针对物理综采工作面“三机”跟机自动化工艺参数调试周期长，费用成本高，以及工作环境搭建困难等问题，基于数字孪生技术，研究了液压支架群跟机行为工艺虚拟调试关键技术。首先基于现代建模技术构建了1∶1构综采“三机”孪生体，利用虚拟现实引擎对综采“三机”运动单元进行了虚拟重构和虚拟仿真；然后基于现代设计理论，依据“三机”协同原则实现了跟机自动化过程中的不同参数配置，建立了采煤工艺的支架行为工艺决策模型和支运装备直线度协同控制模型，并在虚拟场景中对决策模型进行预演；最后利用TCP协议建立了虚实交互通道，通过半实物仿真试验对决策模型进行了验证。结果表明：虚拟场景在执行采煤工艺时可对物理工作面场景进行精准复现，通过支架群行为决策模型可提前对液压支架工艺行为进行决策规划，通过反向控制试验可对支架控制器进行实时虚实交互，有望克服井下调试环境阻碍，对综采“三机”电液控程序的合理制定与修正提供参考价值。

In view of the problems such as long period of automatic process parameter debugging, high cost and difficult construction of working environment, the key technology of virtual process debugging of hydraulic support group process is studied based on digital twin technology. Firstly, based on modern modeling technology, a 1∶1 twin of three fully-mechanized mining machines was constructed, and virtual reconstruction and simulation of the three mechanized mining machines were carried out by virtual reality engine. Then, based on the modern design theory and the principle of three-machine collaboration, different parameters in the automatic process of the following machine are configured, and the decision-making model of the support behavior of the coal mining process is established, and the decision-making model is rehearsed in the virtual scene. Finally, the virtual and real interaction channel is established by TCP protocol, and the decision model is verified by semi-physical simulation experiment. The results show that the virtual scene can accurately reproduce the physical working face scene in the implementation of coal mining technology, the support group behavior decision model can be used to make decision planning of the hydraulic support process behavior in advance, and the real-time virtual-real interaction of the support controller can be carried out through the reverse control experiment. It is expected to overcome the obstacles of underground commissioning environment and provide useful reference value for the reasonable formulation and revision of hydraulic control program of the third mechanized mining machine.