College of Mining Engineering, Taiyuan University of Technology
Post-doctoral Workstation, Shanxi Coking Coal Group Co., Ltd.
State Key Laboratory of Intelligent Mining Equipment Technology, Taiyuan University of Technology
Key Laboratory of In-Situ Property-Improving Mining of Ministry of Education, Taiyuan University of Technology

针对应用数字孪生实现综采工作面液压支架姿态映射存在精度低、时延大及精度与时延难以平衡等问题，提出了一种液压支架姿态数字孪生精准快速映射方法。设计了包括物理感知层、数据层、业务逻辑层和表现层的液压支架姿态数字孪生系统架构；在业务逻辑层，通过保留液压支架高精度模型外部形状并将关键部位合并成轻量化结构件，建立了液压支架姿态数字孪生模型，减少了渲染时延，并通过建立倾角传感器测量角度与数字孪生模型转动角度之间的转换关系，实现液压支架姿态数字孪生模型与液压支架实体虚实映射一致，保证了液压支架姿态映射的精度；在数据层，从各数据传输环节中划分出传输间隔并进行参数约束，应用参数规划求解优化可调环节的数据更新间隔，减少了数字孪生系统数据传输过程的资源浪费和时延。搭建了液压支架姿态数字孪生精准快速映射平台，进行液压支架姿态虚实映射的时延和精度测试，结果表明，该方法在保证液压支架姿态映射精度的前提下具有较低的时延。

A precise and fast digital twin mapping method for hydraulic support attitude in fully mechanized working face is proposed to address the problems of low precision, large time delay, and difficulty in balancing precision and time delay in implementing attitude mapping using digital twins. The study designs a digital twin system architecture for hydraulic support attitude, which includes physical perception layer, data layer, business logic layer, and presentation layer. At the business logic layer, by retaining the external shape of the high-precision model of the hydraulic support and merging key parts into lightweight structural components, a digital twin model of the hydraulic support attitude is established. It reduces rendering delay. By establishing a conversion relationship between the angle measured by the inclination sensor and the rotation angle of the digital twin model, consistent of virtual-real mapping of the digital twin model of the hydraulic support attitude and real entities of the hydraulic support is achieved, ensuring the precision of the hydraulic support attitude mapping. At the data layer, transmission intervals are divided from each data transmission link and parameter constraints are applied. Parameter programming is applied to optimize the data update interval of adjustable links, reducing resource waste and latency in the data transmission process of digital twin systems. A precise and fast digital twin mapping platform for hydraulic support attitude is built, and the time delay and precision of virtual real mapping for hydraulic support attitude are tested. The results show that this method has a lower time delay while ensuring the precision of hydraulic support attitude mapping.

国家自然科学基金项目（52274157）；“科技兴蒙”行动重点专项项目（2022EEDSKJXM010）。

刘萌，付翔，姜玉龙，等. 液压支架姿态数字孪生精准快速映射方法[J]. 工矿自动化，2024，50（6）：136-141, 158.

LIU Meng, FU Xiang, JIANG Yulong, et al. Precise and fast digital twin mapping method for hydraulic support attitude[J]. Journal of Mine Automation，2024，50（6）：136-141, 158.