A hydraulic winch control system and control method for constant tension deployment and retrieval of unmanned vehicles

Abstract

A hydraulic winch control system for constant tension deployment and retrieval of an unmanned aerial vehicle (UAV) includes a clutch, a brake, a drum, a first motor, a second motor, a first valve group, a second valve group, a winch lifting port, and a winch lowering port. The drum is connected to the clutch, and the steel wire rope attached to the drum rotates to raise and lower the winch. The first and second motors are respectively connected to the clutch. The brake is connected to the first motor. The first valve group is connected to the first motor to control its movement. The second valve group is connected to the second motor to control its movement. The winch lifting port and the winch lowering port are respectively connected to the first and second valve groups. Hydraulic oil enters the winch lifting port to raise the winch, and hydraulic oil enters the winch lowering port to lower the winch. This invention achieves a hydraulic winch control system with wave compensation function at two tension levels, and each constant tension level is adjustable.

Description

Technical Field

[0001] This invention belongs to the field of aircraft recovery, and particularly relates to a hydraulic winch control system and control method for constant tension recovery and deployment of unmanned aerial vehicles. Background Technology

[0002] Unmanned underwater vehicles (UUVs) are unmanned vessels that can navigate autonomously on water and perform various tasks, such as ocean exploration, maritime patrol, and underwater detection. With continuous technological advancements, the development prospects of UUVs are very broad. As the global marine economy continues to develop, the demand for UUVs in areas such as ocean exploration, port management, and maritime traffic control is increasing.

[0003] The deployment and retrieval of unmanned aerial vehicles (UAVs) is carried out in complex sea conditions, and the waves have a significant impact on the deployment and retrieval of the UAVs, which increases the difficulty and danger of deployment and retrieval. This places higher demands on the hydraulic winches used for deploying and retrieval of UAVs.

[0004] Existing hydraulic winches for recovering vessels lack wave compensation systems, which can easily damage the vessels during recovery. Even those hydraulic winches with wave compensation cannot be adjusted to different wave conditions, still posing a risk of damaging the vessels.

[0005] Common wave-compensated hydraulic winches typically use a hydraulic motor connected to a reducer to drive the drum rotation, achieving low-speed, high-torque operation. Wave compensation primarily utilizes a variable displacement mechanism to reduce the hydraulic motor's displacement, thus achieving high-speed, low-torque operation. However, commercially available variable displacement motors are generally only 30% of their full displacement. This means that for a 6-ton vehicle with a wire rope speed of 48 m / min, the corresponding hydraulic system pressure is 20 MPa. When switching to high-tension wave compensation mode, the constant tension of the hydraulic winch is approximately 6 ÷ 3 = 2 tons, and the wave compensation speed is approximately 48 × 3 = 144 m / min. At this point, the hydraulic system pressure remains at 20 MPa, which is the set pressure of the overflow valve between the winch's inlet and outlet. Clearly, a constant tension of 2 tons is too high, easily lifting the vehicle out of the water, resulting in poor wave-following performance and certain limitations. However, by reducing the set pressure of the relief valve between the inlet and outlet of the hydraulic winch, the constant tension of the hydraulic winch under wave compensation conditions can be reduced. For example, setting the pressure of the relief valve to 10 MPa results in a constant tension of approximately 1 ton for the hydraulic winch, leading to a better wave compensation effect and fully meeting the requirements for high-tension wave compensation. The pressure of the relief valve between the inlet and outlet of the hydraulic winch should not be set too low, generally not below 7 MPa. This is because setting the pressure too low will prevent the internal brakes and clutches of the hydraulic winch from engaging, thus worsening the wave following effect. Furthermore, given that the capture frame weighs 300 kg, the aforementioned wave-compensating hydraulic winch is clearly insufficient to meet the wave compensation requirements of the capture frame itself. Summary of the Invention

[0006] The purpose of this invention is to provide a hydraulic winch control system and control method for constant tension deployment and recovery of unmanned aerial vehicles (UAVs), in order to solve the technical problem of damage to UAVs caused by different wave conditions when recovering UAVs on the sea surface.

[0007] To achieve the above objectives, the specific technical solution of the hydraulic winch control system and control method for constant tension deployment and retraction of unmanned aerial vehicles according to the present invention is as follows:

[0008] A hydraulic winch control system for constant tension retraction and deployment of an unmanned aerial vehicle includes a clutch, a brake, a drum, a first motor, a second motor, a first valve group, a second valve group, a winch lifting port, and a winch lowering port.

[0009] The drum is connected to the clutch, and the steel wire rope attached to the drum rotates to raise and lower the winch. The first motor and the second motor are respectively connected to the clutch, and the brake is connected to the first motor. The first valve group is connected to the first motor to control the movement of the first motor. The second valve group is connected to the second motor to control the movement of the second motor. The winch lifting port and the winch lowering port are respectively connected to the first valve group and the second valve group. Hydraulic oil enters the winch lifting port to raise the winch, and hydraulic oil enters the winch lowering port to lower the winch.

[0010] In order to control the first motor, the first valve group includes a first solenoid valve, a second solenoid valve, a first shuttle valve, a first balancing valve, a second balancing valve, a first relief valve, a first motor solenoid valve, a first check valve, a third solenoid valve, and a hydraulic control valve.

[0011] The oil inlets of the first and second solenoid valves are respectively connected to the winch hoisting port. The oil outlet of the first solenoid valve is connected to the oil inlet of the first shuttle valve and the oil inlet of the first balance valve. The oil outlet of the second solenoid valve is connected to the second valve group. The two oil inlets of the first shuttle valve are respectively connected to the winch descent port and the oil outlet of the first solenoid valve. The oil outlet of the first shuttle valve is respectively connected to the brake, the oil inlet of the third solenoid valve, and the second valve group. The oil outlet of the third solenoid valve is connected to the control port of the hydraulic control valve. The first valve is connected to the inlet of the first relief valve, the inlet of the first balance valve is connected to the outlet of the first solenoid valve, the outlet of the first balance valve is connected to the inlet of the hydraulic control valve and the A port of the first motor, the inlet of the second balance valve is connected to the winch descent port, the outlet of the second balance valve is connected to the outlet of the first relief valve and the B port of the first motor, the first motor solenoid valve is connected to the first motor, and the first check valve is connected between the winch descent port and the second valve group to prevent hydraulic oil from the winch descent port from entering the second valve group.

[0012] In order to control the second motor, the second valve group includes a second shuttle valve, a first hydraulic lock, a second hydraulic lock, a pressure reducing valve, a second check valve, a fourth solenoid valve, and a second relief valve.

[0013] The two inlets of the second shuttle valve are connected to the inlet of the first check valve and the outlet of the second solenoid valve, respectively. The outlet of the second shuttle valve is connected to the clutch. The inlet of the pressure reducing valve is connected to the outlet of the first shuttle valve. The outlet of the pressure reducing valve is connected to the inlet of the second check valve. The outlet of the second check valve is connected to the inlet of the fourth solenoid valve, the inlet of the second relief valve, and port A of the second motor, respectively. The inlet of the first hydraulic lock is connected to the outlet of the second solenoid valve. The outlet of the first hydraulic lock is connected to port A of the second motor and the inlet of the second relief valve. The inlet of the second hydraulic lock is connected to the inlet of the first check valve. The outlet of the second hydraulic lock is connected to port B of the second motor, the outlet of the second relief valve, and the outlet of the fourth solenoid valve, respectively.

[0014] In order to enable the first motor to enter a brakeless state, the brake is a normally closed brake, and hydraulic oil enters the brake, disengaging the brake from the first motor.

[0015] In order for the drum to be driven by the second motor, the clutch is a normally closed clutch. Hydraulic oil is introduced into the clutch, and the clutch is disengaged from the drum, that is, the first motor is disengaged from the drum, and the drum is only driven by the second motor.

[0016] A control method for a hydraulic winch control system for constant tension deployment and retraction of an unmanned aerial vehicle, including a lifting method and a lowering method;

[0017] In the lifting method, hydraulic oil enters the first valve group from the winch lifting port, passes through the first solenoid valve, and then passes through the first shuttle valve and the first balance valve. The hydraulic oil passing through the first shuttle valve enters the brake and the X port of the second valve group. The hydraulic oil entering the brake causes the first motor to enter a brakeless state. After passing through the X port of the second valve group, the hydraulic oil passes through the pressure reducing valve, the second check valve, and the fourth solenoid valve in sequence, and then reaches the A port and B port of the second motor, providing oil supply for the second motor's follow-motion movement. The hydraulic oil passing through the first balance valve enters the A port of the first motor, driving the first motor to rotate forward, which in turn drives the drum to rotate and tighten the wire rope.

[0018] In the descent method, hydraulic oil enters the first valve group from the winch descent port and then passes through the first shuttle valve and the second balance valve. The hydraulic oil passing through the first shuttle valve enters the brake and the X port of the second valve group. The hydraulic oil entering the brake causes the first motor to enter a brakeless state. After passing through the X port of the second valve group, the hydraulic oil passes through the pressure reducing valve, the second check valve, and the fourth solenoid valve in sequence before reaching the A port and B port of the second motor, providing oil supply for the second motor's follow-motion movement. The hydraulic oil passing through the second balance valve enters the B port of the first motor, driving the first motor to reverse and causing the drum to rotate to loosen the wire rope.

[0019] In order to have two levels of wave compensation function with constant tension that can be adjusted appropriately, the large tension and small tension wave compensation functions are interlocked and do not interfere with each other. The control method also includes large tension wave compensation method and small tension wave compensation method.

[0020] The high-tension wave compensation function provides a constant pulling force to the capture frame and the aircraft after docking, preventing unnecessary collisions caused by wave surges pushing the aircraft to move arbitrarily, and greatly improving the safety and stability of the aircraft's deployment and retrieval. In the high-tension wave compensation method, the overflow pressure of the first overflow valve is set, i.e., the constant tension of the winch under high waves; the first solenoid valve is open, the second solenoid valve is closed, and the third solenoid valve opens after being energized; the first motor solenoid valve reduces the first motor displacement to a small displacement position after being energized; hydraulic oil enters the first valve group from the winch hoisting port, passes through the first solenoid valve, and then through the first shuttle valve and the first balance valve respectively; the hydraulic oil passing through the first shuttle valve enters the brake, the X port of the second valve group, and the oil inlet of the third solenoid valve respectively; the hydraulic oil entering the brake puts the first motor into a brakeless state; the hydraulic oil passes through the X port of the second valve group and then sequentially through the pressure reducing valve. The hydraulic oil then flows through the second check valve to ports A and B of the second motor, forming a supplementary oil path for the second motor's follow-motion operation. After passing through the third solenoid valve, the hydraulic oil enters the control port of the hydraulic control valve, opening it and allowing the hydraulic oil passing through the first balance valve to enter port A of the first motor. Simultaneously, it enters the inlet of the first relief valve through the hydraulic control valve. When the wave is subsiding, the hydraulic oil passing through the first balance valve flows out through the first relief valve after passing through the hydraulic control valve. Under load, the first motor reverses direction, driving the drum to rotate and loosen the wire rope. When the wave is surging, the hydraulic oil passing through the first balance valve enters port A of the first motor, driving the first motor to rotate forward, causing the drum to rotate and tighten the wire rope.

[0021] The low-tension wave compensation function allows the capture frame to rise and fall with the vehicle, ensuring that the vehicle and the capture frame move synchronously in the height direction. This greatly improves the efficiency of the capture frame in capturing the vehicle and also avoids repeated collisions between the capture frame and the vehicle.

[0022] In the small-tension wave compensation method, the overflow pressure of the second relief valve is set, which is the constant tension of the winch during small waves; the first solenoid valve and the fourth solenoid valve close when energized, and the second solenoid valve opens when energized; hydraulic oil enters the first valve group from the winch hoisting port, passes through the second solenoid valve, and then enters the second valve group, passing through the second shuttle valve and the first hydraulic lock respectively; the hydraulic oil passing through the second shuttle valve enters the clutch, causing the first motor to disengage from the drum, and the drum is only driven by the second motor; the hydraulic oil passing through the first hydraulic lock enters the second motor port A and simultaneously enters the inlet of the second relief valve; when the wave sinks, the hydraulic oil passing through the first hydraulic lock flows out through the first relief valve, and the second motor reverses under load, driving the drum to rotate and loosen the wire rope; when the wave surges, the hydraulic oil passing through the first hydraulic lock enters the second motor port A, driving the second motor to rotate forward, driving the drum to rotate and tighten the wire rope. Beneficial effects

[0023] By setting up a first motor and a first valve group, and a second motor and a second valve group, a hydraulic winch control system with wave compensation function at two tension levels and adjustable constant tension at each level is realized. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a hydraulic winch control system for constant tension deployment and retraction of an unmanned aerial vehicle according to the present invention.

[0025] The markings in the diagram are as follows: 10, Clutch; 20, Brake; 30, First Motor; 40, Second Motor; 50, First Valve Assembly; 51, First Solenoid Valve; 52, Second Solenoid Valve; 53, First Shuttle Valve; 54, First Balance Valve; 55, Second Balance Valve; 56, First Relief Valve; 57, First Motor Solenoid Valve; 58, Third Solenoid Valve; 59, Hydraulic Control Valve; 510, First Check Valve; 60, Second Valve Assembly; 61, Second Shuttle Valve; 62, Pressure Reducing Valve; 63, Second Check Valve; 64, Fourth Solenoid Valve; 65, Second Relief Valve; 66, First Hydraulic Lock; 67, Second Hydraulic Lock; 70, Winch Lifting Port; 80, Winch Lowering Port. Detailed Implementation

[0026] To better understand the purpose, structure, and function of this invention, the following detailed description, in conjunction with the accompanying drawings, provides an overview of the hydraulic winch control system and control method for constant tension deployment and retraction of unmanned aerial vehicles.

[0027] Implementation example:

[0028] like Figure 1As shown, a hydraulic winch control system for constant tension deployment and retraction of an unmanned aerial vehicle includes a clutch 10, a brake 20, a drum, a first motor 30, a second motor 40, a first valve group 50, a second valve group 60, a winch lifting port 70, and a winch lowering port 80.

[0029] The motor is an actuator in a hydraulic system. It converts the pressure energy of a liquid into mechanical energy on its output shaft, which is then transmitted to a reducer. The reducer transmits this mechanical energy to a drum, on which a wire rope is wound, ultimately enabling the wire rope to rise and fall. A normally closed brake 20 is located between the first motor 30 and the reducer. The brake 20 disengages from the first motor 30 only when hydraulic oil enters it, placing the first motor 30 in a brakeless state. A normally closed clutch 10 is located between the reducer and the drum. The clutch 10 disengages from the drum only when hydraulic oil enters it, at which point the drum's movement is not driven by the first motor 30 but only by the second motor 40. Gears are machined on the drum for meshing with the output gears of the second motor 40. The first valve group 50 and the second valve group 60 are hydraulic system control elements, respectively mounted on the first motor 30 and the second motor 40.

[0030] During full-load lifting, hydraulic oil enters the first valve group 50 through the winch lifting port 70, then passes through the first solenoid valve 51 and the first shuttle valve 53 before entering the brake 20, opening the brake 20 and placing the first motor 30 in a brakeless state. Simultaneously, hydraulic oil enters the first motor 30A port through the first balance valve 54, driving the output shaft of the first motor 30 to rotate. At the same time, hydraulic oil enters the second valve group 60X port, then passes through the pressure reducing valve 62, the second check valve 63, and the fourth solenoid valve 64 before entering the second motor 40A and B ports. This is the oil supply circuit for the second motor 40's follow-up movement. The drum rotation drives the second motor 40 to rotate. Considering the possibility of leakage in the second motor 40, the aforementioned oil supply circuit is necessary. The full-load lowering condition is similar to the full-load lifting condition.

[0031] During high-tension wave compensation, the overflow pressure of the first relief valve 56 is adjusted to set the constant tension of the winch under high-tension wave compensation. When high-tension wave compensation is activated, the third solenoid valve 58 and the first motor solenoid valve 57 are energized. After the third solenoid valve 58 is energized, it opens, and the first motor solenoid valve 57 reduces the displacement of the first motor 30 to a small displacement position, and oil enters the winch hoisting port 70.

[0032] Hydraulic oil passes through the first solenoid valve 51 and then through the first shuttle valve 53 into the brake 20, opening the brake 20 and putting the first motor 30 in a brakeless state. At the same time, hydraulic oil enters the second valve group 60X port, and then sequentially passes through the pressure reducing valve 62, the second check valve 63, and the fourth solenoid valve 64 into the second motor 40A and B ports, providing oil supply for the second motor 40's follow-up movement. Simultaneously, hydraulic oil enters the control port of the hydraulic control valve 59 through the third solenoid valve 58, opening the hydraulic control valve 59. At the same time, hydraulic oil enters the first motor 30A port and the first relief valve 56 inlet through the first balance valve 54.

[0033] If the waves are subsiding, the entire weight of the docked capture frame and the vehicle will act on the rope wound on the drum, tightening the rope. At this point, the hydraulic winch will experience a force greater than the set tension, causing the docked capture frame and the vehicle to fall under their own weight, reversing the winch. Hydraulic oil will flow out through the first relief valve 56 after passing through the hydraulic control valve 59. If the waves are rising, the docked capture frame and the vehicle will be lifted by the waves, loosening the rope wound on the drum. At this point, the hydraulic winch will experience a force less than the set tension, and hydraulic oil will flow into the port of the first motor 30A, driving the first motor 30 to rotate forward, thus rotating the drum forward, tightening the rope, and securing the docked capture frame and the vehicle.

[0034] During low-tension wave compensation, the overflow pressure of the second relief valve 65 is adjusted to set the constant tension of the winch under low-tension wave compensation. When low-tension wave compensation is activated, the first solenoid valve 51 and the fourth solenoid valve 64 are closed after being energized, the second solenoid valve 52 is opened after being energized, and oil enters the winch hoisting port 70. The first solenoid valve 51 is energized to close the oil circuit of the first motor 30, the fourth solenoid valve 64 is energized to close the oil supply circuit of the second motor 40, and the second solenoid valve 52 is energized to introduce hydraulic oil into the second valve group 60.

[0035] Hydraulic oil flows into the second valve group 60VA port through the second solenoid valve 52, and opens the clutch 10 through the second shuttle valve 61, disengaging the first motor 30 from the drum, so that the drum is driven only by the second motor 40. At the same time, hydraulic oil enters the second motor 40A port and the second relief valve 65 inlet through the first hydraulic lock 66.

[0036] If the waves are subsiding, the entire weight of the capture frame acts on the rope wound on the drum, tightening the rope. At this point, the hydraulic winch experiences a force greater than the set tension, causing the capture frame to fall under its own weight, reversing the winch. Hydraulic oil flows out through the first hydraulic lock 66 and then through the second overflow valve 65. Conversely, if the waves are rising, the capture frame is lifted by the waves, loosening the rope wound on the drum. At this point, the hydraulic winch experiences a force less than the set tension, and hydraulic oil flows through the first hydraulic lock 66 into the port of the second motor 40A, driving the second motor 40 to rotate forward, thus rotating the drum forward, tightening the rope, and securing the capture frame.

[0037] When wave compensation is cancelled, the first solenoid valve 51, the second solenoid valve 52, the third solenoid valve 58, the fourth solenoid valve 64, and the first motor solenoid valve 57 are de-energized, and no hydraulic oil enters the winch hoisting port 70. At this time, full-load hoisting and lowering is resumed.

[0038] When it is necessary to recover the vehicle, first lower the capture frame to a distance of about 3 meters directly above the vehicle. At this time, activate the low-tension wave compensation function, which is in standby mode. Continue lowering the capture frame. When the capture frame is lowered to the back of the vehicle, the tension on the steel cable connecting the capture frame suddenly decreases. At this time, the low-tension wave compensation function is automatically activated, and the capture frame will rise and fall with the vehicle to ensure that the vehicle and the capture frame move synchronously in the height direction. This greatly improves the efficiency of the capture frame in capturing the vehicle and also avoids repeated collisions between the capture frame and the vehicle. At this point, the capture frame can be operated to capture and lock the vehicle. After the capture frame and the vehicle are successfully docked, the low-tension wave compensation function is no longer sufficient to pull the docked capture frame and vehicle. At this time, the high-tension wave compensation function needs to be activated (the low-tension wave compensation function is automatically deactivated simultaneously; the high-tension and low-tension wave compensation functions are interlocked). As the waves surge, the high-tension wave compensation function automatically activates, providing a constant tension to the docked capture frame and vehicle, preventing the wave surge from causing the vehicle to move arbitrarily and resulting in unnecessary collisions. This greatly improves the safety and stability of the vehicle's deployment and retrieval. Then, find a wave crest position and operate the hydraulic winch to lift the vehicle. The wave compensation function will automatically deactivate, and the hydraulic winch will retract the capture frame and vehicle into place together. The process of lowering the vehicle is the reverse of the retrieval process.

[0039] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A hydraulic winch control system for constant tension deployment and retrieval of an unmanned vehicle, characterized by, The clutch, brake, drum, first motor, second motor, first valve group, second valve group, winch lifting port, winch lowering port are included. The drum is connected with the clutch, the drum attached steel wire rope realizes the winch lifting and lowering by rotating; the first motor and the second motor are connected with the clutch respectively; the brake is connected with the first motor; the first valve group is connected with the first motor, controls the first motor movement; the second valve group is connected with the second motor, controls the second motor movement; the winch lifting port and the winch lowering port are connected with the first valve group and the second valve group respectively, the hydraulic oil enters the winch lifting port to realize the winch lifting, the hydraulic oil enters the winch lowering port to realize the winch lowering; The first valve group includes first solenoid valve, second solenoid valve, first shuttle valve, first balance valve, second balance valve, first overflow valve, first motor solenoid valve, first check valve, third solenoid valve, hydraulic control valve. The oil inlet of the first solenoid valve and the second solenoid valve is connected with the winch lifting port respectively, the oil outlet of the first solenoid valve is connected with the oil inlet of the first shuttle valve and the oil inlet of the first balance valve, the oil outlet of the second solenoid valve is connected with the second valve group, the two oil inlets of the first shuttle valve are connected with the winch lowering port and the oil outlet of the first solenoid valve respectively, the oil outlet of the first shuttle valve is connected with the brake, the oil inlet of the third solenoid valve and the second valve group respectively, the oil outlet of the third solenoid valve is connected with the control oil inlet of the hydraulic control valve, the oil outlet of the hydraulic control valve is connected with the oil inlet of the first overflow valve, the oil inlet of the first balance valve is connected with the oil outlet of the first solenoid valve, the oil outlet of the first balance valve is connected with the oil inlet of the hydraulic control valve and the first motor A port respectively, the oil inlet of the second balance valve is connected with the winch lowering port, the oil outlet of the second balance valve is connected with the oil outlet of the first overflow valve and the first motor B port respectively, the first motor solenoid valve is connected with the first motor, the first check valve is connected between the winch lowering port and the second valve group, avoids the hydraulic oil of the winch lowering port entering the second valve group; The second valve group includes second shuttle valve, first hydraulic lock, second hydraulic lock, pressure reducing valve, second check valve, fourth solenoid valve, second overflow valve. The two oil inlets of the second shuttle valve are connected with the oil inlet of the first one-way valve and the oil outlet of the second electromagnetic valve respectively, the oil outlet of the second shuttle valve is connected with the clutch, the oil inlet of the pressure reducing valve is connected with the oil outlet of the first shuttle valve, the oil outlet of the pressure reducing valve is connected with the oil inlet of the second one-way valve, the oil outlet of the second one-way valve is connected with the oil inlet of the fourth electromagnetic valve, the oil inlet of the second overflow valve and the A port of the second motor respectively, the oil inlet of the first hydraulic lock is connected with the oil outlet of the second electromagnetic valve, the oil outlet of the first hydraulic lock is connected with the A port of the second motor and the oil inlet of the second overflow valve, the oil inlet of the second hydraulic lock is connected with the oil inlet of the first one-way valve, and the oil outlet of the second hydraulic lock is connected with the B port of the second motor, the oil outlet of the second overflow valve and the oil outlet of the fourth electromagnetic valve.

2. The hydraulic winch control system for constant tension launch and recovery of unmanned vehicles of claim 1, wherein, The brake is a normally closed brake, hydraulic oil enters the brake, the brake is disconnected from the first motor, and the first motor enters the no-brake state.

3. The hydraulic winch control system for constant tension launch and recovery of unmanned vehicles of claim 1, wherein, The clutch is a normally closed clutch, hydraulic oil enters the clutch, the clutch is disconnected from the winding drum, and the winding drum is only driven by the second motor.

4. A control method for a hydraulic winch control system for constant tension launch and recovery of an unmanned vehicle according to any one of claims 1 to 3, wherein, The method comprises a lifting method and a lowering method. In the lifting method, hydraulic oil enters the first valve group through the winch lifting port, passes through the first electromagnetic valve, and then passes through the first shuttle valve and the first balance valve respectively, the hydraulic oil passing through the first shuttle valve enters the brake and the X port of the second valve group respectively, the hydraulic oil entering the brake makes the first motor enter the no-brake state, the hydraulic oil passing through the X port of the second valve group passes through the pressure reducing valve, the second one-way valve and the fourth electromagnetic valve in sequence, and then reaches the A port and the B port of the second motor, which is the oil supplement path for the following movement of the second motor, the hydraulic oil passing through the first balance valve enters the A port of the first motor, drives the first motor to rotate in the positive direction, and drives the winding drum to rotate to tighten the steel wire rope. In the lowering method, hydraulic oil enters the first valve group through the winch lowering port, and then passes through the first shuttle valve and the second balance valve respectively, the hydraulic oil passing through the first shuttle valve enters the brake and the X port of the second valve group respectively, the hydraulic oil entering the brake makes the first motor enter the no-brake state, the hydraulic oil passing through the X port of the second valve group passes through the pressure reducing valve, the second one-way valve and the fourth electromagnetic valve in sequence, and then reaches the A port and the B port of the second motor, which is the oil supplement path for the following movement of the second motor, the hydraulic oil passing through the second balance valve enters the B port of the first motor, drives the first motor to rotate in the reverse direction, and drives the winding drum to rotate to loosen the steel wire rope.

5. The control method for the hydraulic winch control system for constant tension launch and recovery of unmanned vehicles of claim 4, wherein, The method further comprises a large-tension wave compensation method and a small-tension wave compensation method. In the large tension wave compensation method, the overflow pressure of the first overflow valve is set, that is, the large wave constant tension of the winch; the first electromagnetic valve is opened, the second electromagnetic valve is closed, the third electromagnetic valve is opened after being powered on, and the first motor electromagnetic valve reduces the displacement of the first motor to a small displacement position after being powered on; the hydraulic oil enters the first valve group from the winch lifting port, passes through the first electromagnetic valve, and then passes through the first shuttle valve and the first balance valve; the hydraulic oil passing through the first shuttle valve enters the brake, the X port of the second valve group and the oil inlet of the third electromagnetic valve; the hydraulic oil entering the brake makes the first motor enter the brake-free state; the hydraulic oil passing through the X port of the second valve group passes through the pressure reducing valve and the second check valve in turn, and then reaches the A port and the B port of the second motor, which is the oil supply path for the follow-up movement of the second motor; the hydraulic oil passing through the third electromagnetic valve enters the control oil port of the hydraulic control valve, opens the hydraulic control valve, and makes the hydraulic oil passing through the first balance valve enter the A port of the first motor, and at the same time, enters the oil inlet of the first overflow valve through the hydraulic control valve; when the wave subsides, the hydraulic oil passing through the first balance valve flows out through the first overflow valve after passing through the hydraulic control valve, and the first motor reverses under the action of the load, driving the drum to rotate and loosen the wire rope; when the wave surges, the hydraulic oil passing through the first balance valve enters the A port of the first motor, driving the first motor to rotate in the positive direction, and driving the drum to rotate and tighten the wire rope. In the small tension wave compensation method, the overflow pressure of the second overflow valve is set, that is, the small wave constant tension of the winch; the first electromagnetic valve and the fourth electromagnetic valve are closed after being powered on, and the second electromagnetic valve is opened after being powered on; the hydraulic oil enters the second valve group after passing through the second electromagnetic valve from the first valve group, and then passes through the second shuttle valve and the first hydraulic lock; the hydraulic oil passing through the second shuttle valve enters the clutch, making the first motor and the drum disengage, and the drum is only driven by the second motor; the hydraulic oil passing through the first hydraulic lock enters the A port of the second motor and the oil inlet of the second overflow valve; when the wave subsides, the hydraulic oil passing through the first hydraulic lock flows out through the first overflow valve, and the second motor reverses under the action of the load, driving the drum to rotate and loosen the wire rope; when the wave surges, the hydraulic oil passing through the first hydraulic lock enters the A port of the second motor, driving the second motor to rotate in the positive direction, and driving the drum to rotate and tighten the wire rope.

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