1.College of Mechanical and Vehicle Engineering， Taiyuan University of Technology， Taiyuan ， China；2.Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment， Taiyuan ， China

In order to solve problem that hydraulic support can not adjust support posture in time according to underground coal seam environment in the existing coal mining， a virtual simulation method of hydraulic support movement based on real coal seam environment is proposed.This method directly generates top and bottom coal seam environmental surfaces based on real coal seam data points in virtual software Unity 3D.Then， combined with hydraulic support model and addition of its physical components， it realizes self-adapting fitting of hydraulic support to floor surface based on gravity fit.The angle information values of each component of hydraulic support under condition of roof support can be determined through analysis of kinematics of hydraulic support model and data points of coal seam roof surface.In this way，movement posture of hydraulic support to coal seam environment can be realized in advance in a virtual space.Finally， experiment is carried out， in which a model of coal seam top and bottom surfaces is constructed， and support posture hydraulic support in experimental coal seam is adjusted.At the same time， the corresponding surfaces of coal seam roof and floor are generated in a virtual environment and the attitude adjustment of hydraulic support in virtual environment is carried out.The test results show that movement parameters of hydraulic support based on coal seam environment by using virtual software Unity 3D are basically the same as those of actual hydraulic support.This method provides a reference and application practice for realizing the adaptive adjustment of hydraulic support to surrounding rock environment.

中国博士后科学基金资助项目（2019M651081）；山西省留学人员科技活动择优资助重点资助项目（2016）；山西省回国留学人员科研资助项目（2016-043）