A tension control method for trawl shape deformation suppression

Abstract

This invention relates to the field of intelligent control technology and discloses a tension control method for suppressing deformation in trawl nets. The method includes: defining the physical intersections formed by rope convergence as key nodes; collecting tension information from each key node; and describing the overall stress state of the trawl net based on the connection relationships between nodes. Subsequently, the method calculates the node deformation input using the discontinuous characteristics of tension changes at key nodes at continuous intervals and analyzes its continuous propagation relationship between adjacent nodes, thereby identifying stable high-risk channels. For these high-risk channels, the method disrupts the continuous transmission conditions of deformation energy by reconstructing the tension change state of the channel's endpoint node. Finally, the method dynamically constrains and stabilizes the tension based on the historical energy states of the nodes, preventing the re-formation of deformation channels and achieving stable and safe operation of the trawl net structure under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a tension control method for suppressing deformation of trawl nets. Background Technology

[0002] Trawls, widely used in marine fishing and related underwater operations, typically consist of multiple ropes, nets, and connecting nodes. During operation, they must withstand various complex external forces, including water resistance, towing traction, and changes in load within the net. Under long-term or high-intensity use, trawl structures are prone to localized deformation, especially in areas of concentrated stress. This can lead to irreversible structural stretching, node misalignment, or even breakage, significantly shortening the trawl's lifespan and compromising operational safety.

[0003] Existing methods for controlling trawl deformation mostly focus on the overall stress or average tension, simply increasing or decreasing the overall traction tension or installing force-limiting devices at local locations to mitigate deformation. However, these methods generally neglect the complex force transmission paths within the trawl and the temporal continuity of tension changes between nodes. They struggle to identify and intervene in the propagation of deformation energy within the trawl structure in a timely manner, easily leading to the continuous accumulation of local stress and thus causing structural damage.

[0004] Furthermore, while some existing technologies incorporate tension sensors to monitor local tension in trawls, they largely remain at the level of single-point threshold alarms or static amplitude limiting control. They lack systematic modeling of the mechanical coupling relationships between key nodes and fail to analyze the formation mechanism of trawl deformation from an energy evolution perspective. Especially in complex trawl structures with multiple nodes and multiple paths, deformation is often not caused by anomalies in a single node, but rather by the continuous transmission of node deformation input between adjacent nodes, forming a stable propagation channel. This process is generally not recognized or utilized in existing technologies.

[0005] Therefore, there is an urgent need for a new method to suppress trawl deformation, which can identify the input, transmission and accumulation patterns of deformation energy inside the trawl by starting from the temporal changes in node tension, and then implement targeted tension adjustment for high-risk energy propagation channels, and prevent the regeneration and propagation of deformation energy while ensuring structural stability, so as to achieve long-term stable operation of the trawl structure. Summary of the Invention

[0006] This invention provides a tension control method for suppressing deformation of trawl nets, which helps to solve the problems mentioned in the background art.

[0007] This invention provides the following technical solution: a tension control method for suppressing trawl deformation, comprising:

[0008] Based on the key nodes in the trawl net formed by the direct connection of two or more ropes, the corresponding node tension is collected at each key node and a node tension matrix is ​​constructed by combining the physical connection relationship between the key nodes.

[0009] The node deformation input is calculated based on the node tension changes of each key node at continuous time intervals, and the cumulative node energy of each key node is formed within a set window period.

[0010] Based on the continuous transmission of node deformation input between adjacent key nodes, the stable propagation path of node deformation input is determined, and the propagation path that meets the continuous transmission condition is marked as a candidate high-risk energy channel.

[0011] By combining the accumulated node energy of key nodes and the physical distance of the propagation path in the candidate high-risk energy channels, high-risk energy channels that have a significant impact on trawl deformation are identified.

[0012] For the terminal node in a high-risk energy channel, the tension adjustment amount is calculated based on the second-order change relationship of the node tension, and the tension of the corresponding node is adjusted in reverse to disrupt the continuous transmission of the node deformation input.

[0013] The adjusted node tension is subjected to channel existence verification to determine whether the continuity of node deformation input in high-risk energy channels is disrupted.

[0014] After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked.

[0015] Optionally, the step of collecting the corresponding node tension at each key node and constructing a node tension matrix based on the key nodes formed by the direct connection of two or more ropes in the trawl net includes:

[0016] By identifying key force transmission points in the trawl structure as key nodes, and placing dedicated sensors at each key node to collect tension data;

[0017] The connection status is defined based on the physical connection relationship between key nodes; by combining the real-time tension data of key nodes and their connection relationship, a matrix is ​​constructed to characterize the overall stress state and structural connection status of the trawl net.

[0018] Optionally, the step of calculating the node deformation input based on the node tension changes of each key node at continuous time intervals, and forming the cumulative node energy of each key node within a set window period, includes:

[0019] Acquire tension data of each key node at three consecutive sampling times, and calculate the deformation input of each node at the current time accordingly;

[0020] Summarize the deformation inputs of all nodes to form a vector;

[0021] Set an observation window of a certain time length, and accumulate the deformation input of each node within the window to obtain the cumulative deformation energy of that node.

[0022] Optionally, the step of determining the stable propagation path of the node deformation input based on the continuous transmission of the node deformation input between adjacent critical nodes, and marking the propagation path that meets the continuous transmission condition as a candidate high-risk energy channel, includes:

[0023] For interconnected key nodes, the continuity of energy transfer between nodes is determined by whether the deformation input at adjacent times is continuously transmitted.

[0024] Based on this continuity, an energy transfer relationship matrix is ​​constructed for the current moment and within the observation window;

[0025] Calculate the continuous proportion of energy transfer between nodes within the window, mark paths with a completely stable transfer proportion as candidate high-risk energy channels, and record their set.

[0026] Optionally, the step of identifying high-risk energy channels that have a significant impact on trawl deformation by combining the accumulated node energy of key nodes in candidate high-risk energy channels with the physical distance of the propagation path includes:

[0027] For each path in the candidate high-risk energy channel, the node contribution value of the path is calculated by combining the cumulative deformation energy of its endpoint node, the continuity ratio of path transmission, and the physical distance.

[0028] A threshold is set based on the median of the contribution values ​​of all paths. Paths whose contribution values ​​reach or exceed the threshold are identified as high-risk channels, and a set of high-risk channels is formed.

[0029] Optionally, the step of calculating the tension adjustment amount based on the second-order change relationship of the node tension at the channel endpoint in the high-risk energy channel, and then adjusting the corresponding node tension in the opposite direction to disrupt the continuous transmission of node deformation input, includes:

[0030] For the endpoint of each path in the high-risk channel set, calculate its second-order change based on continuous time-lapse tension data;

[0031] Based on this change, determine the tension adjustment amount for that node, and adjust the current tension value of that node accordingly;

[0032] The original matrix is ​​updated using the adjusted tension values ​​of each node to form the adjusted state matrix.

[0033] Optionally, the step of performing a channel existence check on the adjusted node tension to determine whether the continuity of the node deformation input of the high-risk energy channel is disrupted includes:

[0034] Calculate the new second-order change of the high-risk channel endpoint after tension adjustment;

[0035] Based on whether the change is zero, it can be determined whether the continuity of abnormal force transmission in the corresponding high-risk channel has been disrupted.

[0036] Optionally, after confirming that the high-risk energy channel has been destroyed, the step of stabilizing and locking the node tension of each key node includes:

[0037] Set a stable target tension value for each key node based on historical tension data;

[0038] A dynamic safety tension range is set for each key node, which is determined by the tension value and deformation input at the previous moment.

[0039] When adjusting the node tension, ensure that its final value does not exceed the set safe tension range.

[0040] The present invention has the following beneficial effects:

[0041] 1. This tension control method for suppressing trawl deformation systematically models the tension state of key nodes in the trawl and identifies stable propagation paths of node deformation energy within the trawl based on the temporal variation of node deformation input. This invention goes beyond judging the overall stress on the trawl or single-point tension anomalies; instead, it starts with key nodes formed by multiple ropes directly connected within the trawl structure, treating these key nodes as basic units of force transmission and distribution, and analyzing the tension changes of each key node at continuous intervals. By constructing a node tension matrix and introducing the concept of node deformation input, a quantitative description of the deformation energy generation process within the trawl is achieved. Furthermore, by determining whether the node deformation input continuously occurs between adjacent key nodes at continuous intervals, it effectively distinguishes between sporadic tension fluctuations and structurally significant stable energy transfer processes, thereby identifying the actual energy propagation paths within the trawl. This technology transforms the trawl deformation problem from a simple localized stress anomaly into an analyzable and identifiable energy propagation problem, significantly improving the accuracy of identifying the causes of trawl deformation and providing a reliable basis for subsequent targeted control.

[0042] 2. This tension control method for suppressing trawl deformation accurately identifies high-risk energy channels that decisively influence trawl deformation by comprehensively considering the accumulated energy at nodes and the physical characteristics of the propagation path. It then actively disrupts these channels' continuity through reverse tension adjustment. Based on the identification of candidate energy propagation paths, this invention further introduces a channel contribution assessment method that combines the accumulated energy at nodes with the physical distance of the propagation path, avoiding misjudgment of risk channels based on a single indicator. By calculating the contribution value of candidate propagation paths and using the median as the judgment criterion, it effectively eliminates propagation paths with small energy contributions or those formed sporadically, thus focusing on high-risk energy channels that may truly cause irreversible local deformation of the trawl. For high-risk energy channels, this invention does not employ traditional overall tensioning or simple limiting methods. Instead, it calculates the tension adjustment amount directly related to the continuity of deformation energy based on the second-order change relationship of node tension and implements reverse adjustment at the channel's endpoint node, disrupting the continuous transmission conditions of deformation energy from the source. This technology transforms trawl deformation control from passive suppression to active intervention, effectively blocking deformation before it develops into structural damage and significantly reducing the risk of local stress concentration.

[0043] 3. This tension control method for trawl deformation suppression prevents the re-formation of high-risk energy channels after adjustment by employing a channel existence verification and tension stability locking mechanism, thus achieving long-term stable suppression of trawl deformation. After adjusting the tension of high-risk energy channels, this invention further introduces a channel existence verification mechanism. By judging whether the tension of the adjusted nodes still possesses the continuity of deformation input, it objectively verifies whether the tension adjustment has truly disrupted the energy propagation conditions, thereby avoiding the risks associated with assuming successful adjustment based solely on control commands. After confirming that the high-risk energy channels have been effectively disrupted, this invention implements stable locking control on the node tension of each key node. By maintaining the stable evolution state of the node tension at continuous intervals, it prevents the regeneration of new deformation energy. Simultaneously, this invention proposes a dynamic tension safety range determined based on the historical deformation energy of the nodes to constrain the value range of the locked tension, avoiding the reintroduction of deformation energy during the stabilization control process. This technology upgrades trawl tension control from short-term adjustment to sustainable stable control, not only suppressing existing deformation but also effectively preventing the reconstruction of deformation channels, significantly extending the service life of the trawl and improving operational safety. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the process of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Example 1, see Figure 1 A tension control method for suppressing trawl deformation, comprising:

[0047] Based on the key nodes in the trawl net formed by the direct connection of two or more ropes, the corresponding node tension is collected at each key node and a node tension matrix is ​​constructed by combining the physical connection relationship between the key nodes.

[0048] The node deformation input is calculated based on the node tension changes of each key node at continuous time intervals, and the cumulative node energy of each key node is formed within a set window period.

[0049] Based on the continuous transmission of node deformation input between adjacent key nodes, the stable propagation path of node deformation input is determined, and the propagation path that meets the continuous transmission condition is marked as a candidate high-risk energy channel.

[0050] By combining the accumulated node energy of key nodes and the physical distance of the propagation path in the candidate high-risk energy channels, high-risk energy channels that have a significant impact on trawl deformation are identified.

[0051] For the terminal node in a high-risk energy channel, the tension adjustment amount is calculated based on the second-order change relationship of the node tension, and the tension of the corresponding node is adjusted in reverse to disrupt the continuous transmission of the node deformation input.

[0052] The adjusted node tension is subjected to channel existence verification to determine whether the continuity of node deformation input in high-risk energy channels is disrupted.

[0053] After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked.

[0054] The method involves collecting the corresponding node tension at each key node in the trawl net, which is formed by the direct connection of two or more ropes, and constructing a node tension matrix by combining the physical connection relationships between the key nodes. This includes:

[0055] By identifying key force transmission points in the trawl structure as key nodes, and placing dedicated sensors at each key node to collect tension data;

[0056] The connection status is defined based on the physical connection relationship between key nodes; by combining the real-time tension data of key nodes and their connection relationship, a matrix is ​​constructed to characterize the overall stress state and structural connection status of the trawl net.

[0057] The calculation of node deformation input based on the node tension changes of each key node at continuous time intervals, and the formation of cumulative node energy for each key node within a set window period, includes:

[0058] Acquire tension data of each key node at three consecutive sampling times, and calculate the deformation input of each node at the current time accordingly;

[0059] Summarize the deformation inputs of all nodes to form a vector;

[0060] Set an observation window of a certain time length, and accumulate the deformation input of each node within the window to obtain the cumulative deformation energy of that node.

[0061] The step of determining a stable propagation path for node deformation input based on the continuous transmission of node deformation input between adjacent critical nodes, and marking propagation paths that meet the continuous transmission condition as candidate high-risk energy channels, includes:

[0062] For interconnected key nodes, the continuity of energy transfer between nodes is determined by whether the deformation input at adjacent times is continuously transmitted.

[0063] Based on this continuity, an energy transfer relationship matrix is ​​constructed for the current moment and within the observation window;

[0064] Calculate the continuous proportion of energy transfer between nodes within the window, mark paths with a completely stable transfer proportion as candidate high-risk energy channels, and record their set.

[0065] The method of combining the accumulated node energy of key nodes in candidate high-risk energy channels with the physical distance of the propagation path to identify high-risk energy channels that have a significant impact on trawl deformation includes:

[0066] For each path in the candidate high-risk energy channel, the node contribution value of the path is calculated by combining the cumulative deformation energy of its endpoint node, the continuity ratio of path transmission, and the physical distance.

[0067] A threshold is set based on the median of the contribution values ​​of all paths. Paths whose contribution values ​​reach or exceed the threshold are identified as high-risk channels, and a set of high-risk channels is formed.

[0068] The method for calculating the tension adjustment amount based on the second-order change relationship of the node tension at the end node in a high-risk energy channel, and then adjusting the corresponding node tension in reverse to disrupt the continuous transmission of node deformation input, includes:

[0069] For the endpoint of each path in the high-risk channel set, calculate its second-order change based on continuous time-lapse tension data;

[0070] Based on this change, determine the tension adjustment amount for that node, and adjust the current tension value of that node accordingly;

[0071] The original matrix is ​​updated using the adjusted tension values ​​of each node to form the adjusted state matrix.

[0072] The process of performing a channel existence check on the adjusted node tension to determine whether the continuity of the node deformation input in high-risk energy channels has been disrupted includes:

[0073] Calculate the new second-order change of the high-risk channel endpoint after tension adjustment;

[0074] Based on whether the change is zero, it can be determined whether the continuity of abnormal force transmission in the corresponding high-risk channel has been disrupted.

[0075] After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked, including:

[0076] Set a stable target tension value for each key node based on historical tension data;

[0077] A dynamic safety tension range is set for each key node, which is determined by the tension value and deformation input at the previous moment.

[0078] When adjusting the node tension, ensure that its final value does not exceed the set safe tension range. Example 2: A tension control method for suppressing trawl deformation, comprising:

[0079] Based on the key nodes in the trawl net formed by the direct connection of two or more ropes, the corresponding node tension is collected at each key node and a node tension matrix is ​​constructed by combining the physical connection relationship between the key nodes.

[0080] The node deformation input is calculated based on the node tension changes of each key node at continuous time intervals, and the cumulative node energy of each key node is formed within a set window period.

[0081] Based on the continuous transmission of node deformation input between adjacent key nodes, the stable propagation path of node deformation input is determined, and the propagation path that meets the continuous transmission condition is marked as a candidate high-risk energy channel.

[0082] By combining the accumulated node energy of key nodes and the physical distance of the propagation path in the candidate high-risk energy channels, high-risk energy channels that have a significant impact on trawl deformation are identified.

[0083] For the terminal node in a high-risk energy channel, the tension adjustment amount is calculated based on the second-order change relationship of the node tension, and the tension of the corresponding node is adjusted in reverse to disrupt the continuous transmission of the node deformation input.

[0084] The adjusted node tension is subjected to channel existence verification to determine whether the continuity of node deformation input in high-risk energy channels is disrupted.

[0085] After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked.

[0086] The method involves collecting the corresponding node tension at each key node in the trawl net, which is formed by the direct connection of two or more ropes, and constructing a node tension matrix by combining the physical connection relationships between the key nodes. This includes:

[0087] Based on the trawl net structure, the physical intersection point formed by the direct connection of two or more ropes in the trawl net is defined as the critical node;

[0088] The key node is the basic unit for force transmission and distribution in the trawl structure, and its tension change is used to characterize the internal force state of the trawl.

[0089] All key nodes in the trawling structure are entered into the key node set. , This represents the nth critical node;

[0090] At each critical node Tension sensors are installed on the top, ensuring that each tension sensor corresponds to only one critical node, and the tension sensor data acquisition frequency is [missing information]. The sampling period is ;

[0091] At any moment Collect tension data at key nodes:

[0092] ;

[0093] in, Indicates at time Key nodes acquired by the tension sensor The tension, where k is the time number;

[0094] Define the connection status between key nodes based on the physical connection relationship of the trawl net:

[0095] ;

[0096] in, for and Connection status flags between them When it is 1, it means and The two sides are in a connected state. When it is 0, it means and The two sides are in an unconnected state.

[0097] A matrix is ​​formed based on the tension of key nodes and the connection status between key nodes. :

[0098] ;

[0099] Among them, diagonal elements Represents the tension at key nodes, off-diagonal elements. Indicates the connection relationship of key nodes. Indicates at time Key nodes acquired by the tension sensor Tension.

[0100] The calculation of node deformation input based on the node tension changes of each key node at continuous time intervals, and the formation of cumulative node energy for each key node within a set window period, includes:

[0101] Acquire key nodes The tension data at three consecutive time points are denoted as... ;

[0102] Compute critical nodes At any moment The nodal deformation input quantity :

[0103] ;

[0104] Obtain all key nodes at time The nodal deformation inputs are used to form a vector. :

[0105] ;

[0106] in, Indicates key nodes At any moment The node deformation input amount;

[0107] Set the window period, with a window period size of m, which is m time intervals;

[0108] Within the window period, for key nodes Node deformation input Accumulate:

[0109] ;

[0110] in, Indicates key nodes The accumulated node energy.

[0111] The step of determining a stable propagation path for node deformation input based on the continuous transmission of node deformation input between adjacent critical nodes, and marking propagation paths that meet the continuous transmission condition as candidate high-risk energy channels, includes:

[0112] against key nodes and Define a second-order energy continuity decision:

[0113] ;

[0114] in, Indicates key nodes The node deformation input was sent to the critical node at the previous time step. Successfully delivered;

[0115] Build Time Energy transfer matrix between critical nodes :

[0116] ;

[0117] The cumulative transfer matrix constructed within the window period :

[0118] ;

[0119] in, for The Middle Line number The matrix elements of the column, that is, the node deformation input within the window period, are determined by the key nodes. To key nodes The cumulative number of transmissions;

[0120] Accumulated transmission count Convert to continuous transmission ratio :

[0121] ;

[0122] when When that happens, the key node is determined. To key nodes Propagation path for transferring node deformation input It is in a completely stable state;

[0123] when When that happens, the key node is determined. To key nodes There is no node deformation input transfer between them;

[0124] Transmission ratio transmission path Marked as a candidate high-risk energy channel;

[0125] Propagation paths of all energy channels marked as candidate high-risk channels Input Collection .

[0126] By systematically modeling the tension state of key nodes in a trawl net and identifying stable propagation paths of node deformation energy based on the temporal variation of node deformation input, this invention goes beyond judging the overall stress or single-point tension anomalies of the trawl net. Instead, it starts with key nodes formed by multiple ropes directly connected in the trawl net structure, treating these key nodes as basic units of force transmission and distribution, and analyzing the tension changes of each key node at continuous intervals. By constructing a node tension matrix and introducing the concept of node deformation input, a quantitative description of the deformation energy generation process within the trawl net is achieved. Furthermore, by determining whether the node deformation input continuously occurs between adjacent key nodes at consecutive intervals, it is possible to effectively distinguish between sporadic tension fluctuations and structurally significant stable energy transfer processes, thereby identifying the actual energy propagation paths within the trawl net. This technology transforms the trawl net deformation problem from a simple localized stress anomaly into an analyzable and identifiable energy propagation problem, significantly improving the accuracy of identifying the causes of trawl net deformation and providing a reliable basis for subsequent targeted control.

[0127] The method of combining the accumulated node energy of key nodes in candidate high-risk energy channels with the physical distance of the propagation path to identify high-risk energy channels that have a significant impact on trawl deformation includes:

[0128] against Each propagation path Define the corresponding node contribution value. :

[0129] ;

[0130] in, Indicates key nodes The accumulated node energy, For the propagation path The physical distance;

[0131] Will Each propagation path The contribution matrix is ​​composed of the node contribution values. :

[0132] ;

[0133] The criteria for determining high-risk channels are as follows: ;

[0134] in, Contribution matrix The median of the contribution values ​​of all nodes;

[0135] Propagation paths that meet the criteria for high-risk channels are grouped into a high-risk channel set. :

[0136] .

[0137] The method for calculating the tension adjustment amount based on the second-order change relationship of the node tension at the end node in a high-risk energy channel, and then adjusting the corresponding node tension in reverse to disrupt the continuous transmission of node deformation input, includes:

[0138] Selecting a set of high-risk channels Transmission path The end point of the channel, i.e. Calculate its second-order tension change. :

[0139] ;

[0140] Grouping high-risk channels Transmission path The end point of the passage The tension adjustment amount is defined as ;

[0141] Based on the tension adjustment amount and the second-order tension change amount Adjust the node tension:

[0142] ;

[0143] in, For the adjusted ;

[0144] Will Write matrix To form a new matrix :

[0145] ;

[0146] in, For the adjusted .

[0147] By comprehensively considering the accumulated energy at nodes and the physical characteristics of the propagation path, this invention accurately identifies high-risk energy channels that have a decisive impact on trawl deformation and actively disrupts their continuity through reverse tension adjustment. Based on the identification of candidate energy propagation paths, this invention further introduces a channel contribution assessment method that combines the accumulated energy at nodes with the physical distance of the propagation path, avoiding misjudgment of risk channels based on a single indicator. By calculating the contribution value of candidate propagation paths and using the median as the judgment benchmark, propagation paths with small energy contributions or those formed sporadically can be effectively excluded, thus focusing on high-risk energy channels that may truly cause local irreversible deformation of the trawl. For high-risk energy channels, this invention does not employ traditional overall tensioning or simple limiting methods, but rather calculates the tension adjustment amount directly related to the continuity of deformation energy based on the second-order change relationship of node tension, and implements reverse adjustment at the end node of the channel, disrupting the continuous transmission conditions of deformation energy from the source. This technology transforms trawl deformation control from passive suppression to active intervention, effectively blocking deformation before it develops into structural damage and significantly reducing the risk of local stress concentration.

[0148] The process of performing a channel existence check on the adjusted node tension to determine whether the continuity of the node deformation input in high-risk energy channels has been disrupted includes:

[0149] Calculate the set of high-risk channels Transmission path The end point of the passage Adjusted second-order change :

[0150] ;

[0151] Define the channel existence metric:

[0152] ;

[0153] in, Indicates the existence of the channel. Indicates the propagation path There is continuity in the nodal deformation input. Indicates the propagation path The continuity of the node deformation input was successfully disrupted.

[0154] After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked, including:

[0155] against The key nodes are set with tension adjustment constraints, as follows:

[0156] ;

[0157] in, Indicates key nodes At any moment The target tension value is stably locked;

[0158] Set the tension range of key nodes If the limit is exceeded, adjust according to the boundary value:

[0159] ;

[0160] in, Indicates key nodes The minimum safe tension value, Indicates key nodes The maximum safe tension value is expressed as follows:

[0161] .

[0162] By employing a channel existence verification and tension stability locking mechanism, this invention prevents the re-formation of high-risk energy channels after adjustment, achieving long-term stable suppression of trawl deformation. After adjusting the tension of high-risk energy channels, this invention further introduces a channel existence verification mechanism. By judging whether the adjusted node tension still possesses the continuity of deformation input, it objectively verifies whether the tension adjustment has truly disrupted the energy propagation conditions, thereby avoiding the risks associated with assuming successful adjustment based solely on control commands. After confirming that the high-risk energy channels have been effectively disrupted, this invention implements stable locking control on the node tension of each key node. By maintaining the stable evolution state of node tension at continuous intervals, it prevents the regeneration of new deformation energy. Simultaneously, this invention proposes a dynamic tension safety range determined based on the historical deformation energy of nodes to constrain the value range of the locked tension, avoiding the reintroduction of deformation energy during the stabilization control process. This technology upgrades trawl tension control from short-term adjustment to sustainable stable control, not only suppressing existing deformation but also effectively preventing the reconstruction of deformation channels, significantly extending the service life of the trawl and improving operational safety.

[0163] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0164] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tension control method for suppressing deformation of trawl nets, characterized in that, include: Based on the key nodes in the trawl net formed by the direct connection of two or more ropes, the corresponding node tension is collected at each key node and a node tension matrix is ​​constructed by combining the physical connection relationship between the key nodes. The node deformation input is calculated based on the node tension changes of each key node at continuous time intervals, and the cumulative node energy of each key node is formed within a set window period. Based on the continuous transmission of node deformation input between adjacent key nodes, the stable propagation path of node deformation input is determined, and the propagation path that meets the continuous transmission condition is marked as a candidate high-risk energy channel. By combining the accumulated node energy of key nodes and the physical distance of the propagation path in the candidate high-risk energy channels, high-risk energy channels that have a significant impact on trawl deformation are identified. For the terminal node in a high-risk energy channel, the tension adjustment amount is calculated based on the second-order change relationship of the node tension, and the tension of the corresponding node is adjusted in reverse to disrupt the continuous transmission of the node deformation input. The adjusted node tension is subjected to channel existence verification to determine whether the continuity of node deformation input in high-risk energy channels is disrupted. After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked.

2. The tension control method for suppressing deformation of trawl nets according to claim 1, characterized in that: The method involves collecting the corresponding node tension at each key node in the trawl net, which is formed by the direct connection of two or more ropes, and constructing a node tension matrix by combining the physical connection relationships between the key nodes. This includes: By identifying key force transmission points in the trawl structure as key nodes, and placing dedicated sensors at each key node to collect tension data; The connection status is defined based on the physical connection relationship between key nodes; by combining the real-time tension data of key nodes and their connection relationship, a matrix is ​​constructed to characterize the overall stress state and structural connection status of the trawl net.

3. The tension control method for suppressing deformation of trawl nets according to claim 2, characterized in that: The calculation of node deformation input based on the node tension changes of each key node at continuous time intervals, and the formation of cumulative node energy for each key node within a set window period, includes: Acquire tension data of each key node at three consecutive sampling times, and calculate the deformation input of each node at the current time accordingly; Summarize the deformation inputs of all nodes to form a vector; Set an observation window of a certain time length, and accumulate the deformation input of each node within the window to obtain the cumulative deformation energy of that node.

4. The tension control method for suppressing deformation of trawl nets according to claim 3, characterized in that: The step of determining a stable propagation path for node deformation input based on the continuous transmission of node deformation input between adjacent critical nodes, and marking propagation paths that meet the continuous transmission condition as candidate high-risk energy channels, includes: For interconnected key nodes, the continuity of energy transfer between nodes is determined by whether the deformation input at adjacent times is continuously transmitted. Based on this continuity, an energy transfer relationship matrix is ​​constructed for the current moment and within the observation window; Calculate the continuous proportion of energy transfer between nodes within the window, mark paths with a completely stable transfer proportion as candidate high-risk energy channels, and record their set.

5. The tension control method for suppressing deformation of trawl nets according to claim 4, characterized in that: The method of combining the accumulated node energy of key nodes in candidate high-risk energy channels with the physical distance of the propagation path to identify high-risk energy channels that have a significant impact on trawl deformation includes: For each path in the candidate high-risk energy channel, the node contribution value of the path is calculated by combining the cumulative deformation energy of its endpoint node, the continuity ratio of path transmission, and the physical distance. A threshold is set based on the median of the contribution values ​​of all paths. Paths whose contribution values ​​reach or exceed the threshold are identified as high-risk channels, and a set of high-risk channels is formed.

6. The tension control method for suppressing deformation of trawl nets according to claim 5, characterized in that: The method for calculating the tension adjustment amount based on the second-order change relationship of the node tension at the end node in a high-risk energy channel, and then adjusting the corresponding node tension in reverse to disrupt the continuous transmission of node deformation input, includes: For the endpoint of each path in the high-risk channel set, calculate its second-order change based on continuous time-lapse tension data; Based on this change, determine the tension adjustment amount for that node, and adjust the current tension value of that node accordingly; The original matrix is ​​updated using the adjusted tension values ​​of each node to form the adjusted state matrix.

7. A tension control method for suppressing deformation of trawl nets according to claim 6, characterized in that: The process of performing a channel existence check on the adjusted node tension to determine whether the continuity of the node deformation input in high-risk energy channels has been disrupted includes: Calculate the new second-order change of the high-risk channel endpoint after tension adjustment; Based on whether the change is zero, it can be determined whether the continuity of abnormal force transmission in the corresponding high-risk channel has been disrupted.

8. A tension control method for suppressing deformation of trawl nets according to claim 7, characterized in that: After confirming that the high-risk energy channel has been destroyed, the node tension of each key node is stabilized and locked, including: Set a stable target tension value for each key node based on historical tension data; A dynamic safety tension range is set for each key node, which is determined by the tension value and deformation input at the previous moment. When adjusting the node tension, ensure that its final value does not exceed the set safe tension range.

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