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In view of the shortcomings of traditional hydraulic support system, such as poor mobility and limited range of adjustment, a new configuration with double parallelogram structure is proposed. Combining the kinematic diagram of the mechanism of the new support system and the relevant parameters of the balance moment, using the kinematic vector closed-loop modeling method and D'Alembert's principle, the relationship equation between the generalized coordinates of the hydraulic support and the geometric position parameters is obtained, and the analysis model with plural-freedom is established. Dynamic response characteristics and natural frequencies of column hydraulic cylinder and balance hydraulic cylinder are analyzed. The results demonstrate that the natural frequencies of the improved balance hydraulic cylinder and column hydraulic cylinder have been greatly improved, and the safety performance of the hydraulic support has been greatly increased.