Active cable tension control method and system for underway CTD equipment

Abstract

The application provides a kind of active cable tension control method and system of underway temperature-salinity-depth detection equipment, comprising: obtaining real-time ship speed and tow fish falling speed of ship-borne, calculating to obtain reference cable laying speed;According to the force measuring pin shaft installed on the traction roller of underway temperature-salinity-depth equipment, the pin shaft force is measured, and according to the encoder of the traction roller and the traction roller, the angular velocity of the traction roller is measured respectively, and the cable tension is calculated;The cable tension is collected to the PLC controller and compared with the set tension value, and the reference cable laying speed deviation is calculated by PID control algorithm;The reference cable laying speed is determined according to the traction roller laying line speed, and the traction roller laying line speed and the traction roller angular velocity are controlled through the speed loop and torque loop control of servo driver, and then the cable laying pre-tension is controlled.The application can collect the sailing speed and tow fish falling speed under the underway state of ship, and adjust the cable laying speed in real time.

Description

Technical Field

[0001] This invention relates to the field of control technology for mobile temperature, salinity, and depth (TTD) exploration equipment, specifically to a method and system for active cable release tension control of mobile TTD exploration equipment. Background Technology

[0002] The underway temperature, salinity, and depth (TTD) sounding equipment allows for free-fall deployment of a towed fish equipped with a CTD, sound velocity profiler, or other profiler sensors while the vessel is underway, to obtain CTD and sound velocity data for the seawater profile. The system automatically and in real-time collects relevant ocean TTD data through the repeated deployment and retrieval of the towed fish using a winch. Because the system enables continuous measurement of the seawater profile while underway, it significantly improves the efficiency of large-scale oceanographic surveys, obtaining dense measurement data over large areas of the sea, which is beneficial for researchers to detect certain local hydrological anomalies. Simultaneously, it can output the sound velocity data of the profile in real time, providing it to a multibeam echo sounder system, greatly improving the accuracy of multibeam echo sounder data.

[0003] During the active cable deployment of towed fish using a winch, the speed of the research vessel changes in real time. Simultaneously, the descent speed of the towed fish is affected by ocean currents and the length of the deployed cable. To ensure controllable, safe, and rapid cable deployment, a certain pre-tension is required at the cable exit point of the drum. Furthermore, the drum rotation speed is automatically adjusted according to changes in vessel speed and the descent speed of the towed fish to maintain stable tension and prevent cable slack. Therefore, achieving active cable tension control for mobile temperature, salinity, and depth (TDT) equipment is of great significance for ensuring the safety of towed fish deployment.

[0004] Patent document CN115523902A discloses a towed CTD (conductivity, temperature, and depth) measurement system for vertical profile measurement, comprising a deck unit and a winch unit respectively installed on a ship. The winch unit pulls a towed fish via a cable. The observation method of the towed CTD measurement system for vertical profile measurement involves operators preset the parameters for the winch unit to control the lowering or raising of the towed fish, and the towed fish is automatically deployed below the water surface while the ship is underway. The towed CTD measurement system for vertical profile measurement described in this invention uses a tugboat to tow an underwater observation system. The underwater observation system is connected to the tugboat by a cable. The underwater observation system carries sensors to measure underwater environmental elements. The towed observation system is used to control the ascent, descent, and navigation trajectory of the underwater observation system during ship navigation to conduct multi-parameter ocean vertical profile observations.

[0005] However, the drum rotation speed in patent document CN115523902A cannot be automatically adjusted according to changes in boat speed and the falling speed of the trawler, so the safety of trawler deployment needs to be improved. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an active cable tension control method and system for mobile temperature, salinity, and depth (TDM) exploration equipment.

[0007] The present invention provides an active cable tension control method for a mobile temperature, salinity, and depth (TDM) sounding device, comprising:

[0008] Step S1: Obtain the real-time ship speed and the descent speed of the trawler, and calculate the baseline cable-laying speed.

[0009] Step S2: Measure the pin force based on the force measuring pin installed on the traction roller of the mobile temperature and salinity depth equipment, and measure the angular velocity of the drum and the rotational angular velocity of the traction roller based on the encoders of the drum drive shaft and the traction roller, and calculate the cable tension.

[0010] Step S3: The cable tension is collected by the PLC controller and compared with the set tension value. The deviation ΔV of the reference cable laying speed is calculated by the PID control algorithm. O ;

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

[0012] Preferably, the real-time vessel speed is obtained through a shipborne BeiDou positioning system, and the descent speed of the towed fish is obtained based on a pressure sensor installed on the towed fish; the formula for calculating the baseline casting speed is as follows:

[0013] V oT =V S +V T

[0014] In the formula, V oT V represents the reference cable laying speed. S Indicates real-time ship speed, V T This indicates the speed at which the towed fish falls.

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

[0016] Step S2.1: Measure the initial calibration drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder installed on the motor. Calculate the proportional gain between cable tension and pin force using the following formula:

[0017]

[0018] K u =F Z0 / F u1

[0019] In the formula, F z0To calibrate the initial tension of the cable, E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, L represents the cable length from the reel exit to the traction roller, t1 represents the time it takes for the cable's fixed cross-section to travel from the reel exit to the traction roller, and w o2 w represents the angular velocity of the traction roller. o1 R1 represents the drum angular velocity, R2 represents the traction roller radius, R1 represents the drum radius, and F represents the drum angular velocity. u1 K represents the calibrated force measuring pin shaft force. u This represents the proportional gain between cable tension and the pin.

[0020] Step S2.2: Calculate the cable tension based on the proportional gain and the pin force collected in real time during cable laying, using the following formula:

[0021] F z =K u F u

[0022] In the formula, F z F represents cable tension. u K represents the real-time force measurement pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0023] Preferably, step S3 includes:

[0024] Step S3.1: Adjust cable tension F Z The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula:

[0025] ΔF=F Z -F0

[0026] In the formula, ΔF represents the tension deviation, F Z F represents cable tension. o This indicates the set tension value.

[0027] Step S3.2: Calculate the cable unloading speed deviation ΔV of the drum using a PID control algorithm based on the tension deviation ΔF. O The formula is as follows:

[0028]

[0029] In the formula, K P K represents the servo control proportional coefficient. i K represents the integral coefficient of servo control. d This represents the differential coefficient of the servo control. 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 unwinding speed of the drum is:

[0031] V o =ΔV0+V 0T

[0032] w o =V0 / R n

[0033] Among them, V o V represents the unloading speed of the cable from the drum, ΔV0 represents the deviation of the unloading speed of the cable from the drum, and V 0T w represents the reference cable laying speed. o R represents the angular velocity of the drum. n This indicates the radius on different winding layers of the cable.

[0034] An active cable tension control system for a mobile temperature, salinity, and depth (TDM) sounding device according to the present invention includes:

[0035] Module M1: Acquires the real-time ship speed and tugfish descent speed, and calculates the baseline cable release speed;

[0036] Module M2: Measure the pin force based on the force measuring pin installed on the traction roller of the mobile temperature and salinity depth equipment, and measure the angular velocity of the drum and the rotational angular velocity of the traction roller based on the encoders of the drum drive shaft and the traction roller, respectively, and calculate the cable tension;

[0037] Module M3: Collects the cable tension data and compares it with the set tension value to the PLC controller. It then calculates the baseline cable release speed deviation ΔV using a PID control algorithm. O ;

[0038] Module M4: Determines the cable release speed of the drum based on the reference cable release speed, and controls the cable release speed and angular velocity of the drum through the speed loop and torque loop of the servo driver, thereby controlling the cable release pretension.

[0039] Preferably, the real-time vessel speed is obtained through a shipborne BeiDou positioning system, and the descent speed of the towed fish is obtained based on a pressure sensor installed on the towed fish; the formula for calculating the baseline casting speed is as follows:

[0040] V oT =V S +V T

[0041] In the formula, V oT V represents the reference cable laying speed. S Indicates real-time ship speed, V T This indicates the speed at which the towed fish falls.

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

[0043] Module M2.1: Measure the initial calibrated drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder mounted on the motor. Calculate the proportional gain between cable tension and pin force using the following formula:

[0044]

[0045] K u =F Z0 / F u1

[0046] In the formula, F z0 To calibrate the initial tension of the cable, E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, L represents the cable length from the reel exit to the traction roller, t1 represents the time it takes for the cable's fixed cross-section to travel from the reel exit to the traction roller, and w o2 w represents the angular velocity of the traction roller. o1 R1 represents the drum angular velocity, R2 represents the traction roller radius, R1 represents the drum radius, and F represents the drum angular velocity. u1 K represents the calibrated force measuring pin shaft force. u This represents the proportional gain between cable tension and the pin.

[0047] Module M2.2: Based on the proportional gain and the pin force collected in real time during cable laying, calculate the cable tension using the following formula:

[0048] F z =K u F u

[0049] In the formula, F z F represents cable tension. u K represents the real-time force measurement pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0050] Preferably, the module M3 includes:

[0051] Module M3.1: Adjusts cable tension F Z The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula:

[0052] ΔF=F Z -F0

[0053] In the formula, ΔF represents the tension deviation, F Z F represents cable tension. o This indicates the set tension value.

[0054] Module M3.2: Calculates the cable unloading speed deviation ΔV of the drum using a PID control algorithm based on the tension deviation ΔF. O The formula is as follows:

[0055]

[0056] In the formula, K P K represents the servo control proportional coefficient. i K represents the integral coefficient of servo control. d This represents the differential coefficient of the servo control. 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 module M4, the cable unwinding speed of the drum is:

[0058] V o =ΔV0+V 0T

[0059] w o =V0 / R n

[0060] Among them, V o V represents the unloading speed of the cable from the drum, ΔV0 represents the deviation of the unloading speed of the cable from the drum, and V 0T w represents the reference cable laying speed. o R represents the angular velocity of the drum. n This indicates the radius on different winding layers of the cable.

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

[0062] 1. This invention can collect the ship's sailing speed and the towed fish's descent speed while the ship is underway, and adjust the cable-laying speed in real time.

[0063] 2. Based on the tension value monitored by the cable release roller, the present invention dynamically fine-tunes the cable release speed through PID control to ensure that the cable pretension force is within a suitable range and to ensure reliable active cable release without loosening. Attached Figure Description

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

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

[0066] Figure 2 This is a schematic diagram of cable laying for the mobile thermal depth equipment in this invention;

[0067] Figure 3 This is a schematic diagram illustrating the cable tension control principle of the mobile thermal-salinity depth equipment in this invention.

[0068] Figure 4 To implement the present invention, a method for actively releasing cables from a reel is proposed. Detailed Implementation

[0069] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0070] Example 1

[0071] According to the present invention, an active cable tension control method for a mobile temperature, salinity, and depth (TDT) sounding device is provided, such as... Figure 1 As shown, it includes:

[0072] Step S1: Obtain the real-time ship speed and the descent speed of the towed fish, and calculate the baseline casting speed. The real-time ship speed is obtained through the shipborne Beidou positioning system, and the descent speed of the towed fish is calculated based on the pressure sensor installed on the towed fish. The formula for calculating the baseline casting speed is as follows:

[0073] V oT =V S +V T

[0074] In the formula, V oT V represents the reference cable laying speed. S Indicates real-time ship speed, V T This indicates the speed at which the towed fish falls.

[0075] Step S2: Measure the force F of the force-measuring pin installed on the traction roller of the mobile thermal depth equipment. u And based on the encoders of the drum drive shaft and the traction roller, the angular velocity w of the drum is measured respectively. o and the angular velocity of the traction roller w u Calculate the cable tension F z Step S2 includes the following sub-steps:

[0076] Step S2.1: Measure the initial calibration drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder installed on the motor. Calculate the proportional gain between cable tension and pin force using the following formula:

[0077]

[0078] K u =F Z0 / F u1

[0079] In the formula, F z0To calibrate the initial tension of the cable, E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, L represents the cable length from the reel exit to the traction roller, t1 represents the time it takes for the cable's fixed cross-section to travel from the reel exit to the traction roller, and w o2 w represents the angular velocity of the traction roller. o1 R1 represents the drum angular velocity, R2 represents the traction roller radius, R1 represents the drum radius, and f represents the angular velocity of the drum. u1 K represents the calibrated force measuring pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0080] Step S2.2: Calculate the cable tension based on the proportional gain and the pin force collected in real time during cable laying, using the following formula:

[0081] F z =K u F u

[0082] In the formula, F z F represents cable tension. u K represents the real-time force measurement pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0083] Step S3: The cable tension is collected and compared with the set tension value by the PLC controller. ΔV is calculated using a PID control algorithm. O Step S3 includes:

[0084] Step S3.1: Adjust cable tension F Z The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula:

[0085] ΔF=F Z -F0

[0086] In the formula, ΔF represents the tension deviation, F z F represents cable tension. o This indicates the set tension value.

[0087] Step S3.2: Calculate the cable unloading speed deviation ΔV of the drum using a PID control algorithm based on the tension deviation ΔF. O The formula is as follows:

[0088]

[0089] In the formula, K P K represents the servo control proportional coefficient. i K represents the integral coefficient of servo control. d This represents the differential coefficient of the servo control. ΔF(t) represents the difference between the actual tension and the set tension at time t. δ represents the intermediate independent variable of time. When the actual tension F is released...S When F0 is exceeded, the reel cable pay-off rotational speed is appropriately increased according to the reel cable pay-off linear speed deviation; conversely, when F S is less than F0, the reel cable pay-off rotational speed is appropriately reduced according to the reel cable pay-off linear speed deviation.

[0090] Step S4: Control the reel cable pay-off linear speed V through the speed loop and torque loop control of the servo driver O and the reel angular velocity w o to ensure the preset cable pay-off tension. In the step S4, the reel cable pay-off linear speed is:

[0091] V o =ΔV0+V 0T

[0092] w o =V0 / R n

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

[0094] Further, in conjunction with the attached Figures 2 to 3 for the active cable pay-off tension control method of the underway CTD detection device of the present invention, the active cable pay-off control method has been subjected to actual measurement in the South China Sea as Figure 4 , and the feasibility is verified, which is specifically described as follows:

[0095] Figure 2 is a schematic diagram of cable paying off for the underway CTD device of the present invention, Figure 3 is a schematic diagram of the cable pay-off tension control principle for the underway CTD device of the present invention. The cable tension F z is collected to the PLC controller to be compared with the set tension value F o , ΔV is calculated through the PID control algorithm O , and then through the speed regulator, current regulator and motor, that is, through the speed loop and torque loop control of the servo driver, the reel cable pay-off linear speed V is controlled O and the reel angular velocity w o , so as to ensure the preset cable pay-off tension. Wherein, the cable tension F Z is obtained by measuring the pin shaft force F via the force-measuring pin shaft mounted on the traction roller of the underway CTD device u and the proportional gain K between the cable tension and the pin shaft u . The proportional gain K of the pin shaft u measures the reel angular velocity w respectively through the encoders of the reel drive shaft and the traction roller oand the angular velocity of the traction roller w u Calculated.

[0096] Example 2

[0097] The present invention also provides an active cable-laying tension control system for a mobile temperature, salinity, and depth (TMD) exploration device. The active cable-laying tension control system for the mobile TMD exploration device can be implemented by executing the process steps of the active cable-laying tension control method for the mobile TMD exploration device. That is, those skilled in the art can understand the active cable-laying tension control method for the mobile TMD exploration device as a preferred embodiment of the active cable-laying tension control system for the mobile TMD exploration device.

[0098] An active cable tension control system for a mobile temperature, salinity, and depth (TDM) sounding device according to the present invention includes:

[0099] Module M1: Acquires the real-time ship speed and towed fish descent speed, and calculates the baseline casting speed. The real-time ship speed is obtained through the ship's BeiDou positioning system, and the towed fish descent speed is obtained from the pressure sensor installed on the towed fish. The formula for calculating the baseline casting speed is as follows:

[0100] V oT =V S +V T

[0101] In the formula, V oT V represents the reference cable laying speed. S Indicates real-time ship speed, V T This indicates the speed at which the towed fish falls.

[0102] Module M2: Measures the pin force on the traction roller of the mobile thermal thermal depth equipment, and measures the drum angular velocity and traction roller rotation angular velocity using encoders on the drum drive shaft and traction roller respectively, to calculate the cable tension. Module M2 includes the following sub-steps:

[0103] Module M2.1: Measure the initial calibrated drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder mounted on the motor. Calculate the proportional gain between cable tension and pin force using the following formula:

[0104]

[0105] K u =F Z0 / F u1

[0106] In the formula, F z0To calibrate the initial tension of the cable, E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, L represents the cable length from the reel exit to the traction roller, t1 represents the time it takes for the cable's fixed cross-section to travel from the reel exit to the traction roller, and w o2 w represents the angular velocity of the traction roller. o1 R1 represents the drum angular velocity, R2 represents the traction roller radius, R1 represents the drum radius, and F represents the drum angular velocity. u1 K represents the calibrated force measuring pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0107] Module M2.2: Calculates cable tension based on the proportional gain and the pin force collected in real time during cable laying, using the following formula:

[0108] F z =K u F u

[0109] In the formula, F z F represents cable tension. u K represents the real-time force measurement pin shaft force. u This represents the ratio gain of cable tension to the pin.

[0110] Module M3: Collects cable tension data and compares it with the set tension value to the PLC controller. It then uses a PID control algorithm to calculate the baseline cable release speed deviation ΔV. O Module M3 includes:

[0111] Module M3.1: Adjusts cable tension F Z The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula:

[0112] ΔF=F z -F0

[0113] In the formula, ΔF represents the tension deviation, F Z F represents cable tension. o This indicates the set tension value.

[0114] Module M3.2: Calculates the cable unloading speed deviation ΔV of the drum using a PID control algorithm based on the tension deviation ΔF. O The formula is as follows:

[0115]

[0116] In the formula, K P K represents the servo control proportional coefficient. i K represents the integral coefficient of servo control. d This represents the differential coefficient of the servo control. 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: Determines the drum cable release speed based on the reference cable release speed, and controls the drum cable release speed and drum angular velocity through servo driver speed loop and torque loop control, thereby controlling the cable release pretension. In module M4, the drum cable release speed is:

[0118] V o =ΔV0+V 0T

[0119] w o =V0 / R n

[0120] Among them, V o V represents the unloading speed of the cable from the drum, ΔV0 represents the deviation of the unloading speed of the cable from the drum, and V 0T w represents the reference cable laying speed. o R represents the angular velocity of the drum. n This indicates the radius on different winding layers of the cable.

[0121] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, enabling the system and its various devices, modules, and units to function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered both software modules implementing the method and structures within the hardware component.

[0122] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for controlling the tension of an active cable laying process in a mobile temperature, salinity, and depth (TDM) probe, characterized in that, include: Step S1: Obtain the real-time ship speed and the descent speed of the trawler, and calculate the baseline cable-laying speed. Step S2: Measure the pin force based on the force measuring pin installed on the traction roller of the mobile temperature and salinity depth equipment, and measure the angular velocity of the drum and the rotational angular velocity of the traction roller based on the encoders of the drum drive shaft and the traction roller, and calculate the cable tension. Step S3: The cable tension is collected by the PLC controller and compared with the set tension value. The deviation of the reference cable laying speed is calculated by the PID control algorithm. ; Step S4: Determine the cable release speed of the drum based on the reference cable release speed, and control the cable release speed and drum angular velocity through the speed loop and torque loop of the servo driver, thereby controlling the cable release pretension. Step S2 includes the following sub-steps: Step S2.1: Measure the initial calibration drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder installed on the motor. Calculate the proportional gain between cable tension and pin force using the following formula: In the formula, The initial tension is set for the cable, where E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, and L represents the cable length from the reel exit to the traction roller. This indicates the time it takes for the cable's fixed cross-section to travel from the cable exit point on the drum to the traction roller. Indicates the angular velocity of the traction roller. Indicates the angular velocity of the drum. Indicates the radius of the traction roller. Indicates the drum radius, Indicates the calibrated force measuring pin shaft force. This represents the proportional gain between cable tension and the pin. Step S2.2: Calculate the cable tension based on the proportional gain and the pin force collected in real time during cable laying, using the following formula: In the formula, Indicates cable tension. Indicates the real-time force measurement pin force. This indicates the ratio of cable tension to the pin gain.

2. The active cable tension control method for mobile temperature, salinity, and depth (TDM) exploration equipment according to claim 1, characterized in that, The real-time vessel speed is obtained through the shipborne BeiDou positioning system, and the towed fish's descent speed is obtained based on the pressure sensor installed on the towed fish; the formula for calculating the baseline cable release speed is as follows. In the formula, Indicates the reference cable laying speed. Indicates real-time ship speed, This indicates the speed at which the towed fish falls.

3. The active cable tension control method for a mobile temperature, salinity, and depth (TDM) probe according to claim 1, characterized in that, Step S3 includes: Step S3.1: Adjust cable tension The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula: In the formula, Indicates tension deviation. Indicates cable tension. Indicates the set tension value; Step S3.2: Based on tension deviation The deviation of the cable unwinding speed of the drum is calculated using a PID control algorithm. The formula is as follows: In the formula, This represents the servo control proportional coefficient. This represents the integral coefficient of the servo control. This represents the differential coefficient of the servo control. This represents the difference between the actual tension and the set tension at time t. The intermediate independent variable representing time.

4. The active cable tension control method for a mobile temperature, salinity, and depth (TDM) probe according to claim 1, characterized in that, In step S4, the cable unloading speed of the drum is: in, Indicates the speed at which the cable is unloaded from the drum. This indicates the deviation in the cable unloading speed of the drum. Indicates the reference cable laying speed. Indicates the angular velocity of the drum. This indicates the radius on different winding layers of the cable.

5. An active cable tension control system for a mobile temperature, salinity, and depth (TDM) exploration device, characterized in that, include: Module M1: Acquires the real-time ship speed and tugfish descent speed, and calculates the baseline cable release speed; Module M2: Measure the pin force based on the force measuring pin installed on the traction roller of the mobile temperature and salinity depth equipment, and measure the angular velocity of the drum and the rotational angular velocity of the traction roller based on the encoders of the drum drive shaft and the traction roller, respectively, and calculate the cable tension; Module M3: Collects the cable tension data and compares it with the set tension value to the PLC controller. It then calculates the deviation of the baseline cable release speed using a PID control algorithm. ; Module M4: Determines the cable release speed of the drum based on the reference cable release speed, and controls the cable release speed and drum angular velocity through the speed loop and torque loop of the servo driver, thereby controlling the cable release pretension. The module M2 includes the following sub-steps: Module M2.1: Measure the initial calibrated drum angular velocity, traction roller rotation angular velocity, and pin force using an encoder mounted on the motor. Calculate the proportional gain between cable tension and pin force using the following formula: In the formula, The initial tension is set for the cable, where E represents the cable's modulus of elasticity, A represents the cable's cross-sectional area, and L represents the cable length from the reel exit to the traction roller. This indicates the time it takes for the cable's fixed cross-section to travel from the cable exit point on the drum to the traction roller. Indicates the angular velocity of the traction roller. Indicates the angular velocity of the drum. Indicates the radius of the traction roller. Indicates the drum radius, Indicates the calibrated force measuring pin shaft force. This represents the proportional gain between cable tension and the pin. Module M2.2: Based on the proportional gain and the pin force collected in real time during cable laying, calculate the cable tension using the following formula: In the formula, Indicates cable tension. Indicates the real-time force measurement pin force. This indicates the ratio of cable tension to the pin gain.

6. The active cable tension control system for the mobile temperature, salinity, and depth exploration equipment according to claim 5, characterized in that, The real-time vessel speed is obtained through the shipborne BeiDou positioning system, and the towed fish's descent speed is obtained based on the pressure sensor installed on the towed fish; the formula for calculating the baseline cable release speed is as follows. In the formula, Indicates the reference cable laying speed. Indicates real-time ship speed, This indicates the speed at which the towed fish falls.

7. The active cable tension control system for the mobile temperature, salinity, and depth exploration equipment according to claim 5, characterized in that, The module M3 includes: Module M3.1: Adjusts cable tension The collected tension data is compared with the set tension value to calculate the tension deviation, using the following formula: In the formula, Indicates tension deviation. Indicates cable tension. Indicates the set tension value; Module M3.2: Based on tension deviation The deviation of the cable unwinding speed of the drum is calculated using a PID control algorithm. The formula is as follows: In the formula, This represents the servo control proportional coefficient. This represents the integral coefficient of the servo control. This represents the differential coefficient of the servo control. This represents the difference between the actual tension and the set tension at time t. The intermediate independent variable representing time.

8. The active cable tension control system for the mobile temperature, salinity, and depth exploration equipment according to claim 5, characterized in that, In module M4, the cable unwinding speed of the drum is: in, Indicates the speed at which the cable is unloaded from the drum. This indicates the deviation in the cable unloading speed of the drum. Indicates the reference cable laying speed. Indicates the angular velocity of the drum. This indicates the radius on different winding layers of the cable.

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