Abstract: In view of the problems existing in the automatic following logic of hydraulic support electro-hydraulic control system, the parameter setting of the maximum waiting time of support shifting is mostly based on manual experience and the parameter is static to lead to the slow moving speed of equipment following the supports, the factors affecting the shifting speed of hydraulic support are analyzed, and the confidence interval estimation of the historical shifting time using mathematical statistics algorithm is proposed to determine the mathematical model of the shifting time of hydraulic support. As the production process progresses, the model is updated iteratively with the new shelving time data to achieve dynamic optimization. This method has been applied in practical test in fully mechanized mining face, and the application results show that it has the characteristics of simple calculation and accurate data.