The hydraulic support liquid supply system provided power for the hydraulic support, serving as the core to ensure safe support of the coal mining face and to maintain continuous, efficient, and stable advancement of the coal mining operations. The hydraulic support faced complex loads while operating on the fully mechanized mining face. To meet the requirement of rapidly following the coal mining machine’s movement, numerous actuators of the hydraulic support frequently performed sequential actions, and the liquid demand of the hydraulic support varied strongly over time, causing the hydraulic system to endure constant pressure and flow shocks, making it difficult to ensure the production efficiency and equipment reliability of comprehensive working face. This study analyzed the pressure and flow characteristics of the liquid supply system during the periodic actions of the hydraulic support. To address the strong time-varying load and liquid demand during the simultaneous actions of the hydraulic support, an Extended State Observer (ESO) was designed for observation and compensation. An Active Disturbance Rejection Control (ADRC) method suitable for the configuration of a rapid pump-controlled liquid replenishment and pressure stabilization system was proposed, and a co-simulation model of the mechanical and control systems was developed by comparing indicators such as the pressure fluctuation amplitude and the execution time of the hydraulic support actions. The pressure stabilization control effects of the ADRC method, the PID control method, and the traditional multi-pump coordinated liquid supply mode under typical time-varying conditions were analyzed and compared. A simulation test system was constructed to validate the results, demonstrating that the ADRC rapid fluid replenishment and pressure stabilization control method can suppress load disturbances, reduce the system pressure fluctuation amplitude by 20.8%, and shorten the hydraulic support operation time by 2.6%.

The straightness control of a fully mechanized working face is the key technology used in intelligent coal mining, so the position control of a hydraulic support multi-cylinder moving system is of great significance. However, due to the harsh environment of coal mines, complex friction, external disturbances, and the coupling relationship between adjacent cylinders, the accuracy of position control is restricted. Therefore, an output cooperative controller is proposed in this paper for a multi-cylinder system. A high-order sliding mode observer is utilized to estimate the system states with the only available output position signal. A neural network disturbance observer is applied to estimate the lump disturbance of the strict-feedback model, including the system uncertainty, disturbance force and the coupling force between adjacent cylinders. Then, continuous motion position tracking simulation is conducted and the estimation performance of the state observer and neural network is analyzed. Furthermore, a multi-cylinder collaborative control test rig is designed, and experiments based on the actual actions of the hydraulic support are conducted. The results show that the proposed output cooperative controller has an excellent position control performance compared with the traditional proportional–integral controller.