液压支架是工作面开采过程中极为重要的支护设备，融合数字孪生技术的支架自适应控制研究将对我国煤矿开采智能化尤其是大倾角工作面智能化有着重要的支撑作用。特别是，设计与实现物理模拟实验环境下的液压支架模型数字孪生，深入研究大倾角采场支架位态演化与载荷传递规律，对实现大倾角煤层长壁开采装备智能化控制具有重要的理论意义。

以大倾角长壁大采高工作面为研究对象，采用数字孪生技术、现场实测、三维物理相似模拟实验和数值模拟实验的研究方法，对大倾角采场支架位态演化与载荷传递规律进行了分析，主要研究结论如下：

（1）首次以大倾角大采高工作面的液压支架为原型设计液压支架，使用SolidWorks将设计图转换成三维模型；根据三维模型加工支架零件，并对零件进行组装和调试，最后对液压支架进行了测试，以确保其性能符合设计要求。模型支架不仅具备原型支架的基本功能，同时具有卸压、侧护、侧调、抬底等功能。

（2）使用建模和图形渲染技术，完成了液压支架的高精度建模；通过支架运动中各个部件的运动规律解析，选择并布置了激光位移传感器和高精度倾角、位移、和载荷传感器；建立了下位机与数字孪生系统上位机之间的数据通道，实现虚拟模型与物理实体的位态与载荷同步；通过上述方法，实现了对支架的位态虚拟实时显示，以及支架载荷热力图实时展示的功能，并保留了串口继电器的控制接口。

（3）进行了不同倾角条件下支架位态演化与载荷传递规律大比例三维物理相似模拟实验，随着工作面倾角增大，结果表明：一是支架所需的初撑力变小，顶板破坏程度增强；顶板松软时，进行升架操作在一定程度上可以避免支架失稳。二是在正压作用下，不同倾角下顶梁受载均衡；在后推作用下，掩护梁倾斜上部区域的载荷逐渐增大，倾斜下部区域的载荷逐渐减小；在侧推作用下载荷呈现周期性变化，且每个周期的载荷均较前一个周期有所增加。三是数值模拟分析表明，倾斜下方支架受载小于上方支架，所有立柱底部受载大于中上部，为了降低立柱对底板或底座的冲击作用,需提高底座的防陷能力。

最后，根据研究结果提出了大倾角大采高工作面液压支架的改进与优化措施，现场试验表明，上述措施有效解决了大倾角条件下支架陷底、下滑和倾倒等问题，取得了良好的应用效果。

Support is a very important support equipment in the process of working face mining, and the research on the adaptive control of support integrating digital twin technology will have an important supporting role for the intelligent coal mining in China, especially for the intelligent working face with steeply dipping coal seam. In particular, the design and implementation of the digital twin of the hydraulic support model under the physical simulation experiment environment, and the in-depth study of the evolution of the support position and load transfer law in the lsteeply dipping coal seam, are of great theoretical significance for the intelligent control of the longwall mining equipment in the steeply dipping coal seam.

Taking the long wall large mining face with steeply dipping coal seam as the research object, the research methods of digital twin technology, field actual measurement, 3D physical similarity simulation experiment and numerical simulation experiment were used to analyze the evolution of support position and load transfer law in the steeply dipping coal seam, and the main research conclusions are as follows:

For the first time, the support has been designed as a prototype specifically tailored for steeply dipping and high mining faces. The design drawing has been converted into a precise 3D model using SolidWorks. The manufacturer then processes the support parts based on the 3D model, ensuring accuracy during manufacturing, followed by meticulous assembly and debugging of the components. Subsequently, the support undergoes rigorous testing to ensure its performance meets the design requirements. Notably, the model support encompasses not only the basic functions of the prototype support but also incorporates additional functionalities such as pressure relief, side protection, side adjustment, and bottom lifting.

The support underwent high-precision modeling using advanced modeling and graphic rendering techniques. By analyzing the motion patterns of each component within the support's movement, laser displacement sensors, as well as high-precision inclination, displacement, and load sensors were carefully selected and strategically arranged. To ensure seamless integration between the virtual model and the physical entity, a data channel was established between the lower computer and the upper computer of the digital twin system. This allowed for real-time synchronization of position and load information. As a result, the support's position could be visually displayed in real-time, and the load distribution could be represented through a dynamic heat map. Additionally, the control interface of the serial relay was retained for efficient management.

The findings indicate that with an increase in the inclination angle of the working face, several observations can be made. Firstly, the support requires a smaller initial bracing force, while the extent of roof damage is intensified. Notably, when the roof is soft, the implementation of lifting operations can partially mitigate support instability. Secondly, under positive pressure, the load on the roof beam is evenly distributed across different inclination angles. Conversely, under back thrust, the load on the upper region of the inclined cover beam gradually increases, while the load on the lower region decreases. In the case of lateral thrust, the load exhibits periodic fluctuations, with each cycle experiencing an incremental load compared to the preceding cycle. Lastly, numerical simulation analysis reveals that the tilted lower support experiences a smaller load than the upper support. Furthermore, all column bottoms endure higher loads than the middle and upper sections. To minimize the impact of columns on the bottom plate or base, it is essential to enhance the anti-sagging capacity of the base.

Finally, according to the results of the study, the improvement and optimisation measures of the hydraulic support for steeply dipping seam and large mining height working face were proposed, and the test showed that the above measures effectively solved the problems of support bottoming, sliding and tipping under the condition of large dipping angle, and achieved good application results.

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