Hydraulic support control system and method for a working face

Abstract

The application provides a working face hydraulic support control system and method, which comprises a support controller set and two network terminals, the support controller set comprises a plurality of support controllers connected in sequence via a bus, the two network terminals are connected with the support controllers at the ends of the support controller set respectively, when the bus is disconnected between the support controllers, the support controllers at the ends of the support controller set shield the pulse signals sent by the network terminals connected therewith, and the disconnected part contains one end of the plurality of support controllers to form an ad hoc network to control the working face hydraulic support to perform a group action. The working face hydraulic support control system provided by the application has reliable structure, can form an ad hoc network when the bus is disconnected between the support controllers, and further has complete synchronous / answer pulses in the ad hoc network after the bus of the hydraulic support controller is disconnected, so that the group action in the ad hoc network after the bus is disconnected is ensured to be safe and reliable.

Description

Technical Field

[0001] This application relates to the field of coal mine fully mechanized mining technology, and in particular to a hydraulic support control system and method for working faces. Background Technology

[0002] When the communication bus of the hydraulic support controller system in a fully mechanized mining face is disconnected, the hydraulic support controller, i.e., the support controller, enters an emergency stop state, immediately halting all ongoing hydraulic support operations. During the disconnection, the support controller is not allowed to execute group actions; it can only perform adjacent support operations. In actual production, a bus disconnection differs from an emergency stop; it may only involve a malfunction of some components. However, this situation still prevents the execution of group actions, leading to a decrease in fully mechanized mining efficiency and impacting the economic benefits of coal mining.

[0003] The emergency stop monitoring of the support controllers relies on checking whether the support controllers in the network have a complete heartbeat response, i.e., detecting whether there is a complete pulse. If there is no complete pulse, all support controllers are in an emergency stop state. The usual method is to connect pulse generators to the controllers of the supports at both ends of the longwall mining face control system. The pulse generator located at the end support generates a synchronization pulse, and the pulse generator located at the end support generates a response pulse after receiving the synchronization pulse, forming a complete synchronization / response pulse heartbeat process. If no complete pulse is detected, all support controllers in the working face stop their current operation.

[0004] After the bus connection to the working face is lost, a complete pulse signal cannot be formed (hardware disconnection). The support controller also cuts off the power supply to the back-end driver, similar to an emergency stop, which affects the economic benefits of coal mining. At the same time, due to the disconnection, the inter-support bus network of the working face support controller cannot form a complete synchronization / response mechanism, causing the hydraulic supports to be unable to perform group operations, thus restricting the efficiency of fully mechanized mining. Summary of the Invention

[0005] To address at least one problem in the prior art, this application proposes a hydraulic support control system and method for a working face. The hydraulic support control system for a working face has a reliable structure and can self-organize a network when the bus between support controllers is disconnected. This ensures that the self-organizing network has complete synchronization / response pulses after the hydraulic support controller bus is disconnected, guaranteeing that group actions can be performed within the self-organizing network after the disconnection and that the group actions are safe and reliable.

[0006] To address the aforementioned technical problems, this application provides the following technical solution:

[0007] In a first aspect, this application provides a hydraulic support control system for a working face, comprising: a support controller set and two network terminals, wherein the support controller set comprises: a plurality of support controllers connected sequentially via a bus;

[0008] The two network terminals are respectively connected to the bracket controller at the end of the bracket controller set;

[0009] When a bus disconnection occurs between the support controllers, the support controllers at the end of the support controller set shield the pulse signals sent by the network terminals connected to them. The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic supports of the working face to perform group actions.

[0010] Furthermore, the end support controller is used to generate a first synchronization pulse and transmit the first synchronization pulse to the support controller at the end of the self-organizing network. The support controller returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, so as to control the hydraulic support of the working face to perform group actions.

[0011] Furthermore, the hydraulic support control system for the working face also includes: a ring network switch and two node switches;

[0012] The two node switches are respectively connected to the bracket controller at the end, and both node switches are connected to the ring network switch, which is used to connect to the host computer server.

[0013] The ring network switch is used to receive the self-organizing network instruction issued by the host computer server, and to issue the self-organizing network instruction to the node switch. The node switch sends the self-organizing network instruction to one end of the disconnection point, which contains multiple support controllers. The support controllers at that end form a self-organizing network according to the self-organizing network instruction.

[0014] Furthermore, each bracket controller includes: a first logic unit circuit and multiple bidirectional digital interface units;

[0015] Each bidirectional digital interface unit is connected to the first logic unit circuit; each bidirectional digital interface unit is connected to the adjacent bracket controller or network terminal.

[0016] The bidirectional digital interface unit of the bracket controller at the end is used to receive the first synchronization pulse generated by the first logic unit circuit of the bracket controller and send the first synchronization pulse to the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network.

[0017] The bidirectional digital interface unit of the support controller at the end of the self-organizing network is used to send the first synchronization pulse to the first logic unit circuit of the support controller, receive the first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, and return the first response pulse to the bidirectional digital interface unit of the support controller at the corresponding end. The bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the support controller at the end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0018] Furthermore, each of the bidirectional digital interface units includes: a signal driver and a high-speed comparator connected to the signal driver;

[0019] The signal driver and the high-speed comparator are both connected to the first logic unit circuit. The signal driver is connected to an adjacent bracket controller or network terminal, and the high-speed comparator is connected to an adjacent bracket controller or network terminal.

[0020] The high-speed comparator of the bidirectional digital interface unit on the support controller side of the self-organizing network end is used to receive the first synchronization pulse sent by the signal driver of the adjacent support controller and send the first synchronization pulse to the first logic unit circuit of the support controller.

[0021] The signal driver of the bidirectional digital interface unit on the other side of the bracket controller at the end of the self-organizing network is used to receive the first synchronization pulse sent by the first logic unit circuit, send the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit, and the high-speed comparator returns the first synchronization pulse to the first logic controller of the bracket controller.

[0022] Furthermore, when the bus connection between each support controller is normal, the network terminal at the head end of the support controller set is used to generate a second synchronization pulse and send the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal at the tail end is used to return the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller.

[0023] Furthermore, each network terminal includes: a second logic unit circuit and a bidirectional digital interface unit;

[0024] The bidirectional digital interface unit is connected to the second logic unit circuit and the adjacent bracket controller, respectively.

[0025] The bidirectional digital interface unit of the network terminal at the beginning is used to receive the second synchronization pulse generated by the second logic unit circuit of the network terminal and send it to the bidirectional digital interface unit of the network terminal at the end via each bracket controller.

[0026] The bidirectional digital interface of the network terminal at the tail end is used to send the second synchronization pulse to the second logic unit circuit of the network terminal, receive the second response pulse generated by the second logic unit circuit, and return it to the second bidirectional digital interface unit of the network terminal at the head end via each bracket controller. The second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the network terminal at the head end.

[0027] Secondly, this application provides a method for controlling a hydraulic support for a working face, using the aforementioned hydraulic support control system for a working face, the method comprising:

[0028] When a bus disconnection occurs between the support controllers, the support controllers at the end of the support controller set shield the pulse signals sent by the network terminals connected to them;

[0029] The disconnection point includes one end of a self-organizing network of multiple support controllers to control the hydraulic supports at the working face to perform group actions.

[0030] Furthermore, the disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic supports at the working face to perform group actions, including:

[0031] The end support controller generates a first synchronization pulse and transmits the first synchronization pulse to the support controller at the end of the self-organizing network. The support controller returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0032] Furthermore, the disconnection includes one end of multiple support controllers forming a self-organizing network, comprising:

[0033] The ring network switch receives the self-organizing network instruction issued by the host computer server and sends the self-organizing network instruction to the node switch. The node switch sends the self-organizing network instruction to one end of the disconnection point, which contains multiple support controllers. The support controllers at that end form a self-organizing network according to the self-organizing network instruction.

[0034] Furthermore, the disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic supports at the working face to perform group actions, including:

[0035] The bidirectional digital interface unit of the bracket controller at the end receives the first synchronization pulse generated by the first logic unit circuit of the bracket controller and sends the first synchronization pulse to the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network.

[0036] The bidirectional digital interface unit of the support controller at the end of the self-organizing network sends the first synchronization pulse to the first logic unit circuit of the support controller, receives the first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, and returns the first response pulse to the bidirectional digital interface unit of the support controller at the corresponding end. The bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the support controller at the end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0037] Furthermore, the bidirectional digital interface unit of the support controller at the end of the self-organizing network sends the first synchronization pulse to the first logic unit circuit of the support controller, including:

[0038] The high-speed comparator of the bidirectional digital interface unit on the support controller side of the self-organizing network end is used to receive the first synchronization pulse sent by the signal driver of the adjacent support controller and send the first synchronization pulse to the first logic unit circuit of the support controller.

[0039] The signal driver of the bidirectional digital interface unit on the other side of the bracket controller at the end of the self-organizing network is used to receive the first synchronization pulse sent by the first logic unit circuit, send the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit, and the high-speed comparator returns the first synchronization pulse to the first logic controller of the bracket controller.

[0040] Furthermore, the aforementioned method for controlling the hydraulic support at the working face also includes:

[0041] When the bus connection between each support controller is normal, the network terminal at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal then returns the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller.

[0042] Further, the network terminal located at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal located at the tail end of the support controller set via each support controller. This network terminal then returns a second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller, including:

[0043] The bidirectional digital interface unit of the network terminal at the beginning receives the second synchronization pulse generated by the second logic unit circuit of the network terminal and sends it to the bidirectional digital interface unit of the network terminal at the end via each bracket controller.

[0044] The bidirectional digital interface of the network terminal at the tail end sends the second synchronization pulse to the second logic unit circuit of the network terminal, receives the second response pulse generated by the second logic unit circuit, and returns it to the second bidirectional digital interface unit of the network terminal at the head end via each bracket controller. The second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the network terminal at the head end.

[0045] As can be seen from the above technical solution, this application provides a hydraulic support control system and method for a working face. The system includes: a support controller set and two network terminals. The support controller set includes: multiple support controllers connected sequentially via a bus; the two network terminals are respectively connected to support controllers at the ends of the support controller set; when a bus disconnection occurs between the support controllers, the support controllers at the ends of the support controller set shield the pulse signals sent by the network terminals connected to them. The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic support of the working face to perform group actions. This self-organizing network can be established when the bus between the support controllers is disconnected, thereby ensuring that the self-organizing network has complete synchronization / response pulses after the hydraulic support controller bus is disconnected, guaranteeing that group actions are achieved within the self-organizing network after the disconnection and that these group actions are safe and reliable. Specifically, 1. This solution provides a self-organizing network method for a hydraulic support control system for a working face when the bus network is disconnected, which can solve the problem that the support controllers cannot perform group actions after a failure of the support controller network bus or individual hardware. Furthermore, this grouping is achieved under the premise of ensuring complete pulse heartbeats. 1. Safe and reliable; 2. After the communication bus of the support controller is disconnected or a hardware failure occurs, the host computer server manually confirms and issues self-organizing network commands to ensure that the two networks after the disconnection or failure maintain complete synchronization / response pulses. This allows the support controllers to still operate in groups after the disconnection, and this group operation still depends on complete synchronization / response pulses, ensuring safety; 3. In the bus connecting all support controllers in the working area, an external network terminal sends pulse signals as the synchronization / response pulse mechanism within the bus. When the pulse signal mechanism is interrupted, the pulse signals emitted by the controllers themselves replace the synchronization / response pulses of the external network terminal in the two disconnected controller networks, ensuring the pulse integrity in the two networks; 4. When the network bus is disconnected or the hardware failure is recovered, the pulse signal mechanism automatically sent by the controllers themselves will be immediately interrupted. The network terminals will be activated by the support controllers located at both ends of the working area, and the synchronization / response pulses will switch back to being generated by the network terminals, realizing automatic switching between the two types of pulses. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of the hydraulic support control system for the working face in an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the structure of a hydraulic support control system for a working face, as exemplified in this application.

[0049] Figure 3 This is a schematic diagram illustrating the relationship between the network terminal and the bracket controller in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram showing the relationship between the bracket controllers in the embodiments of this application;

[0051] Figure 5 This is a schematic diagram of the first relationship between the bidirectional digital interface units in the embodiments of this application;

[0052] Figure 6 This is a schematic diagram of the second relationship between the bidirectional digital interface units in the embodiments of this application;

[0053] Figure 7 This is a schematic diagram of the first process of the hydraulic support control method for the working face in this embodiment of the application;

[0054] Figure 8 This is a second flowchart illustrating the hydraulic support control method for the working face in this embodiment of the application;

[0055] Figure 9 This is a schematic diagram of the third process of the hydraulic support control method for the working face in this embodiment of the application.

[0056] Symbol explanation:

[0057] 1. Network terminal;

[0058] 2. Bracket controller;

[0059] 3. Ethernet cable;

[0060] 4. Node switches;

[0061] 5. Ring network switch;

[0062] 6. Optical fiber;

[0063] 7. Bus;

[0064] 8. First logic unit circuit;

[0065] 9. Bidirectional digital interface unit;

[0066] 10. Second logic unit circuit;

[0067] 11. Signal driver;

[0068] 12. High-speed comparator. Detailed Implementation

[0069] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0070] The emergency stop mechanism works as follows: after the emergency stop button is pressed, the controller of the rack where the emergency stop is located actively cuts off the pulse signal transmission within the bus (software cut-off). This means that other controllers within the working area cannot detect a complete pulse signal, and consequently, all controllers on the working area will cut off the power supply to their downstream drivers, resulting in an emergency stop for the entire working area. The same applies to wire breakage.

[0071] To address the problems existing in the prior art, this application provides a hydraulic support control system and method for working faces. This system can achieve self-organization and ensure the integrity of pulses within the network in the event of a fault in the hydraulic support controller or a bus disconnection. It effectively solves the problem that the supports cannot perform group actions after an anomaly such as a disconnection in the inter-support bus network of the support controller, making the support controller more flexible and ensuring the economic efficiency of coal mining while maintaining safety.

[0072] The following examples illustrate this in detail.

[0073] To enable self-organizing networks in the event of a bus disconnection between support controllers, and to ensure complete synchronization / response pulses within the self-organizing network after a bus disconnection in the hydraulic support controller, thereby guaranteeing grouped actions within the self-organizing network after a disconnection and ensuring the safety and reliability of these grouped actions, this application provides an embodiment of a hydraulic support control system for a working face. Figure 1 and Figure 2 As shown, in this embodiment, the hydraulic support control system for the working face includes:

[0074] The system includes a set of support controllers and two network terminals 1. The set of support controllers includes multiple support controllers 2 connected sequentially via a bus 7. The two network terminals 1 are respectively connected to the support controllers 2 at the end of the set of support controllers. When a bus disconnection occurs between the support controllers, the support controllers at the end of the set of support controllers shield the pulse signals sent by the network terminals connected to them. The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0075] Specifically, one network terminal is connected to a support controller at one end of the support controller set, and another network terminal is connected to a support controller at the other end of the support controller set. After forming a self-organizing network, all support controllers from the first support controller at the beginning of the self-organizing network to the last support controller at the end of the self-organizing network are in the same network. The pulse signal sent by the network terminal, i.e., the network terminal transmitter, can be a synchronization pulse or an acknowledgment pulse. The support controller can only control the hydraulic supports to perform group actions when a complete synchronization / acknowledgment pulse exists within the support controller network, i.e., a complete heartbeat acknowledgment exists. Therefore, to avoid the support controller being unable to control the hydraulic supports to perform group actions, a self-organizing network is implemented when there is a bus disconnection between support controllers, to ensure the integrity of the heartbeat acknowledgment within each self-organizing network. After forming a self-organizing network, the support controller can receive group action requests sent by the host computer server or the front end of the support controller, and control the corresponding hydraulic supports to perform group actions according to the group action requests. The bus can be a communication bus between support controllers. Support controllers within the self-organizing network can receive self-organizing network instructions sent by the host computer server.

[0076] It is understood that if one end of the disconnection contains multiple support controllers and the other end of the disconnection also contains multiple support controllers, then the two ends of the disconnection will form self-organizing networks respectively.

[0077] Preferably, the network terminal can be used to generate pulse signals of arbitrary period and duty cycle, such as... Figure 1 As shown, the output of one network terminal is connected to port A1 of the #1 support controller located at the end of the work surface, and the other is connected to port F1 of the #N support controller located at the tailstock. Port F1 of the #1 support controller is connected to port A1 of its adjacent support controller via a bus. N support controllers are arranged on one work surface, and this daisy-chaining method connects all the support controllers, enabling power supply and data communication between them. #1 to #N represent the support controller numbers.

[0078] Assuming there are N support controllers in the support controller set, if the disconnection point is between the first and second support controllers or between the (N-1)th and Nth support controllers, a unique self-organizing network can be formed; otherwise, two self-organizing networks can be formed.

[0079] In order to ensure that the two networks maintain complete synchronization / response pulses after a bus disconnection or failure, and thus enable the hydraulic supports to still operate in groups after a disconnection, in one embodiment of this application, the support controller at the end is used to generate a first synchronization pulse and transmit the first synchronization pulse to the support controller at the end of the self-organizing network. The support controller returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, so as to control the hydraulic supports at the working face to perform group operations.

[0080] Specifically, the support controller at the end of the ad hoc network can refer to the support controller closest to the point of disconnection in the ad hoc network; if there is a support controller between the support controller at the end and the support controller at the end of the ad hoc network, the existing support controller is identified as an intermediate support controller. The support controller at the end can send the first synchronization pulse to the support controller at the end of the ad hoc network via the intermediate support controller, and the support controller at the end of the ad hoc network can return the first response pulse corresponding to the first synchronization pulse to the support controller at the end via the intermediate support controller.

[0081] Furthermore, in order to achieve automatic switching between the two pulse generation modes, when the bus between the support controller at the end of the self-organizing network and its adjacent support controller is restored from disconnection to normal, the support controller at the end is used to interrupt the generation of synchronization pulses, and the support controller at the end is used to activate the two network terminals; the network terminal is used to generate pulse signals and send the pulse signals to the other network terminal via each support controller.

[0082] In one example, such as Figure 2 As shown, when the bus connection between bracket controller #2 and bracket controller #3 is broken, bracket controller #1 generates a synchronization pulse and sends it to bracket controller #2. Bracket controller #2 generates a response pulse corresponding to the synchronization pulse and sends it to bracket controller #1. Bracket controller #1 and bracket controller #2 belong to the same ad hoc network. Bracket controller #N generates a synchronization pulse and sends it to bracket controller #3 via (N-1)# to bracket controller #4. Bracket controller #3 generates a response pulse corresponding to the synchronization pulse and sends it to bracket controller #N. Bracket controller #3 to bracket controller #N belong to the same ad hoc network.

[0083] Specifically, the two controllers at the point of disconnection or hardware failure (due to the cascaded bus, a failure in one location affects communication between the two support controllers) can periodically send heartbeat packets through the BIDI circuit of the A / F port at the point of disconnection to detect whether the fault in the adjacent support has been resolved. Once the fault is detected to be resolved, the controller immediately stops sending synchronization / acknowledgment pulses. The synchronization / acknowledgment pulses of the entire network are then implemented by the network terminal, and the support controller only forwards the pulses.

[0084] To achieve ring network redundancy in the electro-hydraulic control Ethernet network at the working face and improve the reliability of self-organizing network command issuance, such as... Figure 1 and Figure 2 As shown in one embodiment of this application, the hydraulic support control system for the working face further includes: a ring network switch 5 and two node switches 4; the two node switches 4 are respectively connected to the support controller 2 at the end of the support controller set, and both node switches 4 are connected to the ring network switch 5, which is used to connect to a host computer server; the ring network switch is used to receive self-organizing network instructions issued by the host computer server, and to issue the self-organizing network instructions to the node switches, which then send the self-organizing network instructions to one end of the disconnection point containing multiple support controllers, and the support controllers at that end form a self-organizing network according to the self-organizing network instructions.

[0085] Specifically, for example Figure 1 and Figure 2 As shown, one node switch 4 can be connected to the support controller 2 at one end of the support controller set via an Ethernet cable 3, and the other node switch can be connected to the support controller 2 at the other end of the support controller set via an Ethernet cable 3. Node switch 4 and ring switch 5 can be connected via optical fiber 6. Preferably, each node switch is connected to the A2 interface (Ethernet port) of the support controller via an Ethernet cable. The Ethernet cable can be a standard 4-core cable equipped with a dedicated explosion-proof connector to interconnect with the A2 port of the support controller, supporting 100 Mbps Ethernet data transmission. The output of the node switch is an optical port that can be connected to a long-distance ring switch via optical fiber. The node switches are connected to the support controllers at the beginning and end of the working face via optical fiber, realizing ring network redundancy of the working face electro-hydraulic control Ethernet network and improving system reliability.

[0086] To further improve the reliability of the bracket controller, such as Figure 3 and Figure 4As shown in one embodiment of this application, each support controller includes: a first logic unit circuit 8 and a plurality of bidirectional digital interface units 9; each bidirectional digital interface unit is connected to the first logic unit circuit 8; each bidirectional digital interface unit is connected to an adjacent support controller 2 or network terminal 1; the bidirectional digital interface unit of the end support controller is used to receive a first synchronization pulse generated by the first logic unit circuit of the support controller, and send the first synchronization pulse to the bidirectional digital interface unit of the support controller at the end of the self-organizing network; the bidirectional digital interface unit of the support controller at the end of the self-organizing network is used to send the first synchronization pulse to the first logic unit circuit of the support controller, receive a first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, return the first response pulse to the bidirectional digital interface unit of the corresponding end support controller, and the bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the end support controller to form a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0087] Specifically, the first logic unit circuit can be a logic unit circuit in a bracket controller, which can be composed of a microcontroller or other digital processing chips commonly available on the market. The first synchronization pulse can be a synchronization pulse generated by the logic unit circuit of the bracket controller when a bus disconnection occurs between bracket controllers; the first response pulse can be a response pulse corresponding to the first synchronization pulse generated by the logic unit circuit of the bracket controller when a bus disconnection occurs between bracket controllers. The bidirectional digital interface can be composed of commonly available buffer chips and high-speed comparators to realize the transmission of synchronization / acknowledgment pulses, which is particularly suitable for inter-bracket buses between controller sets with large capacitive impedance. The high-speed comparator is used to receive pulse signals transmitted by adjacent bidirectional digital interfaces.

[0088] Specifically, the first logic unit circuit of the first support controller can be used to generate a first synchronization pulse and send the first synchronization pulse to the bidirectional digital interface unit of the first support controller; the bidirectional digital interface unit of the first support controller is used to send the first synchronization pulse to the bidirectional digital interface unit of the target support controller via each intermediate support controller; the bidirectional digital interface unit of the target support controller is used to send the first synchronization pulse to the first logic unit circuit of the target support controller; the first logic unit circuit of the target support controller is used to generate a first response pulse corresponding to the first synchronization pulse and send the first response pulse to the bidirectional digital interface unit of the target support controller; the bidirectional digital interface unit of the target support controller is also used to return the first response pulse to the bidirectional digital interface unit of the first support controller via each intermediate support controller; the bidirectional digital interface unit of the first support controller is also used to send the first response pulse to the first logic unit circuit of the first support controller, forming a self-organizing network to control the hydraulic supports of the working face to perform group actions.

[0089] Specifically, Figure 3 and Figure 4 The TM1 to TM4 interfaces of the first logic unit circuit 8 are timer pins of the first logic unit circuit, which can generate arbitrary pulses, detect pulse widths, and transmit pulses. For example, the bidirectional digital interface unit of the end bracket controller can receive the first synchronization pulse through the TM4 interface of the first logic unit circuit of the bracket controller, and can return the first response pulse to the first logic unit circuit through the TM3 interface.

[0090] Specifically, each bidirectional digital interface unit is connected to the bidirectional digital interface unit of an adjacent support controller or network terminal; the bidirectional digital interface unit is used to receive pulse signals sent by the first logic unit circuit in its respective support controller, and send the pulse signals to the bidirectional digital interface unit in the adjacent support controller; the bidirectional digital interface unit is also used to receive pulse signals sent by the bidirectional digital interface unit of the adjacent support controller; the first logic unit circuit is used to generate pulse signals and send them to the bidirectional digital interface unit, or receive pulse signals sent by the bidirectional digital interface unit.

[0091] To diagnose the location of the wire break, such as Figure 5 and Figure 6As shown in one embodiment of this application, each bidirectional digital interface unit includes: a signal driver 11 and a high-speed comparator 12 connected to the signal driver 11; both the signal driver and the high-speed comparator are connected to the first logic unit circuit, the signal driver is connected to an adjacent support controller or network terminal, and the high-speed comparator is connected to an adjacent support controller or network terminal; the high-speed comparator of the bidirectional digital interface unit on one side of the support controller at the end of the ad hoc network is used to receive a first synchronization pulse sent by the signal driver of the adjacent support controller and send the first synchronization pulse to the first logic unit circuit of the support controller; the signal driver of the bidirectional digital interface unit on the other side of the support controller at the end of the ad hoc network is used to receive the first synchronization pulse sent by the first logic unit circuit and send the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit, and the high-speed comparator returns the first synchronization pulse to the first logic controller of the support controller.

[0092] Specifically, the signal driver 11 and the high-speed comparator 12 are connected via resistors R1 to R5. The first pulse signal is a pulse signal generated by the network terminal, which can be a synchronization pulse or an acknowledgment pulse.

[0093] To improve the flexibility of the support controllers and ensure the integrity of the network pulses when the bus 7 connection between the controllers is normal, in one embodiment of this application, when the bus 7 connection between each support controller 2 is normal, the network terminal at the head end of the support controller set is used to generate a second synchronization pulse and send the second synchronization pulse through each support controller to the network terminal at the tail end of the support controller set. The network terminal at the tail end is used to return the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end through each support controller.

[0094] Specifically, such as Figure 1 As shown, the network terminal at the head end of the support controller set can be a network terminal connected to support controller #1, and the network terminal at the tail end of the support controller set can be a network terminal connected to support controller #N. When the system is working normally, the network terminal at the head controller sends a synchronization pulse, which is transmitted to the network terminal of the tail controller through the support controller and the inter-frame bus. After the network terminal of the tail controller detects the synchronization pulse, it sends an acknowledgment pulse, and a complete synchronization / acknowledgment pulse mechanism is established.

[0095] To improve the reliability of network terminals, such as Figure 3As shown in one embodiment of this application, each network terminal includes: a second logic unit circuit 10 and a bidirectional digital interface unit 9; the bidirectional digital interface unit 9 is connected to the second logic unit circuit 10 and an adjacent support controller respectively; the bidirectional digital interface unit of the first-end network terminal is used to receive a second synchronization pulse generated by the second logic unit circuit of the network terminal, and send it to the bidirectional digital interface unit of the tail-end network terminal via each support controller; the bidirectional digital interface of the tail-end network terminal is used to send the second synchronization pulse to the second logic unit circuit of the network terminal, receive a second response pulse corresponding to the second synchronization pulse generated by the second logic unit circuit, and return it to the second bidirectional digital interface unit of the first-end network terminal via each support controller, and the second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the first-end network terminal.

[0096] Specifically, the second logic unit circuit can be the logic unit circuit of the network terminal, and can be composed of a microcontroller or other digital processing chips commonly available on the market. The second synchronization pulse can be the synchronization pulse generated by the second logic unit circuit of the network terminal located at the head end of the support controller set when the bus connection between each support controller is normal, and the second response pulse can be the response pulse generated by the second logic unit circuit of the network terminal located at the tail end of the support controller set. The bidirectional digital interface unit in the support controller can be the same as the bidirectional digital interface unit in the network terminal, and the pulse signal generated by the support controller when the bus between support controllers is disconnected has the same waveform as the pulse signal generated by the network terminal when the bus between support controllers is normal.

[0097] Specifically, the second logic unit circuit of one of the network terminals can be used to generate a second synchronization pulse and send the second synchronization pulse to the bidirectional digital interface unit of the one of the network terminals; the bidirectional digital interface unit of the first-end network terminal is used to receive the second synchronization pulse and send the second synchronization pulse to the bidirectional digital interface of another network terminal via the first logic unit circuit and bidirectional digital interface unit of each support controller; the bidirectional digital interface of the last-end network terminal is used to receive the second synchronization pulse and send the second synchronization pulse to the second logic unit circuit of the network terminal; the second logic unit circuit of the other network terminal is used to generate a second response pulse corresponding to the second synchronization pulse and return the second response pulse to the bidirectional digital interface unit of the other network terminal; the bidirectional digital interface unit of the other network terminal is also used to receive the second response pulse and return the second response pulse to the second bidirectional digital interface unit of one of the network terminals via the first logic unit circuit and bidirectional digital interface unit of each support controller; the second bidirectional digital interface unit of one of the network terminals is also used to receive the second response pulse and send the second response pulse to the second logic unit circuit of the one of the network terminals.

[0098] Specifically, the second logic unit circuit can be composed of a microcontroller or a programmable logic controller (FPGA). The TM1 and TM2 interfaces of the second logic unit circuit can be connected to a bidirectional digital interface unit (BIDI). Both the BIDI and TM2 interfaces are BIDI circuit units, and the output of the BIDI unit is connected to the BIDI unit circuit of the controller's A1 or F1 port (the connection depends on the location of the network terminal). Similarly, the TX1 and RX1 interfaces of the second logic unit circuit are directly connected to the bidirectional digital interface unit, and the output of the BIDI circuit unit is connected to the A1 or F1 port of the support controller.

[0099] Specifically, in the bus connecting all controllers within the working surface, an external network terminal is used to send pulse signals as a synchronization / response pulse mechanism within the bus.

[0100] To further illustrate this solution, this application provides an application example of a hydraulic support control system for a working face. In this application example, such as... Figure 1 As shown, the system consists of network terminal 1, bracket controller 2, Ethernet cable 3, node switch 4, ring network switch 5, optical fiber 6, and controller inter-rack bus 7 (the controller inter-rack bus is the bus mentioned above), which is described in detail below:

[0101] The aforementioned network terminal can be used to generate pulse signals with arbitrary periods and duty cycles. Two network terminals are installed on the controller network of one working face. The output of one network terminal is connected to the A1 port of the No. 1 support controller located at the end of the working face, and the other is connected to the F1 port of the No. 9 support controller located at the tailstock. The F1 port of the No. 1 support controller is connected to the A1 port of its adjacent support controller via the inter-support bus 7. N support controllers are arranged on one working face, and all support controllers are connected in this daisy-chain manner, realizing power supply and data communication between the controllers.

[0102] Specifically, a complete coal mining face support controller is equipped with two network terminals. The functions of this complete coal mining face support controller are equivalent to those of the aforementioned support controller group. One network terminal is installed on the support controller located at the end of the face, and the other network terminal is located on the support controller at the tailstock. The output port of the network terminal is directly connected to the A1 or F1 port of the support controller, realizing the transmission and reception of synchronization / acknowledgment pulses for the coal mining face support controller. The specific implementation is as follows:

[0103] The network terminal mentioned above is as follows Figure 3 As shown, it includes a logic control unit and two BIDI circuit units. The TM1 and TM2 interfaces of the logic control unit are connected to the BIDI circuit units respectively. The outputs of the BIDI circuit units are connected to the BIDI unit circuits of the A1 or F1 ports of the support controller, as described above, depending on the location of the network terminal. Similarly, the TX1 and RX1 interfaces of the logic control unit are directly connected to the BIDI circuit units respectively, and the outputs of the BIDI circuit units are connected to the A1 or F1 ports of the support controller.

[0104] The logic control unit can be composed of a microcontroller or a programmable logic controller (FPGA). The TM1 and TM2 interfaces are timer peripherals of the logic control unit, capable of generating arbitrary pulses and detecting pulse widths. The TX1 and RX1 interfaces are serial communication peripherals of the logic control unit, enabling data communication with the support controller.

[0105] The BIDI circuit unit mentioned above is as follows: Figure 6As shown, the circuit consists of a signal driver 7, a high-speed comparator 8, and resistors R1, R2, R3, R4, and R5. The signal driver can be composed of logic gate chips or data buffer chips, and its main function is to improve the signal's load-carrying capacity, especially for capacitive loads, thus easily enabling long-distance signal transmission on the bus. The output of the signal driver is connected to resistor R4, which acts as a buffer resistor for the interface. R4 is typically a 1K resistor, effectively absorbing surge currents and protecting the internal circuit chips from damage. Resistor R5 is connected to one end of resistor R4 and the other end is connected to the inverting input of the high-speed comparator, used to receive digital signals sent by the adjacent controller. Resistors R2 and R3 form a simple voltage divider circuit. The midpoint of the voltage divider circuit is connected to the non-inverting input of the high-speed comparator. Resistor R1 connects the output of the signal driver to the midpoint of the voltage divider circuit, changing the reference voltage value of the non-inverting input of the high-speed comparator while the signal driver outputs a high or low level. The resistors satisfy the following condition: R2 = R3 = 2R1. When the bus connection between the two BIDI circuits is normal, the pulse or serial port signal sent by the logic control unit can reach the BIDI circuit unit of the adjacent rack controller via the bus. The digital or pulse signal received by the inverting input of the high-speed comparator on its own interface is always lower than the voltage at the non-inverting input, so the output of the high-speed comparator is always high, and therefore it cannot receive its own pulse or serial port signal. When the bus between the two BIDI circuits is disconnected, the inverting input of the high-speed comparator of the local BIDI circuit unit receives its own digital or pulse signal, while the reference voltage at the non-inverting input varies between 1 / 4 and 3 / 4 of 5V. The comparator outputs its own serial port or pulse signal, thus achieving disconnection location diagnosis. That is, when the digital or pulse signal it sends can be received at its receiving end, it indicates that a disconnection fault has occurred in the BIDI circuit bus.

[0106] The network terminal transmitter sends a synchronization pulse signal and, through its own BIDI circuit, enters the A1 / F1 port of the support controller. The logic control unit of the support controller forwards the signal, realizing the forwarding of data or pulses from port A1 to port F1. Similarly, the synchronization signal enters the network terminal transmitter at the other end. Upon receiving the synchronization pulse signal, this transmitter sends an acknowledgment pulse signal, which is forwarded by the intermediate controller to the network terminal transmitter at the end frame, establishing a complete synchronization / acknowledgment mechanism. After forwarding the synchronization pulse, each controller starts its internal logic control unit's timer. If the controller does not detect an acknowledgment pulse within the complete cycle, it shuts off the power to the valve loads at the controller's back end, preventing the group action function from executing. Preferably, the synchronization pulse is set to a fixed period of 400µs and a pulse width of 100µs, with three pulses sent continuously. The acknowledgment pulse is set to a fixed period of 400µs and a pulse width of 150µs. When the network terminal at the tail frame receives the first synchronization pulse, it starts its internal timer and, after 1.2ms, sends three acknowledgment pulses continuously.

[0107] 2. The inter-rack bus 7 is a four-core cable, of which two cores 1# and 4# are for power supply to the system, and the other two cores 2# and 3# are for data communication. The pulse signal is implemented on core 2#.

[0108] 3. The node switches 4 are deployed at the headend and tailend bracket controllers, respectively. Each node switch is connected to the A2 Ethernet port of the bracket controller via Ethernet cable 3. The Ethernet cable 3 can be a standard 4-core network cable equipped with a dedicated explosion-proof connector to achieve interconnection with the A2 port of the bracket controller, supporting 100 Mbps Ethernet data transmission. The output of the node switch is an optical port that can be connected to a long-distance ring network switch via optical fiber.

[0109] Fourth, the ring network switch is connected to the support controllers at the head and tail ends via optical fiber to achieve ring network redundancy of the electro-hydraulic control Ethernet network at the working face.

[0110] Specifically, the ring network switch comprises two node switches deployed on one work surface, located near the head and tail supports respectively. Each node switch is connected to the A2 interface of the support controller via two pairs of twisted-pair cables. The server is connected to the ring network switch via optical fiber, enabling data communication with the support controllers across the entire work surface.

[0111] When the system is operating normally, the network terminal of the end controller sends a synchronization pulse, which is transmitted to the network terminal of the tailstock controller via the support controller and the inter-frame bus. Upon detecting the synchronization pulse, the tailstock network terminal sends an acknowledgment pulse, establishing a complete synchronization / acknowledgment pulse mechanism. If a disconnection occurs in the controller's main communication circuit or another hardware failure occurs, all controllers on the work surface will be unable to receive the complete synchronization / acknowledgment pulse. The controller will disconnect the back-end drive power supply, immediately stopping the currently executing action. In this situation, group operations by personnel are impossible.

[0112] After a controller bus network failure occurs, the bracket controller reports the disconnection fault through the ring network switch. The server starts to detect the status of the bracket controller. Due to the ring network redundancy, if it can detect that all controllers are online with only one disconnection point, it will issue an auto-network command. At the point of disconnection, after the two bracket controllers receive the command from the host computer, their internal BIDI circuits will automatically send synchronization / acknowledgment pulses. A complete pulse mechanism is established in the two relatively independent networks, which can realize the group action of the controllers. This operation is safe and effective.

[0113] To enable self-organizing networks in the event of a bus disconnection between support controllers, and to ensure complete synchronization / response pulses within the self-organizing network after a bus disconnection in the hydraulic support controller, thereby guaranteeing grouped actions within the self-organizing network after the disconnection and ensuring the safety and reliability of these grouped actions, this application provides an embodiment of a working face hydraulic support control method, applied to the aforementioned working face hydraulic support control system. Figure 7 As shown, the specific description is as follows:

[0114] Step 100: When a bus disconnection occurs between the support controllers, the support controller at the end of the support controller set shields the pulse signals sent by the network terminal connected to it;

[0115] Step 200: The disconnection point includes one end of a network of multiple support controllers to form a self-organizing network to control the hydraulic supports at the working face to perform group actions.

[0116] like Figure 8 As shown, in one embodiment of this application, step 200 includes:

[0117] Step 201: The bracket controller at the end generates a first synchronization pulse and transmits the first synchronization pulse to the bracket controller at the end of the ad hoc network.

[0118] Step 202: The support controller at the end of the self-organizing network returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0119] In one embodiment of this application, the step 100 of receiving the self-organizing network bracket controller receiving the self-organizing network instruction includes: the ring network switch receiving the self-organizing network instruction issued by the host computer server, issuing the self-organizing network instruction to the node switch, the node switch sending the self-organizing network instruction to one end of the disconnection point containing multiple bracket controllers, and the bracket controller at that end forming a self-organizing network according to the self-organizing network instruction.

[0120] Specifically, the ring network switch can send the self-organizing network command to a node switch connected to one end of the disconnection point that contains multiple support controllers. The node switch then sends the self-organizing network command to the end of the disconnection point that contains multiple support controllers, and the support controller at that end forms a self-organizing network according to the self-organizing network command.

[0121] like Figure 9 As shown, in one embodiment of this application, step 200 includes:

[0122] Step 211: The bidirectional digital interface unit of the bracket controller at the end receives the first synchronization pulse generated by the first logic unit circuit of the bracket controller, and sends the first synchronization pulse to the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network.

[0123] Step 212: The bidirectional digital interface unit of the support controller at the end of the self-organizing network sends the first synchronization pulse to the first logic unit circuit of the support controller, receives the first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, and returns the first response pulse to the bidirectional digital interface unit of the support controller at the corresponding end. The bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the support controller at the end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

[0124] In one embodiment of this application, the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network described in step 212 sends the first synchronization pulse to the first logic unit circuit of the bracket controller, including:

[0125] Step 001: The high-speed comparator of the bidirectional digital interface unit on one side of the bracket controller at the end of the self-organizing network receives the first synchronization pulse sent by the signal driver of the adjacent bracket controller, and sends the first synchronization pulse to the first logic unit circuit of the bracket controller.

[0126] Step 002: The signal driver of the bidirectional digital interface unit on the other side of the bracket controller at the end of the self-organizing network receives the first synchronization pulse sent by the first logic unit circuit, and sends the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit. The high-speed comparator returns the first synchronization pulse to the first logic controller of the bracket controller.

[0127] In one embodiment of this application, the hydraulic support control method for the working face further includes:

[0128] Step 300: When the bus connection between each support controller is normal, the network terminal at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal then returns the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller.

[0129] In one embodiment of this application, step 300 includes:

[0130] Step 301: The bidirectional digital interface unit of the first-end network terminal receives the second synchronization pulse generated by the second logic unit circuit of the network terminal, and sends it to the bidirectional digital interface unit of the tail-end network terminal via each bracket controller.

[0131] Step 302: The bidirectional digital interface of the tail-end network terminal sends the second synchronization pulse to the second logic unit circuit of the network terminal, receives the second response pulse generated by the second logic unit circuit, and returns it to the second bidirectional digital interface unit of the head-end network terminal via each bracket controller. The second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the head-end network terminal.

[0132] The embodiments of the working face hydraulic support control method provided in this specification can be specifically applied to the embodiments of the above-mentioned working face hydraulic support control system. Its functions will not be repeated here, but can be referred to the detailed description of the above-mentioned working face hydraulic support control system embodiments.

[0133] To further illustrate this solution, and in conjunction with the hydraulic support control system for the working face in the above application example, this application provides an application example of a self-organizing network method for the hydraulic support control system for the working face, as described in detail below:

[0134] When a disconnection occurs in the support controller system bus, causing group actions to fail, the self-organizing network process is as follows:

[0135] Step 1: The bracket controller detects the location of the bus disconnection through the BIDI circuit unit, and reports the bus disconnection information to the host computer server through the bracket controller's A2 port and the ring network switch.

[0136] Step 2: After manual confirmation, the host computer server sends a self-organizing network command to all support controllers on the working surface, and issues the first and last support numbers of the two independent networks after the disconnection.

[0137] Step 3: After receiving the self-organizing network command, the first and last support controllers send synchronization / acknowledgment pulses to their network terminals through their own BIDI serial port signals. At the same time, the support controllers start self-organizing networks based on the first and last support frame number information of the two networks sent by the host computer server. The first support controller starts sending synchronization pulses through the timer pin of its own logic unit. After receiving the synchronization signal, the BIDI circuit unit of the last support controller starts timing and sends an acknowledgment pulse after 1.2ms. The self-organizing network mechanism of the two networks is the same. A complete synchronization / acknowledgment pulse mechanism is established in the two disconnected networks, and the support controller can perform group actions.

[0138] Step 4: The two controllers at the point of disconnection or hardware failure (due to the cascaded bus, one failure affects the communication between the two controllers) periodically send heartbeat packets through the BIDI circuit of the A / F port at the point of disconnection to detect whether the fault in the adjacent frame has been resolved. After the fault is detected to be resolved, the controller immediately stops sending synchronization / acknowledgment pulses. The synchronization / acknowledgment pulses of the entire network are then implemented by the network terminal, and the controller in the middle only forwards the pulses.

[0139] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A hydraulic support control system for a working face, characterized in that, include: A set of support controllers and two network terminals, the set of support controllers comprising: a plurality of support controllers connected sequentially via a bus; The two network terminals are respectively connected to the bracket controller at the end of the bracket controller set; When a bus disconnection occurs between the support controllers, the support controllers at the end of the support controller set shield the pulse signals sent by the network terminals connected to them. The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic support of the working face to perform group actions. The end support controller is used to generate a first synchronization pulse and transmit the first synchronization pulse to the support controller at the end of the self-organizing network. The support controller returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, so as to control the hydraulic support of the working face to perform group actions. The two bracket controllers at the point of disconnection periodically send heartbeat packets through the bidirectional interface circuit of the A / F port at the point of disconnection to detect whether the fault has been recovered from the fault in the adjacent bracket. After the fault recovery is detected, they stop sending synchronization / acknowledgment pulses themselves, and the synchronization / acknowledgment pulses of the entire network are converted to the network terminal.

2. The hydraulic support control system for the working face according to claim 1, characterized in that, Also includes: Ring network switch and two node switches; The two node switches are respectively connected to the bracket controller at the end, and both node switches are connected to the ring network switch, which is used to connect to the host computer server. The ring network switch is used to receive the self-organizing network instruction issued by the host computer server, and to issue the self-organizing network instruction to the node switch. The node switch sends the self-organizing network instruction to one end of the disconnection point, which contains multiple support controllers. The support controllers at that end form a self-organizing network according to the self-organizing network instruction.

3. The hydraulic support control system for the working face according to claim 1, characterized in that, Each bracket controller includes: a first logic unit circuit and multiple bidirectional digital interface units; Each bidirectional digital interface unit is connected to the first logic unit circuit; each bidirectional digital interface unit is connected to the adjacent bracket controller or network terminal. The bidirectional digital interface unit of the bracket controller at the end is used to receive the first synchronization pulse generated by the first logic unit circuit of the bracket controller and send the first synchronization pulse to the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network. The bidirectional digital interface unit of the support controller at the end of the self-organizing network is used to send the first synchronization pulse to the first logic unit circuit of the support controller, receive the first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, and return the first response pulse to the bidirectional digital interface unit of the support controller at the corresponding end. The bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the support controller at the end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

4. The hydraulic support control system for the working face according to claim 3, characterized in that, Each bidirectional digital interface unit includes: a signal driver and a high-speed comparator connected to the signal driver; The signal driver and the high-speed comparator are both connected to the first logic unit circuit. The signal driver is connected to an adjacent bracket controller or network terminal, and the high-speed comparator is connected to an adjacent bracket controller or network terminal. The high-speed comparator of the bidirectional digital interface unit on the support controller side of the self-organizing network end is used to receive the first synchronization pulse sent by the signal driver of the adjacent support controller and send the first synchronization pulse to the first logic unit circuit of the support controller. The signal driver of the bidirectional digital interface unit on the other side of the bracket controller at the end of the self-organizing network is used to receive the first synchronization pulse sent by the first logic unit circuit, send the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit, and the high-speed comparator returns the first synchronization pulse to the first logic controller of the bracket controller.

5. The hydraulic support control system for the working face according to claim 1, characterized in that, When the bus connection between each support controller is normal, the network terminal at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal at the tail end is used to return the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller.

6. The hydraulic support control system for the working face according to claim 5, characterized in that, Each network terminal includes: a second logic unit circuit and a bidirectional digital interface unit; The bidirectional digital interface unit is connected to the second logic unit circuit and the adjacent bracket controller, respectively. The bidirectional digital interface unit of the network terminal at the beginning is used to receive the second synchronization pulse generated by the second logic unit circuit of the network terminal and send it to the bidirectional digital interface unit of the network terminal at the end via each bracket controller. The bidirectional digital interface of the network terminal at the tail end is used to send the second synchronization pulse to the second logic unit circuit of the network terminal, receive the second response pulse corresponding to the second synchronization pulse generated by the second logic unit circuit, and return it to the second bidirectional digital interface unit of the network terminal at the head end via each bracket controller. The second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the network terminal at the head end.

7. A method for controlling a hydraulic support at a working face, characterized in that, The method, applied to the hydraulic support control system for the working face according to any one of claims 1 to 6, comprises: When a bus disconnection occurs between the support controllers, the support controllers at the end of the support controller set shield the pulse signals sent by the network terminals connected to them; The disconnection point includes one end of a self-organizing network of multiple support controllers to control the hydraulic supports at the working face to perform group actions.

8. The hydraulic support control method for the working face according to claim 7, characterized in that, The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic supports at the working face to perform group actions, including: The bracket controller at the end generates a first synchronization pulse and transmits the first synchronization pulse to the bracket controller at the end of the ad hoc network. The support controller at the end of the self-organizing network returns the first response pulse corresponding to the first synchronization pulse to the support controller at the corresponding end, forming a self-organizing network to control the hydraulic support at the working face to perform group actions.

9. The hydraulic support control method for the working face according to claim 7, characterized in that, The disconnection point includes one end of multiple support controllers forming a self-organizing network, including: The ring network switch receives the self-organizing network instruction issued by the host computer server and sends the self-organizing network instruction to the node switch. The node switch sends the self-organizing network instruction to one end of the disconnection point, which contains multiple support controllers. The support controllers at that end form a self-organizing network according to the self-organizing network instruction.

10. The method for controlling the hydraulic support of the working face according to claim 7, characterized in that, The disconnection point includes one end of multiple support controllers forming a self-organizing network to control the hydraulic supports at the working face to perform group actions, including: The bidirectional digital interface unit of the bracket controller at the end receives the first synchronization pulse generated by the first logic unit circuit of the bracket controller and sends the first synchronization pulse to the bidirectional digital interface unit of the bracket controller at the end of the self-organizing network. The bidirectional digital interface unit of the support controller at the end of the self-organizing network sends the first synchronization pulse to the first logic unit circuit of the support controller, receives the first response pulse corresponding to the first synchronization pulse generated by the first logic unit circuit, and returns the first response pulse to the bidirectional digital interface unit of the support controller at the corresponding end. The bidirectional digital interface unit sends the first response pulse to the first logic unit circuit of the support controller at the end, forming a self-organizing network to control the hydraulic support of the working face to perform group actions.

11. The method for controlling a hydraulic support at a working face according to claim 10, characterized in that, The bidirectional digital interface unit of the bracket controller at the end of the self-organizing network sends the first synchronization pulse to the first logic unit circuit of the bracket controller, including: The high-speed comparator of the bidirectional digital interface unit on the support controller side of the self-organizing network end receives the first synchronization pulse sent by the signal driver of the adjacent support controller and sends the first synchronization pulse to the first logic unit circuit of the support controller. The signal driver of the bidirectional digital interface unit on the other side of the bracket controller at the end of the self-organizing network receives the first synchronization pulse sent by the first logic unit circuit, and sends the first synchronization pulse to the high-speed comparator of the bidirectional digital interface unit. The high-speed comparator returns the first synchronization pulse to the first logic controller of the bracket controller.

12. The hydraulic support control method for the working face according to claim 7, characterized in that, Also includes: When the bus connection between each support controller is normal, the network terminal at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal then returns the second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller.

13. The method for controlling a hydraulic support at a working face according to claim 12, characterized in that, The network terminal at the head end of the support controller set generates a second synchronization pulse and sends the second synchronization pulse to the network terminal at the tail end of the support controller set via each support controller. The network terminal then returns a second response pulse corresponding to the second synchronization pulse to the network terminal at the head end via each support controller. The bidirectional digital interface unit of the network terminal at the beginning receives the second synchronization pulse generated by the second logic unit circuit of the network terminal and sends it to the bidirectional digital interface unit of the network terminal at the end via each bracket controller. The bidirectional digital interface of the network terminal at the tail end sends the second synchronization pulse to the second logic unit circuit of the network terminal, receives the second response pulse generated by the second logic unit circuit, and returns it to the second bidirectional digital interface unit of the network terminal at the head end via each bracket controller. The second bidirectional digital interface unit sends the second response pulse to the second logic unit circuit of the network terminal at the head end.

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