A fishing boat stability control method and system adapted to wind and wave environment

Abstract

The present invention discloses a method and system for stabilizing and controlling a fishing vessel in an adaptive wind and wave environment, and relates to the technical field of stabilizing and controlling a fishing vessel. The method obtains hull posture data and sea condition data in real time by installing a posture sensing module and a sea condition sensing module on a fishing vessel, and predicts future wind and wave forces Fwave in combination with a nonlinear hull sway model and a long short-term memory network model LSTM. The technical solution can effectively evaluate the impact of the current sea conditions on the stability of the hull, timely trigger the deck support adaptive adjustment mechanism, adjust the deck support force, and optimize the stability of the hull. When the wind and wave force exceeds the preset wind and wave threshold Fth, the present invention can automatically adjust the deck support force, thereby effectively reducing the hull roll amplitude and ensuring the stability and safety of the fishing vessel operation. Compared with the prior art, the present invention avoids the problem of hull instability caused by wind and wave changes through real-time wind and wave prediction and adaptive adjustment.

Description

Technical Field

[0001] The present invention relates to the technical field of fishing boat stability control, and in particular to a fishing boat stability control method and system that are adaptive to wind and wave environments. Background Art

[0002] With the continuous development of fishing operations, the design of modern fishing vessels is no longer limited to traditional hull structures, but pays more attention to the safety and comfort of operations under severe sea conditions. The deck of a fishing vessel plays a key role in the stability of the ship, especially under high wind and wave conditions, the crew's working environment and the normal operation of equipment are often greatly affected. Therefore, how to effectively adjust and optimize the stability of the fishing vessel deck, reduce deck sway, and improve operating efficiency and crew comfort is an important issue facing the current fishing vessel design field. The adaptive wind and wave environment control system, combined with advanced sensing and control technology, can dynamically adjust the support and stability of the deck, becoming the core technology to solve this problem.

[0003] At present, the stability adjustment of fishing boat decks mostly relies on traditional rigid support systems and mechanical equipment. These systems often cannot respond quickly and accurately when dealing with changes in wind and waves. Although some advanced hydraulic or pneumatic support devices are used for deck stability adjustment, these devices still have problems such as response delay, poor adaptability and low energy efficiency. In the case of rapid changes in wind and wave environment, it is difficult for traditional support systems to accurately adjust the flexible support and pressure distribution of the deck, resulting in large shaking of the hull during operation, affecting the accuracy of operation and the safety of crew members. In addition, existing technologies often lack the ability to evaluate and predict the stability of the deck in real time, and cannot make adaptive adjustments according to changes in wind and waves and hull status. Therefore, the seismic resistance of the deck cannot be fully utilized, and it is difficult to cope with complex and changeable sea conditions. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a method and system for stabilizing and controlling a fishing boat that is adaptive to wind and wave environments, which solves the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention is implemented by the following technical scheme: comprising the following steps:

[0006] S1. Installing a posture sensing module and a sea condition sensing module on the hull to obtain posture data and sea condition data in real time, and transmitting the posture data and sea condition data to the fishing boat deck control system by wireless;

[0007] S2. Processing the hull attitude data and sea condition data in the fishing vessel deck control system, obtaining the deck stability feature vector, and constructing a time series database, and writing the deck stability feature vector into the time series database for data storage;

[0008] S3. Construct a nonlinear hull sway model, extract the deck stability feature vector and input it into the nonlinear hull sway model, use a nonlinear differential equation to calculate and output the wind and wave force Fwave, construct a long short-term memory network model LSTM, input the obtained wind and wave force Fwave into the long short-term memory network model LSTM, output the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and set the wind and wave threshold Fth to perform preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and trigger the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results;

[0009] S4. Based on the preliminary comparative evaluation results, the deck support adaptive adjustment mechanism is executed. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness Ks, so as to optimize and adjust the support force of the deck;

[0010] S5. Calculate the deviation between the calculated deck support force adjustment value Fs and the expected value, output the support adjustment deviation value E, and perform a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

[0011] Preferably, said S1 includes S11 and S12;

[0012] S11, by installing sea condition sensing modules on both sides of the fishing boat, and installing attitude sensing modules around and on the bottom of the fishing boat deck, the attitude data and sea condition data of the fishing boat hull are collected in real time;

[0013] The attitude sensing module includes a deck pressure sensor, an IMU inertial measurement unit, a torque sensor and a gyroscope;

[0014] The sea condition sensing module includes a wave direction monitoring device;

[0015] The attitude data include the instantaneous pressure value P of the deck, the roll angle O of the hull, the upper limit value Mmax of the moment applied to the deck support point, and the lower limit value Mmin of the moment applied to the deck support point;

[0016] The sea condition data includes wave crest height H;

[0017] S12. By setting up wireless satellite signals, the sea condition sensing module and the attitude sensing module are wirelessly connected to the fishing vessel deck control system, and the attitude data and sea condition data are transmitted to the fishing vessel deck control system.

[0018] Preferably, S2 includes S21 and S22;

[0019] S21, receiving attitude data and sea state data in real time in a deck control system, and performing data processing on the attitude data and the sea state data, wherein the data processing includes timestamp marking, filtering, feature extraction and normalization processing to obtain a deck stability feature vector;

[0020] The timestamp marking is performed by marking the attitude data and the sea state data with a timestamp, and the marked timestamp is the time when the data is collected;

[0021] The filtering may eliminate measurement noise by using a Kalman filter algorithm;

[0022] The feature extraction is used to extract features based on the acquired attitude data and sea state data to obtain a deck stability feature vector;

[0023] The normalization process eliminates the dimension effect based on the mean and standard deviation of each parameter in the deck stability feature vector by using the Z-score normalization method;

[0024] The deck stability characteristic vector includes the hull roll angle O, the surface wave group amplitude change rate BH, the deck local pressure distribution change Pd, the wave direction angle drift rate Py and the support point moment distribution ratio Mr;

[0025] S22. Build a time series database, set a write port, a write port and a historical data storage table, store the real-time acquired deck stability feature vector into the time series database through the write port, and automatically transfer the last stored deck stability feature vector into the historical data storage table and sort it according to the time series.

[0026] Preferably, said S3 includes S31, S32 and S33;

[0027] S31. Construct a nonlinear differential equation, and extract the hull roll angle O from the time series database through the write port, input it into the nonlinear differential equation, calculate and output the wind and wave force Fwave, analyze the swaying motion of the fishing boat under the action of wind and waves, and store the wind and wave force Fwave obtained each time in the time series database.

[0028] Preferably, S32, by constructing a long short-term memory network model LSTM, extracting the deck stability feature vector and the wind and wave force Fwave in the history storage table through the write port, inputting them into the long short-term memory network model LSTM, training the long short-term memory network model LSTM, and predicting the wind and wave force changes from the future time t+1 to t+T, and then inputting the currently obtained deck stability feature vector and wind and wave force Fwave into the long short-term memory network model LSTM, and outputting the wind and wave force Fwave (t+1→t+T) at the future time T, wherein T represents the prediction duration, t+1 represents the next time, and (t+1→t+T) represents the next time to the time t+T;

[0029] S33, setting the wind and wave level according to different wave crest heights H, and then setting the empirical coefficient jy according to the wind and wave level, and combining the mass of the fishing boat Mship, calculating and outputting the wind and wave threshold Fth, the specific algorithm of the wind and wave threshold Fth is: ;

[0030] A preliminary comparative evaluation is conducted between the wind and wave threshold Fth and the wind and wave force Fwave (t+1→t+T) at the future time T to analyze the impact of wind and waves on the hull, and the overtime support adaptive adjustment mechanism is triggered based on the preliminary comparative evaluation results. The specific evaluation contents are as follows;

[0031] When the wind and wave force Fwave (t+1→t+T) at the future time T is less than the wind and wave threshold Fth, it means that the wind and waves have a normal impact on the stability of the fishing boat and there is no need to adjust the deck shock absorber;

[0032] When the wind and wave force Fwave (t+1→t+T) at the future time T is ≥ the wind and wave threshold Fth, it means that the wind and waves have an abnormal impact on the stability of the fishing boat, and the deck support adaptive adjustment mechanism is triggered.

[0033] Preferably, said S4 includes S41 and S42;

[0034] S41. When the preliminary comparison and assessment shows that the wind and waves have an abnormal effect on the stability of the fishing boat, the deck support adaptive adjustment mechanism is triggered, and the deck support adaptive adjustment mechanism includes dynamic deck hydraulic adjustment and deck support torque adjustment;

[0035] The dynamic deck hydraulic adjustment extracts the support stiffness of the deck at the current moment and combines it with the change in the local pressure distribution Pd of the deck to calculate and output the deck support stiffness Ks, and sends a signal of the deck support stiffness Ks from the fishing boat deck control system to the hydraulic support system to adjust the stiffness of the fishing boat deck;

[0036] The deck support stiffness Ks is calculated and outputted by the following algorithm formula;

[0037] ;

[0038] Where Ks(t+1) represents the predicted deck support stiffness at the next moment, Ks(t) represents the deck support stiffness at the current moment t, It represents the gain control coefficient, and Pset represents the set reference pressure.

[0039] Preferably, S42, the deck support moment adjustment is performed by extracting and predicting the deck support stiffness Ks (t+1) at the next moment, combining the deck stability characteristic vector, calculating and outputting the deck support force adjustment value Fs, and according to the output deck support force adjustment value Fs, the deck control system sends a signal to the hydraulic support system to adjust the support force of the fishing boat deck;

[0040] The deck support force adjustment value Fs is calculated and outputted by the following algorithm formula:

[0041] ;

[0042] Where e represents an exponential function.

[0043] Preferably, said S5 includes S51 and S52;

[0044] S51, based on the currently output deck support force adjustment value Fs, perform error calculation with the expected value, output the support adjustment deviation value E, and analyze the effect of the deck adjustment;

[0045] The support adjustment deviation value E is calculated and output by the following algorithm formula:

[0046] ;

[0047] Where Z represents the total number of support points, Fsj represents the deck support force adjustment value of the jth support point, Denotes the expected deck support force adjustment value for the j-th support point.

[0048] Preferably, S52, based on the output result of the support adjustment deviation value E, a secondary comparative evaluation is performed to analyze the adjustment of the deck support force after adjustment, and an iterative mechanism is generated based on the evaluation result. The specific evaluation content is as follows;

[0049] When the support adjustment deviation value E≥0, it means that the deck adjustment is normal and no adjustment is needed;

[0050] When the support adjustment deviation value E is less than 0, it indicates that the deck adjustment does not meet the expected expectation. At this time, based on the currently adjusted deck support stiffness Ks, an iterative adjustment is performed to output the deck support force adjustment value Fs until the deck adjustment is normal and the iterative adjustment is stopped.

[0051] A fishing boat stability control system that is adaptive to wind and wave environments, comprising a stability perception module, a perception processing module, a wind and wave impact prediction module, a deck support system intelligent adjustment module, and a real-time feedback and optimization module;

[0052] The stability sensing module obtains attitude data and sea condition data in real time by installing an attitude sensing module and a sea condition sensing module on the hull, and transmits the attitude data and sea condition data to the fishing boat deck control system by wireless transmission;

[0053] The perception processing module processes the hull attitude data and sea condition data in the fishing boat deck control system to obtain the deck stability feature vector, and constructs a time series database, and writes the deck stability feature vector into the time series database for data storage;

[0054] The wind and wave impact prediction module constructs a nonlinear hull sway model, extracts the deck stability feature vector and inputs it into the nonlinear hull sway model, uses a nonlinear differential equation to calculate and output the wind and wave force Fwave, constructs a long short-term memory network model LSTM, inputs the obtained wind and wave force Fwave into the long short-term memory network model LSTM, outputs the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and sets a wind and wave threshold Fth to perform preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and triggers the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results;

[0055] The intelligent adjustment module of the deck support system executes the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness Ks, so as to optimize and adjust the support force of the deck;

[0056] The real-time feedback and optimization module calculates the deviation between the calculated deck support force adjustment value Fs and the expected value, outputs the support adjustment deviation value E, and performs a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

[0057] The present invention provides a method and system for stabilizing and controlling a fishing boat in an adaptive wind and wave environment. The method has the following beneficial effects:

[0058] (1) This method obtains hull posture data and sea condition data in real time by installing a posture sensing module and a sea condition sensing module on the fishing boat, and combines the nonlinear hull sway model and the long short-term memory network model LSTM to predict the future wind and wave force Fwave. This technical solution can effectively evaluate the impact of the current sea conditions on the hull stability, timely trigger the deck support adaptive adjustment mechanism, adjust the deck support force, and optimize the hull stability. When the wind and wave force exceeds the preset wind and wave threshold Fth, the present invention can automatically adjust the deck support force, thereby effectively reducing the hull roll amplitude and ensuring the stability and safety of the fishing boat operation. Compared with the prior art, the present invention avoids the hull instability problem caused by wind and wave changes through real-time wind and wave prediction and adaptive adjustment, and significantly improves the operation safety of fishing boats in severe sea conditions.

[0059] (2) This method can accurately calculate and adjust the deck support stiffness and support force through intelligent processing based on the hull posture and sea condition data, thereby reducing the violent swaying of the hull caused by wind and waves and reducing the safety risks of the crew during operation. When implementing the deck support force adjustment, a support stiffness calculation method based on the change in local pressure distribution Pd of the deck is adopted, so that it can respond more accurately to the actual needs under different sea conditions. By dynamically adjusting the deck support stiffness and support torque, the present invention effectively avoids equipment damage caused by uneven local pressure on the deck and optimizes the operating conditions. This automated adjustment mechanism not only protects the fishing boat deck and its equipment and extends the service life of the equipment, but also greatly improves the operating efficiency of the fishing boat under complex sea conditions and avoids the efficiency loss caused by the swaying of the hull.

[0060] (3) By adopting the long short-term memory network LSTM model, the present invention can accurately predict the future wind and wave force Fwave based on historical sea conditions and attitude data, and conduct a preliminary evaluation in combination with the wind and wave threshold Fth. When the prediction results show that the future wind and wave force Fwave exceeds the wind and wave threshold Fth, the adaptive adjustment of the deck support force is automatically triggered. By calculating the output deck support force adjustment value Fs and calculating the deviation from the expected value, the present invention can optimize the performance of the deck support system in real time. When the support adjustment deviation value E is large, the iterative mechanism will be triggered, and the deck support force will be adjusted continuously until the expected effect is achieved. This iterative optimization based on data feedback not only improves the accuracy of the adjustment, but also reduces human intervention, ensuring the stability and operation reliability of the fishing boat under different sea conditions. Compared with traditional technologies, the present invention provides a more intelligent, real-time and accurate adaptive control method, which greatly improves the response capability of fishing boats in changing environments and the continuous stability of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1A schematic diagram of the steps of a fishing boat stability control method for adaptive wind and wave environment according to the present invention;

[0062] Figure 2 This is a schematic flow chart of a fishing boat stability control system that is adaptive to wind and wave environments according to the present invention;

[0063] Figure 3 The present invention is a nonlinear differential equation curve chart of a fishing boat stability control method for adaptive wind and wave environment. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] Example 1: Please refer to Figure 1 The present invention provides a method for stabilizing and controlling a fishing boat in an adaptive wind and wave environment. To achieve the above object, the present invention is implemented by the following technical scheme: comprising the following steps:

[0066] S1. Installing a posture sensing module and a sea condition sensing module on the hull to obtain posture data and sea condition data in real time, and transmitting the posture data and sea condition data to the fishing boat deck control system by wireless;

[0067] S2. Processing the hull attitude data and sea condition data in the fishing vessel deck control system, obtaining the deck stability feature vector, and constructing a time series database, and writing the deck stability feature vector into the time series database for data storage;

[0068] S3. Construct a nonlinear hull sway model, extract the deck stability feature vector and input it into the nonlinear hull sway model, use nonlinear differential equations to calculate and output the wind and wave force Fwave, construct a long short-term memory network model LSTM, input the obtained wind and wave force Fwave into the long short-term memory network model LSTM, output the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and set the wind and wave threshold Fth to conduct preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and trigger the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results;

[0069] S4. Based on the preliminary comparative evaluation results, the deck support adaptive adjustment mechanism is executed. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness calculation Ks, so as to optimize and adjust the deck support force;

[0070] S5. Calculate the deviation between the calculated deck support force adjustment value Fs and the expected value, output the support adjustment deviation value E, and perform a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

[0071] In this embodiment, during the implementation of the method, firstly, by installing a posture sensing module and a sea state sensing module on the hull, the hull posture data and sea state data are obtained in real time. These data are transmitted to the control system of the fishing boat deck through wireless transmission technology, providing basic data for subsequent hull stability analysis. In the deck control system, these hull posture data and sea state data are further processed to generate a deck stability feature vector, and the deck stability feature vector is stored in the time series database for long-term data storage, providing sustainable data support for subsequent calculations and analysis. Next, a nonlinear hull swaying model is constructed, and the extracted deck stability feature vector is input into the model to calculate the wind and wave force Fwave by a nonlinear differential equation. In order to predict the impact of future wind and waves on the hull, the wind and wave force Fwave is further input into the long short-term memory network LSTM model to predict the wind and wave force Fwave (t+1→t+T) at the future time T. By setting the wind and wave threshold Fth and comparing and evaluating it with the predicted value, it is possible to timely judge whether the intensity of the wind and wave exceeds the preset safety range. If the wind and wave threshold Fth is exceeded, the deck support adaptive adjustment mechanism will be triggered to ensure the stability of the hull. By executing the deck support adaptive adjustment mechanism, the deck support stiffness Ks is calculated and output, and the deck support force is adjusted based on the support stiffness to ensure the stability of the hull in fluctuations. The optimized adjustment of the support force helps reduce the swaying of the hull caused by unstable sea conditions and improves operational efficiency and safety. Finally, the deviation between the calculated deck support force adjustment value Fs and the expected value is calculated, and the support adjustment deviation value E is output. Combined with the secondary comparative evaluation results, the adjustment effect of the deck support system is further analyzed. This process enables the support system to be continuously optimized and adjusted to ensure that the hull always maintains optimal stability and performance in changing sea conditions.

[0072] Example 2: Please refer to Figure 1 , specifically: S1 includes S11 and S12;

[0073] S11, by installing sea condition sensing modules on both sides of the fishing boat, and installing attitude sensing modules around and on the bottom of the fishing boat deck, the attitude data and sea condition data of the fishing boat hull are collected in real time;

[0074] The attitude sensing module includes a deck pressure sensor, an IMU inertial measurement unit, a torque sensor, and a gyroscope;

[0075] The sea condition sensing module includes a wave direction monitoring device;

[0076] The attitude data include the instantaneous pressure value P of the deck, the roll angle O of the hull, the upper limit value Mmax of the moment on the deck support point, and the lower limit value Mmin of the moment on the deck support point;

[0077] Sea state data include wave crest height H;

[0078] S12. By setting up wireless satellite signals, the sea condition sensing module and the attitude sensing module are wirelessly connected to the fishing vessel deck control system, and the attitude data and sea condition data are transmitted to the fishing vessel deck control system.

[0079] In this embodiment, the method can monitor attitude data and sea condition data in real time through attitude sensing module and sea condition sensing module. In order to realize real-time data transmission, the sea condition sensing module and attitude sensing module are connected to the deck control system of the fishing boat through wireless satellite signals to ensure that all collected attitude data and sea condition data can be transmitted to the deck control system in real time for processing. This wireless connection method not only improves the efficiency and real-time performance of data transmission, but also ensures the rapid response of the fishing boat in complex sea conditions. Through the above steps, the method realizes comprehensive and real-time monitoring of the attitude and sea conditions of the fishing boat, and provides accurate data support for subsequent hull stability analysis and adjustment.

[0080] Example 3: Please refer to Figure 1 , specifically: S2 includes S21 and S22;

[0081] S21, receiving attitude data and sea state data in real time in the deck control system, and performing data processing on the attitude data and the sea state data, wherein the data processing includes timestamp marking, filtering, feature extraction and normalization processing to obtain a deck stability feature vector;

[0082] Timestamp marking is done by marking the attitude data and sea state data with timestamps, and the marked timestamp is the time when the data is collected;

[0083] Filtering removes measurement noise by using the Kalman filter algorithm;

[0084] Feature extraction is used to extract features based on the acquired attitude data and sea state data to obtain a deck stability feature vector;

[0085] Normalization was performed to eliminate the dimension effect by using the Z-score normalization method based on the mean and standard deviation of each parameter in the deck stability feature vector;

[0086] The deck stability characteristic vectors include the hull roll angle O, the surface wave group amplitude change rate BH, the deck local pressure distribution change Pd, the wave direction angle drift rate Py and the support point moment distribution ratio Mr;

[0087] The water surface wave group amplitude change rate BH is calculated and extracted based on the current water surface wave crest height H. The specific extraction formula is: , where H t Indicates the peak height at the current time t, H t+1 Indicates the peak height at the next moment;

[0088] The change in local pressure distribution Pd of the deck is calculated and extracted based on the instantaneous pressure value P of the deck in different areas of the current deck surface. The specific extraction formula is: , where P i represents the instantaneous pressure value of the deck in the ith area, Pavg represents the average pressure of the entire deck, and N represents the total number of sensors;

[0089] The wave direction angular drift rate Py is calculated and extracted based on the hull roll angle O. The specific extraction formula is: , where O t+1 Indicates the ship's roll angle at the next moment, O t represents the roll angle at the current time t, and △t represents the time interval;

[0090] The moment distribution ratio Mr of the support point is calculated and extracted based on the upper limit value Mmax of the moment at the deck support point and the lower limit value Mmin of the moment at the deck support point. The specific extraction formula is: ;

[0091] S22. Build a time series database, set a write port, a write port and a historical data storage table, store the real-time acquired deck stability feature vector into the time series database through the write port, and automatically transfer the last stored deck stability feature vector into the historical data storage table and sort it according to the time series.

[0092] In this embodiment, the method uses a timestamp to mark each set of attitude data and sea state data to ensure the timeliness and accuracy of data collection. Next, the Kalman filter algorithm is used to filter the data to remove noise and improve the accuracy of the data. Feature extraction extracts the deck stability feature vector based on the acquired attitude data and sea state data, which corresponds to key parameters such as hull stability, pressure distribution, and wave changes. In addition, the normalization process uses the Z-score standardization method to standardize each feature, eliminate the dimensional effect, so that each feature can be better analyzed in the same scale. In order to achieve long-term storage and query of data, a time series database is constructed, and a write port, a write port and a historical data storage table are set. The real-time deck stability feature vector is stored in the time series database through the write port, and the historical data is automatically transferred to the historical data storage table and sorted in chronological order. This method effectively ensures the efficient storage of data and the convenience of subsequent query.

[0093] Example 4: Please refer to Figure 1 and Figure 3 , specifically: S3 includes S31, S32 and S33;

[0094] S31, construct a nonlinear differential equation, and extract the hull roll angle O in the time series database through the write port, input it into the nonlinear differential equation, calculate and output the wind and wave force Fwave, analyze the swaying motion of the fishing boat under the action of wind and waves, and store the wind and wave force Fwave obtained each time in the time series database;

[0095] The wind and wave force Fwave is calculated and output by the following nonlinear differential equation:

[0096] ;

[0097] Where J represents the moment of inertia of the fishing boat, C represents the total damping coefficient, K represents the restoring force coefficient, which is input by the user based on the actual physical characteristics of the fishing boat and takes the normalized value, d represents the integral sign, and dt represents the time calculus. represents the moment of inertia, the angular acceleration of the ship due to inertia, is the angular velocity of the fishing boat, represents the damping torque, the angular velocity damping effect caused by hydrodynamic and aerodynamic forces, represents the angular velocity, It represents the restoring moment, that is, when the ship rolls, the restoring effect caused by gravity and buoyancy makes the hull return to a stable state.

[0098] S32. By constructing a long short-term memory network model LSTM, extracting the deck stability feature vector and wind and wave force Fwave in the history storage table through the write port, inputting them into the long short-term memory network model LSTM, training the long short-term memory network model LSTM, and predicting the wind and wave force changes from time t+1 to time t+T in the future, and then inputting the currently obtained deck stability feature vector and wind and wave force Fwave into the long short-term memory network model LSTM, outputting the wind and wave force Fwave (t+1→t+T) at time T in the future, where T represents the prediction time, t+1 represents the next time, and (t+1→t+T) represents the next time to time t+T;

[0099] S33, setting the wind and wave level according to different wave crest heights H, and then setting the empirical coefficient jy according to the wind and wave level, and combining the mass of the fishing boat Mship, calculating and outputting the wind and wave threshold Fth. The specific algorithm of the wind and wave threshold Fth is: ;

[0100] A preliminary comparative evaluation is conducted between the wind and wave threshold Fth and the wind and wave force Fwave (t+1→t+T) at the future time T to analyze the impact of wind and waves on the hull, and the overtime support adaptive adjustment mechanism is triggered based on the preliminary comparative evaluation results. The specific evaluation contents are as follows;

[0101] When the wind and wave force Fwave (t+1→t+T) at the future time T is less than the wind and wave threshold Fth, it means that the wind and waves have a normal impact on the stability of the fishing boat and there is no need to adjust the deck shock absorber;

[0102] When the wind and wave force Fwave (t+1→t+T) at the future time T is ≥ the wind and wave threshold Fth, it means that the wind and waves have an abnormal impact on the stability of the fishing boat, and the deck support adaptive adjustment mechanism is triggered.

[0103] In this embodiment, the method constructs a nonlinear differential equation model and uses the hull roll angle data O to calculate the wind and wave force Fwave, thereby analyzing the swaying motion of the fishing boat under the action of wind and waves. By inputting the physical characteristic parameters of the hull and combining physical phenomena such as angular velocity, damping torque and restoring torque, the nonlinear differential equation can accurately output the wind and wave force Fwave. This process stores the wind and wave force data calculated each time into the time series database, ensuring the real-time update and traceability of the data. Secondly, by constructing a long short-term memory network LSTM model, it can be trained based on the deck stability feature vector and wind and wave force data in the historical storage table to predict the wind and wave force changes in the future (t+1 to t+T). This prediction capability enables the foreseeing of future sea state changes in actual operations and making stability adjustments in advance. By inputting the real-time deck stability feature vector and wind and wave force data into the LSTM model, the wind and wave force at the future moment can be output, further enhancing the accuracy and reliability of the prediction. Finally, the wind and wave level is set according to different wave crest heights H, and the wind and wave threshold Fth is calculated in combination with the fishing boat's own mass Mship and the empirical coefficient jy, as shown in Table 1. This wind and wave threshold Fth is compared and evaluated with the wind and wave force Fwave at the future time T. When the predicted wind and wave force Fwave is less than the wind and wave threshold Fth, it indicates that the wind and waves have a normal effect on the stability of the hull and no adjustment is required; but when the predicted wind and wave force Fwave is greater than or equal to the wind and wave threshold Fth, it indicates that the wind and waves have an abnormal effect on the stability of the hull, which will trigger the deck support adaptive adjustment mechanism, thereby optimizing the stability and safety of the hull.

[0104] Table 1: Details of wind and wave threshold Fth settings;

[0105]

[0106] Example 5: Please refer to Figure 1 , specifically: S4 includes S41 and S42;

[0107] S41. When the preliminary comparison and assessment shows that the wind and waves have an abnormal impact on the stability of the fishing vessel, the deck support adaptive adjustment mechanism is triggered. The deck support adaptive adjustment mechanism includes dynamic deck hydraulic adjustment and deck support torque adjustment;

[0108] Dynamic deck hydraulic adjustment extracts the current deck support stiffness and combines it with the deck local pressure distribution change Pd to calculate and output the deck support stiffness Ks, and sends a signal of the deck support stiffness Ks from the fishing boat deck control system to the hydraulic support system to adjust the stiffness of the fishing boat deck.

[0109] The deck support stiffness Ks is calculated and output by the following algorithm formula;

[0110] ;

[0111] In the formula, Ks(t+1) represents the predicted deck support stiffness at the next moment, and Ks(t) represents the deck support stiffness at the current moment t, which is obtained by normalization after extraction from the hydraulic support system. It represents the gain control coefficient, which determines the speed of stiffness adjustment. Pset represents the set reference pressure, which is a normalized value.

[0112] S42, deck support moment adjustment: by extracting and predicting the deck support stiffness Ks (t+1) at the next moment, combined with the deck stability eigenvector, the deck support force adjustment value Fs is calculated and outputted, and according to the output deck support force adjustment value Fs, the deck control system sends a signal to the hydraulic support system to adjust the support force of the fishing vessel deck;

[0113] The deck support force adjustment value Fs is calculated and output by the following algorithm formula;

[0114] ;

[0115] Where e represents an exponential function.

[0116] In this embodiment, when the method shows that the impact of wind and waves on the stability of the fishing boat is abnormal through preliminary evaluation, the deck support adaptive adjustment mechanism will be triggered to ensure the stability of the hull and the safety of operation. The deck support adaptive adjustment mechanism includes two parts: dynamic deck hydraulic adjustment and deck support moment adjustment. First, the dynamic deck hydraulic adjustment extracts the support stiffness Ks of the current deck and the change in the local pressure distribution Pd of the deck in real time, predicts the deck support stiffness Ks using a calculation formula, and transmits the stiffness value to the hydraulic support system. The hydraulic support system adjusts the stiffness of the deck according to this signal to ensure that the hull remains stable under changing sea conditions. Then, the deck support moment adjustment extracts the predicted deck support stiffness Ks (t+1) at the next moment, combines the deck stability eigenvector, and calculates and outputs the deck support force adjustment value Fs. This value is output through the control algorithm and transmitted to the hydraulic support system to adjust the support force of the deck. The calculation of the deck support force adjustment value adopts the form of an exponential function, which further improves the flexibility and accuracy of the adjustment, ensures that it can respond quickly when the wind and waves change drastically, and optimizes the support force of the deck. Through this implementation, when wind and waves have an abnormal impact on the stability of the fishing boat, the deck support adaptive adjustment mechanism can be automatically triggered to accurately adjust the deck support stiffness and support force. This dynamic adjustment mechanism significantly improves the adaptability and stability of fishing boats in harsh sea conditions, ensuring that the hull can quickly restore balance when facing complex waves, reducing the negative impact of hull swaying on operating efficiency and safety.

[0117] Example 6: Please refer to Figure 1, specifically: S5 includes S51 and S52;

[0118] S51, based on the currently output deck support force adjustment value Fs, perform error calculation with the expected value, output the support adjustment deviation value E, and analyze the effect of the deck adjustment;

[0119] The support adjustment deviation value E is calculated and output by the following algorithm formula;

[0120] ;

[0121] Where Z represents the total number of support points, Fsj represents the deck support force adjustment value of the jth support point, Denotes the expected deck support force adjustment value for the j-th support point.

[0122] S52, based on the output result of the support adjustment deviation value E, a secondary comparative evaluation is performed to analyze the adjustment of the deck support force after adjustment, and an iterative mechanism is generated based on the evaluation result. The specific evaluation contents are as follows;

[0123] When the support adjustment deviation value E≥0, it means that the deck adjustment is normal and no adjustment is needed;

[0124] When the support adjustment deviation value E is less than 0, it indicates that the deck adjustment does not meet the expected expectation. At this time, based on the currently adjusted deck support stiffness Ks, an iterative adjustment is performed to output the deck support force adjustment value Fs until the deck adjustment is normal and the iterative adjustment is stopped.

[0125] In this embodiment, the method calculates and outputs the support adjustment deviation value E based on the error between the currently output deck support force adjustment value Fs and the expected value, so as to analyze the effect of the deck adjustment. The calculation of the support adjustment deviation value takes into account the difference between the deck support force adjustment value and the expected value of each support point, ensuring that the adjustment effect of each support point is accurately measured. When the support adjustment deviation value E is greater than or equal to zero, it means that the deck adjustment has reached the expected goal and no further adjustment is required at this time; and when the support adjustment deviation value E is less than zero, it means that the deck adjustment has failed to achieve the expected effect, and a secondary comparative evaluation will be triggered for further adjustment. By performing a secondary comparative evaluation based on the output result of the support adjustment deviation value E, it is analyzed whether the adjusted deck support force meets expectations. If the support adjustment deviation value E is less than zero, the deck support force adjustment value Fs will be recalculated and output based on the current deck support stiffness Ks, and iterative adjustment will be continuously performed until the deck support force adjustment achieves the expected effect. This iterative mechanism ensures that each adjustment can more accurately meet the operating requirements of the fishing vessel and optimize the support force of the deck. This implementation method achieves the purpose of improving the deck adjustment accuracy and response speed, ensuring that the deck support system can be accurately adjusted in complex sea conditions and optimizing the stability of the fishing boat. Through real-time monitoring and feedback adjustment, it can adapt to the changing environment and ensure the safety and operating efficiency of the fishing boat in different sea conditions. The introduction of the iterative mechanism further enhances the reliability and accuracy of the adjustment process, allowing the stability of the hull to be continuously optimized.

[0126] Example 7: Please refer to Figure 1 and Figure 2 , a fishing boat stability control system that is adaptive to wind and wave environment, including a stability perception module, a perception processing module, a wind and wave impact prediction module, a deck support system intelligent adjustment module, and a real-time feedback and optimization module;

[0127] The stability perception module obtains attitude data and sea condition data in real time by installing attitude perception module and sea condition perception module on the hull, and transmits the attitude data and sea condition data to the deck control system of the fishing boat by wireless;

[0128] The perception processing module processes the hull attitude data and sea condition data in the fishing boat deck control system, obtains the deck stability feature vector, builds a time series database, and writes the deck stability feature vector into the time series database for data storage;

[0129] The wind and wave impact prediction module constructs a nonlinear hull sway model, extracts the deck stability feature vector and inputs it into the nonlinear hull sway model, uses a nonlinear differential equation to calculate and output the wind and wave force Fwave, constructs a long short-term memory network model LSTM, inputs the obtained wind and wave force Fwave into the long short-term memory network model LSTM, outputs the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and sets the wind and wave threshold Fth to conduct a preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and triggers the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results;

[0130] The intelligent adjustment module of the deck support system executes the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness Ks, so as to optimize and adjust the deck support force.

[0131] The real-time feedback and optimization module calculates the deviation between the calculated deck support force adjustment value Fs and the expected value, outputs the support adjustment deviation value E, and performs a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

[0132] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A fishing boat stability control method that is adaptive to wind and wave environments, characterized in that: The following steps are involved: S1. Installing a posture sensing module and a sea condition sensing module on the hull to obtain posture data and sea condition data in real time, and transmitting the posture data and sea condition data to the fishing boat deck control system by wireless; S2. Processing the hull attitude data and sea condition data in the fishing vessel deck control system, obtaining the deck stability feature vector, and constructing a time series database, and writing the deck stability feature vector into the time series database for data storage; S3. Construct a nonlinear hull sway model, extract the deck stability feature vector and input it into the nonlinear hull sway model, use a nonlinear differential equation to calculate and output the wind and wave force Fwave, construct a long short-term memory network model LSTM, input the obtained wind and wave force Fwave into the long short-term memory network model LSTM, output the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and set the wind and wave threshold Fth to perform preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and trigger the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results; S4. Based on the preliminary comparative evaluation results, the deck support adaptive adjustment mechanism is executed. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness Ks, so as to optimize and adjust the support force of the deck; S5. Calculate the deviation between the calculated deck support force adjustment value Fs and the expected value, output the support adjustment deviation value E, and perform a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

2. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 1, characterized in that: Said S1 includes S11 and S12; S11, by installing sea condition sensing modules on both sides of the fishing boat, and installing attitude sensing modules around and on the bottom of the fishing boat deck, the attitude data and sea condition data of the fishing boat hull are collected in real time; The attitude sensing module includes a deck pressure sensor, an IMU inertial measurement unit, a torque sensor and a gyroscope; The sea condition sensing module includes a wave direction monitoring device; The attitude data include the instantaneous pressure value P of the deck, the roll angle O of the hull, the upper limit value Mmax of the moment applied to the deck support point, and the lower limit value Mmin of the moment applied to the deck support point; The sea condition data includes wave crest height H; S12. By setting up wireless satellite signals, the sea condition sensing module and the attitude sensing module are wirelessly connected to the fishing vessel deck control system, and the attitude data and sea condition data are transmitted to the fishing vessel deck control system.

3. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 2 is characterized by: The S2 includes S21 and S22; S21, receiving attitude data and sea state data in real time in a deck control system, and performing data processing on the attitude data and the sea state data, wherein the data processing includes timestamp marking, filtering, feature extraction and normalization processing to obtain a deck stability feature vector; The timestamp marking is performed by marking the attitude data and the sea state data with a timestamp, and the marked timestamp is the time when the data is collected; The filtering may eliminate measurement noise by using a Kalman filter algorithm; The feature extraction is used to extract features based on the acquired attitude data and sea state data to obtain a deck stability feature vector; The normalization process eliminates the dimension effect based on the mean and standard deviation of each parameter in the deck stability feature vector by using the Z-score normalization method; The deck stability characteristic vector includes the hull roll angle O, the surface wave group amplitude change rate BH, the deck local pressure distribution change Pd, the wave direction angle drift rate Py and the support point moment distribution ratio Mr; S22. Build a time series database, set a write port, a write port and a historical data storage table, store the real-time acquired deck stability feature vector into the time series database through the write port, and automatically transfer the last stored deck stability feature vector into the historical data storage table and sort it according to the time series.

4. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 3 is characterized by: The S3 includes S31, S32 and S33; S31. Construct a nonlinear differential equation, and extract the hull roll angle O from the time series database through the write port, input it into the nonlinear differential equation, calculate and output the wind and wave force Fwave, analyze the swaying motion of the fishing boat under the action of wind and waves, and store the wind and wave force Fwave obtained each time in the time series database.

5. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 4, characterized in that: S32. By constructing a long short-term memory network model LSTM, extracting the deck stability feature vector and wind and wave force Fwave in the history storage table through the write port, inputting them into the long short-term memory network model LSTM, training the long short-term memory network model LSTM, and predicting the wind and wave force changes from time t+1 to time t+T in the future, and then inputting the currently obtained deck stability feature vector and wind and wave force Fwave into the long short-term memory network model LSTM, outputting the wind and wave force Fwave (t+1→t+T) at time T in the future, where T represents the prediction time, t+1 represents the next time, and (t+1→t+T) represents the next time to time t+T; S33, setting the wind and wave level according to different wave crest heights H, and then setting the empirical coefficient jy according to the wind and wave level, and combining the mass of the fishing boat Mship, calculating and outputting the wind and wave threshold Fth, the specific algorithm of the wind and wave threshold Fth is: ; A preliminary comparative evaluation is conducted between the wind and wave threshold Fth and the wind and wave force Fwave (t+1→t+T) at the future time T to analyze the impact of wind and waves on the hull, and the overtime support adaptive adjustment mechanism is triggered based on the preliminary comparative evaluation results. The specific evaluation contents are as follows; When the wind and wave force Fwave (t+1→t+T) at the future time T is less than the wind and wave threshold Fth, it means that the wind and waves have a normal impact on the stability of the fishing boat and there is no need to adjust the deck shock absorber; When the wind and wave force Fwave (t+1→t+T) at the future time T is ≥ the wind and wave threshold Fth, it means that the wind and waves have an abnormal impact on the stability of the fishing boat, and the deck support adaptive adjustment mechanism is triggered.

6. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 1, characterized in that: The S4 includes S41 and S42; S41. When the preliminary comparison and assessment shows that the wind and waves have an abnormal effect on the stability of the fishing boat, the deck support adaptive adjustment mechanism is triggered, and the deck support adaptive adjustment mechanism includes dynamic deck hydraulic adjustment and deck support torque adjustment; The dynamic deck hydraulic adjustment extracts the support stiffness of the deck at the current moment and combines it with the change in the local pressure distribution Pd of the deck to calculate and output the deck support stiffness Ks, and sends a signal of the deck support stiffness Ks from the fishing boat deck control system to the hydraulic support system to adjust the stiffness of the fishing boat deck; The deck support stiffness Ks is calculated and outputted by the following algorithm formula; ； Where Ks(t+1) represents the predicted deck support stiffness at the next moment, Ks(t) represents the deck support stiffness at the current moment t, It represents the gain control coefficient, and Pset represents the set reference pressure.

7. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 6, characterized in that: S42, the deck support moment adjustment is performed by extracting and predicting the deck support stiffness Ks (t+1) at the next moment, combining the deck stability characteristic vector, calculating and outputting the deck support force adjustment value Fs, and according to the output deck support force adjustment value Fs, the deck control system sends a signal to the hydraulic support system to adjust the support force of the fishing boat deck; The deck support force adjustment value Fs is calculated and outputted by the following algorithm formula: ； Where e represents an exponential function.

8. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 6, characterized in that: The S5 includes S51 and S52; S51, based on the currently output deck support force adjustment value Fs, perform error calculation with the expected value, output the support adjustment deviation value E, and analyze the effect of the deck adjustment; The support adjustment deviation value E is calculated and output by the following algorithm formula: ； Where Z represents the total number of support points, Fsj represents the deck support force adjustment value of the jth support point, Denotes the expected deck support force adjustment value for the j-th support point.

9. The method for controlling the stability of a fishing boat in an adaptive wind and wave environment according to claim 8, characterized in that: S52, based on the output result of the support adjustment deviation value E, a secondary comparative evaluation is performed to analyze the adjustment of the deck support force after adjustment, and an iterative mechanism is generated based on the evaluation result. The specific evaluation contents are as follows; When the support adjustment deviation value E≥0, it means that the deck adjustment is normal and no adjustment is needed; When the support adjustment deviation value E is less than 0, it indicates that the deck adjustment does not meet the expected expectation. At this time, based on the currently adjusted deck support stiffness Ks, an iterative adjustment is performed to output the deck support force adjustment value Fs until the deck adjustment is normal and the iterative adjustment is stopped.

10. A fishing boat stability control system that is adaptive to wind and wave environments, applied to a fishing boat stability control method that is adaptive to wind and wave environments as claimed in any one of claims 1 to 9, characterized in that: It includes stability perception module, perception processing module, wind and wave impact prediction module, deck support system intelligent adjustment module and real-time feedback and optimization module; The stability sensing module obtains attitude data and sea condition data in real time by installing an attitude sensing module and a sea condition sensing module on the hull, and transmits the attitude data and sea condition data to the fishing boat deck control system by wireless transmission; The perception processing module processes the hull attitude data and sea condition data in the fishing boat deck control system to obtain the deck stability feature vector, and constructs a time series database, and writes the deck stability feature vector into the time series database for data storage; The wind and wave impact prediction module constructs a nonlinear hull sway model, extracts the deck stability feature vector and inputs it into the nonlinear hull sway model, uses a nonlinear differential equation to calculate and output the wind and wave force Fwave, constructs a long short-term memory network model LSTM, inputs the obtained wind and wave force Fwave into the long short-term memory network model LSTM, outputs the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and sets a wind and wave threshold Fth to perform preliminary comparative evaluation with the predicted wind and wave force Fwave (t+1→t+T) at the future time T, and triggers the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results; The intelligent adjustment module of the deck support system executes the deck support adaptive adjustment mechanism based on the preliminary comparative evaluation results. The deck support adaptive adjustment mechanism calculates and outputs the deck support stiffness Ks, and calculates and outputs the deck support force adjustment value Fs based on the deck support stiffness Ks, so as to optimize and adjust the support force of the deck; The real-time feedback and optimization module calculates the deviation between the calculated deck support force adjustment value Fs and the expected value, outputs the support adjustment deviation value E, and performs a secondary comparative evaluation based on the output result of the support adjustment deviation value E to analyze the adjustment effect of the current deck support system.

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