HI intensity mapping is an emerging tool to probe dark energy. Observations of the redshifted HI signal will be contaminated by instrumental noise, atmospheric and Galactic foregrounds. The latter is expected to be four orders of magnitude brighter than the HI emission we wish to detect. We present a simulation of single-dish observations including an instrumental noise model with 1/f and white noise, and sky emission with a diffuse Galactic foreground and HI emission. We consider two foreground cleaning methods: spectral parametric fitting and principal component analysis. For a smooth frequency spectrum of the foreground and instrumental effects, we find that the parametric fitting method provides residuals that are still contaminated by foreground and 1/f noise, but the principal component analysis can remove this contamination down to the thermal noise level. This method is robust for a range of different models of foreground and noise, and so constitutes a promising way to recover the HI signal from the data. However, it induces a leakage of the cosmological signal into the subtracted foreground of around 5%. The efficiency of the component separation methods depends heavily on the smoothness of the frequency spectrum of the foreground and the 1/f noise. We find that as, long as the spectral variations over the band are slow compared to the channel width, the foreground cleaning method still works. ; Comment: 14 pages, 12 figures. Submitted to MNRAS