Emulsion pump station frequency conversion control system and application method thereof

Abstract

The invention relates to the technical field of electro-hydraulic control, and discloses an emulsion pump station frequency conversion control system which comprises an emulsion pump station, a pump station initialization subsystem, a fault detection subsystem, a pressure sensor, a controller, a frequency conversion device, an emulsion pump station switching subsystem, an emulsion pressure setting subsystem and an emulsion main pipeline. The invention further provides an application method of the emulsion pump station frequency conversion control system. The application method comprises the following steps that S1, a program is initialized; the emulsion supply efficiency of the fully mechanized coal mining face of the coal mine can be improved, the liquid supply pressure can be stabilized, the power consumption in the liquid supply system can be reduced, the service life of frequency conversion control system equipment of the emulsion pump station can be prolonged, automatic control of the emulsion pump station can be realized, the labor cost can be reduced, and the working efficiency and reliability can be improved; unnecessary property loss is reduced, and important technical guarantee is provided for efficient and safe production of the coal industry and stable development of the coal industry.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-hydraulic control, and in particular to an emulsion pump station frequency conversion control system and an application method thereof. Background Art

[0002] At present, with the development of mining technology, various technologies are rapidly improving. The emulsion pump station system is the power source of comprehensive mechanized mining equipment such as hydraulic supports on the working face, and is the key equipment to achieve high production and high efficiency on the working face. The continuity, stability and reliability of its work are of great significance to ensuring the safe production of coal enterprises and improving economic benefits.

[0003] The current emulsion pumping stations have the following problems: the high temperature of the emulsion produces instantaneous impact and noise, and the start-stop current changes of the motor are too large, which cause impact and vibration to the equipment, easily damage the equipment and reduce the stability of the hydraulic system of the pumping station; the motor speed that drives the emulsion pump is constant, resulting in unstable liquid pressure in the pipeline, causing the "pipe burst" phenomenon, and also causing unnecessary energy loss. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides an emulsion pump station variable frequency control system and an application method thereof, which are mainly used to solve the problems that the existing emulsion high temperature generates instantaneous impact and noise, the motor start-stop current changes too large, etc., which cause impact and vibration to the equipment, easily damage the equipment, and reduce the stability of the hydraulic system of the pump station; the motor speed driving the emulsion pump is constant, resulting in unstable liquid pressure in the pipeline, causing the "pipe burst" phenomenon, and also causing unnecessary energy loss.

[0005] (II) Technical solution To achieve the above object, the present invention provides the following technical solutions: A variable frequency control system for an emulsion pump station comprises an emulsion pump station, a pump station initialization subsystem, a fault detection subsystem, a pressure sensor, a controller, a frequency conversion device, an emulsion pump station switching subsystem, an emulsion pressure setting subsystem and an emulsion main pipeline, wherein the pump station initialization subsystem is used to initialize the working mode of the emulsion pump station, the emulsion pressure setting subsystem is used to preset the pipe network pressure of the emulsion pump station, the fault detection subsystem is used to collect and analyze information of the initialized emulsion pump station and detect whether the emulsion pump station has a fault, the pressure sensor is arranged at the outlet position of the emulsion main pipeline, and the pressure sensor is connected to the controller, the frequency conversion device is respectively connected to the controller and the motor of the at least one emulsion pump, the emulsion pump station switching subsystem is used to control the motor speed change according to the frequency output change of the frequency converter, and switch the working state of the emulsion pump station, and the pump station initialization subsystem, the fault detection subsystem, the emulsion pressure setting subsystem and the emulsion pump station switching subsystem are connected in sequence.

[0006] Furthermore, the fault detection subsystem is also used to detect the working status of each pump during each cycle of the emulsion pump station. When a pump in working state is detected to have a fault, the fault condition is fed back to the pump station initialization subsystem.

[0007] On the basis of the above scheme, the control system further includes an external communication subsystem for transmitting the information monitored by each subsystem to external staff.

[0008] As a further solution of the present invention, the working states of the emulsion pump station include: power frequency state and variable frequency state. The power frequency state and variable frequency state of the emulsion pump are switched according to whether the output pressure of the emulsion pump station port reaches a preset value.

[0009] The present invention also proposes an application method of an emulsion pump station variable frequency control system, comprising the following steps: S1: Program initialization, initializing the working mode of the emulsion pump station; S2: Detection, collecting and analyzing information based on the initialized emulsion pump station to detect whether the emulsion pump station has any faults. If a fault occurs, make adjustments and then re-perform S1; if no fault occurs, proceed to the next step; S3: frequency measurement, preset the network pressure of the emulsion pump station as a preset value; obtain the port output pressure of the normally operating emulsion pump station at a certain moment as the actual measurement value; compare the preset value with the actual measurement value, obtain the pressure error value of the emulsion pump station at the current moment, and compare the pressure error value at the current moment with the pressure error value at the previous moment to determine the change in the pressure error value, thereby determining the first pressure fluctuation frequency of the emulsion main pipeline; S4: confirming the motor speed, and determining a target emulsion pump motor and a target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence; S5: Speed ​​regulation, adjusting the frequency output of the frequency converter according to the target speed, thereby controlling the motor speed and switching the working state of the emulsion pump station.

[0010] Furthermore, the current state of the S4 emulsion pump motor includes: a current speed and a current operating state, and the current operating state includes: a start-up state and a stop-down state. According to the current operating states of each emulsion pump motor in the emulsion pump motor sequence, the first emulsion pump motor in the start-up state and the second emulsion pump motor in the stop-down state in the emulsion pump motor sequence are determined. When the first pressure fluctuation frequency is greater than or equal to the lower limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, and the first pressure fluctuation frequency is less than or equal to the upper limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, the last first emulsion pump motor in the emulsion pump motor sequence is used as the target emulsion pump motor, and the target speed is determined according to the first pressure fluctuation frequency.

[0011] On the basis of the above scheme, the target emulsion pump motor and the target speed of the target emulsion pump motor are determined according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, and further includes: when the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, determining the first difference between the lower limit pressure fluctuation frequency and the first pressure fluctuation frequency; when the current speed of the first emulsion pump motor ranked last in the emulsion pump motor sequence is the lower limit speed and the first difference is greater than the first difference threshold, taking the last first emulsion pump motor in the emulsion pump motor sequence as the first target emulsion pump motor, and taking the second to last first emulsion pump motor in the emulsion pump motor sequence as the second target emulsion pump motor; adjusting the current state of the first target emulsion pump motor to the shutdown state, and determining the target speed of the first target emulsion pump motor to be zero; and determining the target speed of the second target emulsion pump motor according to the first pressure fluctuation frequency.

[0012] (III) Beneficial effects Compared with the prior art, the present invention provides an emulsion pump station variable frequency control system and an application method thereof, which has the following beneficial effects: 1. The present invention determines the first pressure fluctuation frequency of the emulsion main pipeline; determines the target emulsion pump motor and the target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, and adjusts the speed of the target emulsion pump motor according to the target speed, thereby improving the emulsion supply efficiency of the fully mechanized mining working face in the coal mine, stabilizing the supply pressure, reducing the power consumption in the supply system, and extending the service life of the frequency conversion control system equipment of the emulsion pump station.

[0013] 2. When the motor of the present invention is not controlled by a frequency converter, its normal working mode is industrial frequency output. However, the frequency converter will adjust the power frequency of the motor according to the load change requirements of the motor to achieve the torque required by the motor load, greatly reducing unnecessary energy loss and achieving energy saving effect.

[0014] 3. The present invention improves the stability and safety of the operation of the emulsion pump station, can realize automatic control of the emulsion pump station, reduces labor costs, improves work efficiency and reliability, reduces unnecessary property losses, and provides important technical guarantees for efficient and safe production of the coal industry and the steady development of the coal industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the framework structure of a frequency conversion control system for an emulsion pump station proposed by the present invention; Figure 2 The present invention provides a schematic diagram of the process structure of an application method of an emulsion pump station variable frequency control system. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Example 1 Reference Figure 1-Figure 2, an emulsion pump station frequency conversion control system, including an emulsion pump station, a pump station initialization subsystem, a fault detection subsystem, a pressure sensor, a controller, a frequency conversion device, an emulsion pump station switching subsystem, an emulsion pressure setting subsystem and an emulsion main pipeline, the pump station initialization subsystem is used to initialize the working mode of the emulsion pump station, the emulsion pressure setting subsystem is used to preset the pipe network pressure of the emulsion pump station, the fault detection subsystem is used to collect and analyze information of the initialized emulsion pump station, and detect whether the emulsion pump station has a fault, the pressure sensor is arranged at the outlet position of the emulsion main pipeline, and the pressure sensor is connected to the controller, the frequency conversion device is respectively connected to the controller and at least one emulsion pump motor, the emulsion pump station switching subsystem is used to control the motor speed change according to the frequency output change of the frequency converter, and switch the working state of the emulsion pump station, the pump station initialization subsystem, the fault detection subsystem, the emulsion pressure setting subsystem, and the emulsion pump station switching subsystem are connected in sequence.

[0018] In the present invention, the fault detection subsystem is also used to detect the working status of each pump in each cycle of the emulsion pump station. When a pump in the working state is detected to have a fault, the fault condition is fed back to the pump station initialization subsystem. The control system also includes an external communication subsystem for transmitting the information monitored by each subsystem to external staff. The working status of the emulsion pump station includes: power frequency status and variable frequency status. The power frequency status and variable frequency status of the emulsion pump are switched according to whether the output port pressure of the emulsion pump station port reaches a preset value. When the motor is not controlled by a frequency converter, its normal working mode is power frequency output, but the frequency converter will adjust the power frequency of the motor according to the load change requirements of the motor to achieve the torque required by the motor load, greatly reducing unnecessary energy loss and achieving energy saving.

[0019] The present invention also proposes an application method of an emulsion pump station variable frequency control system, comprising the following steps: S1: Program initialization, initializing the working mode of the emulsion pump station; S2: Detection, collect and analyze information based on the initialized emulsion pump station to detect whether the emulsion pump station has any faults. If a fault occurs, make adjustments and then perform S1 again; if no fault occurs, proceed to the next step; S3: Frequency measurement, preset the network pressure of the emulsion pump station as a preset value; obtain the port output pressure of the normally operating emulsion pump station at a certain moment as the actual measurement value; compare the preset value and the actual measurement value, obtain the pressure error value of the emulsion pump station at the current moment, and compare the pressure error value at the current moment with the pressure error value at the previous moment to determine the change in the pressure error value, thereby determining the first pressure fluctuation frequency of the emulsion main pipeline; S4: confirming the motor speed, and determining the target emulsion pump motor and the target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence; S5: Speed ​​regulation, adjusts the frequency output of the inverter according to the target speed, and then controls the motor speed, switches the working state of the emulsion pumping station, improves the stability and safety of the emulsion pumping station operation, can realize automatic control of the emulsion pumping station, reduces labor costs, improves work efficiency and reliability, reduces unnecessary property losses, and provides important technical guarantees for the efficient and safe production of the coal industry and the steady development of the coal industry.

[0020] In particular, the current state of the S4 emulsion pump motor includes: a current speed and a current operating state, the current operating state includes: a start state and a stop state, according to the current operating state of each emulsion pump motor in the emulsion pump motor sequence, the first emulsion pump motor in the start state and the second emulsion pump motor in the stop state in the emulsion pump motor sequence are determined, when the first pressure fluctuation frequency is greater than or equal to the lower limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, and the first pressure fluctuation frequency is less than or equal to the upper limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, the last first emulsion pump motor in the emulsion pump motor sequence is used as the target emulsion pump motor, and the target speed is determined according to the first pressure fluctuation frequency, and the target speed of the target emulsion pump motor and the target emulsion pump motor is determined according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, and also includes: when the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, determining a first difference between the lower limit pressure fluctuation frequency and the first pressure fluctuation frequency; in the emulsion pump motor sequence, the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, and the first pressure fluctuation frequency is less than the upper limit pressure fluctuation frequency. When the current speed of the first emulsion pump motor ranked last in the machine sequence is the lower limit speed and the first difference is greater than the first difference threshold, the last first emulsion pump motor in the emulsion pump motor sequence is used as the first target emulsion pump motor, and the second to last first emulsion pump motor in the emulsion pump motor sequence is used as the second target emulsion pump motor; the current state of the first target emulsion pump motor is adjusted to the shutdown state, and the target speed of the first target emulsion pump motor is determined to be zero; according to the first pressure fluctuation frequency, the target speed of the second target emulsion pump motor is determined by determining the first pressure fluctuation frequency of the emulsion main pipeline; according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, the target speed of the target emulsion pump motor and the target emulsion pump motor are determined, and the speed of the target emulsion pump motor is adjusted according to the target speed, so as to improve the emulsion supply efficiency of the fully-mechanized mining working face of the coal mine, stabilize the supply pressure, reduce the power consumption in the supply system, and extend the service life of the variable frequency control system equipment of the emulsion pump station.

[0021] Example 2 Reference Figure 1-Figure 2 , an emulsion pump station frequency conversion control system, including an emulsion pump station, a pump station initialization subsystem, a fault detection subsystem, a pressure sensor, a controller, a frequency conversion device, an emulsion pump station switching subsystem, an emulsion pressure setting subsystem and an emulsion main pipeline, the pump station initialization subsystem is used to initialize the working mode of the emulsion pump station, the emulsion pressure setting subsystem is used to preset the pipe network pressure of the emulsion pump station, the fault detection subsystem is used to collect and analyze information of the initialized emulsion pump station, and detect whether the emulsion pump station has a fault, the pressure sensor is arranged at the outlet position of the emulsion main pipeline, and the pressure sensor is connected to the controller, the frequency conversion device is respectively connected to the controller and at least one emulsion pump motor, the emulsion pump station switching subsystem is used to control the motor speed change according to the frequency output change of the frequency converter, and switch the working state of the emulsion pump station, the pump station initialization subsystem, the fault detection subsystem, the emulsion pressure setting subsystem, and the emulsion pump station switching subsystem are connected in sequence.

[0022] In the present invention, the fault detection subsystem is also used to detect the working status of each pump in each cycle of the emulsion pump station. When a pump in the working state is detected to have a fault, the fault condition is fed back to the pump station initialization subsystem. The control system also includes an external communication subsystem for transmitting the information monitored by each subsystem to external staff. The working status of the emulsion pump station includes: power frequency status and variable frequency status. The power frequency status and variable frequency status of the emulsion pump are switched according to whether the output port pressure of the emulsion pump station port reaches a preset value. When the motor is not controlled by a frequency converter, its normal working mode is power frequency output, but the frequency converter will adjust the power frequency of the motor according to the load change requirements of the motor to achieve the torque required by the motor load, greatly reducing unnecessary energy loss and achieving energy saving.

[0023] The present invention also proposes an application method of an emulsion pump station variable frequency control system, comprising the following steps: S1: Program initialization, initializing the working mode of the emulsion pump station; S2: Detection, collect and analyze information based on the initialized emulsion pump station to detect whether the emulsion pump station has any faults. If a fault occurs, make adjustments and then perform S1 again; if no fault occurs, proceed to the next step; S3: Frequency measurement, preset the network pressure of the emulsion pump station as a preset value; obtain the port output pressure of the normally operating emulsion pump station at a certain moment as the actual measurement value; compare the preset value and the actual measurement value, obtain the pressure error value of the emulsion pump station at the current moment, and compare the pressure error value at the current moment with the pressure error value at the previous moment to determine the change in the pressure error value, thereby determining the first pressure fluctuation frequency of the emulsion main pipeline; S4: confirming the motor speed, and determining the target emulsion pump motor and the target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence; S5: Speed ​​regulation, adjusts the frequency output of the inverter according to the target speed, and then controls the motor speed, switches the working state of the emulsion pumping station, improves the stability and safety of the emulsion pumping station operation, can realize automatic control of the emulsion pumping station, reduces labor costs, improves work efficiency and reliability, reduces unnecessary property losses, and provides important technical guarantees for the efficient and safe production of the coal industry and the steady development of the coal industry.

[0024] In particular, the current state of the S4 emulsion pump motor includes: a current speed and a current operating state, the current operating state includes: a start state and a stop state, according to the current operating state of each emulsion pump motor in the emulsion pump motor sequence, the first emulsion pump motor in the start state and the second emulsion pump motor in the stop state in the emulsion pump motor sequence are determined, when the first pressure fluctuation frequency is greater than or equal to the lower limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, and the first pressure fluctuation frequency is less than or equal to the upper limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, the last first emulsion pump motor in the emulsion pump motor sequence is used as the target emulsion pump motor, and the target speed is determined according to the first pressure fluctuation frequency, and the target speed of the target emulsion pump motor and the target emulsion pump motor is determined according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, and also includes: when the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, determining a first difference between the lower limit pressure fluctuation frequency and the first pressure fluctuation frequency; in the emulsion pump motor sequence, the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, and the first pressure fluctuation frequency is less than the upper limit pressure fluctuation frequency. When the current speed of the first emulsion pump motor ranked last in the machine sequence is the lower limit speed and the first difference is greater than the first difference threshold, the last first emulsion pump motor in the emulsion pump motor sequence is used as the first target emulsion pump motor, and the second to last first emulsion pump motor in the emulsion pump motor sequence is used as the second target emulsion pump motor; the current state of the first target emulsion pump motor is adjusted to the shutdown state, and the target speed of the first target emulsion pump motor is determined to be zero; according to the first pressure fluctuation frequency, the target speed of the second target emulsion pump motor is determined by determining the first pressure fluctuation frequency of the emulsion main pipeline; according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence, the target speed of the target emulsion pump motor and the target emulsion pump motor are determined, and the speed of the target emulsion pump motor is adjusted according to the target speed, so as to improve the emulsion supply efficiency of the fully-mechanized mining working face of the coal mine, stabilize the supply pressure, reduce the power consumption in the supply system, and extend the service life of the variable frequency control system equipment of the emulsion pump station.

[0025] In the description of this article, it should be noted that relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

Claims

1. An emulsion pump station frequency conversion control system, characterized in that: It includes an emulsion pump station, a pump station initialization subsystem, a fault detection subsystem, a pressure sensor, a controller, a frequency conversion device, an emulsion pump station switching subsystem, an emulsion pressure setting subsystem and an emulsion main pipeline. The pump station initialization subsystem is used to initialize the working mode of the emulsion pump station, the emulsion pressure setting subsystem is used to preset the pipe network pressure of the emulsion pump station, the fault detection subsystem is used to collect and analyze information of the initialized emulsion pump station, and detect whether the emulsion pump station has a fault. The pressure sensor is arranged at the outlet position of the emulsion main pipeline, and the pressure sensor is connected to the controller. The frequency conversion device is respectively connected to the controller and the motor of the at least one emulsion pump. The emulsion pump station switching subsystem is used to control the motor speed change according to the frequency output change of the frequency converter to switch the working state of the emulsion pump station. The pump station initialization subsystem, the fault detection subsystem, the emulsion pressure setting subsystem, and the emulsion pump station switching subsystem are connected in sequence.

2. The variable frequency control system for an emulsion pump station according to claim 1, characterized in that: The fault detection subsystem is also used to detect the working status of each pump in each cycle of the emulsion pump station. When a pump in working state is detected to have a fault, the fault condition is fed back to the pump station initialization subsystem.

3. The variable frequency control system for an emulsion pump station according to claim 1, characterized in that: The control system also includes an external communication subsystem for transmitting information monitored by each subsystem to external staff.

4. The variable frequency control system for an emulsion pump station according to claim 1, characterized in that: The working states of the emulsion pump station include: a working frequency state and a variable frequency state. The working frequency state and the variable frequency state of the emulsion pump are switched according to whether the pressure at the output port of the emulsion pump station reaches a preset value.

5. An application method of a variable frequency control system for an emulsion pump station, characterized in that: The following steps are involved: S1: Program initialization, initializing the working mode of the emulsion pump station; S2: Detection, collecting and analyzing information based on the initialized emulsion pump station to detect whether the emulsion pump station fails. If a failure occurs, make adjustments and then perform S1 again; If no fault occurs, proceed to the next step; S3: frequency measurement, preset the emulsion pump station network pressure as the preset value; Obtain the port outlet pressure of a normally operating emulsion pump station at a certain moment as the actual measured value; Comparing the preset value with the actual measured value, obtaining the pressure error value of the emulsion pump station at the current moment, and comparing the pressure error value at the current moment with the pressure error value at the previous moment, determining the change amount of the pressure error value, thereby determining the first pressure fluctuation frequency of the emulsion main pipeline; S4: confirming the motor speed, and determining a target emulsion pump motor and a target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence; S5: Speed ​​regulation, adjusting the frequency output of the frequency converter according to the target speed, thereby controlling the motor speed and switching the working state of the emulsion pump station.

6. The application method of the variable frequency control system of an emulsion pump station according to claim 5 is characterized in that: The current state of the S4 emulsion pump motor includes: a current speed and a current operating state, and the current operating state includes: a start state and a stop state. According to the current operating states of each emulsion pump motor in the emulsion pump motor sequence, the first emulsion pump motor in the start state and the second emulsion pump motor in the stop state in the emulsion pump motor sequence are determined. When the first pressure fluctuation frequency is greater than or equal to the lower limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, and the first pressure fluctuation frequency is less than or equal to the upper limit pressure fluctuation frequency of the preset pressure fluctuation frequency range, the last first emulsion pump motor in the emulsion pump motor sequence is used as the target emulsion pump motor, and the target speed is determined according to the first pressure fluctuation frequency.

7. The application method of the variable frequency control system of an emulsion pump station according to claim 5 is characterized in that: The method of determining the target emulsion pump motor and the target speed of the target emulsion pump motor according to the first pressure fluctuation frequency and the current state of each emulsion pump motor in the emulsion pump motor sequence also includes: when the first pressure fluctuation frequency is less than the lower limit pressure fluctuation frequency, determining a first difference between the lower limit pressure fluctuation frequency and the first pressure fluctuation frequency; when the current speed of the first emulsion pump motor ranked last in the emulsion pump motor sequence is the lower limit speed and the first difference is greater than the first difference threshold, taking the last first emulsion pump motor in the emulsion pump motor sequence as the first target emulsion pump motor, and taking the second to last first emulsion pump motor in the emulsion pump motor sequence as the second target emulsion pump motor; adjusting the current state of the first target emulsion pump motor to a shutdown state, and determining the target speed of the first target emulsion pump motor to be zero; and determining the target speed of the second target emulsion pump motor according to the first pressure fluctuation frequency.

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