Active cable laying tension control method and system for underway temperature-salinity-depth detection equipment

Abstract

The invention provides an active cable laying tension control method and system for underway temperature-salinity-depth detection equipment, and the method comprises the steps: obtaining a real-time ship speed and a tow fish falling speed of a ship, and carrying out the calculation to obtain a reference cable laying speed; the method comprises the following steps: measuring pin shaft force according to a force measuring pin shaft mounted on a traction roller of underway type temperature-salinity-depth equipment, respectively measuring reel angular velocity and traction roller rotation angular velocity according to an encoder of a reel driving shaft and an encoder of the traction roller, and calculating cable tension; cable tension is collected to a PLC to be compared with a set tension value, and a reference cable laying speed deviation is calculated through a PID control algorithm; and the reel cable laying linear speed is determined according to the reference cable laying speed, the reel cable laying linear speed and the reel angular speed are controlled through control of a speed ring and a torque ring of a servo driver, and then the cable laying pre-tension is controlled. The sailing speed of the ship in the sailing state and the tow fish falling speed can be collected, and the cable laying speed can be adjusted in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of control of a navigation-type temperature-salt-depth detection device, and in particular to a method and system for controlling active cable tension of a navigation-type temperature-salt-depth detection device. Background Art

[0002] The navigation-type temperature, salinity and depth detection equipment can be deployed in deep water in a free-fall manner while the ship is sailing, with a towfish equipped with CTD, sound velocity profiler or other profiler sensors, to obtain CTD and sound velocity data of the seawater profile. The towfish is deployed and recovered by a winch to automatically collect ocean temperature, salinity and depth related data in real time. Since the system realizes continuous measurement of seawater profiles while sailing, it greatly improves the efficiency of large-scale marine surveys and obtains intensive measurement data of large areas of sea, which is conducive to scientific researchers discovering some local hydrological anomalies in the seawater. At the same time, it can also output the sound velocity data of the profile in real time and provide it to the multi-beam bathymetry system, greatly improving the accuracy of the multi-beam bathymetry data.

[0003] During the process of actively releasing the cable and releasing the towed fish through the winch, the speed of the scientific research vessel will change in real time. At the same time, the speed of the towed fish will also change due to the influence of the ocean current and the length of the cable. In order to ensure that the cable release is controllable, safe and fast, the reel needs to have a certain pre-tension at the cable outlet. At the same time, the reel speed is automatically adjusted according to the changes in the ship speed and the speed of the towed fish to ensure the stability of the tension and prevent the reel from loosening the cable. Therefore, it is of great significance to realize the active cable tension control of the traveling temperature, salt and depth detection equipment to ensure the safety of the towed fish release.

[0004] Patent document CN115523902A discloses a towed temperature, salinity and depth measurement system for vertical profile measurement, including a deck unit and a winch unit respectively arranged on a ship, the winch unit tows a tow fish through a cable, and the observation method of the towed temperature, salinity and depth measurement system for vertical profile measurement is that the staff presets the parameters of the winch unit to control the lowering or stretching of the tow fish, and the staff automatically deploys the tow fish below the water surface when the ship is sailing. A towed temperature, salinity and depth measurement system for vertical profile measurement described in the present invention uses a tugboat to tow an underwater observation system, the underwater observation system and the tugboat are connected by a cable, the underwater observation system carries sensors to complete the measurement of underwater environmental elements, and the towed observation system is used to control the ascent, descent and navigation trajectory of the underwater observation system during the navigation of the ship, so as to carry out multi-parameter ocean vertical profile observation.

[0005] However, the reel speed of patent document CN115523902A cannot be automatically adjusted according to the changes in the ship speed and the falling speed of the towed fish, and the safety of the towed fish release needs to be improved. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a method and system for controlling the active cable tension of a navigation-type temperature-salinity-depth detection device.

[0007] According to the present invention, a method for controlling active cable tension of a navigation-type temperature-salinity-depth detection device includes:

[0008] Step S1: obtaining the real-time ship speed and the towed fish falling speed, and calculating the reference cable release speed;

[0009] Step S2: measuring the force of the pin shaft according to the force measuring pin shaft installed on the traction roller of the traveling temperature-salt-deep equipment, and measuring the angular velocity of the drum and the rotational angular velocity of the traction roller according to the encoders of the drum drive shaft and the traction roller, respectively, to calculate the cable tension;

[0010] Step S3: The cable tension is collected and sent to the PLC controller for comparison with the set tension value, and the reference cable release speed deviation ΔV is calculated by the PID control algorithm. O ;

[0011] Step S4: Determine the cable release line speed of the drum according to the reference cable release speed, and control the cable release line speed and the angular velocity of the drum through the servo driver speed loop and torque loop control, thereby controlling the cable release pretension.

[0012] Preferably, the real-time ship speed is obtained by a ship-borne Beidou positioning system, and the towfish falling speed is obtained according to a pressure sensor installed on the towfish; the reference cable release speed calculation formula is as follows:

[0013] V oT =V S +V T

[0014] Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

[0015] Preferably, the step S2 includes the following sub-steps:

[0016] Step S2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows:

[0017]

[0018] K u =F Z0 / F u1

[0019] In the formula, F z0is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, R2 represents the radius of the traction roller, R1 represents the radius of the drum, and F u1 Indicates the calibration force of the force measuring pin, K u Indicates the proportional gain of cable tension and pin axis;

[0020] Step S2.2: Calculate the cable tension according to the proportional gain and the pin force collected in real time during cable release. The formula is as follows:

[0021] F z =K u F u

[0022] In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

[0023] Preferably, the step S3 comprises:

[0024] Step S3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows:

[0025] ΔF=F Z -F0

[0026] Where ΔF represents the tension deviation, F Z Indicates the cable tension, F o Indicates the set tension value.

[0027] Step S3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows:

[0028]

[0029] In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient. ΔF(t) represents the difference between the actual tension and the set tension at time t, and δ represents the intermediate independent variable of time.

[0030] Preferably, in step S4, the cable release speed of the drum is:

[0031] V o =ΔV0+V 0T

[0032] w o =V0 / R n

[0033] Among them, V o represents the speed of the cable drum, ΔV0 represents the deviation of the cable drum speed, V 0T Indicates the reference cable release speed, w o Represents the angular velocity of the reel, R n Indicates the radius of different winding layers of the cable.

[0034] According to the present invention, an active cable-releasing tension control system for a navigation-type temperature-salinity-depth detection device comprises:

[0035] Module M1: Obtain the real-time ship speed and the towed fish falling speed, and calculate the reference cable release speed;

[0036] Module M2: Measure the force of the pin shaft installed on the traction roller of the traveling temperature-salt-deep equipment according to the force measuring pin shaft, and measure the angular velocity of the drum and the angular velocity of the traction roller according to the encoders of the drum drive shaft and the traction roller, and calculate the cable tension;

[0037] Module M3: The cable tension is collected and sent to the PLC controller for comparison with the set tension value, and the reference cable release speed deviation ΔV is calculated through the PID control algorithm. O ;

[0038] Module M4: Determine the cable release line speed of the drum according to the reference cable release speed, and control the cable release line speed and the drum angular velocity through the servo driver speed loop and torque loop control, thereby controlling the cable release pretension.

[0039] Preferably, the real-time ship speed is obtained by a ship-borne Beidou positioning system, and the towfish falling speed is obtained according to a pressure sensor installed on the towfish; the reference cable release speed calculation formula is as follows:

[0040] V oT =V S +V T

[0041] Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

[0042] Preferably, the module M2 comprises the following sub-steps:

[0043] Module M2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows:

[0044]

[0045] K u =F Z0 / F u1

[0046] In the formula, F z0 is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, R2 represents the radius of the traction roller, R1 represents the radius of the drum, and F u1 Indicates the calibration force of the force measuring pin, K u Indicates the proportional gain of cable tension and pin axis;

[0047] Module M2.2: Calculate the cable tension according to the proportional gain and the pin force collected in real time during cable release. The formula is as follows:

[0048] F z =K u F u

[0049] In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

[0050] Preferably, the module M3 comprises:

[0051] Module M3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows:

[0052] ΔF=F Z -F0

[0053] Where ΔF represents the tension deviation, F Z Indicates the cable tension, F o Indicates the set tension value.

[0054] Module M3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows:

[0055]

[0056] In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient. ΔF(t) represents the difference between the actual tension and the set tension at time t, and δ represents the intermediate independent variable of time.

[0057] Preferably, in the module M4, the cable release speed of the drum is:

[0058] V o =ΔV0+V 0T

[0059] w o =V0 / R n

[0060] Among them, V o represents the speed of the cable drum, ΔV0 represents the deviation of the cable drum speed, V 0T Indicates the reference cable release speed, w o Represents the angular velocity of the reel, R n Indicates the radius of different winding layers of the cable.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] 1. The present invention can collect the navigation speed of the ship and the falling speed of the towed fish in the sailing state, and adjust the cable release speed in real time.

[0063] 2. The present invention dynamically fine-tunes the cable-releasing speed through PID control according to the tension value monitored by the cable-releasing roller, thereby ensuring that the cable pre-tightening force is within an appropriate range and that active cable-releasing is reliable and does not loosen the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0065] Figure 1 It is a schematic diagram of the working method of the present invention;

[0066] Figure 2 It is a schematic diagram of laying cable of the traveling warm-salt-deep equipment in the present invention;

[0067] Figure 3 This is a schematic diagram of the cable tension control principle of the navigation-type warm-salt-deep equipment in the present invention;

[0068] Figure 4 To implement the present invention, the rear reel actively releases the cable to the sea. DETAILED DESCRIPTION

[0069] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0070] Embodiment 1

[0071] According to the present invention, a method for controlling the active cable tension of a traveling temperature-salinity-depth detection device is provided. Figure 1 As shown, including:

[0072] Step S1: Obtain the real-time ship speed and the towfish drop speed on board, and calculate the reference cable release speed. The real-time ship speed is obtained by the ship-borne Beidou positioning system, and the towfish drop speed is calculated according to the pressure sensor installed on the towfish. The reference cable release speed calculation formula is as follows:

[0073] V oT =V S +V T

[0074] Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

[0075] Step S2: Measure the pin force F according to the force measuring pin installed on the traction roller of the traveling temperature-salt-deep equipment. u And according to the encoders of the roll drive shaft and the traction roller, the roll angular velocity w is measured respectively o and the angular velocity w of the traction roller u , calculate the cable tension F z The step S2 comprises the following sub-steps:

[0076] Step S2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows:

[0077]

[0078] K u =F Z0 / F u1

[0079] In the formula, F z0is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, R2 represents the radius of the traction roller, R1 represents the radius of the drum, and f u1 Indicates the calibration force of the force measuring pin, K u Represents the proportional gain of cable tension to pin axis.

[0080] Step S2.2: Calculate the cable tension according to the proportional gain and the pin force collected in real time during cable release. The formula is as follows:

[0081] F z =K u F u

[0082] In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

[0083] Step S3: Collect the cable tension to the PLC controller and compare it with the set tension value, and calculate ΔV through the PID control algorithm O The step S3 comprises:

[0084] Step S3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows:

[0085] ΔF=F Z -F0

[0086] Where ΔF represents the tension deviation, F z Indicates the cable tension, F o Indicates the set tension value.

[0087] Step S3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows:

[0088]

[0089] In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient. ΔF(t) represents the difference between the actual tension and the set tension at time t. δ represents the intermediate independent variable of time.S When F > F0, the cable payout speed deviation of the reel is used to appropriately increase the cable payout rotation speed of the reel; conversely, when F S < F0, the cable payout speed deviation of the reel is used to appropriately decrease the cable payout rotation speed of the reel.

[0090] Step S4: Through the control of the speed loop and torque loop of the servo driver, control the cable payout speed V of the reel O and the angular velocity w of the reel o to ensure the cable payout pre-tension. In the step S4, the cable payout speed of the reel is:

[0091] V o = ΔV0 + V 0T

[0092] w o = V0 / R n

[0093] where, V o represents the cable payout speed of the reel, ΔV0 represents the cable payout speed deviation of the reel, V 0T represents the reference cable payout speed, w o represents the angular velocity of the reel, R n represents the radius on different winding layers of the cable.

[0094] Furthermore, in combination with the attached Figures 2 to 3 For the active cable payout tension control method of the underway thermosalinograph of the present invention, the active cable payout control method has been actually measured in the South China Sea as Figure 4 , and the feasibility has been verified, and the specific description is as follows:

[0095] Figure 2 is the cable payout schematic diagram of the underway thermosalinograph in the present invention, Figure 3 is the schematic diagram of the cable payout tension control principle of the underway thermosalinograph in the present invention. The cable tension F z is collected by the PLC controller and compared with the set tension value F o , and ΔV is calculated through the PID control algorithm O , and then through the speed regulator, current regulator and motor, that is, through the control of the speed loop and torque loop of the servo driver, control the cable payout speed V of the reel O and the angular velocity w of the reel o , to ensure the cable payout pre-tension. Among them, the cable tension F Z is obtained according to the force measuring pin shaft installed on the traction roller of the underway thermosalinograph, measuring the pin shaft force F u and the proportional gain K of the cable tension and the pin shaft u . The proportional gain K of the pin shaft u is measured according to the encoders of the reel drive shaft and the traction roller, respectively measuring the angular velocity w of the reel oand the angular velocity w of the traction roller u Calculated.

[0096] Embodiment 2

[0097] The present invention also provides an active cable-releasing tension control system for a navigation-type temperature-salt-deep detection equipment. The active cable-releasing tension control system for a navigation-type temperature-salt-deep detection equipment can be realized by executing the process steps of the active cable-releasing tension control method for the navigation-type temperature-salt-deep detection equipment, that is, those skilled in the art can understand the active cable-releasing tension control method for the navigation-type temperature-salt-deep detection equipment as a preferred implementation of the active cable-releasing tension control system for the navigation-type temperature-salt-deep detection equipment.

[0098] According to the present invention, an active cable-releasing tension control system for a navigation-type temperature-salinity-depth detection device comprises:

[0099] Module M1: Obtain the real-time ship speed and the towfish drop speed on board, and calculate the reference cable release speed. The real-time ship speed is obtained through the ship-borne Beidou positioning system, and the towfish drop speed is obtained based on the pressure sensor installed on the towfish. The reference cable release speed calculation formula is as follows:

[0100] V oT =V S +V T

[0101] Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

[0102] Module M2: Measure the force of the pin shaft installed on the traction roller of the traveling temperature-salt-deep equipment, and measure the angular velocity of the drum and the angular velocity of the traction roller according to the encoders of the drum drive shaft and the traction roller, and calculate the cable tension. Module M2 includes the following sub-steps:

[0103] Module M2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows:

[0104]

[0105] K u =F Z0 / F u1

[0106] In the formula, F z0is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, R2 represents the radius of the traction roller, R1 represents the radius of the drum, and F u1 Indicates the calibration force of the force measuring pin, K u Represents the proportional gain of cable tension to pin axis.

[0107] Module M2.2: Calculate the cable tension based on the proportional gain and the pin force collected in real time during cable release. The formula is as follows:

[0108] F z =K u F u

[0109] In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

[0110] Module M3: Collect the cable tension to the PLC controller and compare it with the set tension value, and calculate the reference cable release speed deviation ΔV through the PID control algorithm O Module M3 includes:

[0111] Module M3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows:

[0112] ΔF=F z -F0

[0113] Where ΔF represents the tension deviation, F Z Indicates the cable tension, F o Indicates the set tension value.

[0114] Module M3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows:

[0115]

[0116] In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient. ΔF(t) represents the difference between the actual tension and the set tension at time t, and δ represents the intermediate independent variable of time.

[0117] Module M4: Determine the cable release speed of the drum according to the reference cable release speed, and control the cable release speed and angular velocity of the drum through the servo drive speed loop and torque loop control, thereby controlling the cable release pretension. In module M4, the cable release speed of the drum is:

[0118] V o =ΔV0+V 0T

[0119] w o =V0 / R n

[0120] Among them, V o represents the speed of the cable drum, ΔV0 represents the deviation of the cable drum speed, V 0T Indicates the reference cable release speed, w o Represents the angular velocity of the reel, R n Indicates the radius of different winding layers of the cable.

[0121] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0122] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for controlling active cable tension of a navigation-type temperature-salinity-depth detection device, characterized in that: include: Step S1: obtaining the real-time ship speed and the towed fish falling speed, and calculating the reference cable release speed; Step S2: measuring the force of the pin shaft according to the force measuring pin shaft installed on the traction roller of the traveling temperature-salt-deep equipment, and measuring the angular velocity of the drum and the rotational angular velocity of the traction roller according to the encoders of the drum drive shaft and the traction roller, respectively, to calculate the cable tension; Step S3: The cable tension is collected and sent to the PLC controller for comparison with the set tension value, and the reference cable release speed deviation ΔV is calculated by the PID control algorithm. O ; Step S4: Determine the cable release line speed of the drum according to the reference cable release speed, and control the cable release line speed and the angular velocity of the drum through the servo driver speed loop and torque loop control, thereby controlling the cable release pretension.

2. The active cable tension control method for the navigation-type temperature-salinity-depth detection equipment according to claim 1 is characterized in that: The real-time ship speed is obtained through the ship-borne Beidou positioning system, and the towfish falling speed is obtained according to the pressure sensor installed on the towfish; the reference cable release speed calculation formula is as follows: V oT =V S +V T Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

3. The active cable tension control method for the navigation-type temperature-salinity-depth detection equipment according to claim 1 is characterized in that: The step S2 comprises the following sub-steps: Step S2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows: K u =F Z0 / F u1 In the formula, F z0 is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, R2 represents the radius of the traction roller, R1 represents the radius of the drum, and F u1 Indicates the calibration force of the force measuring pin, K u Indicates the proportional gain of cable tension and pin axis; Step S2.2: Calculate the cable tension according to the proportional gain and the pin force collected in real time during cable release. The formula is as follows: F z =K u F u In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

4. The active cable tension control method for the navigation-type temperature-salinity-depth detection equipment according to claim 1 is characterized in that: The step S3 comprises: Step S3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows: ΔF=F Z -F0 Where ΔF represents the tension deviation, F Z Indicates the cable tension, F o Indicates the set tension value; Step S3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows: In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient, ΔF(t) represents the difference between the actual tension and the set tension at time t, and δ represents the intermediate independent variable of time.

5. The active cable tension control method for the navigation-type temperature-salinity-depth detection equipment according to claim 1 is characterized in that: In step S4, the cable release speed of the drum is: Among them, V o represents the speed of the cable drum, ΔV0 represents the deviation of the cable drum speed, V 0T Indicates the reference cable release speed, w o Represents the angular velocity of the reel, R n Indicates the radius of different winding layers of the cable.

6. An active cable tension control system for a navigation-type temperature-salinity-depth detection device, characterized in that: include: Module M1: Obtain the real-time ship speed and the towed fish falling speed, and calculate the reference cable release speed; Module M2: Measure the force of the pin shaft installed on the traction roller of the traveling temperature-salt-deep equipment according to the force measuring pin shaft, and measure the angular velocity of the drum and the angular velocity of the traction roller according to the encoders of the drum drive shaft and the traction roller, and calculate the cable tension; Module M3: The cable tension is collected and sent to the PLC controller for comparison with the set tension value, and the reference cable release speed deviation ΔV is calculated through the PID control algorithm. O ; Module M4: Determine the cable release line speed of the drum according to the reference cable release speed, and control the cable release line speed and the drum angular velocity through the servo driver speed loop and torque loop control, thereby controlling the cable release pretension.

7. The active cable-releasing tension control system for the navigation-type temperature-salinity-depth detection equipment according to claim 6 is characterized in that: The real-time ship speed is obtained through the ship-borne Beidou positioning system, and the towfish falling speed is obtained according to the pressure sensor installed on the towfish; the reference cable release speed calculation formula is as follows: V oT =V S +V T Where V oT Indicates the reference cable release speed, V S Indicates real-time ship speed, V T Indicates the towfish falling speed.

8. The active cable-releasing tension control system for the navigation-type temperature-salinity-depth detection equipment according to claim 6 is characterized in that: The module M2 comprises the following sub-steps: Module M2.1: The encoder installed on the motor measures the initial calibration reel angular velocity, the traction roller rotation angular velocity and the pin force, and calculates the proportional gain of the cable tension and the pin. The formula is as follows: K u =F Z0 / F u1 In the formula, F z0 is the initial tension of the cable, E is the elastic modulus of the cable, A is the cross-sectional area of ​​the cable, L is the length of the cable from the cable outlet of the drum to the traction roller, t1 is the time from the cable outlet of the drum to the traction roller, and w is the fixed cross-sectional area of ​​the cable. o2 represents the angular velocity of the pulling roller, w o1 represents the angular velocity of the drum, r2 represents the radius of the traction roller, R1 represents the radius of the drum, and F u1 Indicates the calibration force of the force measuring pin, K u Indicates the proportional gain of cable tension and pin axis; Module M2.2: Calculate the cable tension according to the proportional gain and the pin force collected in real time during cable release. The formula is as follows: F z =K u F u In the formula, F z Indicates the cable tension, F u Indicates the real-time force measurement pin force, K u Represents the proportional gain of cable tension to pin axis.

9. The active cable-releasing tension control system for the navigation-type temperature-salinity-depth detection equipment according to claim 6 is characterized in that: The module M3 comprises: Module M3.1: Set the cable tension F Z The data collected by the PLC controller is compared with the set tension value to calculate the tension deviation. The formula is as follows: ΔF=F Z -F0 Where ΔF represents the tension deviation, F Z Indicates the cable tension, F o Indicates the set tension value; Module M3.2: Calculate the cable reel speed deviation ΔV based on the tension deviation ΔF through the PID control algorithm O , the formula is as follows: In the formula, K P Indicates the servo control proportional coefficient, K i Indicates the servo control integral coefficient, K d represents the servo control differential coefficient. ΔF(t) represents the difference between the actual tension and the set tension at time t, and δ represents the intermediate independent variable of time.

10. The active cable-releasing tension control system for the navigation-type temperature-salinity-depth detection equipment according to claim 6 is characterized in that: In the module M4, the cable release speed of the drum is: V o =ΔV0+V 0T w o =V0 / R n Among them, V o represents the speed of the cable drum, ΔV0 represents the deviation of the cable drum speed, V 0T Indicates the reference cable release speed, w o Represents the angular velocity of the reel, R n Indicates the radius of different winding layers of the cable.

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