Coal mining machine control system based on TSN

Abstract

The invention relates to a coal mining machine control system based on a TSN. The coal mining machine control system comprises function modules of a coal mining machine, and each function module is provided with a TSN communication interface and supports an IEEE 802.1 AS time synchronization protocol; the TSN communication interfaces are respectively communicated with the TSN switch through an industrial Ethernet network in the coal mining machine; the TSN switch communicates with the central controller, and the central controller serves as a master clock and distributes a unified time reference to the function modules through an IEEE 802.1 AS message and the TSN switch, so that slave clocks of all the function modules are kept synchronous. According to the coal mining machine control system, the TSN switch and related protocols are adopted, and the time synchronization function and the flow scheduling function are favorably achieved.

Description

Technical Field

[0001] This invention relates to the field of equipment control technology for fully mechanized coal mining faces; specifically, this invention relates to a coal mining machine control system based on TSN (Time Sensitive Network). Background Technology

[0002] Traditional coal mining machines typically use CAN bus and ordinary Ethernet for distributed control communication.

[0003] Against the backdrop of intelligent development in coal mines, coal mining machines increasingly need to incorporate various sensors (such as radar, cameras, inertial navigation, etc.) to achieve environmental perception and autonomous or remote control. The existing CAN bus architecture has become a limiting factor, making it difficult to meet real-time and bandwidth requirements. Summary of the Invention

[0004] In view of this, the present invention provides a TSN-based coal mining machine control system, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] To achieve the aforementioned objectives, a first aspect of the present invention provides a TSN-based coal mining machine control system, wherein the coal mining machine control system includes: The coal mining machine has functional modules, each equipped with a TSN communication interface and supporting the IEEE 802.1AS time synchronization protocol. The TSN switch, wherein the TSN communication interface communicates with the TSN switch via the industrial Ethernet network within the coal mining machine; and The central controller communicates with the TSN switch. The central controller acts as the master clock and distributes a unified time base to the functional modules through the TSN switch via IEEE 802.1AS messages, so that the slave clocks of all functional modules remain synchronized.

[0006] In the coal mining machine control system described above, optionally, the functional modules include a traction drive control module, a cutting motor control module, a hydraulic support control module, an environmental sensing sensor module, and / or a functional actuator.

[0007] In the coal mining machine control system described above, optionally, the environmental perception sensor module includes a radar ranging device, a camera, a gas sensor, a current sensor and / or an inertial navigation unit, and the functional actuator is the execution motor of the functional module, the execution motor including a crushing motor, a traction motor and / or a cutting motor.

[0008] In the coal mining machine control system described above, optionally, the TSN switch is configured with multi-level traffic priorities and scheduling strategies, wherein: The control commands and emergency stop signals of the traction motor control module and the cutting motor control module are marked as high-priority messages. The TSN switch adopts a preemption and first-come-first-served forwarding mechanism for the high-priority messages. When the high-priority message arrives, the transmission of low-priority messages is interrupted and the high-priority message is transmitted immediately. The data stream of the environmental perception sensor module is marked as the low-priority message, and the low-priority message is transmitted without affecting the high-priority message. In the event of network congestion or a broadcast storm, the TSN switch initiates traffic shaping and rate limiting mechanisms to limit or discard low-priority packets, ensuring that high-priority packets are delivered to the corresponding execution mechanism.

[0009] In the coal mining machine control system described above, optionally, the coal mining machine control system includes a TSN switch management and monitoring module. The TSN switch management and monitoring module is used to configure the sending window parameters, bandwidth reservation parameters, and priority parameters of the functional modules and monitor the network jitter of the industrial Ethernet. When the working face environment of the coal mining machine changes, the TSN switch management and monitoring module is used to adjust the scheduling strategy of the TSN switch to adapt to the bandwidth requirements and maintain the real-time guarantee of high-priority packets.

[0010] In the coal mining machine control system described above, optionally, the TSN switch is connected to the underground communication backbone of the coal mine through an intrinsically safe Ethernet switch, thereby maintaining time synchronization between the industrial Ethernet and the underground communication backbone.

[0011] In the coal mining machine control system described above, optionally, the industrial Ethernet is a gigabit industrial Ethernet, which simultaneously carries control commands and multi-source sensor data.

[0012] In the coal mining machine control system described above, optionally, the industrial Ethernet network includes a main control module, a carrier communication module, a digital-to-analog conversion module, a motor control module, and a frequency converter control module.

[0013] In the coal mining machine control system described above, optionally, the master clock periodically sends synchronization messages and follow messages to the slave clock, and records the sending time of the master clock's messages. The receiving time of the message received from the clock. The time at which the slave clock sends the delay request message to the master clock. And the time at which the master clock receives the delay request message. The one-way path delay is , Clock offset is , The correction amount from the slave clock is , in Indicates the uncorrected time from the clock. This indicates the corrected slave clock time.

[0014] In the coal mining machine control system described above, optionally, a gating mechanism is introduced into the industrial Ethernet network to allocate dedicated transmission time slots to the data streams of different priority machines according to a preset scheduling period, wherein the scheduling period is set to... Divide within the scheduling period There are 1 time slot, and each time slot is assigned to a data stream of different priorities. , The list of gate controls is , in Indicates the start time of the i-th interval. Indicates the allowed flow types, then the maximum scheduling delay is... , in Indicates the first The length of each time slot.

[0015] In some aspects, the coal mining machine control system of this invention employs a TSN switch and related protocols, which advantageously realizes time synchronization and flow scheduling functions. In other aspects, the coal mining machine control system of this invention achieves further beneficial effects. Attached Figure Description

[0016] The disclosure of this invention will become more apparent from the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings: Figure 1 This is a schematic system block diagram of the TSN-based coal mining machine control system according to the present invention; Figure 2 This is a schematic block diagram of the control information flow of the coal mining machine control system based on TSN according to the present invention; Figure 3 This is a schematic diagram illustrating the TSN network time synchronization principle according to the present invention; Figure 4 A diagram illustrating the differences between traditional Ethernet and TSN networks; and Figure 5 This is a diagram illustrating traffic scheduling by TSN when the network is congested. Detailed Implementation

[0017] Referring to the accompanying drawings and specific embodiments, the structure, composition, features, and advantages of the TSN-based coal mining machine control system of the present invention will be described below by way of example; however, all descriptions should not be construed as limiting the present invention in any way.

[0018] Furthermore, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the various figures, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, and thus these further embodiments according to the present invention should also be considered within the scope of this description.

[0019] Figure 1 This is a schematic system block diagram of a TSN-based coal mining machine control system according to the present invention. In this embodiment, the overall structure of the TSN-based coal mining machine control system includes the main functional modules on the coal mining machine, the TSN network interface and switching components, and the time synchronization and traffic scheduling mechanism.

[0020] For example, the TSN-based coal mining machine control system of this embodiment may include functional modules of the coal mining machine, a TSN switch, and a central controller. Each functional module may be equipped with a TSN communication interface, and each functional module supports the IEEE 802.1AS time synchronization protocol. The TSN communication interface can communicate with the TSN switch through the industrial Ethernet network within the coal mining machine. The TSN switch can communicate with the central controller, which acts as the master clock and distributes a unified time base to the functional modules through the TSN switch via IEEE 802.1AS messages, ensuring that the slave clocks of all functional modules remain synchronized.

[0021] In optional embodiments, the functional modules may include, for example, a traction drive control module, a cutting motor control module, a hydraulic support control module, an environmental perception sensor module, and a functional actuator; the environmental perception sensor module may include a radar ranging device, a camera, a gas sensor, a current sensor, and / or an inertial navigation unit, and the functional actuator may be the execution motor of the functional module, for example, the execution motor may include a crushing motor, a traction motor, and / or a cutting motor.

[0022] Specifically, such as Figure 1As shown in the system block diagram, this system can include a central controller, a TSN switch, and functional modules such as a coal mining machine power system, an environmental sensing system, a working status monitoring system, and a positioning and navigation system. The diagram shows that the coal mining machine power system can include, for example, a traction drive control module and a cutting motor control module, used to control the traction motor and cutting motor of the coal mining machine, respectively; the environmental sensing system can include environmental sensing sensor modules, such as radar ranging devices, high-definition cameras, gas concentration sensors, and dust gas sensors; the working status monitoring system can include monitoring of vibration, temperature, displacement, pressure, etc., which can be achieved by corresponding sensors; and the positioning and navigation system can include position encoders, inertial navigation devices, etc.

[0023] These coal mining machine power systems, environmental sensing systems, operational status monitoring systems, and positioning and navigation systems can all integrate TSN communication interfaces and connect to the industrial Ethernet network inside the coal mining machine. This industrial Ethernet can be a gigabit industrial Ethernet, which simultaneously carries control commands and multi-source sensor data. The industrial Ethernet network inside the coal mining machine can consist of multiple modules, such as a main control module, a carrier communication module, a digital-to-analog converter module, a motor control module, and a frequency converter control module.

[0024] TSN switches can connect to various functional modules of the coal mining machine, enabling time synchronization between these modules. Specifically, these modules refer to the functional modules in the aforementioned power system, environmental sensing system, working status monitoring system, and positioning and navigation system, including but not limited to traction motors, cutting motors, radar, cameras, various sensors, and navigation devices.

[0025] The TSN protocol can include time synchronization, traffic scheduling, and redundancy backup functions. In this embodiment, the various functional modules inside the coal mining machine use the TSN protocol to maintain time synchronization before connecting to the external network through a TSN protocol switch, thus maintaining time synchronization between the external network and the coal mining machine. For example, when needed, the coal mining machine's TSN switch can connect to the underground communication backbone of the coal mine through an intrinsically safe Ethernet switch to achieve remote data interaction, thereby maintaining time synchronization between the industrial network inside the coal mining machine and the underground communication backbone.

[0026] In this system, each functional module of the coal mining machine is equipped with a TSN communication interface, supporting the IEEE 802.1AS time synchronization protocol. Upon startup, a pre-defined central controller acts as the master clock, distributing a unified time base to all nodes via 802.1AS messages. These nodes refer to the various functional modules of the coal mining machine, including various sensors and actuators. For example, sensors may include environmental sensing sensors (including but not limited to radar and cameras) and status monitoring sensors (including but not limited to oil sensors, current sensors, and gas sensors), while actuators may include, for example, crushing motors, traction motors, and cutting motors. This ensures that the local clocks of all sensors and control units on the coal mining machine remain synchronized, providing a foundation for time-triggered control and data fusion. For instance, image frames captured by cameras, radar scan data, and motor status feedback can all carry precise timestamps. The central controller can then fuse multi-source data based on these timestamps, promptly sensing the working face situation and making control commands accordingly.

[0027] The system in this embodiment of the invention employs a TSN switch and related protocols, which effectively realizes time synchronization and traffic scheduling functions.

[0028] Figure 3 This is a schematic diagram illustrating the time synchronization principle of the TSN network according to the present invention. Regarding the time synchronization function, through the IEEE 802.1AS protocol of TSN, the time synchronization process involves the central controller's master clock periodically sending synchronization messages (Sync) and follow messages (Follow_Up) to the slave clocks of each functional module, and recording the local transmission time of the master clock's messages. Record the reception time after receiving the message from the clock. Send a delay request message (Delay_Req) ​​from the slave clock to the master clock, and record the sending time. The master clock receives a delay request and records the reception time. Based on the above times, the one-way path delay can be obtained: The clock offset is: The correction amount from the clock is: , in Indicates the uncorrected time from the clock. This indicates the corrected slave clock time.

[0029] Regarding traffic scheduling, a gate control mechanism is introduced into standard Ethernet switches using the IEEE 802.1Qbv protocol of TSN. According to a preset periodic scheduling plan (Gate Control List, GCL), dedicated transmission time slots are allocated to data flows of different priorities, effectively avoiding congestion and conflicts, and ensuring low latency and high reliability for critical services. Specifically, IEEE 802.1Qbv divides the network data flow transmission window into multiple periodic time slots. Each time slot is defined by the GCL as allowing which queues (or flows) to be opened or closed, while other flows are temporarily blocked. Driven by a local high-precision clock (synchronized by 802.1AS), each switching node strictly executes the gate control operation according to the GCL, achieving timely end-to-end traffic forwarding across the entire network. The scheduling period is set to... Divide within the scheduling cycle Each time slot is assigned to a data stream of different priorities: Gating control list: Indicates the start time of the i-th interval. Indicate the allowed flow types, then the maximum scheduling delay is estimated as follows: , in Indicates the first The length of each time slot.

[0030] To ensure the priority transmission of critical control signals, this invention establishes a multi-level traffic priority and scheduling strategy in the TSN network. For example, control commands and emergency stop signals for traction motors and cutting motors can be marked as the highest priority flows. The TSN switch employs a preemptive and first-come-first-served forwarding mechanism for the highest priority flows.

[0031] For example, TSN switches can be configured with multi-level traffic priorities and scheduling policies. Control commands and emergency stop signals from traction motor control modules and cutting motor control modules can be marked as high-priority packets. TSN switches employ a preemptive and first-come-first-served mechanism for these high-priority packets, interrupting the transmission of low-priority packets when a high-priority packet arrives and immediately transmitting the high-priority packet. Data streams from environmental sensing sensor modules can be marked as low-priority packets, and transmitted without affecting high-priority packets. In network congestion scenarios or broadcast storms, TSN switches can activate traffic shaping and rate limiting mechanisms to rate-limit or discard low-priority packets, ensuring that high-priority packets are delivered to their corresponding actuators. Figure 5This is a diagram illustrating traffic scheduling by the TSN during network congestion. It can be seen that in network congestion scenarios or broadcast storms, the TSN switch can rate-limit or discard the storage and processing of low-priority data (sensor data), while high-priority data (real-time control commands) and the actions of actuators remain unaffected.

[0032] In some embodiments, the frame preemption 802.1Qbu and gating scheduling 802.1Qbv in the traffic scheduling mechanism of the TSN protocol can be used to schedule important information (such as control information) and non-important information (such as sensing information), ensuring that important information is not blocked. Specifically, conforming to the IEEE 802.1Qbu frame preemption and 802.1Qbv time-aware scheduling standards, it can ensure that when a critical message arrives, the transmission of low-priority messages can be interrupted, and the critical message can be transmitted immediately. Under normal operating conditions, camera video streams, sensor monitoring data, etc., can be allocated as low-priority or best-effort traffic, making full use of network bandwidth for transmission without affecting critical control. In network congestion scenarios (such as a sudden surge of large amounts of sensor data) or abnormal situations such as broadcast storms, the traffic shaping and rate limiting mechanisms of the TSN network (such as IEEE 802.1Qci traffic policing) will be activated to rate-limit or drop non-critical traffic, ensuring that traction / interception control signals are always delivered to the corresponding actuators with extremely low latency.

[0033] Figure 2 This is a schematic block diagram of the control information flow of a coal mining machine control system based on TSN according to the present invention. As can be seen from the diagram, the coal mining machine control system may include a TSN switch management and monitoring module.

[0034] The TSN switch management and monitoring module of the coal mining machine control system can be used to configure the sending window parameters, bandwidth reservation parameters, and priority parameters of functional modules, and to monitor network jitter of the industrial Ethernet. When the working face environment of the coal mining machine changes, the TSN switch management and monitoring module is used to adjust the scheduling strategy of the TSN switch to adapt to bandwidth requirements and maintain the real-time guarantee of high-priority packets.

[0035] Specifically, in this optional embodiment, the TSN management and monitoring module can be used to configure parameters such as the transmission window, bandwidth reservation, and priority of each device, and to monitor network latency and jitter. When the working environment of the coal mining machine changes (e.g., entering a complex working condition requiring more sensor data), the management module can adjust the TSN scheduling strategy to adapt to the new bandwidth requirements, while maintaining real-time assurance for critical control. Currently, most coal mining machines rely on manual cutting and memory-based cutting. As more and more intelligent sensors are used to enhance the coal mining machine's ability to perceive the external environment to achieve intelligent cutting, the pressure on Ethernet bandwidth will increase with the increase in intelligent sensors. For example, the current coal mining machine's internal Ethernet simultaneously transmits multiple signals, including radar signals, camera signals, gas sensor signals, current sensor signals, cutting motor control signals, and traction motor control signals. If, during intelligent cutting, the coal seam hardness is high or rocks are encountered, the Ethernet bandwidth may be insufficient to ensure the normal transmission of all signals in such emergencies. Therefore, in this case, it is crucial to ensure the accurate arrival of the cutting motor control signals and traction motor control signals. This is achieved through frame preemption or flow scheduling, reducing the priority of other signals and prioritizing the transmission of control signals. In summary, this technical solution constructs a highly reliable, low-latency, and time-synchronized TSN network among the various modules of the coal mining machine, making the machine a highly coordinated intelligent entity, akin to a "nervous system." Unlike the traditional model where "traction control + cutting control + several sensors" are independently or connected at low speeds, the information and control commands in this embodiment interact at high speed on a unified platform, achieving intelligent operation with a closed-loop sensing-decision-execution system.

[0036] As described above, embodiments of the present invention relate to a coal mining machine control system based on Time-Sensitive Networking (TSN). Compared to the CAN bus (Controller Area Network) typically used in traditional coal mining machines for distributed control communication, it can carry high-bandwidth sensor data, such as high-definition camera video streams or high-resolution radar signals, and reduces system complexity. Furthermore, the TSN network achieves a globally unified high-precision time base, with high consistency in data timestamps among modules, enabling it to adapt to the fusion of complex sensor data and collaborative equipment control. Especially in the context of intelligent coal mine development, coal mining machines increasingly need to incorporate various sensors (radar, cameras, inertial navigation, etc.) to achieve environmental perception and autonomous or remote control; the introduction of the TSN network can meet the real-time and bandwidth requirements.

[0037] The embodiments of this invention introduce high-speed real-time communication into the coal mining machine control system. While integrating data from multiple sensor sources, it ensures the timely and reliable transmission of critical control commands, thereby improving the intelligent operation capability and safety of the coal mining machine. Compared to the traditional CAN bus solution, which cannot simultaneously meet the requirements of "high-bandwidth data transmission" and "strict real-time control," the TSN-based coal mining machine control system of this invention achieves the following beneficial effects: (1) High-bandwidth data fusion: Utilizing the high bandwidth advantage of TSN based on Ethernet (up to hundreds of megabits), data from radar, cameras, and various sensors can be connected to a unified network to achieve real-time transmission and fusion processing. This will improve the coal mining machine's perception accuracy of the environment and working conditions, providing a foundation for advanced functions such as intelligent cutting and autonomous obstacle avoidance.

[0038] (2) Deterministic Real-Time Communication: TSN provides a deterministic delay and low jitter communication mechanism. Through priority queues and time-triggered scheduling, critical control signals (such as traction motor speed control and cutting motor start / stop commands) can be delivered within a strict time window, ensuring real-time control. Even if a large number of non-critical data streams exist in the network at the same time, the system of this invention can still ensure that control commands are not delayed, improving the safety of coal mining machine operation.

[0039] (3) Global Time Synchronization: TSN's IEEE 802.1AS protocol enables all devices in the network to maintain nanosecond-level time synchronization. Each sensor and actuator timestamps data and actions based on a unified clock, achieving high-precision data alignment and collaborative control. This is also of positive significance for the coordinated operation of the three machines (coal mining machine, conveyor, and hydraulic support) in the longwall mining face, and can further improve the efficiency and safety of the entire coal mining operation.

[0040] (4) System Expansion and Interconnection: Ethernet-based TSN has good openness and scalability. Compared with the closed CAN bus, the system of this invention is easy to interconnect with other Ethernet communication devices in the mine and supports remote monitoring / control functions, laying the foundation for building a comprehensive communication platform for smart mines. In summary, by introducing TSN technology, this invention takes into account the dual needs of coal mining machine control systems for large data transmission and strict real-time protection, significantly improving the shortcomings of existing technologies and possessing outstanding innovation and practical value.

[0041] To verify the feasibility of the technical solution of this invention, the applicant built an experimental device based on the internal network of the coal mining machine control system and conducted experimental verification. Specifically, based on laboratory testing using the existing TSN development kit, the applicant built a signal transmission experimental device with two channels according to the internal control network structure of the coal mining machine. One channel uses ordinary Ethernet for signal transmission, and the other channel uses a TSN switch for signal transmission. The actuators in both channels include motors and cameras. Under normal circumstances, the actuators in both channels can work normally. By simulating a high-volume network storm using a streaming device, it can be clearly seen that the motors in the channel using ordinary Ethernet are stuck, and the camera footage is choppy, while all three actuators in the channel using the TSN switch can operate normally. An oscilloscope shows that the signals of the three actuators in the channel using the TSN switch always maintain the same clock, while the actuators in the ordinary Ethernet channel cannot maintain the same clock. This experiment shows that under 100Mbps background interference traffic, the end-to-end delay of critical control messages can still be stabilized at the microsecond level after enabling TSN priority scheduling, verifying the guarantee effect of real-time control under network congestion. Figure 4 This diagram illustrates the difference between traditional Ethernet and TSN networks. As can be seen, traditional Ethernet exhibits a trailing phenomenon after delay boundaries, failing to guarantee signal arrival at those boundaries. TSN, unlike the "best-effort" strategy of traditional Ethernet, guarantees arrival. Experiments on the fusion transmission of "camera + sensor + control commands" also demonstrate that data streams can be precisely synchronized under a unified clock. The system can achieve millisecond-level synchronization between sensor data and control commands, providing support for the verification of underground planning and cutting algorithms. With the urgent need for intelligent upgrading in coal mines, this invention has broad industrial application prospects and is expected to be rapidly promoted in fully mechanized mining faces, improving the level of intelligent coal production and safety assurance in my country.

[0042] In summary, the key technical points of this invention include: (1) TSN Ethernet for coal mining machine control: For the first time, time-sensitive networking technology is added to the TSN switch in the industrial Ethernet inside the coal mining machine, and the TSN protocol is applied, so that all nodes inside the coal mining machine can achieve time synchronization with low latency, and ensure the deterministic transmission of control signals, laying the foundation for realizing intelligent cutting of the coal mining machine. In addition, time-sensitive networking technology is applied to the distributed control of coal mining machines, and control commands and multi-source sensor data are uniformly carried through gigabit industrial Ethernet, realizing single network support for equipment control and intelligent sensing. (2) Coal mining machine control architecture with global high-precision time synchronization: Each controller and sensor on the coal mining machine runs the IEEE802.1AS protocol, forming a unified clock domain to achieve nanosecond-level synchronization. Data timestamp marking and trigger control are performed based on a unified time reference, ensuring the accuracy of multi-sensor data fusion and the coordination of each module. (3) Priority transmission mechanism for key control signals: The highest priority is set for key signals such as traction motor and cutting motor control in the internal network of the coal mining machine, and TSN flow scheduling strategy (such as time window scheduling, frame preemption, etc.) is adopted to ensure the real-time and reliable transmission of these signals under network congestion or abnormal traffic conditions. This mechanism solves the problem of real-time control interference from large data traffic in traditional networks. (4) Data fusion capability for intelligent operation: The architecture of this invention allows the integration of advanced sensors such as radar, video, and inertial navigation, and uses the high bandwidth and time synchronization characteristics of TSN to support real-time data fusion and intelligent algorithms (such as machine vision analysis, collision warning, and adaptive cutting control). This gives the coal mining machine the ability to "perceive and make decisions", which is different from traditional equipment that relies solely on manual control and has significant intelligent innovation. (5) TSN equipment design compatible with harsh mining environments: Each network component of this system meets the inherent safety and explosion-proof requirements of underground coal mines. The design takes into account the impact of working conditions such as impact vibration, dust and damp heat, etc., to ensure the reliability and stability of TSN communication. This point ensures that the invention has industrial availability and can operate for a long time in harsh underground environments. In summary, these key technical points together constitute the core innovation of this invention, solving the pain points of existing coal mining machine control systems in terms of high-bandwidth real-time communication and intelligence.

[0043] The technical scope of this invention is not limited to the contents of the above specification. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the scope of this invention.

Claims

1. A coal mining machine control system based on TSN, characterized in that, The coal mining machine control system includes: The coal mining machine has functional modules, each equipped with a TSN communication interface and supporting the IEEE 802.1AS time synchronization protocol. The TSN switch, wherein the TSN communication interface communicates with the TSN switch via the industrial Ethernet network within the coal mining machine; and The central controller communicates with the TSN switch. The central controller acts as the master clock and distributes a unified time base to the functional modules through the TSN switch via IEEE 802.1AS messages, so that the slave clocks of all functional modules remain synchronized.

2. The coal mining machine control system as described in claim 1, characterized in that, The functional modules include a traction drive control module, a cutting motor control module, a hydraulic support control module, an environmental perception sensor module, and / or a functional actuator.

3. The coal mining machine control system as described in claim 2, characterized in that, The environmental perception sensor module includes a radar ranging device, a camera, a gas sensor, a current sensor, and / or an inertial navigation unit. The functional actuator is the execution motor of the functional module, and the execution motor includes a crushing motor, a traction motor, and / or a cutting motor.

4. The coal mining machine control system as described in claim 2, characterized in that, The TSN switch is configured with multiple levels of traffic priority and scheduling policies, including: The control commands and emergency stop signals of the traction motor control module and the cutting motor control module are marked as high-priority messages. The TSN switch adopts a preemption and first-come-first-served forwarding mechanism for the high-priority messages. When the high-priority message arrives, the transmission of low-priority messages is interrupted and the high-priority message is transmitted immediately. The data stream of the environmental perception sensor module is marked as the low-priority message, and the low-priority message is transmitted without affecting the high-priority message. In the event of network congestion or a broadcast storm, the TSN switch initiates traffic shaping and rate limiting mechanisms to limit or discard low-priority packets, ensuring that high-priority packets are delivered to the corresponding execution mechanism.

5. The coal mining machine control system as described in claim 4, characterized in that, The coal mining machine control system includes a TSN switch management and monitoring module. The TSN switch management and monitoring module is used to configure the sending window parameters, bandwidth reservation parameters, and priority parameters of the functional modules and monitor the network jitter of the industrial Ethernet. When the working face environment of the coal mining machine changes, the TSN switch management and monitoring module is used to adjust the scheduling strategy of the TSN switch to adapt to the bandwidth requirements and maintain the real-time guarantee of high-priority packets.

6. The coal mining machine control system as described in claim 1, characterized in that, The TSN switch connects to the underground communication backbone of the coal mine through an intrinsically safe Ethernet switch, thereby maintaining time synchronization between the industrial Ethernet and the underground communication backbone.

7. The coal mining machine control system as described in claim 1, characterized in that, The industrial Ethernet is a gigabit industrial Ethernet, which simultaneously carries control commands and multi-source sensor data.

8. The coal mining machine control system as described in claim 7, characterized in that, The industrial Ethernet network includes a main control module, a carrier communication module, a digital-to-analog converter module, a motor control module, and a frequency converter control module.

9. The coal mining machine control system as described in claim 1, characterized in that, The master clock periodically sends synchronization and follow messages to the slave clock, and records the sending time of the master clock's messages. The receiving time of the message received from the clock. The time at which the slave clock sends the delay request message to the master clock. And the time at which the master clock receives the delay request message. The one-way path delay is ， Clock offset is ， The correction amount from the slave clock is ， in Indicates the uncorrected time from the clock. This indicates the corrected slave clock time.

10. The coal mining machine control system as described in claim 1, characterized in that, A gating mechanism is introduced into the industrial Ethernet network to allocate dedicated transmission time slots to data streams from different priority machines according to a preset scheduling period, wherein the scheduling period is set to... Divide within the scheduling period There are 1 time slot, and each time slot is assigned to a data stream of different priorities. ， The list of gate controls is ， in Indicates the start time of the i-th interval. Indicates the allowed flow types, then the maximum scheduling delay is... ， in Indicates the first The length of each time slot.

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