The roadway in coal mine is prone to deformation of the surrounding rock under the influence of complex disturbance, which induces the imbalance of support attitude matching between roadway surrounding rock and advanced coupling support equipment, breaks the mechanical balance of the original coupling support system, and causes safety accidents. The postures and offsets of the various working spaces of the advanced hydraulic supports under the influence of complex disturbances are systematically analyzed. The D–H parameter matrix transformation method is used to establish the spatial posture kinematic model of a single/group of advanced hydraulic supports. The posture parameters of each key node are obtained through global coordinate transformation. Based on the comparison of the working attitude parameters of the support obtained through simulation analysis and model calculation, the average absolute error of the support height calculation results of the single group of advanced hydraulic support attitude model is 3.92 mm, and that of the coordinate calculation results of the advanced hydraulic support group is (3.26 mm, 1.99 mm), which meet the accuracy requirements of the advanced hydraulic support attitude monitoring. Finally, the spatial attitude kinematic model of a single/group of advanced hydraulic supports is verified and analyzed by using the advanced hydraulic support attitude monitoring test bench. The maximum error value of the experimental results is 4.9 mm, which verifies the accuracy of the established spatial attitude kinematic model of the advanced hydraulic support. The research results can provide theoretical and technical support for the intelligentization of the advanced coupling support system and the safe and efficient mining of coal mine.

A round link chain subject to axial dynamic loads composes a nonlinear viscoelastic system. Unlike the classical pounding problems, the round link chain will not only suffer linear elastic deformation, but also nonlinear plastic or impacting deformation. Based on theoretical formulation and experiments, a new approach is presented in this paper to model and identify the nonlinear dynamic parameters, namely the stiffness and damping for the round link chain. With linear deformation, nonlinear deformation and energy dissipation considered, a modified nonlinear viscoelastic model is developed to describe the vibrational behavior of the chain with numbers of round links. The linear elastic model and impacting model are combined to derive the equivalent nonlinear stiffness, while experiments and the least square fitting method are employed to identify the nonlinear damping according to the modified nonlinear viscoelastic model. The influences of the key parameters such as the length of the chain, elastic module and loading frequency on the dynamic stiffness and damping are investigated. Another test is performed to validate the identification model and good agreements are observed.