综放支架是综放采场关键支护与主动放煤装置，其主动触支顶煤行为可有效引导顶煤智能有序破碎。为开展支架主动扰控顶煤理论及相关研究，明确综放支架对顶煤的主动触支工作空间，提出一种综放支架各部件相对空间姿态及绝对空间位姿动态感知方法，以期提升综放支架对顶煤碎放过程可控性。首先，借助Denavit-Hartenberg (D-H)方法建立了综放支架空间姿态数学模型，分析得到支架顶梁和放煤机构在各关节节点坐标系与本体坐标系下坐标，明确了综放支架各关键部件之间的相对姿态及运动耦合关系；在此基础上建立了综放工作面全局感知模型并求解得到了支架的绝对空间位姿数据，获得了工作面顶板、底板倾角对综放支架空间支护姿态影响。其次，提出并计算了综放支架顶梁触支空间和放煤机构支护空间分布模型，获得了综放支架对顶煤的主动调控范围，同时使用初值优选的Levenberg-Marquardt (L-M)优化算法探究支架主动触顶姿态的调控方法与立柱的有效驱动行程。最后，搭建了支架姿态数据采集系统，依托山东省菏泽市赵楼煤矿7303综放工作面获取了支架运动过程中真实空间姿态参数数据，对比理论解算数据与传感器实测数据，验证了该空间位姿测量方法的可行性与准确性。结果表明，使用该方法解算的顶梁姿态与传感器测量结果重合率达98.26%，为进一步提高支架的空间位姿感知技术提供了研究思路。

The fully mechanized top-coal caving support is a critical device that serves both as a support mechanism and an active means for top-coal caving in fully mechanized top-coal caving mining operations. Proactive engagement and reinforcement of the top-coal can effectively guide its intelligent and orderly fragmentation. To investigate the theory of active perturbation and control of the top-coal by the support system, as well as to clarify the dynamic interaction and support space between the fully mechanized top-coal caving support and the top-coal, a dynamic perception method has been proposed. This method aims to enhance the controllability of the top-coal fragmentation and caving process by accurately perceiving the relative spatial postures of various components and the absolute spatial position and orientation of the fully mechanized top-coal caving support. Firstly, utilizing the Denavit-Hartenberg (D-H) method, a mathematical model of the spatial posture of the fully mechanized top-coal caving support is established. Through this analysis, the coordinates of the support's canopy beam and top-coal caving mechanism in both the coordinate systems of each joint node and the body coordinate system are determined, thereby elucidating the relative postures and motion coupling relationships among the key components of the fully mechanized top-coal caving support. Building on this foundation, a global perception model for the fully mechanized top-coal caving working face is constructed, allowing for the derivation of absolute spatial position and orientation data of the support. Additionally, the influence of the dip angles of the working face roof and floor on the spatial support posture of the fully mechanized top-coal caving support is analyzed. Secondly, distribution models for the contact support space of the top beam and the support space of the coal caving mechanism in fully mechanized top-coal caving supports were developed and calculated. This process yielded the active regulation range of the fully mechanized top-coal caving support for managing the top-coal. Simultaneously, the Levenberg-Marquardt (L-M) optimization algorithm, initialized with preferred values, was employed to investigate the regulation method for achieving the optimal active contact posture of the support and determining the effective driving stroke of the upright post. Finally, a support posture data acquisition system was established. Utilizing the 7303 fully mechanized top-coal caving working face in Zhaolou Coal Mine, Heze City, Shandong Province, real-time spatial posture parameter data during the movement of the support were collected. By comparing the theoretically calculated data with the sensor-measured data, the feasibility and accuracy of the spatial position and orientation measurement method were validated. The results indicate that the coincidence rate between the Top beam posture calculated by this method and the sensor-measured results reaches 98.26%. This study provides a valuable research direction for further enhancing the spatial position and orientation perception technology of the support.