Hydraulic support moving operation method for steeply inclined fully mechanized coal mining face

Abstract

The invention provides a steeply inclined fully mechanized coal mining face hydraulic support moving operation method which comprises the steps that an intelligent control system comprising a sensor network, edge calculation nodes and an execution module is built, parameters such as a coal seam inclination angle and a pseudo-inclination angle are collected in real time, and the number of empty roof supports is monitored. A grouping staggered support moving strategy is adopted, continuous roof-contacted supports are reserved, and support moving is locked when the number of empty roofs reaches the standard; an arc-shaped roof rubbing track is planned, and it is ensured that the roof contact area reaches the standard; and the critical working resistance is dynamically calculated based on a sliding and toppling instability mechanical model, the hydraulic supporting force is dynamically adjusted, and the reinforced supporting mode is switched when the top plate is pressed. According to the method, the problems of slippage, toppling and low bracket moving efficiency of the steeply inclined working face bracket are effectively solved, and the bracket stability and mining efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of hydraulic support control technology for fully mechanized coal mining faces, specifically a method for moving hydraulic supports in steeply inclined fully mechanized coal mining faces. Background Technology

[0002] Steeply inclined coal seams, as a crucial component of coal resources, place extremely high demands on the stability control of hydraulic supports in their fully mechanized mining faces due to their large dip angles. Hydraulic supports are the core equipment in fully mechanized mining faces, playing a vital role in supporting the roof and ensuring the safety of the working space. However, under steeply inclined conditions, they are subject to the combined effects of gravity, roof loads, and complex geological conditions, resulting in an extremely complex stress state. Supports are prone to slippage along the dip of the working face and are also susceptible to tipping and instability in the direction perpendicular to the working face. This not only seriously threatens the safety of underground operations but also hinders the continuous advancement of mining operations.

[0003] Existing hydraulic support shifting technology for steeply inclined fully mechanized mining faces has many shortcomings, making it difficult to meet the demands of efficient and stable mining. Traditional shifting methods employ static working resistance design, failing to consider dynamic changes in parameters such as coal seam dip angle, pseudo-inclination angle, and mining height. This leads to a mismatch between support force and actual working conditions, resulting in either insufficient support causing instability risks or redundant support causing energy waste. The shifting operation lacks a scientific group coordination strategy, and the monitoring and control of the number of supports under the unsupported roof are inadequate, making it prone to cascading instability due to imbalances in the constraints of adjacent supports. Furthermore, existing systems have low levels of intelligence, unable to analyze roof pressure distribution and support posture changes in real time, making it difficult to adaptively adjust the shifting trajectory and support force. Moreover, the lack of targeted reinforcement support measures under extreme conditions such as roof pressure further exacerbates the risk of support instability, severely impacting shifting efficiency and the safety of mining operations. Summary of the Invention

[0004] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a method for moving hydraulic supports in steeply inclined fully mechanized mining faces, thereby achieving efficient and stable control of hydraulic supports in steeply inclined mining faces.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for moving a hydraulic support in a steeply inclined fully mechanized mining face includes the following steps:

[0007] S1. Build an intelligent control system; the intelligent control system includes a sensor network, edge computing nodes, and execution modules; the sensor network integrates MEMS tilt sensors, pressure sensors, laser rangefinders, and acoustic emission sensors;

[0008] S2. Real-time data acquisition of coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F via the sensor network.d Simultaneously monitor the number n of adjacent empty roof supports;

[0009] S3. A staggered grouping and relocation strategy is adopted, and at least 3 consecutive sets of top-mounted supports are forcibly retained during the relocation process; when n≥2 is detected, a locking mechanism is triggered to suspend the relocation operation.

[0010] S4. Plan the arc-shaped ceiling-scraping moving frame trajectory, and use a laser rangefinder to calibrate the base contact pressure distribution in real time to ensure that the contact area with the ceiling is ≥85%;

[0011] S5: The edge computing node dynamically calculates the critical working resistance based on the slip and tilt instability mechanical model, and dynamically adjusts the hydraulic support force in combination with the collected parameters; when the pressure from the top plate is detected, it switches to the reinforced support mode.

[0012] Preferably, in step S5, the calculation of the critical working resistance includes the following sub-steps:

[0013] S51. Based on the slip and toppling instability mechanical model, establish multi-parameter coupled mechanical equilibrium equations:

[0014] (1);

[0015] (2);

[0016] (3);

[0017] (4);

[0018] In the formula: G1 is the component of the self-weight G of the support along the dip direction of the working face; G3 is the component of the force in the strike direction; G2 is the component of the force perpendicular to the bottom plate of the working face; Q1 is the component of the self-weight of the gangue in the dip direction; Q2 is the component of the force perpendicular to the shield beam; Q3 is the component of the force along the strike direction of the pseudo-inclined working face; μ is the friction coefficient; h is the mining height; b is the center distance of the support; W is the length of the shield beam; η is the angle between the shield beam and the normal of the top beam; Y is the distance between the shield beam and the bottom plate; L is the length of the support base; S is the distance from the center of gravity of the support to the tail beam; Z is the length of the top beam; X is the distance from the column to the front end of the top beam; D is the distance from the top beam of the support to the tail beam.

[0019] S52. The coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F collected in step S2 are used to... d Input the mechanical equilibrium equation and dynamically calculate the minimum critical working resistance T1 under the conditions of downward / upward mining.

[0020] Preferably, in step S2, the maximum allowable number of empty ceilings threshold n≤3 is set; when step S2 detects that n exceeds the limit, in step S5 the system automatically increases the hydraulic support force or adjusts the pseudo-angle φ to meet the stability boundary condition tanθ·cosφ≤μ.

[0021] Preferably, in step S5, when the system switches to the reinforced support mode, the critical working resistance after the superposition of the roof fracture load is calculated:

[0022] (5);

[0023] (6);

[0024] Where F1 is the frictional force between the top plate and the support.

[0025] Preferably, in step S4, the radius of curvature R of the arc-shaped top-scraping frame movement trajectory and the offset Δx of the frame's center of gravity satisfy the following relationship:

[0026] R=Δx2sin(θ / 2)R=2sin(θ / 2)Δx;

[0027] .

[0028] Preferably, in step S5, the pseudo-oblique angle φ is optimized in real time using a dynamic correlation formula with the critical slip angle θ:

[0029] (7);

[0030] The pseudo-angle φ is adjusted by driving the base with a hydraulic cylinder. The adjustment time for a single bracket is ≤10s, and the synchronization error for group adjustment is ≤2°.

[0031] Preferably, in step S5, the detection of pressure on the top plate is achieved by a combination of acoustic emission sensor and pressure surge criterion. When the detected energy release is ≥200J and the pressure increase is ≥30%, the reinforced support mode is triggered.

[0032] Preferably, in step S51, the mechanical balance equation incorporates the number n of adjacent open-top supports, establishing a nonlinear mapping relationship between n and T1, and dynamically correcting the output threshold of the critical working resistance T1.

[0033] (8).

[0034] Preferably, in step S5, when adjusting the pseudo-oblique angle φ, the working surface orientation angle is simultaneously corrected to ensure that the group of supports maintains stable posture in coordination according to the optimized pseudo-oblique angle.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] This invention, by establishing an intelligent control system integrating multiple types of sensors, achieves real-time and accurate monitoring of key parameters of the working face and the status of the supports, providing reliable data support for the dynamic adjustment of the support relocation operation and breaking the limitations of traditional technologies that rely on fixed parameters. The combination of a grouped staggered support relocation strategy and a roof quantity locking mechanism ensures that sufficient continuous roof-connecting supports are always maintained during the relocation process, effectively enhancing the constraint and coordination capabilities of the support group and fundamentally suppressing slippage and toppling instability. The planning of an arc-shaped roof-brushing relocation trajectory significantly improves the contact effect between the supports and the roof, ensuring the uniformity and reliability of the support. Dynamic calculation of the critical working resistance based on the slippage and toppling instability mechanical model enables the hydraulic support force to accurately adapt to changes in working conditions, achieving on-demand supply of support force. The reinforced support mode when the roof presses down can promptly respond to the impact load of roof fracture, further improving the stability of the supports under extreme working conditions. Through multi-stage collaborative optimization, the overall technical solution achieves safe, efficient, and intelligent relocation of hydraulic supports in steeply inclined working faces, significantly improving the stability and production efficiency of fully mechanized mining operations. Attached Figure Description

[0037] Figure 1 System architecture diagram (sensor network, edge computing nodes, execution modules).

[0038] Figure 2 Flowchart for calculating critical working resistance (multi-parameter input → model solution → threshold output).

[0039] Figure 3 : Schematic diagram of the moving operation logic (grouped staggered moving, top-locking mechanism).

[0040] Figure 4 : Correlation curve between pseudo-oblique angle φ and critical slip angle θ (Equation 7). Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] like Figures 1 to 4 As shown, a method for moving a hydraulic support in a steeply inclined fully mechanized mining face includes the following steps:

[0043] S1. Build an intelligent control system; the intelligent control system includes a sensor network, edge computing nodes and execution modules; the sensor network integrates MEMS tilt sensors, pressure sensors, laser rangefinders and acoustic emission sensors;

[0044] S2. Real-time data collection of coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F via sensor network. d Simultaneously monitor the number n of adjacent empty roof supports;

[0045] S3. A staggered grouping and relocation strategy is adopted, and at least 3 consecutive sets of top-mounted supports are forcibly retained during the relocation process; when n≥2 is detected, a locking mechanism is triggered to suspend the relocation operation.

[0046] S4. Plan the arc-shaped ceiling-scraping moving frame trajectory, and use a laser rangefinder to calibrate the base contact pressure distribution in real time to ensure that the contact area with the ceiling is ≥85%;

[0047] S5: The edge computing node dynamically calculates the critical working resistance based on the slip and tilt instability mechanical model, and dynamically adjusts the hydraulic support force in combination with the collected parameters; when the pressure from the top plate is detected, it switches to the reinforced support mode.

[0048] Furthermore, in step S5, the calculation of the critical working resistance includes the following sub-steps:

[0049] S51. Based on the slip and toppling instability mechanical model, establish multi-parameter coupled mechanical equilibrium equations:

[0050] (1);

[0051] (2);

[0052] (3);

[0053] (4);

[0054] In the formula: G1 is the component of the self-weight G of the support along the dip direction of the working face; G3 is the component of the force in the strike direction; G2 is the component of the force perpendicular to the bottom plate of the working face; Q1 is the component of the self-weight of the gangue in the dip direction; Q2 is the component of the force perpendicular to the shield beam; Q3 is the component of the force along the strike direction of the pseudo-inclined working face; μ is the friction coefficient; h is the mining height; b is the center distance of the support; W is the length of the shield beam; η is the angle between the shield beam and the normal of the top beam; Y is the distance between the shield beam and the bottom plate; L is the length of the support base; S is the distance from the center of gravity of the support to the tail beam; Z is the length of the top beam; X is the distance from the column to the front end of the top beam; D is the distance from the top beam of the support to the tail beam.

[0055] S52. The coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F collected in step S2 are used to... d Input the mechanical equilibrium equation and dynamically calculate the minimum critical working resistance T1 under the conditions of downward / upward mining.

[0056] Furthermore, in step S2, a maximum permissible number of empty ceilings threshold n≤3 is set; when step S2 detects that n exceeds the limit, in step S5 the system automatically increases the hydraulic support force or adjusts the pseudo-angle φ to meet the stability boundary condition tanθ·cosφ≤μ.

[0057] Furthermore, in step S5, when the system switches to the reinforced support mode, the critical working resistance after the superposition of the roof fracture load is calculated:

[0058] (5);

[0059] (6);

[0060] Where F1 is the frictional force between the top plate and the support.

[0061] Furthermore, in step S4, the radius of curvature R of the arc-shaped top-scraping frame movement trajectory and the offset Δx of the frame's center of gravity satisfy the following relationship:

[0062] R=Δx2sin(θ / 2)R=2sin(θ / 2)Δx;

[0063] .

[0064] Furthermore, in step S5, the pseudo-slope angle φ is optimized in real time using a dynamic correlation formula with the critical slip angle θ:

[0065] (7);

[0066] The pseudo-angle φ is adjusted by driving the base with a hydraulic cylinder. The adjustment time for a single bracket is ≤10s, and the synchronization error for group adjustment is ≤2°.

[0067] Furthermore, in step S5, the detection of pressure on the top plate is achieved through a combination of acoustic emission sensor and pressure surge criterion. When the detected energy release is ≥200J and the pressure increase is ≥30%, the reinforced support mode is triggered.

[0068] Furthermore, in step S51, the mechanical equilibrium equation incorporates the number of adjacent open-top supports, n, to establish a nonlinear mapping relationship between n and T1, dynamically correcting the output threshold of the critical working resistance T1.

[0069] (8).

[0070] Furthermore, in step S5, when adjusting the pseudo-oblique angle φ, the working surface orientation angle is simultaneously corrected to ensure that the group of supports maintains stable posture in coordination according to the optimized pseudo-oblique angle.

[0071] Dynamic critical working resistance calculation model:

[0072] Based on the mechanical equilibrium equations of slippage and toppling instability (Equations 7.1 and 2), a multi-parameter coupled critical working resistance model is constructed, with real-time input of coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F. d The minimum critical working resistance T1 under the conditions of downward / upward mining is dynamically calculated.

[0073] Introduce the number of adjacent empty roof supports n, establish a nonlinear mapping relationship between n and T1 through equation (8), set the maximum allowable number of empty roof supports threshold (n≤3), and trigger an alarm or adjust the pseudo-angle φ when the limit is exceeded.

[0074] (8);

[0075] The hierarchical linkage logic for shelf relocation:

[0076] A staggered grouping and relocation strategy is adopted, with the priority set as "support first, then move". During the relocation process, at least three consecutive sets of top-mounted supports are forcibly retained.

[0077] When the number of empty roof supports n≥2 is detected, the roof shifting operation is locked until the roof support is restored, and stability is maintained by dynamic compensation of hydraulic support force.

[0078] In the forced top-rubbing movement mode of the moving trajectory planning, the base contact pressure is calibrated by a laser rangefinder to ensure that the contact area with the top is ≥85%.

[0079] Intelligent control system architecture:

[0080] Hardware layer: integrates MEMS tilt sensor, hydraulic pressure sensor, displacement sensor and actuation module.

[0081] Edge computing layer: Real-time analysis of support posture, slippage trend and roof collapse prediction data, combined with critical resistance model to generate control commands.

[0082] Decision-making level: Dynamically adjust the hydraulic support force output and switch to reinforced support mode during pressure application (shortening the frame transfer cycle by 50%).

[0083] Dual-modal risk response strategy:

[0084] Normal mode: Calculate the critical resistance based on equations (1, 4), allowing for 3 unsupported roof supports.

[0085] Pressure mode: Switch to mode (5, 6) to superimpose the top plate fracture load, limit n≤1, and simultaneously increase the hydraulic support force output to 120% of the rated value.

[0086] Example 1: Calculation and Adaptive Adjustment of Dynamic Critical Working Resistance

[0087] Step 1: Real-time acquisition and input of multiple parameters. The coal seam dip angle θ = 60° and pseudo-inclination angle φ = 15° are measured in real time using a MEMS tilt sensor. The current mining height h = 2.8m is obtained using a laser altimeter. The friction coefficient of the roof and floor is μ = 0.3 (based on laboratory rock friction test calibration value). The roof load F... d=3500kN (calculated using a top plate pressure sensor and a rock layer thickness model).

[0088] Step 2: Dynamic calculation of critical working resistance. Model input: θ=60°, φ=15°, h=2.8m, μ=0.3, F d Substituting 3500kN into the critical resistance formula for the dip slip in submerged mining (Equation 1):

[0089] ;

[0090] Substituting the support parameters into the data of the ZY4200 / 12 / 28J type support in Table 5-1 (L=2.59m, Z=4.23m, X=3.00m, Y=1.24m, W=1.89m), the minimum critical working resistance T1 is calculated to be ≥1850kN.

[0091] Step 3: Detection and Adaptive Adjustment of Empty Roof Quantity. Empty Roof Monitoring: The status of adjacent supports is detected by displacement sensors. The current number of empty roofs is n=2 (supports No. 5 and No. 7 are not connected). Response Strategy: Trigger the critical resistance increase mechanism to dynamically adjust T1 to 2100kN (an increase of 13.5%) to ensure the stability of the remaining connected supports.

[0092] Based on equation (7), optimize the pseudo-hedge angle φ:

[0093] ;

[0094] The system automatically generates a pseudo-angle adjustment suggestion, correcting φ from 15° to 12°, and sends it to the support group collaborative adjustment module.

[0095] Example 2: Intelligent Frame Transfer Operation and Enhanced Control During Pressure Application

[0096] Step 1: Implementation of the grouped staggered transfer strategy

[0097] Relocation command issued: After receiving the relocation command, the system prioritizes moving the 5th set of supports according to the principle of "support first, then move".

[0098] Top support retention mechanism:

[0099] Before moving the support structure, check the status of the 4th, 5th, and 6th support groups to ensure that the 4th and 6th groups are in contact with the top (the contact pressure is ≥18MPa).

[0100] During the relocation process, the hydraulic circuits of the 4th and 6th sets of supports are locked to prevent displacement operations.

[0101] Step 2: Real-time calibration of the moving trajectory and contact area.

[0102] Trajectory planning: Based on the offset of the support center of gravity (detected value is 120mm backward), an arc-shaped moving path is generated, and the support is moved by rubbing against the ceiling.

[0103] Monitoring and compensation of the roof area:

[0104] The laser rangefinder detected that the base contact area after the frame was moved was 80% (target ≥ 85%).

[0105] Triggering dynamic compensation of hydraulic support force:

[0106] Increase the front-end support force of the top beam to 22MPa (original value 18MPa), while maintaining the rear-end support force at 18MPa.

[0107] After compensation, the top contact area increased to 87%, and the pressure distribution uniformity met the standard (standard deviation ≤ 0.6 MPa).

[0108] Step 3: Strengthen support mode switching during pressure period.

[0109] 1) Top plate pressure detection:

[0110] The pressure sensor on the top plate detected a sudden increase in pressure (from 3500kN to 4800kN) lasting for ≥10s.

[0111] The rock strata acoustic emission sensor detected a fracture signal in the roof (energy release ≥200J).

[0112] 2) Enhanced Mode Activation:

[0113] Switch to equation (5) to calculate the critical resistance, and superimpose the top plate fracture load F. d =4800kN, recalculate T1≥2200kN.

[0114] 3) Shorten the interval between rack transfers:

[0115] The time for roof exposure has been reduced from 30 seconds in the normal mode to 15 seconds.

[0116] The hydraulic support force is increased to 120% of the rated value (ZY4200 bracket rated value 4200kN → increased to 5040kN).

[0117] Example 3: Pseudo-oblique angle dynamic optimization and group cooperative control

[0118] Step 1: Real-time optimization calculation of pseudo-oblique angle

[0119] 1) Input parameters: coal seam true dip angle θ=55°, current pseudo dip angle φ=20°, friction coefficient μ=0.25.

[0120] 2) Calculation of critical slip angle: based on equation (7):

[0121] ;

[0122] The current φ=20° does not meet the stability condition, and the pseudo-angle needs to be adjusted.

[0123] Step 2: Pseudo-oblique angle coordinated adjustment

[0124] Find the maximum value of φ that satisfies tanθ·cosφ≤μ:

[0125] ;

[0126] The system adjusts φ from 20° to 28° and simultaneously corrects the working face orientation angle.

[0127] Step 3: Group support coordinated action

[0128] Adjustment execution: The control center issues a pseudo-hitch angle adjustment command to all hydraulic supports. Each support drives its base via a hydraulic cylinder to adjust its position and posture according to the new pseudo-hitch angle φ=28°. The adjustment time for a single support is ≤8s.

Claims

1. A method for moving a hydraulic support in a steeply inclined fully mechanized mining face, characterized in that, Includes the following steps: S1. Build an intelligent control system; the intelligent control system includes a sensor network, edge computing nodes, and execution modules; the sensor network integrates MEMS tilt sensors, pressure sensors, laser rangefinders, and acoustic emission sensors; S2. Real-time data acquisition of coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F via the sensor network. d Simultaneously monitor the number n of adjacent empty roof supports; S3. Adopt a grouped staggered frame transfer strategy, and forcefully retain at least 3 consecutive sets of top-mounted supports during the frame transfer process; When n≥2 is detected, a locking mechanism is triggered to suspend the relocation operation; S4. Plan the arc-shaped ceiling-scraping moving frame trajectory, and use a laser rangefinder to calibrate the base contact pressure distribution in real time to ensure that the contact area with the ceiling is ≥85%; S5: The edge computing node dynamically calculates the critical working resistance based on the slip and tilt instability mechanical model, and dynamically adjusts the hydraulic support force in combination with the collected parameters; when the pressure from the top plate is detected, it switches to the reinforced support mode.

2. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 1, characterized in that, In step S5, the calculation of the critical working resistance includes the following sub-steps: S51. Based on the slip and toppling instability mechanical model, establish multi-parameter coupled mechanical equilibrium equations: (1)； (2)； (3)； (4)； In the formula: G1 is the component of the self-weight G of the support along the dip direction of the working face; G3 is the component of the force in the strike direction; G2 is the component of the force perpendicular to the bottom plate of the working face; Q1 is the component of the self-weight of the gangue in the dip direction; Q2 is the component of the force perpendicular to the shield beam; Q3 is the component of the force along the strike direction of the pseudo-inclined working face; μ is the friction coefficient; h is the mining height; b is the center distance of the support; W is the length of the shield beam; η is the angle between the shield beam and the normal of the top beam; Y is the distance between the shield beam and the bottom plate; L is the length of the support base; S is the distance from the center of gravity of the support to the tail beam; Z is the length of the top beam; X is the distance from the column to the front end of the top beam; D is the distance from the top beam of the support to the tail beam. S52. The coal seam dip angle θ, pseudo-inclination angle φ, mining height h, friction coefficient μ, and roof load F collected in step S2 are used to... d Input the mechanical equilibrium equation and dynamically calculate the minimum critical working resistance T1 under the conditions of downward / upward mining.

3. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 2, characterized in that, In step S2, the maximum allowable number of empty ceilings is set to a threshold of n≤3; when step S2 detects that n exceeds the limit, in step S5 the system automatically increases the hydraulic support force or adjusts the pseudo-angle φ to meet the stability boundary condition tanθ·cosφ≤μ.

4. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 2, characterized in that, In step S5, when the system switches to the reinforced support mode, the critical working resistance after the superposition of the roof fracture load is calculated: (5)； (6)； Where F1 is the frictional force between the top plate and the support.

5. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 1, characterized in that, In step S4, the radius of curvature R of the arc-shaped top-scraping frame movement trajectory and the offset Δx of the frame's center of gravity satisfy the following relationship: R=Δx2sin(θ / 2)R=2sin(θ / 2)Δx; 。 6. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 4, characterized in that, In step S5, the pseudo-slope angle φ is optimized in real time using a dynamic correlation formula with the critical slip angle θ: （7）； The pseudo-angle φ is adjusted by driving the base with a hydraulic cylinder. The adjustment time for a single bracket is ≤10s, and the synchronization error for group adjustment is ≤2°.

7. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 6, characterized in that, In step S5, the detection of pressure on the top plate is achieved by a combination of acoustic emission sensor and pressure surge criterion. When the detected energy release is ≥200J and the pressure increase is ≥30%, the reinforced support mode is triggered.

8. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 4, characterized in that, In step S51, the mechanical equilibrium equation incorporates the number of adjacent open-top supports, n, to establish a nonlinear mapping relationship between n and T1, dynamically correcting the output threshold of the critical working resistance T1. （8）。 9. The method for moving a hydraulic support in a steeply inclined fully mechanized mining face as described in claim 3, characterized in that, In step S5, when adjusting the pseudo-oblique angle φ, the working surface orientation angle is simultaneously corrected to ensure that the group of supports maintains stable posture in coordination according to the optimized pseudo-oblique angle.

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