1.School of Mechanical Engineering，Xi’an University of Science and Technology，Xi’an ，China；2.School of Mechanical, Electrical & Information Engineering, China University of Mining and Technology-Beijing, Beijing ，China

In order to solve the problem of cooperative control of mining equipment,which is one of the key technical problems in intelligent fully-mechanized coal mining face,a human-like intelligent cooperative control model of fully-mechanized coal mining equipment based on data drive was proposed,focusing on the collaborative control of intelligent fully-mechanized mining equipment under the background of big data key technology theories and methods such as knowledge self-learning, mining behavior self-decision, and distributed cooperative self-operation.It includes:analyzing the data characteristics of the intelligent fully-mechanized mining system from the perspective of data application, and clarifying the three data characteristics of the intelligent fully-mechanized mining system: ubiquitous perception(data acquisition), information fusion(data mining)and intelligent control(data decision-making);the cooperative control framework of fully-mechanized mining equipment oriented to the representation of decision-making process of experienced operators was constructed.A method for the evolution of fully-mechanized mining equipment operating state based on extended finite state machine and a learning method for the movement behavior mode of fully-mechanized mining equipment based on multi-marker decision information system was proposed to realize dynamic acquisition of behavior decision knowledge of intelligent fully-mechanized mining equipment driven by data.This paper also studied the decision knowledge partition method for the behavior mode class of fully-mechanized mining equipment and the decision behavior hybrid reasoning method based on CBR and RBR fusion to realize the autonomous decision-making of the intelligent fully-mechanized mining equipment’s behavior.The characterization method of the driver’s control strategy of fully-mechanized mining equipment under the manual control mode was discussed, and the “Three Machines”simulation of fully-mechanized mining with self-learning, self-decision and self-adaptation of working conditions was developed by human intelligent cooperative control method;The logic of parallel fully-mechanized mining technology based on parallel system theory was given, and the experimental research method of cooperative control of fully-mechanized mining equipment was provided.The above infrastructure and mathematical model can provide reference for solving the cooperative control problem of fully mechanized mining system under the big data environment.