2
INTRODUCTION
High inclination coal seam refers to the coal seam with a
burial inclination of 35° ~55°, which is recognized as a dif-
ficult coal seam in the domestic and foreign mining circles
[1-4]. As we all know, hydraulic support is the most impor-
tant supporting equipment of working face. In the mining
process of longwall working face of high inclination coal
seam, the change of spatial position and multi-dimensional
load transfer law of the support are more complicated, so
it is of great theoretical and practical significance to realize
intelligent mining of this kind of coal seam.
In the past 50 years, the mechanized mining of large-
dip and steese-dip coal seams in China has experienced
difficulties. It was not until 1998 that the longwall fully
mechanized mining technology of large-dip medium-thick
coal seam in Lushuidong Coal Mine of Huaying Mountain
in Sichuan Province achieved success, making relevant
research and practice in China at the forefront of this field,
and on this basis,continuous exploration and practice have
been carried out[5].
The University of Nottingham combined virtual real-
ity and other computer science technologies to create rich
mining virtual reality models in modeling software, thus
achieving significant social benefits[6]. MARARCO estab-
lished a virtual reality design and analysis system for mining
engineering using real mine data to simulate the design,
construction, mining and other links of mining engineer-
ing [7-8]. Hu Yanchao et al.
cal virtual intelligent workshop training system, which
enables production personnel to master the application
skills of mechanical manufacturing safely and efficiently
[9].Illinois State University used this technology to achieve
multi-person remote collaborative design, thereby reducing
development time[10-11].
Digital twin technology refers to the use of data to
drive the virtual model in the virtual space to have the same
behavior as the corresponding entity in the object space,
so as to realize the observation, prediction and optimiza-
tion of physical entities [12-16]. For the first time, NASA
applied the concept of digital twins to the field of intelli-
gent manufacturing,which is used to simulate and analyze
the state of space vehicles during flight, so as to realize the
prediction and monitoring of flight states.
Therefore, In the laboratory environment, this paper
integrates digital twin technology to carry out physical
similarity simulation experiment of hydraulic support with
high inclination Angle[1718], realizing the perception of
mechanical behavior of the support to surrounding rock
and equipment, revealing the dynamic law of multidimen-
sional load transfer of surrounding rock and equipment
to the support during the process of initial bracing, shift-
ing and pushing under the inclination effect, as well as the
temporal and spatial characteristics of mechanical response
of the support and other equipment. It provides impor-
tant theoretical support for the dynamic stability control
of hydraulic support for long wall working face with high
inclination Angle.
DEVELOPMENT OF HYDRAULIC
SUPPORT TWIN SYSTEM
System Design Framework
Based on virtual simulation technology, the twin system of
hydraulic support and the main platform of three-dimen-
sional mechanical behavior experiment of layered mining
coal and rock mass is designed, and a three-dimensional
visualization operation and simulation platform is estab-
lished to truly present the actual operating status of the
hydraulic support model with large inclination Angle,
which can realize monitoring, remote operation and virtual
operation, and analyze and process the results, as shown in
Figure 1.
This system consists of four major modules:
1. User module
The user module realizes the login function of admin-
istrator and common user. Ordinary users can only view
their own experimental data, the administrator has the per-
mission to view all experimental data, and can set accounts
for ordinary users.
2. Sensor module
The sensor module consists of two parts: data acquisi-
tion and data upload. Data acquisition is to collect motion
state data of inclination sensor, displacement sensor and oil
pressure sensor The data upload part refers to the process-
ing of the data collected by the sensor to the network port.
3. Data module
The data module is mainly responsible for data recep-
tion and data storage. Among them, the data receiving
module refers to the process of the host computer (this
system refers to the industrial computer installed with the
twin map software system )reading the data collected by
the sensor through the port of the protocol to ensure that
the data can be effectively received and processed by the
system data storage refers to the process of storing all atti-
tude data to the cloud database after the data is filtered and
processed by the twin system, combined with the motion
analysis of the hydraulic support in this paper.
INTRODUCTION
High inclination coal seam refers to the coal seam with a
burial inclination of 35° ~55°, which is recognized as a dif-
ficult coal seam in the domestic and foreign mining circles
[1-4]. As we all know, hydraulic support is the most impor-
tant supporting equipment of working face. In the mining
process of longwall working face of high inclination coal
seam, the change of spatial position and multi-dimensional
load transfer law of the support are more complicated, so
it is of great theoretical and practical significance to realize
intelligent mining of this kind of coal seam.
In the past 50 years, the mechanized mining of large-
dip and steese-dip coal seams in China has experienced
difficulties. It was not until 1998 that the longwall fully
mechanized mining technology of large-dip medium-thick
coal seam in Lushuidong Coal Mine of Huaying Mountain
in Sichuan Province achieved success, making relevant
research and practice in China at the forefront of this field,
and on this basis,continuous exploration and practice have
been carried out[5].
The University of Nottingham combined virtual real-
ity and other computer science technologies to create rich
mining virtual reality models in modeling software, thus
achieving significant social benefits[6]. MARARCO estab-
lished a virtual reality design and analysis system for mining
engineering using real mine data to simulate the design,
construction, mining and other links of mining engineer-
ing [7-8]. Hu Yanchao et al.
cal virtual intelligent workshop training system, which
enables production personnel to master the application
skills of mechanical manufacturing safely and efficiently
[9].Illinois State University used this technology to achieve
multi-person remote collaborative design, thereby reducing
development time[10-11].
Digital twin technology refers to the use of data to
drive the virtual model in the virtual space to have the same
behavior as the corresponding entity in the object space,
so as to realize the observation, prediction and optimiza-
tion of physical entities [12-16]. For the first time, NASA
applied the concept of digital twins to the field of intelli-
gent manufacturing,which is used to simulate and analyze
the state of space vehicles during flight, so as to realize the
prediction and monitoring of flight states.
Therefore, In the laboratory environment, this paper
integrates digital twin technology to carry out physical
similarity simulation experiment of hydraulic support with
high inclination Angle[1718], realizing the perception of
mechanical behavior of the support to surrounding rock
and equipment, revealing the dynamic law of multidimen-
sional load transfer of surrounding rock and equipment
to the support during the process of initial bracing, shift-
ing and pushing under the inclination effect, as well as the
temporal and spatial characteristics of mechanical response
of the support and other equipment. It provides impor-
tant theoretical support for the dynamic stability control
of hydraulic support for long wall working face with high
inclination Angle.
DEVELOPMENT OF HYDRAULIC
SUPPORT TWIN SYSTEM
System Design Framework
Based on virtual simulation technology, the twin system of
hydraulic support and the main platform of three-dimen-
sional mechanical behavior experiment of layered mining
coal and rock mass is designed, and a three-dimensional
visualization operation and simulation platform is estab-
lished to truly present the actual operating status of the
hydraulic support model with large inclination Angle,
which can realize monitoring, remote operation and virtual
operation, and analyze and process the results, as shown in
Figure 1.
This system consists of four major modules:
1. User module
The user module realizes the login function of admin-
istrator and common user. Ordinary users can only view
their own experimental data, the administrator has the per-
mission to view all experimental data, and can set accounts
for ordinary users.
2. Sensor module
The sensor module consists of two parts: data acquisi-
tion and data upload. Data acquisition is to collect motion
state data of inclination sensor, displacement sensor and oil
pressure sensor The data upload part refers to the process-
ing of the data collected by the sensor to the network port.
3. Data module
The data module is mainly responsible for data recep-
tion and data storage. Among them, the data receiving
module refers to the process of the host computer (this
system refers to the industrial computer installed with the
twin map software system )reading the data collected by
the sensor through the port of the protocol to ensure that
the data can be effectively received and processed by the
system data storage refers to the process of storing all atti-
tude data to the cloud database after the data is filtered and
processed by the twin system, combined with the motion
analysis of the hydraulic support in this paper.