Position and attitude digital twin model of hydraulic supports in fully mechanized workface

To build a digital twin model of intelligent longwall coal mining, this paper presents a new full-parameter position and attitude digital twin model of hydraulic supports. A full-parameter matrix describing the position and attitude of a support is established first. Then, the position and attitude digital twin model of a support based on this matrix is built. Afterward, a position and attitude digital twin model of the hydraulic support system in the workface is established using the Unity3D software and the Runge–Kutta algorithm as a motion calculation method. Finally, a simulation experiment is conducted based on the digital twin model of hydraulic supports, and results show its effectiveness. This digital twin model has the potential to control the hydraulic support system in future intelligent coal mining.