electro-hydraulic proportional valve; the pressure stability priority mode is: increasing the opening of the electro-hydraulic proportional valve, and then the permanent magnet synchronous generator is turned into the no-load state.

[0012] Second aspect, the present invention provides a deep well filling system with potential energy recovery and pressure regulation functions, including: a filling station, a goaf, a pipeline, a potential energy recovery component, a hybrid energy storage component, and an intelligent regulation component; the potential energy recovery component includes: a hydraulic turbine power generation device, and the hydraulic turbine power generation device includes a hydraulic turbine and a permanent magnet synchronous generator; wherein the hydraulic turbine is arranged in the pipeline, and the hydraulic turbine is fixedly connected to the permanent magnet synchronous generator coaxially; the hybrid energy storage component includes a capacitor array and a battery pack; the capacitor array is used to absorb the electric energy of the hydraulic turbine power generation device; the battery pack is connected to the capacitor array and is used to receive and store the buffered energy of the capacitor array; the hybrid energy storage component is electrically connected to the hydraulic turbine power generation device; the intelligent regulation component includes a pressure sensor, a flow meter, a control device, and an execution device; the pressure sensor and the flow meter are electrically connected to the control device; the control device and the execution device are electrically connected to control the execution device to adjust the pressure in the pipeline according to the detection results of the pressure sensor and the flow meter.

[0013] Optionally, at least two levels of potential energy recovery components are arranged at intervals in the pipeline.

[0014] Optionally, the pressure sensor and the flow meter are provided at the inlet of the pipeline, the outlet of the pipeline, in front of the hydraulic turbine, and behind the hydraulic turbine.

[0015] Optionally, the execution device includes an electro-hydraulic proportional valve and a turbine excitation module; the electro-hydraulic proportional valve adjusts the flow rate of the filling slurry in the pipeline by adjusting the opening degree; the turbine excitation module adjusts the power generation power of the hydraulic turbine power generation device by adjusting the excitation current.

[0016] The deep well filling method and system with potential energy recovery and pressure regulation functions provided by the present invention drive the turbine to drive the permanent magnet synchronous generator to generate electricity by the filling slurry, convert the potential energy of the filling slurry into electric energy, store it in the hybrid energy storage component for long-term storage and supply to various underground equipment for use. At the same time, the potential energy recovery power generation is used to reduce the pressure in the pipeline and the mechanical wear of the filling slurry on the pipeline, and improve the service life of the equipment; according to the pressure value and flow value real-time collected by the pressure sensor and the flow meter and the energy storage state of the hybrid energy storage component, the opening degree of the electro-hydraulic proportional valve and the current of the turbine excitation module are dynamically adjusted to achieve stable pressure at the pipeline outlet; by combining potential energy power generation and pressure reduction with the opening degree adjustment of the electro-hydraulic proportional valve, the contradiction between energy recovery and pressure stability in the deep well filling pipeline is solved, the dynamic pressure coordination control of the pipeline is realized, and the unity of efficient energy utilization, precise pressure control, and long service life of the equipment is achieved. Description of the Drawings

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the deep well filling system according to an embodiment of the present invention;

[0019] Figure 2 It is a side view of the working principle diagram of the potential energy recovery component according to an embodiment of the present invention;

[0020] Figure 3 It is a top view of the working principle diagram of the potential energy recovery component according to an embodiment of the present invention;

[0021] Figure 4 It is a flowchart of the method for regulating the outlet pressure of the multi-variable coordinated control pipeline according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the process flow of the deep well filling method according to an embodiment of the present invention;

[0023] In the figure: 1, filling station; 2, goaf; 3, pipeline; 4, potential energy recovery component; 41, hydraulic turbine power generation device; 411, hydraulic turbine; 412, permanent magnet synchronous generator; 413, turbine blades of the hydraulic turbine; 42, power line; 5, hybrid energy storage component; 6, intelligent regulation component; 61, pressure sensor; 62, flowmeter; 63, control device; 64, execution device; 641, electro-hydraulic proportional valve; 65, signal line; 66, control line; 7, coupling; 8, ceramic wear-resistant bearing housing; 9, downhole equipment; 10, permanent magnet rotor. Detailed implementation manners

[0024] The following will describe the embodiments of the present invention in detail with reference to the drawings.

[0025] It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] Embodiment 1

[0027] Refer to Figure 1 , Figure 1 which is a schematic diagram of the overall structure of the deep well filling system according to an embodiment of the present invention. As Figure 1As shown in the figure, the present invention provides a deep well filling system with potential energy recovery and pressure regulation functions, including: a filling station 1, a goaf 2, a pipeline 3, a potential energy recovery component 4, a hybrid energy storage component 5, and an intelligent regulation component 6.

[0028] The filling station 1 is responsible for processing the filling slurry (such as tailings, tailing waste, cementitious materials, etc.) into a slurry or paste that meets the requirements, and transporting it to the underground goaf 2 through the pipeline 3.

[0029] The pipeline 3 can be a multi-stage pipeline, and the multi-stage pipelines are connected in series. The multi-stage pipeline includes a vertical pipeline with a vertical orientation and a horizontal pipeline with a horizontal orientation. By means of a multi-stage segmented design, problems such as large height differences in deep well filling and overloading of pipeline pressure are solved. Through a hierarchical segmented pressure reduction technology, the pressure bearing requirement of the pipeline is reduced, and ordinary steel pipes with lower costs can be used to replace high-pressure special pipelines.

[0030] The potential energy recovery component 4 includes a hydraulic turbine power generation device 41, and the hydraulic turbine power generation device 41 includes a hydraulic turbine 411 and a permanent magnet synchronous generator 412; wherein the hydraulic turbine 411 is arranged in the pipeline 3, and the hydraulic turbine 411 is fixedly connected to the permanent magnet synchronous generator 412 coaxially.

[0031] The hydraulic turbine 411 is arranged in the pipeline 3. In some embodiments, the hydraulic turbine 411 is arranged in the vertical pipeline. In this way, the filling slurry provided by the filling station 1 drives the turbine of the hydraulic turbine 411 to rotate, converting the potential energy of the filling slurry into the mechanical energy of the turbine rotation. The rotation of the turbine of the hydraulic turbine 411 drives the permanent magnet synchronous generator 412, converting the mechanical energy of the turbine rotation into electrical energy, thereby realizing the conversion of the potential energy of the filling slurry into available electrical energy. In this way, while the rotation of the turbine of the hydraulic turbine 411 can drive the permanent magnet synchronous generator 412 to generate electricity and realize the recovery and utilization of the potential energy of the filling slurry, the hydraulic turbine 411 can also be used to increase the resistance during the slurry filling process, reduce the pressure in the pipeline 3, reduce the mechanical wear of the valves on the pipeline 3 and the inner wall of the pipeline 3, and extend the maintenance cycle.

[0032] See Figure 1 , in order to improve the efficiency of the recovery and utilization of the potential energy of the filling slurry, and to slow down the impact of the filling slurry falling along the vertical pipeline and increase the falling resistance of the filling slurry in the vertical pipeline, in some embodiments, multiple hydraulic turbine power generation devices 41 can be arranged at intervals up and down in the vertical pipeline, and the potential energy of the filling slurry is converted into electrical energy through the multiple hydraulic turbine power generation devices 41. In this way, both the pressure at the outlet of the pipeline 3 can be reduced, and the multi-stage absorption and conversion of the potential energy of the filling slurry can be realized.

[0033] In some embodiments, the potential energy in the pipeline 3 is utilized in multiple (cascaded) stages through the potential energy recovery component. At least two stages of potential energy recovery components 4 are arranged at intervals in the pipeline 3. The potential energy of the filling slurry in the pipeline 3 is recovered through the hydraulic turbine power generation device 41, and the electric energy is stored in combination with the hybrid energy storage component 5, and the comprehensive energy utilization rate can be increased to more than 65% (the traditional scheme <10%).

[0034] In some embodiments, the surface of the turbine blade 413 of the hydraulic turbine is covered with a tungsten carbide coating to improve the service life of the turbine blade 413.

[0035] Figure 2 and Figure 3 are respectively the side view and the top view of the working principle diagram of the potential energy recovery component in the embodiment of the present invention. As Figure 2 and Figure 3 shown, the hydraulic turbine 411 and the permanent magnet synchronous generator 412 are coaxially connected through a coupling 7. The coupling 7, as a key connecting component of the rotating shafts of the hydraulic turbine 411 and the permanent magnet synchronous generator 412, needs to efficiently transmit the rotational torque, and at the same time compensate for the displacement deviation between the two shafts, adapt to the complex working conditions inside and outside the pipeline, and effectively transmit the torque of the rotating shaft of the hydraulic turbine 411 to the rotating shaft of the permanent magnet synchronous generator 412 for power generation.

[0036] In some embodiments, ceramic wear-resistant bearing frames are used in the rotating bearings of the hydraulic turbine 411 and the permanent magnet synchronous generator 412 to improve the service life of the hydraulic turbine power generation device 41 and reduce the failure rate.

[0037] In some examples, a ceramic wear-resistant bearing frame 8 is provided between the hydraulic turbine 411 and the side wall of the pipeline 3. The rotating shaft of the hydraulic turbine 411 passes through the rotating bearing on the ceramic wear-resistant bearing frame 8 and is fixedly connected to the coupling 7. A sealing structure is provided between the ceramic wear-resistant bearing frame 8 and the side wall of the pipeline 3, and a sealing structure is also provided between the rotating shaft of the hydraulic turbine 411 and the ceramic wear-resistant bearing frame 8.

[0038] In some embodiments, the sealing structure between the ceramic wear-resistant bearing frame 8 and the side wall of the pipeline 5 can adopt a double mechanical seal structure, and the double mechanical seal structure includes a main seal arranged inside the pipeline 5 and a secondary seal arranged outside the pipeline 5. When the main seal fails due to wear or pressure fluctuation, the secondary seal can still maintain the sealing effect, avoiding the overflow of the filling slurry from the pipeline due to seal failure, resulting in pressure fluctuation inside the pipeline and affecting the permanent magnet synchronous generator 412.

[0039] In some embodiments, the sealing structure between the rotating shaft of the hydraulic turbine 411 and the ceramic wear-resistant bearing frame 8 can also adopt the above double mechanical seal structure.

[0040] See Figure 1, the hybrid energy storage component 5 and the hydraulic turbine power generation device 41 are electrically connected through the power line 42, and are used to store the electric energy generated by the hydraulic turbine power generation device 41. The hybrid energy storage component 5 includes: a capacitor array and a battery pack (not shown in the figure); the capacitor array is used to absorb the transient electric energy of the hydraulic turbine power generation device 41; the battery pack is connected to the capacitor array and is used to receive and store the buffered energy of the capacitor array.

[0041] In some embodiments, the capacitor array can be a supercapacitor array, and the battery pack can be a lithium-ion battery pack. The capacitor array is used to quickly absorb the transient electric energy generated by the hydraulic turbine power generation device 41. Using a supercapacitor array can instantaneously absorb the transient electric energy generated by the hydraulic turbine power generation device 41 and smoothly output it to the lithium-ion battery pack. In one example, the conversion efficiency of the transient electric energy > 95%; the battery pack serves as a long-term energy storage module, receives the buffered energy of the capacitor array, and converts the transient electric energy generated by the hydraulic turbine power generation device 41 into stable electric energy; the electric energy generated by the potential energy recovery component is transmitted to the hybrid energy storage component 5 through the power line 42 for long-term storage and supplied to each downhole device 9 for use, improving the comprehensive energy utilization rate.

[0042] The intelligent control component 6 includes: a pressure sensor 61, a flow meter 62, a control device 63, and an actuator 64; the pressure sensor 61 and the flow meter 62 are electrically connected to the control device 63 through a signal line 65; the control device 63 and the actuator 64 are electrically connected through a control line 66 to control the actuator 64 to adjust the pressure in the pipeline 3.

[0043] The pressure sensor 61 is responsible for detecting the pressure change in the system and transmitting the pressure data to the control device 63 through the signal line 65; similarly, the flow meter 62 is used to measure the flow information of the fluid and also transmits these data to the control device 63 through the signal line 65; the control device 63 and the actuator 64 are electrically connected through the control line 66. After receiving the detection result data from the pressure sensor 61 and the flow meter 62, the control device 63 will process according to the control logic preset by the logic module, calculate the required pressure regulation amount based on the data of the pressure sensor 61 and the flow meter 62, convert it into a corresponding control signal through the controller and output it to the actuator 64 through the control line 66; the actuator 64 receives the control signal of the control device 63 through the control line 66 and adjusts the flow rate in the pipeline 3 and / or the power generation power of the hydraulic turbine power generation device 41 according to the control signal, realizing the control and adjustment of the pressure in the pipeline 3 by the actuator 64; the potential energy recovery component 4, the hybrid energy storage component 5, and the intelligent control component 6 jointly form a potential energy recovery - energy storage - pressure regulation collaborative architecture, realizing the unity of efficient energy utilization, precise pressure control, and long-term operation of equipment.

[0044] The deep well filling system of the present invention has the functions of potential energy recovery and pressure regulation. The potential energy of the filling slurry in the filling pipe 3 is recovered by the potential energy recovery component and converted into electrical energy, which is stored in the hybrid energy storage component 5 for long-term storage and supplied to various equipment downhole. At the same time, the potential energy recovery power generation is used to reduce the pressure in the pipe 3 and the mechanical wear of the filling slurry on the pipe 3, thereby increasing the service life of the equipment. The intelligent regulation component 6 dynamically adjusts the electro-hydraulic proportional valve 641 and the turbine excitation module according to the measurement data of the pressure sensor 61 and the flow meter 62 to achieve the stability of the pipe outlet pressure. The contradiction between energy recovery and the stability of the pressure in the deep well filling pipe is resolved, and the coordinated control of the dynamic pressure of the pipe is achieved while achieving efficient energy utilization.

[0045] In some embodiments, the turbine center of the hydraulic turbine 411 can be set at a position deviated from the center of the pipeline 3. In this way, the turbine blades 413 extend into the pipeline 3 to contact the filling slurry, so that the filling slurry impacts the turbine blades 413 made of abrasion-resistant material instead of directly impacting the shaft of the hydraulic turbine 411, thereby increasing the service life of the shaft of the hydraulic turbine 411 and related bearings and bearing frames.

[0046] In addition, the turbine center of the hydraulic turbine 411 is set at a position deviated from the pipeline center of the pipeline 3, so that the turbine blade 413 is eccentrically set in the pipeline 3, that is, the gap between the outer edge of the turbine blade 413 and the inner wall of one side of the pipeline 3 (the first gap) is larger than the gap between the outer edge of the turbine blade 413 and the inner wall of the other side of the pipeline 3 (the second gap). In this way, the filling slurry in the pipeline 3 can be divided into two slurry flows with different flow directions through the turbine of the hydraulic turbine 411. The first part of the slurry flow maintains the original flow velocity and does not pass through the turbine, that is, it directly crosses the turbine and flows forward in the pipeline. The second part of the slurry flow passes through the turbine and drives the turbine to rotate for potential energy recovery and power generation. When the second part of the slurry flow passes through the turbine, the flow velocity of the second part of the slurry is reduced due to the blocking effect of the turbine. The slurry flow with reduced flow velocity merges with the first part of the slurry flow after passing through the turbine. This can avoid the slurry flow rate in the pipeline being too low or even blocked due to all the slurry flows passing through the turbine, or the situation in which the particles in the slurry are stratified, settled, and wear the pipeline due to the low slurry flow rate. This can achieve the effect of taking into account potential energy recovery, preventing pipeline blockage, and reducing pipeline wear.

[0047] In some embodiments, the turbine blades 413 of the hydraulic turbine may adopt six axial-flow blades, and the inclination angle of the turbine blades 413 is variable. When it is necessary to increase the flow rate of the filling material in the pipeline 3, the inclination angle between the turbine blades 413 and the axial direction of the rotating shaft of the hydraulic turbine can be increased, so that more filling slurry can pass through quickly; when it is necessary to reduce the flow rate of the filling material, the inclination angle between the turbine blades 413 and the axial direction of the rotating shaft of the hydraulic turbine is reduced, increasing the flow resistance of the filling slurry in the pipeline 3. At the same time, the filling slurry is used to drive the hydraulic turbine 411 and the permanent magnet synchronous generator 412 to rotate, and the potential energy of the filling slurry is converted into electrical energy and stored in the hybrid energy storage component 5 for use by other underground equipment.

[0048] When the hydraulic turbine 411 operates, the axial thrust generated is directly transmitted to the generator bearing, which is likely to cause bearing wear or even failure. A combined thrust bearing group can be adopted, including a tapered roller bearing and a hydraulic balance chamber, so that the tapered roller bearing bears the main axial thrust; the hydraulic balance chamber is arranged at the rear end of the hydraulic turbine 411 to adjust the pressure to balance part of the axial force and reduce the bearing load.

[0049] It is difficult to dissipate heat from the generator in a closed environment, and the lubricating oil is easily contaminated. In some embodiments, a double-cycle cooling system can be adopted for the hydraulic turbine 411 and the permanent magnet synchronous generator 412. Among them, the internal cycle uses the airflow generated by the rotation of the turbine blades 413 driven by the fluid in the pipeline 3 and the spiral channel in the housing of the hydraulic turbine 411 for heat dissipation; the external cycle adopts independent closed oil cooling, uses high-temperature synthetic lubricating oil, and circulates through an external radiator for heat dissipation, improving the heat dissipation efficiency and avoiding the contamination of the lubricating oil by the filling slurry.

[0050] The filling slurry in the pipeline 3 may be entrained, wound or extruded by the turbine blades 413, resulting in the turbine blades 413 being stuck or local blockage of the pipeline, leading to a decrease in power generation efficiency or even the risk of pipeline blockage. In some embodiments, a rotatable deflector can be inclinedly arranged in front of the position where the turbine blades 413 contact the filling slurry in the pipeline 3 and at a position that does not affect the rotation of the turbine blades 413. The surface of the cover body is provided with spiral filter holes (the aperture is slightly larger than the minimum particle size of the filling slurry). When the filling slurry passes through the deflector, the filling slurry can contact the turbine blades 413 through the deflector and drive the hydraulic turbine 411 to rotate for power generation, while impurities larger than the filter holes of the deflector are blocked by the deflector and are deflected to the edge of the pipeline 3 along the deflector, avoiding entering the turbine area and causing the turbine blades 413 to be stuck or the pipeline to be blocked.

[0051] In some embodiments, the turbine blade 413 can be a segmented articulated blade, and a flexible scraper is embedded at the blade end. When the turbine blade 413 rotates, the scraper swings with the blade to scrape off the residual filling material adhering to the inner wall of the fairing or the pipeline. The segmented design of the blade can adapt to the irregular shape of the filling material and prevent the turbine blade 413 from jamming. At the same time, when a pipeline blockage occurs in the pipeline 3 or the turbine blade 413 jams, the pressure of the filling slurry in the pipeline 3 can deform the flexible scraper, so that the filling slurry can pass through the gap between the end of the turbine blade 413 and the pipeline 3, avoiding the risk of pipe burst or damage to the potential energy recovery component 4 due to excessive pressure caused by blockage in the pipeline 3.

[0052] In some embodiments, a transient energy absorption circuit is provided between the capacitor array and the hydraulic turbine power generation device 41; the transient energy absorption circuit includes an IGBT switch array and a current limiting resistor; the capacitor array and the battery pack are electrically connected through a bidirectional DC / DC converter.

[0053] In this embodiment, a transient energy absorption circuit is provided between the capacitor array and the hydraulic turbine power generation device 41. The absorption circuit includes an IGBT switch array and a current limiting resistor, which solves the problems of power conversion efficiency and reliability in the case of instantaneous high voltage and large current generated by the permanent magnet synchronous generator 412 of the hydraulic turbine power generation device 41 during potential energy recovery; it avoids damage to the equipment and circuit caused by instantaneous high voltage and large current; the capacitor array and the battery pack are electrically connected through a bidirectional DC / DC converter to jointly form a hybrid energy storage component 5, which cooperates with the potential energy recovery component and downhole equipment to achieve a closed-loop design of potential energy - electric energy - energy supply.

[0054] In some embodiments, the hybrid energy storage component 5 is a distributed energy storage component; the hybrid energy storage component 5 stores electric energy and directly supplies it to downhole equipment.

[0055] In this embodiment, there are multiple hybrid energy storage components 5, which are distributed energy storage components. According to the position of the potential energy recovery component set in the pipeline 3, the position of the distributed energy storage component is set to facilitate quickly storing the recovered electric energy of the potential energy recovery component into the nearby hybrid energy storage component 5, avoiding power loss caused by long-distance power line transmission; the hybrid energy storage component 5 stores electric energy and directly supplies it to downhole equipment 9 (such as filling pumps and monitoring systems) for use. Through the self-powered design, the electric energy generated by the potential energy recovery component is used, reducing the dependence on external power supply and the carbon emissions of diesel generators, which is suitable for remote mining areas.

[0056] In some embodiments, pressure sensors 61 and flow meters 62 are provided at the inlet of the pipeline 3, the outlet of the pipeline 3, in front of the hydraulic turbine 411, and behind the hydraulic turbine 411.

[0057] In this embodiment, the pressure sensor 61 and the flowmeter 62 are installed at the key nodes of the pipeline 3. The installation positions include but are not limited to: the inlet of the pipeline 3, the outlet of the pipeline 3, in front of the hydraulic turbine 411, and behind the hydraulic turbine 411. By deploying high-precision pressure sensors 61 and flowmeters 62 at the key nodes inside the pipeline, the pressure values and flow values at the key positions inside the pipeline are collected in real time, and the corresponding electrical signals are transmitted to the control device 63 through the signal line 65.

[0058] In some embodiments, the actuator 64 includes: an electro-hydraulic proportional valve 641 and a turbine excitation module (not shown in the figure); the electro-hydraulic proportional valve 641 adjusts the flow rate of the filling slurry inside the pipeline by adjusting the opening degree; the turbine excitation module adjusts the power generation power of the hydraulic turbine power generation device 41 by adjusting the excitation current.

[0059] The electro-hydraulic proportional valve 641 and the turbine excitation module are electrically connected to the control device 63 through the control line 66. The electro-hydraulic proportional valve 641 receives the control electrical signal of the control device 63, dynamically adjusts the opening degree according to the target outlet pressure calculated by the control device 63, controls the pressure inside the pipeline 3, adjusts the opening degree within the range of 0% to 100%, and accurately controls the flow rate change of the filling slurry inside the pipeline 3 in real time in response to the control electrical signal; the turbine excitation module receives the control electrical signal of the control device 63, adjusts the current of the eddy current excitation module within the range of 0 to 200 A, thereby adjusting the overall magnetic field strength of the generator, keeping the output power of the generator within the set range, especially quickly responding when the load changes and adjusting the power generation power of the potential energy recovery component 4; the turbine excitation module is integrated at the non-driving end of the permanent magnet rotor 10 in the permanent magnet synchronous generator 412, or can be installed close to the permanent magnet synchronous generator 412 to improve the modularization of each device, and it is convenient to replace and install each device when the turbine excitation module or the permanent magnet synchronous generator 412 is damaged.

[0060] The control device 63 receives the data of the pressure sensor 61 and the flowmeter 62 in real time, calculates the required pressure regulation amount, and outputs a control signal to the electro-hydraulic proportional valve 641 and the turbine excitation module; when the outlet pressure needs to be increased, the electro-hydraulic proportional valve 641 is controlled by the control signal to increase the opening degree, and the current of the turbine excitation module is decreased, thereby reducing the overall magnetic field strength of the permanent magnet synchronous generator 412, reducing the magnetic induction line cutting effect of the generator, reducing the power generation power, and reducing the blocking effect of the turbine blade 413 of the hydraulic turbine on the filling slurry inside the pipeline 3, so that the filling slurry flows quickly, thereby increasing the pipeline outlet pressure; on the contrary, the pipeline outlet pressure is reduced, and the opening degree of the electro-hydraulic proportional valve 641 and the excitation current of the turbine excitation module are dynamically adjusted and synergistically optimized with multiple data parameters to achieve the stability of the pipeline outlet pressure.

[0061] When increasing the current of the turbine excitation module, the overall magnetic field intensity of the permanent magnet synchronous generator 412 is increased, the effect of the generator cutting the magnetic induction line is enhanced, the rotation speed of the rotating shaft of the hydraulic turbine 411 is reduced, and the blocking effect of the blades of the hydraulic turbine 411 on the filling slurry in the pipeline 3 is enhanced, thereby reducing the flow rate of the filling slurry, which may cause pipeline blockage in the pipeline 3; in some embodiments, a bypass pipeline may be provided beside the pipeline where the potential energy recovery device is located. The inlet of the bypass pipeline is provided in front of the potential energy recovery device on the pipeline 3, and a throttle valve is provided at the inlet of the bypass pipeline; the outlet of the bypass pipeline is provided behind the potential energy recovery device on the pipeline 3, and a rotatable guide vane is provided at the outlet of the bypass pipeline, supporting continuous adjustment within the angle range of 30-90°; when the filling system is operating, the filling slurry flows out from the outlet of the bypass pipeline and intersects with the filling slurry in the pipeline 3 at an angle and undergoes momentum exchange, reducing the flow rate of the filling slurry in the pipeline 3. By adjusting the opening size of the throttle valve, the flow rate of the filling slurry entering the bypass pipeline is controlled to realize the amount of the filling slurry generating momentum exchange at the outlet of the bypass pipeline, and by adjusting the angle of the rotatable guide vane at the outlet of the bypass pipeline, different flow rate reduction effects of the filling slurry in the bypass pipeline on the filling slurry in the pipeline 3 are realized, thereby realizing the regulation of the outlet pressure of the pipeline 3; at the same time, when the blocking effect of the potential energy recovery device on the filling slurry in the pipeline 3 causes pipeline blockage and the adjacent potential energy recovery components stop rotating, an alarm is triggered. At the same time, the filling slurry can flow through the bypass pipeline, avoiding excessive pressure in the pipeline 3 causing the pipeline 3 to burst or the filling system to stop working, affecting the project progress and economic benefits. The filling system can still continue to work, waiting for the maintenance personnel to repair, shortening the shutdown and maintenance time length of the filling system, and enhancing the fault tolerance rate of the filling system.

[0062] Embodiment 2

[0063] Since the turbine blades 413 of the hydraulic turbine have a blocking effect on the filling slurry in the pipeline 3, pipeline blockage may occur in the pipeline 3 in some cases. This embodiment is basically the same as the above embodiment, except that in this embodiment, the hydraulic turbine 411 is installed on a slide rail, so that the distance between the turbine center of the hydraulic turbine 411 and the pipeline center of the pipeline 3 can be changed; a concentration meter is provided downstream of the hydraulic turbine 411 to detect the concentration of the filling slurry, and the distance between the turbine center of the hydraulic turbine 411 and the pipeline center of the pipeline 3 is automatically adjusted according to the flow rate of the filling slurry in the pipeline 3 and the concentration of the filling slurry, thereby realizing the automatic adjustment of the outlet pressure of the pipeline 3. The calculation formula is: Where D is the distance between the turbine center of the hydraulic turbine 411 and the center of the pipeline 3, and the sum of D and the radius of the pipeline 3 is greater than the length of the turbine blade 413; K is a comprehensive proportionality coefficient used to adjust the overall sensitivity; C is the concentration of the filling slurry; α is the correction coefficient of the filling slurry concentration C, and α > 0; Q is the flow rate of the filling slurry per unit time; β is the correction coefficient of the flow rate Q of the filling slurry per unit time, and β > 0.

[0064] When Q increases or C decreases, D is automatically reduced, so that the turbine blade 413 is in full contact with the filling slurry, increasing the blocking effect of the turbine blade 413 on the filling slurry, thereby reducing Q and decreasing the outlet pressure of the pipeline 3; conversely, when Q decreases or C increases, D is automatically increased, reducing the contact between the filling slurry and the turbine blade 413, decreasing the blocking effect of the turbine blade 413 on the filling slurry, increasing the flow rate Q of the filling slurry in the pipeline 3, and thus increasing the outlet pressure of the pipeline 3, realizing the automatic regulation of the outlet pressure of the pipeline 3.

[0065] Embodiment III

[0066] The present invention provides a deep well filling method with potential energy recovery and pressure regulation functions, which can be used in the filling system described in Embodiment I or Embodiment II. The filling system includes: a filling station, a goaf, and a pipeline connecting the filling station and the goaf. A hydraulic turbine and a permanent magnet synchronous generator connected to the hydraulic turbine are provided at a preset position of the pipeline, and the permanent magnet synchronous generator is connected to a hybrid energy storage component; a pressure sensor, a flowmeter, and an electro-hydraulic proportional valve are provided downstream of the hydraulic turbine. Figure 5 It is a schematic flow diagram of the deep well filling method of the embodiment of the present invention. Refer to Figure 5 and the method includes the following steps:

[0067] S100. Transmit the filling slurry from the filling station to the goaf through the pipeline.

[0068] S101. The filling slurry drives the hydraulic turbine to drive the permanent magnet synchronous generator to generate electricity, and stores the electric energy in the hybrid energy storage component.

[0069] In this step, the hydraulic turbine and the permanent magnet synchronous generator are arranged in the pipeline, and the hydraulic turbine and the permanent magnet synchronous generator are coaxially connected. When the filling slurry flows in the pipeline to drive the hydraulic turbine to rotate, it will drive the permanent magnet synchronous generator to generate electricity, and then store the electric energy generated by the permanent magnet synchronous generator in the hybrid energy storage component. The electric energy stored in the hybrid energy storage component can be used for the turbine excitation module of the permanent magnet synchronous generator, the change of the inclination angle of the turbine blade of the hydraulic turbine, and electrical equipment such as pressure sensors and flowmeters, improving the energy utilization rate in the filling system.

[0070] S102. Collect the pressure value and flow value at the outlet of the hydraulic turbine in real time through the pressure sensor and the flowmeter;

[0071] In this step, the pressure sensor and the flowmeter are installed at key positions inside the pipeline, including the outlet of the filling pump, the outlet of the hydraulic turbine, and the pipeline outlet. The pressure sensor and the flowmeter collect the pressure and flow data values at these positions in real time for adjusting the current of the turbine excitation module of the permanent magnet synchronous generator, the opening degree of the electro-hydraulic proportional valve, and the inclination angle of the turbine blades of the hydraulic turbine.

[0072] S103. Calculate the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator and the opening degree adjustment amount of the electro-hydraulic proportional valve according to the pressure value and flow value collected in real time by the pressure sensor and the flowmeter, and the energy storage state of the hybrid energy storage component. Adjust the excitation current of the turbine excitation module of the permanent magnet synchronous generator based on the current adjustment amount, and adjust the opening degree of the electro-hydraulic proportional valve based on the opening degree adjustment amount.

[0073] In this step, according to the pressure value and flow value collected in real time by the pressure sensor and the flowmeter, and the energy storage state of the hybrid energy storage component, use the multivariable coordinated control algorithm to calculate the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator and the opening degree adjustment amount of the electro-hydraulic proportional valve to reduce the control error. Then generate corresponding control signals according to the calculation results, and convert them into corresponding control electrical signals and output them to the turbine excitation module and the electro-hydraulic proportional valve. Adjust the excitation current of the turbine excitation module based on the control signal converted from the current adjustment amount, and adjust the opening degree of the electro-hydraulic proportional valve based on the control signal converted from the opening degree adjustment amount, so as to realize the adjustment of the flow rate in the pipeline and the power generation power of the permanent magnet synchronous generator; the energy storage state of the hybrid energy storage component 5 refers to the electric energy storage amount of the hybrid energy storage component 5.

[0074] In some embodiments, calculate the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator according to the following formula :

[0075] ; where is the pressure PID control coefficient, is the fuzzy membership weighted coefficient, is the error between the actual pressure and the target pressure at the outlet of the hydraulic turbine, Fuzzy() is the fuzzy logic function, is the error between the actual flow rate and the target flow rate at the outlet of the hydraulic turbine, is the error between the target energy storage state and the real-time energy storage state of the hybrid energy storage component.

[0076] In this embodiment, the current adjustment amount of the turbine excitation module It is also necessary to satisfy the dynamic constraint condition: , where clamp is the excitation current limiting function.

[0077] In some embodiments, the opening adjustment amount of the electro-hydraulic proportional valve is calculated according to the following formula : ; where is the energy storage state compensation coefficient of the hybrid energy storage component, is the fuzzy membership weighted coefficient.

[0078] In this embodiment, the opening adjustment amount of the electro-hydraulic proportional valve also needs to satisfy the dynamic constraint condition: , where sat is the opening saturation constraint processing function.

[0079] In some embodiments, the pressure, flow rate, and SOC state multi-variables jointly satisfy the co-optimization equation: , where the current change rate satisfies the constraint condition: , the opening adjustment rate satisfies the constraint condition: , and the weight coefficient is dynamically adjusted according to the operating conditions of the energy storage system: , where tanh is the hyperbolic tangent function and std is the standard deviation calculation function.

[0080] In some embodiments, when there is a flow meter in the pipeline, is the error between the actual flow rate and the target flow rate at the outlet of the hydraulic turbine. When there are multiple flow meters in the pipeline is the error vector between the actual flow rate and the target flow rate at the outlet of the hydraulic turbine: [ Q 1 - Q ref , Q 2 - Q ref ,... Q n - Q ref ] ^ T .

[0081] In some embodiments, the Fuzzy() fuzzy logic function includes the following rule base:

[0082] where I is the current adjustment amount of the turbine excitation module, is the opening adjustment amount of the electro-hydraulic proportional valve, is the pressure threshold at the outlet of the hydraulic turbine, threshold is the pressure limit value at the outlet of the hydraulic turbine, is the flow threshold at the hydraulic turbine outlet.

[0083] In some embodiments, the current of the turbine excitation module, the opening of the electro-hydraulic proportional valve, and the inclination angle of the turbine blades of the hydraulic turbine are collaboratively optimized based on the data collected in real time by the pressure sensor and the flow meter and the energy storage state of the hybrid energy storage component. Through the multivariable collaborative control algorithm, the pressure, flow, and SOC state are jointly decided to achieve a dynamic balance between energy recovery and filling pipeline pressure stability. The flow chart of the multivariable collaborative control pipeline outlet pressure regulation method is as follows: Figure 4 As shown, the input value of the control device is the pressure value and flow value collected in real time by the pressure sensor and the flow meter. The logic module of the control device calculates the pressure value and flow value collected in real time by the pressure sensor and the flow meter, as well as the energy storage state of the hybrid energy storage component. The controller outputs the corresponding excitation current control signal of the eddy current excitation module and the opening control signal of the electro-hydraulic proportional valve. The controller transmits the control signal to the actuator through the control line for adjustment, so as to achieve dynamic balance of the pressure in the pipeline and reduce the error between the pipeline outlet pressure and the target pressure. The controller is a PID-fuzzy composite controller; the excitation current adjustable range is 0A~200A, and the opening range of the electro-hydraulic proportional valve is 0~100%.

[0084] In some embodiments, the hybrid energy storage component and the control device are electrically connected via a signal line, and the pipeline outlet pressure and the energy storage status of the hybrid energy storage component are fed back to the control device via the signal line. The control device adjusts the excitation current of the eddy current excitation module and the opening of the electro-hydraulic proportional valve according to the pipeline outlet pressure and the energy storage status feedback of the hybrid energy storage component. Through the "power generation pressure reduction + valve adjustment" dual-mode control, the energy consumption problem of a single throttle valve is avoided. Compared with the traditional throttle valve solution, the energy consumption is reduced by 58%, the mechanical wear of valves and pipelines is reduced, the service life of equipment is extended, the maintenance cycle is extended, dynamic pressure coordinated control is achieved, and the unity of efficient energy utilization and precise pressure control is achieved.

[0085] In some embodiments, the control signal output by the controller includes: a turbine excitation module current magnitude control signal and an electro-hydraulic proportional valve 641 opening control signal.

[0086] In this step, the control signal is transmitted through the control line 66, including: the current size control signal of the turbine excitation module and the opening control signal of the electro-hydraulic proportional valve 641; the actuator 64 such as the turbine excitation module and the electro-hydraulic proportional valve 641 dynamically adjusts the load of the hydraulic turbine 411 and the opening of the electro-hydraulic proportional valve 641 according to the control signal, thereby adjusting the pressure in the pipeline, and controlling the target pressure in the pipeline 3 and the outlet of the pipeline 3 while adjusting the power generation power of the potential energy recovery component 4.

[0087] In some embodiments, when the outlet pressure of the hydraulic turbine exceeds a specified value, the current of the turbine excitation module of the permanent magnet synchronous generator is reduced to decrease the power generation of the permanent magnet synchronous generator, and the opening of the electro-hydraulic proportional valve is increased; conversely, the opening of the electro-hydraulic proportional valve is decreased and the current of the turbine excitation module of the permanent magnet synchronous generator is increased to increase the power generation of the permanent magnet synchronous generator.

[0088] In this embodiment, when the outlet pressure of the hydraulic turbine exceeds the specified value, the current of the turbine excitation module of the permanent magnet synchronous generator is reduced, thereby reducing the overall magnetic field strength of the permanent magnet synchronous generator, reducing the effect of cutting magnetic induction lines, thereby decreasing the power generation of the permanent magnet synchronous generator, reducing the resistance of the rotating shaft of the permanent magnet synchronous generator and the turbine blade of the hydraulic turbine generator to the filling pulp, and increasing the opening of the electro-hydraulic proportional valve to increase the flow rate of the filling pulp; conversely, the opening of the electro-hydraulic proportional valve is decreased, and the current of the turbine excitation module of the permanent magnet synchronous generator is increased to increase the power generation of the permanent magnet synchronous generator and increase the electric energy storage in the hybrid energy storage component.

[0089] In some embodiments, when the outlet pressure of the pipeline exceeds 4.0 MPa, the power generation of the hydraulic turbine power generation device is preferentially adjusted and the opening of the electro-hydraulic proportional valve is adjusted accordingly; conversely, the opening of the electro-hydraulic proportional valve is preferentially adjusted and the power generation is adjusted accordingly.

[0090] In this step, the pressure sensor monitors the outlet pressure of the pipeline in real time, and the control device calculates the required pressure regulation amount. When the outlet pressure of the pipeline exceeds 4.0 MPa, the power generation of the hydraulic turbine power generation device is preferentially increased. By preferentially converting the potential energy of the filling pulp in the pipeline into electric energy, the pressure of the filling pulp on the pipeline is reduced. At the same time, the opening of the electro-hydraulic proportional valve is reduced to decrease the flow rate of the filling pulp in the pipeline, avoiding damage to the pipeline caused by excessive pressure in the pipeline; when the outlet pressure of the pipeline is less than or equal to 4.0 MPa, the opening of the electro-hydraulic proportional valve is preferentially increased and the power generation of the hydraulic turbine power generation device is reduced accordingly, increasing the flow rate of the filling pulp in the pipeline and avoiding impact damage to the pipeline caused by the non-full pipe transportation of the filling pulp in the pipeline.

[0091] In some embodiments, the filling method further includes: when the energy storage of the hybrid energy storage component is less than 70%, switching to the potential energy recovery priority mode; when the energy storage of the hybrid energy storage component is ≥ 90% or the pressure value collected by the pressure sensor fluctuates beyond the limit, switching to the pressure stability priority mode; wherein, the potential energy recovery priority mode is: reducing the blade angle of the turbine of the hydraulic turbine to increase the power generation of the permanent magnet synchronous generator, and then reducing the opening of the electro-hydraulic proportional valve; the pressure stability priority mode is: increasing the opening of the electro-hydraulic proportional valve, and then the permanent magnet synchronous generator is switched to the no-load state.

[0092] In this embodiment, when the energy storage of the hybrid energy storage component is less than 70%, it can be switched to the potential energy recovery priority mode to recover the potential energy of the filling slurry in the pipeline to increase the electric energy storage in the hybrid energy storage component; when the energy storage of the hybrid energy storage component is ≥ 90% or the pressure value collected by the pressure sensor fluctuates beyond the limit, it is switched to the pressure stability priority mode to give priority to maintaining the pressure stability in the pipeline.

[0093] The potential energy recovery priority mode is as follows: First, the inclination angle between the turbine blades of the hydraulic turbine and the axial direction of the hydraulic turbine shaft is preferentially reduced, the resistance of the turbine blades of the hydraulic turbine to the filling slurry is increased, so that the filling slurry drives the turbine blades to rotate rapidly, the rotation speeds of the shafts of the hydraulic turbine and the permanent magnet synchronous generator are increased, and the power generation power of the permanent magnet synchronous generator is improved; then the opening degree adjustment of the electro-hydraulic proportional valve is used as an auxiliary adjustment, and the opening degree of the electro-hydraulic proportional valve is adjusted smaller, thereby reducing the flow rate of the filling slurry to a certain extent, reducing the impact and mechanical wear of the filling slurry on the hydraulic turbine blades and the pipeline, and improving the service life of the equipment.

[0094] The pressure stability priority mode is as follows: The opening degree of the electro-hydraulic proportional valve is the main control. First, the opening degree of the electro-hydraulic proportional valve is preferentially adjusted larger, so that the filling slurry flows out at a faster speed, reducing the pressure of the filling slurry on the pipeline and avoiding the occurrence of pipe burst accidents due to excessive pressure; then the current of the turbine excitation module is reduced, so that the permanent magnet synchronous generator is in an open-circuit state, generating a small amount of electricity or not generating electricity, and preferentially adjusting the pressure stability in the pipeline to match the pressure fluctuation.

[0095] In some embodiments, according to the calculation formula: , the power generation power is calculated, where K is the turbine efficiency coefficient and Q is the real-time flow rate. The turbine blades of the hydraulic turbine 411 can be adjusted in real time according to the calculated power generation power. While reducing the flow rate fluctuation in the pipeline, the potential energy recovery component is reasonably used for power generation, avoiding overloading of the equipment, and dynamically adjusting the power generation power of the potential energy recovery component.

[0096] In some embodiments, there is a certain lag in adjusting the power generation power of the potential energy recovery component 4 by adjusting the current of the turbine excitation module to adjust the pressure in the pipeline 3. When adjusting the outlet pressure of the pipeline 3 in real time, the opening degree of the electro-hydraulic proportional valve 641 is also calculated and adjusted to compensate for the lag in the adjustment of the power generation power of the potential energy recovery component 4, ensuring that the error between the actual outlet pressure of the pipeline 3 and the target outlet pressure of the pipeline 3 is < ±0.2 MPa, and the outlet pressure fluctuation range is reduced from ±1.0 MPa to ±0.15 MPa.

[0097] When the energy storage of the hybrid energy storage component 5 is less than 70%, the potential energy recovery priority mode is used to reduce the inclination angle between the turbine blade 413 and the axial direction of the hydraulic turbine shaft, so that the filling slurry is in full contact with the turbine blade 413, driving the hydraulic turbine 411 to rotate, increasing the power generation power of the hydraulic turbine power generation device 41, improving the energy storage capacity of the hybrid energy storage component 5, and the electro-hydraulic proportional valve 641 is used for auxiliary adjustment, while increasing the power generation power of the hydraulic turbine power generation device 41, avoiding excessive pressure change in the pipeline 3 and affecting the pipeline outlet pressure.

[0098] When the energy storage of the hybrid energy storage component 5 is ≥ 90% or the pressure fluctuation exceeds the limit (> 5.5 MPa), the pressure stability priority mode is used. The opening of the electro-hydraulic proportional valve 641 is preferentially controlled as the main control, increasing the inclination angle between the turbine blade 413 and the axial direction of the hydraulic turbine shaft, so that the filling slurry can pass quickly or the hydraulic turbine 411 is set to the no-load mode, reducing the power generation power of the hydraulic turbine power generation device 41 and reducing the pressure fluctuation in the pipeline 3; it can adapt to complex working conditions such as sudden changes in flow rate and / or changes in slurry concentration in the filling pipeline 3, avoiding the problem of failure of the fixed parameter control strategy.

[0099] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0100] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A deep well filling method with potential energy recovery and pressure regulation function, characterized in that: The filling method is applied to a slurry filling system, which includes: a filling station, a goaf, and a pipeline connecting the filling station and the goaf, a hydraulic turbine and a permanent magnet synchronous generator connected to the hydraulic turbine are provided at a preset position of the pipeline, and the permanent magnet synchronous generator is connected to a hybrid energy storage component; a pressure sensor, a flow meter, and an electro-hydraulic proportional valve are provided downstream of the hydraulic turbine; The filling method comprises: Transmitting the filling slurry of the filling station to the goaf through the pipeline; The filling slurry drives the hydraulic turbine to drive the permanent magnet synchronous generator to generate electricity, and stores the electrical energy in the hybrid energy storage component; The pressure sensor and the flow meter are used to collect the pressure value and the flow value of the outlet of the hydraulic turbine in real time; According to the pressure value and flow value collected in real time by the pressure sensor and the flowmeter, and the energy storage state of the hybrid energy storage component, the current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator and the opening adjustment amount of the electro-hydraulic proportional valve are calculated, and the excitation current of the turbine excitation module of the permanent magnet synchronous generator is adjusted based on the current adjustment amount, and the opening of the electro-hydraulic proportional valve is adjusted based on the opening adjustment amount.

2. The filling method according to claim 1, characterized in that: The current adjustment amount of the turbine excitation module of the permanent magnet synchronous generator is calculated according to the following formula: : ； in, is the pressure PID control coefficient, is the fuzzy membership weight coefficient, is the error between the actual pressure at the outlet of the hydraulic turbine and the target pressure, Fuzzy() is a fuzzy logic function, is the error between the actual flow rate at the outlet of the hydraulic turbine and the target flow rate, is the error between the target energy storage state and the real-time energy storage state of the hybrid energy storage component.

3. The filling method according to claim 2, characterized in that: The opening adjustment amount of the electro-hydraulic proportional valve is calculated according to the following formula: : ;in, is the energy storage state compensation coefficient of the hybrid energy storage component, is the fuzzy membership weighting coefficient.

4. The filling method according to claim 1, characterized in that: When the outlet pressure of the hydraulic turbine exceeds a specified value, the current of the turbine excitation module of the permanent magnet synchronous generator is reduced to reduce the power generation of the permanent magnet synchronous generator, and the opening of the electro-hydraulic proportional valve is increased; otherwise, the opening of the electro-hydraulic proportional valve is reduced and the current of the turbine excitation module of the permanent magnet synchronous generator is increased to increase the power generation of the permanent magnet synchronous generator.

5. The filling method according to claim 1, characterized in that: Also includes: When the energy storage of the hybrid energy storage component is less than 70%, it switches to the potential energy recovery priority mode; when the energy storage of the hybrid energy storage component is ≥90% or the pressure value collected by the pressure sensor fluctuates beyond the limit, it switches to the pressure stability priority mode; wherein, The potential energy recovery priority mode is: reducing the turbine blade inclination angle of the hydraulic turbine to increase the power generation of the permanent magnet synchronous generator, and then reducing the opening of the electro-hydraulic proportional valve; The pressure stability priority mode is: increasing the opening of the electro-hydraulic proportional valve, and then the permanent magnet synchronous generator is switched to a no-load state.

6. A deep well filling system with potential energy recovery and pressure regulation function, characterized in that: include: Filling station, goaf, pipeline, potential energy recovery component, hybrid energy storage component and intelligent control component; The potential energy recovery component comprises: a hydraulic turbine power generation device, wherein the hydraulic turbine power generation device comprises a hydraulic turbine and a permanent magnet synchronous generator; wherein the hydraulic turbine is arranged in the pipeline, and the hydraulic turbine is coaxially fixedly connected with the permanent magnet synchronous generator; The hybrid energy storage assembly includes a capacitor array and a battery pack; the capacitor array is used to absorb the electrical energy of the hydraulic turbine generator; the battery pack is connected to the capacitor array and is used to receive and store the buffer energy of the capacitor array; the hybrid energy storage assembly is electrically connected to the hydraulic turbine generator; The intelligent control component includes a pressure sensor, a flow meter, a control device and an actuator; the pressure sensor and the flow meter are electrically connected to the control device; the control device and the actuator are electrically connected to control the actuator to adjust the pressure in the pipeline according to the detection results of the pressure sensor and the flow meter.

7. The filling system according to claim 6, characterized in that: At least two levels of potential energy recovery components are arranged in the pipeline at intervals.

8. The filling system according to claim 6, characterized in that: The pressure sensor and the flow meter are provided at the inlet of the pipeline, the outlet of the pipeline, the front of the hydraulic turbine and the rear of the hydraulic turbine.

9. The filling system according to claim 6, characterized in that: The actuator includes an electro-hydraulic proportional valve and a turbine excitation module; the electro-hydraulic proportional valve adjusts the flow of the filling slurry in the pipeline by adjusting the opening; the turbine excitation module adjusts the power generation of the hydraulic turbine generator by adjusting the excitation current.

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