针对现有超前支架反复支撑破坏巷道顶板和锚护系统问题，提出了超前支架自适应支护、转换矩阵、峰值助力概念，给出了超前支架自适应支护定义，在综合分析超前支架自适应支护基础上，建立了超前支架自适应支护理论。根据结构形式和控制方式的不同，将超前支架自适应支护分为支护阻力自适应、支护姿态自适应、支护方式自适应3种形式。结合具体结构特点，对上述3种自适应形式进一步进行了区分，将支护阻力自适应分为初撑力分布形式自适应、支护阻力和初撑升降柱自适应，将支护姿态自适应分为顶梁姿态自适应和整体支护状态自适应，将支护方式自适应分为移架方式自适应和行走方式自适应，介绍了每种形式自适应支护原理及其实现方法;采用线性代数理论建立了自适应性顶梁结构量化关系，基于液压传动与控制原理给出了支护阻力自适应控制方法，利用AMESim软件构建了立柱位置和压力控制回路仿真模型并进行了仿真，采用运动学原理分析了螺旋推进器行走部的超前支架的自适应移架方式与具体行走方法。试验结果表明，自适应结构和装置大幅提升了支架适应能力，有效地解决了超前支架与巷道顶板和锚护系统协调匹配性难题，提高了超前支架适应巷道围岩变化能力。

Aiming at the problem that the existing advanced powered support repeatedly supports and destroys the roof and anchorage system of roadway,the concepts of advanced support,transformation matrix and peak boost of advance powered support are put forward. The definition of self-adaptive support for advanced powered support is given. Ac- cording to the difference of structure and control mode,the self-adaptive support of advance support is divided into three types:self-adaptive support resistance,self-adaptive support attitude and self-adaptive walking mode. Combined with the specific structural characteristics,the above three adaptive types are further divided. Self-adaptive support re- sistance is divided into self-adaptive distribution of setting load and self-adaptive lifting or descending leg during set- ting load state. Self-adaptive support attitude is divided into self-adaptive canopy attitude and overall self-adaptive support state. Self-adaptive support mode is divided into self-adaptive advancing mode and self-adaptive walking mode. The principle and realization method of self-adaptive support for advance powered support are introduced. The quanti- tative relationship of adaptive canopy structure is established by the method of linear algebra, the adaptive control method of working pressure is given by the theory of hydraulic transmission and control,the simulation model of leg po- sition and pressure control loop is built and simulated by the AMESim,and the self-adaptive moving mode and walking method of the omnidirectional walking advanced powered support ( OWAPS) are explained by the principle of kine- matics. The test results show that the adaptive structure and device greatly improve the adaptability of the powered sup- port,effectively solve the problem of coordination and matching between the advance support and the roadway roof and bolting system,and improve the adaptability of the advance support to the changes of the roadway surrounding rock.

1 超前支架自适应支护原理与方法

　　1.1 超前支架自适应支护定义

　　1.2 支护姿态自适应原理与方法

2 支护阻力自适应原理与方法

　　2.1 初撑力分布形式自适应控制原理与方法

　　2.2 支护阻力自适应控制原理与方法

　　2.3 初撑升柱速度自适应原理与方法

3 支护方式自适应原理与方法

　　3.1 移架方式自适应原理与方法

　　3.2 行走方法自适应原理与方法

4 应用实例

5 结论