A hydraulic winch system for underwater towed buoy deployment and retrieval

Abstract

The application discloses a hydraulic winch system for underwater towing buoy launching and recovering. The system comprises a hydraulic winch motor circuit for underwater towing buoy launching and recovering; and a brake circuit for hydraulic winch motor braking. The hydraulic winch system can realize five operation modes including a winch freewheel mode, a winch single-motor cable releasing speed control mode, a winch double-motor cable winding speed control mode, a winch constant tension control mode and a winch braking mode, so as to adapt to different launching and recovering working conditions. The hydraulic winch system adopts double hydraulic winch motors, and the cable releasing and winding speeds of the hydraulic winch motors are adjusted through proportional speed regulating valves, so that the system can adapt to the working conditions of single-motor high-speed cable releasing and double-motor large-tension cable winding, and the overall energy consumption of the system is reduced; the hydraulic winch system can realize constant tension cable winding through a pilot proportional overflow valve, and more accurate constant tension control can be realized in combination with a pressure sensor and a closed-loop control algorithm; and the hydraulic winch system has complete emergency functions, including emergency recovery and power-off protection.

Description

Technical Field

[0001] This invention relates to a hydraulic winch system, and specifically to a hydraulic winch system for launching and retrieving underwater towed buoys. Background Technology

[0002] In recent years, the research and application of underwater towed buoy systems have been increasing, with widespread use in marine exploration, maritime salvage and rescue, hydrological surveys, and military anti-submarine warfare. An underwater towed buoy system mainly consists of three parts: the buoy, the towline, and the towing platform. It is an important means of covert communication and positioning for the towed platform. Using an underwater vehicle as the tow platform, a hydraulic winch releases the buoy to the surface. The buoy completes communication and positioning tasks and transmits information back to the towing platform in real time via the cable. After the task is completed, the hydraulic winch retrieves the buoy.

[0003] The buoy needs to be controlled and deployed using an underwater hydraulic winch. The underwater hydraulic winch must meet the following requirements: Since the buoy is installed inside the underwater vehicle's hull, the hydraulic winch needs to work in conjunction with the hatch opening and closing mechanism during buoy deployment and retrieval. Therefore, the hydraulic winch needs to have complete operating modes to adapt to different working conditions at different stages. During buoy deployment and retrieval, affected by the constantly changing marine environment, the hydraulic winch needs to adjust the cable tension and deployment / retrieval speed in real time to stabilize the buoy's movement and possess sufficient emergency safety functions to ensure the safety of underwater operations. Summary of the Invention

[0004] To address the problems existing in the background art, the present invention provides a hydraulic winch system for launching and retrieving underwater towed buoys. This system meets the specific requirements for underwater hydraulic winches in the background art.

[0005] The technical solution adopted in this invention is:

[0006] The hydraulic winch system for launching and retrieving underwater towed buoys of the present invention includes a hydraulic winch motor circuit for launching and retrieving underwater towed buoys; and a brake circuit for braking the hydraulic winch motor when launching and retrieving the underwater towed buoy.

[0007] The hydraulic winch motor circuit includes a proportional speed control valve, a three-position four-way solenoid directional valve, a balance valve, a check valve, a first damper, a second damper, a first solenoid ball valve, a second solenoid ball valve, a pilot-operated proportional relief valve, a first hydraulic winch motor, a second hydraulic winch motor, a first two-position four-way solenoid directional valve, a first pressure sensor, and a second pressure sensor. The second solenoid ball valve and the pilot-operated proportional relief valve are connected in series and then in parallel with the first solenoid ball valve and the first hydraulic winch motor. The first port of the second solenoid ball valve is connected to the inlet port of the pilot-operated proportional relief valve, and the drain port of the pilot-operated proportional relief valve is connected to the outlet port. The second pressure sensor is connected to the circuit between the outlet port of the pilot-operated proportional relief valve, the second port of the first solenoid ball valve, and the second load port B of the three-position four-way solenoid directional valve. The first pressure sensor is connected to the first port of the first solenoid ball valve, the inlet port P of the first two-position four-way solenoid directional valve, and the load port B of the balance valve. Between the load ports, the return port of the balance valve is connected to the first load port A of the three-position four-way solenoid directional valve; the second damper is connected between the control pressure port of the balance valve and the second load port B of the three-position four-way solenoid directional valve; the outlet port of the check valve is connected between the return port of the balance valve and the first load port A of the three-position four-way solenoid directional valve; the inlet port of the check valve is connected to the first damper and then between the control pressure port and the second damper of the balance valve; the supply port P of the three-position four-way solenoid directional valve is sequentially connected to the supply port P of the proportional speed control valve and the hydraulic winch system; the return port T of the first and second-position four-way solenoid directional valves is connected to the return port T of the hydraulic winch system; the return port T of the three-position four-way solenoid directional valve is connected between the return port T of the first and second-position four-way solenoid directional valves and the return port T of the hydraulic winch system; and the second hydraulic winch motor is connected to the first load port A and the second load port B of the first and second-position four-way solenoid directional valves.

[0008] The brake circuit includes a third damper, a second two-position four-way solenoid directional valve, a first brake, and a second brake. The second load port B of the second two-position four-way solenoid directional valve is connected between the first brake and the second brake. The return port T of the second two-position four-way solenoid directional valve is connected to the drain port L of the hydraulic winch system. The supply port P of the second two-position four-way solenoid directional valve is connected to the third damper and then connected between the proportional speed control valve and the supply port P of the hydraulic winch system. The first load port A of the second two-position four-way solenoid directional valve is closed.

[0009] The proportional speed control valve is used to regulate the inlet flow of the hydraulic winch motor; the balance valve is used to regulate and stabilize the movement speed of the first hydraulic winch motor when the hydraulic winch system is laying cables, and at the same time prevents the cavity between the first hydraulic winch motor and the balance valve from being damaged by excessive pressure due to external force or temperature changes; the first damper and the second damper form a hydraulic half-bridge to divide the control pressure of the balance valve, so as to reduce the impact of control pressure fluctuations on the main valve core of the balance valve; the first solenoid ball valve is used to control the opening and closing of the inlet and outlet of the first hydraulic winch motor. When the first solenoid ball valve is open, the inlet and outlet of the first hydraulic winch motor are directly connected and can rotate freely; the second solenoid ball valve and the pilot-operated proportional relief valve are used to regulate the working pressure on the high-pressure side when the hydraulic winch motor is retracting, so as to achieve constant tension control; the two hydraulic winch motors jointly drive the gear reduction device to drive the winch drum to rotate; the third damper is used to limit the inlet flow of the brake; the pressure sensor is used to monitor the inlet and outlet pressure of the winch hydraulic system in real time; the solenoid ball valve has a manual emergency operation, and the three-position four-way solenoid directional valve and the two-position four-way solenoid directional valve have a hidden manual emergency operation.

[0010] The control method includes five operating modes of the hydraulic winch system: winch free wheel mode for free cable release and take-up, winch single motor cable release speed control mode for high-speed cable release with a single motor, winch dual motor cable release speed control mode for low-speed cable release with two motors, winch constant tension control mode for constant tension cable release, and winch braking mode for braking and position holding of the hydraulic winch motor.

[0011] Since all electromagnetic directional valves have a manual emergency operation function, in case of failure, the electromagnetic directional valves can be manually controlled to switch between the five operating modes of the hydraulic winch system, thereby maximizing the safety of equipment and personnel.

[0012] The control method for the winch freewheel mode is as follows:

[0013] With the proportional speed control valve closed, the three-position four-way solenoid directional valve is in the neutral position. The oil supply port P, the first load port A, and the return port T of the first and second position four-way solenoid directional valves are connected. The first solenoid ball valve is open, the second solenoid ball valve is closed, and all other components are in the normal position. At this time, the inlet and outlet ports of the hydraulic winch motor are directly connected, and the hydraulic winch motor rotates freely.

[0014] The control method for the single-motor cable laying speed control mode of the winch is as follows:

[0015] Both the first and second solenoid ball valves are closed. The oil supply port P and the second load port B of the three-position four-way solenoid directional valve are connected. The first load port A and the return port T of the three-position four-way solenoid directional valve are connected. The oil supply port P, the first load port A, and the second load port B of the first and second-position four-way solenoid directional valves are connected. The proportional speed control valve is open. All other components are in their normal positions. Oil enters the first hydraulic winch motor, driving it to rotate rapidly. The speed of the first hydraulic winch motor is adjusted by regulating the control signal of the proportional speed control valve. The second hydraulic winch motor is not working and can rotate freely. At this time, the first hydraulic winch motor of the hydraulic winch system releases the cable at high speed, which can also reduce the demand on the system flow under low load conditions.

[0016] The flow rate of the system is adjusted by regulating the control signal acting on the proportional speed control valve, that is, by adjusting the flow rate through the first hydraulic winch motor. The speed of the hydraulic winch motor is proportional to the flow rate, so the speed of the first hydraulic winch motor can be adjusted.

[0017] The control method for the winch dual-motor cable winding speed control mode is as follows:

[0018] Both the first and second solenoid ball valves are closed. The oil supply port P of the three-position four-way solenoid directional valve is connected to the first load port A. The second load port B of the three-position four-way solenoid directional valve is connected to the return port T. The oil supply port P of the first and second-position four-way solenoid directional valves is connected to the first load port A. The second load port B of the first and second-position four-way solenoid directional valves is connected to the return port T. The proportional speed control valve is open. All other components are in their normal positions. Oil enters the parallel hydraulic winch motor, driving the hydraulic winch motor to rotate at a relatively synchronous speed. The speed of the hydraulic winch motor is adjusted by regulating the control signal of the proportional speed control valve. At this time, the hydraulic winch motor is winding up the cable with high tension.

[0019] The specific control method for the constant tension control mode of the winch is as follows:

[0020] The first solenoid ball valve is closed. The oil supply port P of the three-position four-way solenoid directional valve is connected to the first load port A. The second load port B of the three-position four-way solenoid directional valve is connected to the return port T. The oil supply port P of the first and second-position four-way solenoid directional valves is connected to the first load port A. The second load port B of the first and second-position four-way solenoid directional valves is connected to the return port T. The proportional speed control valve 1 is opened. The set pressure of the pilot-operated proportional relief valve is adjusted to the preset value. The first solenoid ball valve is opened. All other components are in the normal position. The high-pressure side pressure of the hydraulic winch motor is limited to the set pressure of the pilot-operated proportional relief valve. Adjusting the preset pressure of the pilot-operated proportional relief valve can adjust the tension of the hydraulic winch motor winding cable. At this time, the hydraulic winch dual motors wind the cable at low speed with constant tension. Even when the cable is wound back to a taut state, it will not damage the equipment.

[0021] Because the second solenoid ball valve has a certain pressure difference between its inlet and outlet, and the pressure difference between the inlet and outlet of the hydraulic winch motor is slightly greater than the preset pressure of the pilot-operated proportional relief valve, more precise constant tension control can be achieved based on the pressure reading of the pressure sensor and in combination with the closed-loop control algorithm.

[0022] The specific control method for the winch braking mode is as follows:

[0023] Both the first and second solenoid ball valves are closed, the three-position four-way solenoid directional valve is in the neutral position, the proportional speed control valve is closed, the oil supply port P and the second load port B of the second two-position four-way solenoid directional valve are connected, the first load port A and the return port T of the second two-position four-way solenoid directional valve are connected, and all other components are in the normal position. At this time, the hydraulic winch system is braked.

[0024] The beneficial effects of this invention are:

[0025] 1) The hydraulic winch system of the present invention uses dual hydraulic winch motors to provide power, which can adapt to the working conditions of high-speed cable laying with a single hydraulic winch motor and high-tension cable winding with dual motors, thereby reducing the overall energy consumption of the system.

[0026] 2) The hydraulic winch system of the present invention adjusts the speed of the hydraulic winch motor by means of a proportional speed control valve, which can realize stepless adjustment of the cable winding and unwinding speed of the hydraulic winch system, and the speed adjustment is simple.

[0027] 3) The hydraulic winch system of the present invention adjusts the cable tension of the hydraulic winch motor through a pilot-operated proportional relief valve, which can realize constant tension cable winding of the hydraulic winch system. It can also achieve more precise constant tension control by combining pressure sensors and closed-loop control algorithms.

[0028] 4) The hydraulic winch system of this invention has complete emergency functions, including: when one of the hydraulic winch motors fails, a backup working mode is implemented with one hydraulic winch motor driving to ensure that the buoy can be retrieved. In the event of a failure of the solenoid directional valve, the hydraulic winch system can be manually operated to retrieve the cable. All solenoid valves are in a safe position when the system is powered off to prevent accidents. Attached Figure Description

[0029] Figure 1 This is a schematic diagram illustrating the operation of an underwater towed buoy system.

[0030] Figure 2 This is a hydraulic schematic diagram of a hydraulic winch system.

[0031] Figure 3 This is the hydraulic circuit diagram of the hydraulic winch system in winch free wheel mode;

[0032] Figure 4This is the hydraulic circuit diagram of the hydraulic winch system in the winch single motor cable laying speed control mode;

[0033] Figure 5 This is the hydraulic circuit diagram of the hydraulic winch system in the winch dual-motor cable winding speed control mode;

[0034] Figure 6 This is the hydraulic circuit diagram of the hydraulic winch system in the constant tension control mode of the winch;

[0035] Figure 7 This is the hydraulic circuit diagram of the hydraulic winch system in winch braking mode;

[0036] In the diagram: 1. Proportional speed control valve; 2. Three-position four-way solenoid directional valve; 3. Balance valve; 4. Check valve; 5.1. First damper; 5.2. Second damper; 5.3. Third damper; 6.1. First solenoid ball valve; 6.2. Second solenoid ball valve; 7. Pilot-operated proportional relief valve; 8.1. First hydraulic winch motor; 8.2. Second hydraulic winch motor; 9. First two-position four-way solenoid directional valve; 10. Second two-position four-way solenoid directional valve; 11.1. First brake; 11.2. Second brake; 12.1. First pressure sensor; 12.2. Second pressure sensor. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1 The diagram shows the process of using the underwater towed buoy system of the present invention. The underwater vehicle serves as the towing platform, and the buoy is released to the water surface through a hydraulic winch system. The buoy completes communication and positioning tasks and transmits information back to the towing platform in real time via a cable. After the task is completed, the hydraulic winch system retrieves the buoy by pulling up the cable.

[0039] like Figure 2 As shown, the hydraulic winch system for launching and retrieving underwater towed buoys of the present invention includes a hydraulic winch motor circuit for launching and retrieving underwater towed buoys; and a brake circuit for braking the hydraulic winch motor when launching and retrieving the underwater towed buoy.

[0040] The hydraulic winch motor circuit includes a proportional speed control valve 1, a three-position four-way solenoid directional valve 2, a balance valve 3, a check valve 4, a first damper 5.1, a second damper 5.2, a first solenoid ball valve 6.1, a second solenoid ball valve 6.2, a pilot-operated proportional relief valve 7, a first hydraulic winch motor 8.1, a second hydraulic winch motor 8.2, a first two-position four-way solenoid directional valve 9, a first pressure sensor 12.1 and a second pressure sensor 12.2, and the second solenoid ball valve 6.2 and the pilot-operated proportional relief valve 7 are connected in series with the first solenoid ball valve. 6.1 is connected in parallel with the first hydraulic winch motor 8.1. The first port of the second solenoid ball valve 6.2 is connected to the oil inlet of the pilot-operated proportional relief valve 7. The oil drain port of the pilot-operated proportional relief valve 7 is connected to the oil outlet. The second pressure sensor 12.2 is connected to the circuit between the oil outlet of the pilot-operated proportional relief valve 7, the second port of the first solenoid ball valve 6.1, and the second load port B of the three-position four-way solenoid directional valve 2. The first pressure sensor 12.1 is connected to the first port of the first solenoid ball valve 6.1 and the first two-position four-way solenoid valve 2. The oil inlet P port of the magnetic directional valve 9 is connected to the load port of the balance valve 3. The return port of the balance valve 3 is connected to the first load port A port of the three-position four-way solenoid directional valve 2. The second damper 5.2 is connected between the control pressure port of the balance valve 3 and the second load port B port of the three-position four-way solenoid directional valve 2. The oil outlet of the check valve 4 is connected between the return port of the balance valve 3 and the first load port A port of the three-position four-way solenoid directional valve 2. The oil inlet of the check valve 4 is connected to the first damper 5.1 and then to the control pressure port and the second damper 5 of the balance valve 3. Between 2, the oil supply port P of the three-position four-way solenoid directional valve 2 is connected in sequence to the oil supply port P of the proportional speed control valve 1 and the hydraulic winch system. The oil return port T of the first and second-position four-way solenoid directional valve 9 is connected to the oil return port T of the hydraulic winch system. The oil return port T of the three-position four-way solenoid directional valve 2 is connected between the oil return port T of the first and second-position four-way solenoid directional valve 9 and the oil return port T of the hydraulic winch system. The second hydraulic winch motor 8.2 is connected to the first load port A and the second load port B of the first and second-position four-way solenoid directional valve 9.

[0041] The brake circuit includes a third damper 5.3, a second two-position four-way solenoid directional valve 10, a first brake 11.1, and a second brake 11.2. The second load port B of the second two-position four-way solenoid directional valve 10 is connected between the first brake 11.1 and the second brake 11.2. The return port T of the second two-position four-way solenoid directional valve 10 is connected to the drain port L of the hydraulic winch system. The supply port P of the second two-position four-way solenoid directional valve 10 is connected to the third damper 5.3 and then connected between the proportional speed control valve 1 and the supply port P of the hydraulic winch system. The first load port A of the second two-position four-way solenoid directional valve 10 is closed.

[0042] The proportional speed control valve 1 is used to adjust the inlet flow of the hydraulic winch motors 8.1 and 8.2; the balance valve 3 is used to adjust and stabilize the movement speed of the first hydraulic winch motor 8.1 when the hydraulic winch system is laying cables, and at the same time prevents the cavity between the first hydraulic winch motor 8.1 and the balance valve 3 from being damaged due to excessive pressure caused by external force or temperature changes; the first damper 5.1 and the second damper 5.2 form a hydraulic half-bridge to divide the control pressure of the balance valve 3, so as to reduce the impact of control pressure fluctuations on the main valve core of the balance valve 3; the first solenoid ball valve 6.1 is used to control the opening and closing of the inlet and outlet of the first hydraulic winch motor 8.1. When the first solenoid ball valve 6.1 is open, the first hydraulic winch motor 8.1... 1. The inlet and outlet are directly connected and can rotate freely; the second electromagnetic ball valve 6.2 and the pilot-operated proportional relief valve 7 are used to regulate the working pressure on the high-pressure side when the hydraulic winch motors 8.1 and 8.2 are retracting, which can realize constant tension control; the hydraulic winch motors 8.1 and 8.2 jointly drive the gear reduction device to drive the winch drum to rotate; the third damper 5.3 is used to limit the inlet flow of the brakes 11.1 and 11.2; the pressure sensors 12.1 and 12.2 are used to monitor the inlet and outlet pressure of the winch hydraulic 8.1 in real time; the electromagnetic ball valves 6.1 and 6.2 have manual emergency operation, and the three-position four-way electromagnetic directional valve 2 and the two-position four-way electromagnetic directional valves 9 and 10 have implicit manual emergency operation.

[0043] like Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the control method of the hydraulic winch system includes five operating modes: the winch free wheel mode for the free cable release and take-up condition, the winch single motor cable release speed control mode for the single motor high-speed cable release condition, the winch dual motor cable release speed control mode for the dual motor low-speed cable release condition, the winch constant tension control mode for the constant tension cable release condition, and the winch braking mode for braking and position holding of hydraulic winch motors 8.1 and 8.2.

[0044] Since all electromagnetic directional valves have a manual emergency operation function, in case of failure, manual emergency operation can be performed on electromagnetic directional valves 2, 9, 10, 6.1, etc., to switch between the five operating modes of the hydraulic winch system, thereby maximizing the safety of equipment and personnel.

[0045] The specific control method for the winch freewheel mode is as follows:

[0046] With the proportional speed control valve 1 closed, the three-position four-way solenoid directional valve 2 is in the neutral position. The oil supply port P, the first load port A, and the return port T of the first and second-position four-way solenoid directional valves 9 are connected. The first solenoid ball valve 6.1 is open, the second solenoid ball valve 6.2 is closed, and all other components are in the normal position. At this time, the inlet and outlet ports of the hydraulic winch motors 8.1 and 8.2 are directly connected, and the hydraulic winch motors 8.1 and 8.2 can rotate freely.

[0047] The specific control method for the winch single-motor cable laying speed control mode is as follows:

[0048] Both the first solenoid ball valve 6.1 and the second solenoid ball valve 6.2 are closed. The oil supply port P and the second load port B of the three-position four-way solenoid directional valve 2 are connected. The first load port A and the return port T of the three-position four-way solenoid directional valve 2 are connected. The oil supply port P, the first load port A, and the second load port B of the first and second-position four-way solenoid directional valves 9 are connected. The proportional speed control valve 1 is open. All other components are in their normal positions. The oil enters the first hydraulic winch motor 8.1, driving it to rotate rapidly. The speed of the first hydraulic winch motor 8.1 is adjusted by regulating the control signal of the proportional speed control valve 1. The second hydraulic winch motor 8.2 is not working and can rotate freely. At this time, the first hydraulic winch motor 8.1 of the hydraulic winch system is releasing the cable at high speed, which can also reduce the demand on the system flow under low load conditions.

[0049] The control signal acting on the proportional speed control valve 1 is adjusted to regulate the flow rate of the system, that is, to regulate the flow rate through the first hydraulic winch motor. The speed of the hydraulic winch motor is proportional to the flow rate, so the speed of the first hydraulic winch motor can be adjusted.

[0050] The specific control method for the winch dual-motor cable winding speed control mode is as follows:

[0051] Both the first solenoid ball valve 6.1 and the second solenoid ball valve 6.2 are closed. The oil supply port P of the three-position four-way solenoid directional valve 2 is connected to the first load port A. The second load port B of the three-position four-way solenoid directional valve 2 is connected to the return port T. The oil supply port P of the first and second-position four-way solenoid directional valve 9 is connected to the first load port A. The second load port B of the first and second-position four-way solenoid directional valve 9 is connected to the return port T. The proportional speed control valve 1 is open. All other components are in their normal positions. The oil enters the parallel hydraulic winch motors 8.1 and 8.2, driving them to rotate at a relatively synchronous speed. The speed of the hydraulic winch motors 8.1 and 8.2 is adjusted by regulating the control signal of the proportional speed control valve 1. At this time, the hydraulic winch motors 8.1 and 8.2 are winding up the cable with high tension.

[0052] The specific control method for the winch constant tension control mode is as follows:

[0053] The first solenoid ball valve 6.1 is closed. The oil supply port P of the three-position four-way solenoid directional valve 2 is connected to the first load port A. The second load port B of the three-position four-way solenoid directional valve 2 is connected to the return port T. The oil supply port P of the first two-position four-way solenoid directional valve 9 is connected to the first load port A. The second load port B of the first two-position four-way solenoid directional valve 9 is connected to the return port T. The proportional speed control valve 1 is open. The set pressure of the pilot-operated proportional relief valve 7 is adjusted to the preset value. The first solenoid ball valve 6.1 is open. All other components are in the normal position. The high-pressure side pressure of the hydraulic winch motors 8.1 and 8.2 is limited to the set pressure of the pilot-operated proportional relief valve 7. Adjusting the preset pressure of the pilot-operated proportional relief valve 7 can adjust the tension of the hydraulic winch motors 8.1 and 8.2 when winding the cable. At this time, the hydraulic winch dual motors wind up the cable at low speed with constant tension. Even if the cable is wound up to a taut state, it will not cause damage to the equipment.

[0054] Because there is a certain pressure difference between the inlet and outlet of the second solenoid ball valve 6.2, the pressure difference between the inlet and outlet of the hydraulic winch motors 8.1 and 8.2 is slightly greater than the preset pressure of the pilot-operated proportional relief valve 7. Based on the pressure readings of the pressure sensors 12.1 and 12.2, combined with the closed-loop control algorithm, more precise constant tension control can be achieved.

[0055] The specific control method for the winch braking mode is as follows:

[0056] The first solenoid ball valve 6.1 and the second solenoid ball valve 6.2 are both closed. The three-position four-way solenoid directional valve 2 is in the neutral position. The proportional speed control valve 1 is closed. The oil supply port P and the second load port B of the second two-position four-way solenoid directional valve 10 are connected. The first load port A and the return port T of the second two-position four-way solenoid directional valve 10 are connected. All other components are in the normal position. At this time, the hydraulic winch system is braked.

Claims

1. A hydraulic winch system for launching and retrieving underwater towed buoys, characterized in that: This includes the hydraulic winch motor circuit used for launching and retrieving underwater towed buoys; Includes a brake circuit for braking when the hydraulic winch motor is used to deploy and retrieve an underwater towed buoy; The hydraulic winch motor circuit includes a proportional speed control valve (1), a three-position four-way solenoid directional valve (2), a balance valve (3), a check valve (4), a first damper (5.1), a second damper (5.2), a first solenoid ball valve (6.1), a second solenoid ball valve (6.2), a pilot-operated proportional relief valve (7), a first hydraulic winch motor (8.1), a second hydraulic winch motor (8.2), a first two-position four-way solenoid directional valve (9), a first pressure sensor (12.1) and a second pressure sensor (12.2). The second solenoid ball valve (6.2) and the pilot-operated proportional relief valve (7) are connected in series. The first port of the second electromagnetic ball valve (6.1) and the first hydraulic winch motor (8.1) are connected in parallel. The first port of the second electromagnetic ball valve (6.2) is connected to the oil inlet of the pilot-operated proportional relief valve (7). The oil drain port of the pilot-operated proportional relief valve (7) is connected to the oil outlet. The second pressure sensor (12.2) is connected to the circuit between the oil outlet of the pilot-operated proportional relief valve (7), the second port of the first electromagnetic ball valve (6.1), and the second load port B of the three-position four-way solenoid directional valve (2). The first pressure sensor (12.1) is connected to the first port of the first electromagnetic ball valve (6.1) and the first two-position four-way solenoid directional valve (8.1). The oil inlet P port of the magnetic directional valve (9) is connected to the load port of the balance valve (3). The return port of the balance valve (3) is connected to the first load port A port of the three-position four-way solenoid directional valve (2). The second damper (5.2) is connected between the control pressure port of the balance valve (3) and the second load port B port of the three-position four-way solenoid directional valve (2). The oil outlet of the check valve (4) is connected between the return port of the balance valve (3) and the first load port A port of the three-position four-way solenoid directional valve (2). The oil inlet of the check valve (4) is connected to the first damper (5.1) and then connected to the control pressure port and the second damper (5.2) of the balance valve (3). Between them, the oil supply port P of the three-position four-way solenoid directional valve (2) is connected in sequence to the proportional speed control valve (1) and the oil supply port P of the hydraulic winch system. The oil return port T of the first two-position four-way solenoid directional valve (9) is connected to the oil return port T of the hydraulic winch system. The oil return port T of the three-position four-way solenoid directional valve (2) is connected between the oil return port T of the first two-position four-way solenoid directional valve (9) and the oil return port T of the hydraulic winch system. The second hydraulic winch motor (8.2) is connected to the first load port A of the first two-position four-way solenoid directional valve (9) and the second load port B of the first two-position four-way solenoid directional valve (9). The brake circuit includes a third damper (5.3), a second two-position four-way solenoid valve (10), a first brake (11.1), and a second brake (11.2). The second load port B of the second two-position four-way solenoid valve (10) is connected between the first brake (11.1) and the second brake (11.2). The return port T of the second two-position four-way solenoid valve (10) is connected to the drain port L of the hydraulic winch system. The supply port P of the second two-position four-way solenoid valve (10) is connected to the third damper (5.3) and then connected between the proportional speed control valve (1) and the supply port P of the hydraulic winch system. The first load port A of the second two-position four-way solenoid valve (10) is closed.

2. The control method for the hydraulic winch system according to claim 1, characterized in that: The control method includes five operating modes of the hydraulic winch system: the winch free wheel mode for the free cable release and take-up condition of the hydraulic winch system; the winch single motor cable release speed control mode for the single motor high-speed cable release condition of the hydraulic winch system; the winch dual motor cable take-up speed control mode for the dual motor low-speed cable release condition of the hydraulic winch system; the winch constant tension control mode for the constant tension cable release condition of the hydraulic winch system; and the winch braking mode for braking and position holding of the hydraulic winch motors (8.1, 8.2) of the hydraulic winch system.

3. The control method for the hydraulic winch system according to claim 2, characterized in that: The control method for the winch freewheel mode is as follows: When the proportional speed control valve (1) is closed, the three-position four-way solenoid directional valve (2) is in the neutral position. The oil supply port P of the first and second position four-way solenoid directional valve (9), the first load port A of the first and second position four-way solenoid directional valve (9) and the oil return port T of the first and second position four-way solenoid directional valve (9) are connected. The first solenoid ball valve (6.1) is open and the second solenoid ball valve (6.2) is closed. At this time, the inlet and outlet ports of the hydraulic winch motors (8.1 and 8.2) are directly connected, and the hydraulic winch motors (8.1 and 8.2) rotate freely.

4. The control method for the hydraulic winch system according to claim 2, characterized in that: The control method for the single-motor cable laying speed control mode of the winch is as follows: Both the first solenoid ball valve (6.1) and the second solenoid ball valve (6.2) are closed. The oil supply port P of the three-position four-way solenoid directional valve (2) is connected to the second load port B of the three-position four-way solenoid directional valve (2). The first load port A of the three-position four-way solenoid directional valve (2) is connected to the return port T of the three-position four-way solenoid directional valve (2). The oil supply port P, the first load port A, and the second load port B of the first and second position four-way solenoid directional valve (9) are connected. The proportional speed control valve (1) is open, and the oil enters the first hydraulic winch motor. 8.1), driving the first hydraulic winch motor (8.1) to rotate, and adjusting the control signal of the proportional speed control valve (1) to regulate the first hydraulic winch motor ( At the rotational speed of 8.1), the second hydraulic winch motor (8.2) is not working and can rotate freely; at this time, the first hydraulic winch motor (8.1) of the hydraulic winch system releases the cable.

5. The control method for the hydraulic winch system according to claim 2, characterized in that: The control method for the winch dual-motor cable winding speed control mode is as follows: Both the first solenoid ball valve (6.1) and the second solenoid ball valve (6.2) are closed. The oil supply port P of the three-position four-way solenoid directional valve (2) is connected to the first load port A of the three-position four-way solenoid directional valve (2). The second load port B of the three-position four-way solenoid directional valve (2) is connected to the return port T of the three-position four-way solenoid directional valve (2). The oil supply port P of the first and second position four-way solenoid directional valve (9) is connected to the first load port A of the first and second position four-way solenoid directional valve (9). The second load port B of the four-way solenoid directional valve (9) is connected to the return port T of the first two-position four-way solenoid directional valve (9). The proportional speed control valve (1) is opened, and the oil enters the parallel hydraulic winch motors (8.1, 8.2), driving the hydraulic winch motors (8.1, 8.2) to rotate at a relatively synchronous speed. The speed of the hydraulic winch motors (8.1, 8.2) is adjusted by adjusting the control signal of the proportional speed control valve (1). At this time, the hydraulic winch motors (8.1, 8.2) are winding up the cable.

6. The control method for the hydraulic winch system according to claim 2, characterized in that: The specific control method for the constant tension control mode of the winch is as follows: The first solenoid ball valve (6.1) is closed. The oil supply port P of the three-position four-way solenoid directional valve (2) is connected to the first load port A of the three-position four-way solenoid directional valve (2). The second load port B of the three-position four-way solenoid directional valve (2) is connected to the return port T of the three-position four-way solenoid directional valve (2). The oil supply port P of the first and second-position four-way solenoid directional valve (9) is connected to the first load port A of the first and second-position four-way solenoid directional valve (9). The second load port B of the first and second-position four-way solenoid directional valve (9) is connected to the first... The return port T of the two-position four-way solenoid directional valve (9) is connected, the proportional speed control valve (1) is opened, the set pressure of the pilot proportional relief valve (7) is adjusted to the preset value, the first solenoid ball valve (6.1) is opened, the high pressure side pressure of the hydraulic winch motor (8.1, 8.2) is limited to the set pressure of the pilot proportional relief valve (7), and the tension of the hydraulic winch motor (8.1, 8.2) winding cable can be adjusted by adjusting the preset pressure of the pilot proportional relief valve (7); at this time, the hydraulic winch double motors wind up the cable with constant tension.

7. The control method for the hydraulic winch system according to claim 2, characterized in that: The specific control method for the winch braking mode is as follows: The first solenoid ball valve (6.1) and the second solenoid ball valve (6.2) are both closed. The three-position four-way solenoid directional valve (2) is in the neutral position. The proportional speed control valve (1) is closed. The oil supply port P of the second two-position four-way solenoid directional valve (10) is connected to the second load port B of the second two-position four-way solenoid directional valve (10). The first load port A of the second two-position four-way solenoid directional valve (10) is connected to the return port T of the second two-position four-way solenoid directional valve (10). At this time, the hydraulic winch system is braked.

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