Digital twin winch system and control method thereof

Abstract

The application discloses a digital twin winch system and a control method thereof, the system comprising a real-time mapping and interaction winch virtual space model and a winch physical space model; the winch virtual space model and the winch physical space model are the same in structure, installation mode, control method and motion state; the control method of the digital twin winch system can realize virtual-real mapping and interaction control of the winch virtual space model and the winch physical space model in terms of cable winding / unwinding / parking; and the control method of the digital twin winch system comprises steps of a control device and a storage medium. Through real-time mapping and interaction of the virtual space and the physical space of the winch system, the application can improve the design-manufacturing-service integration and cooperation of the winch system, and effectively improve the self-diagnosis and self-decision-making capabilities of the winch system.

Description

Technical Field

[0001] This invention relates to the field of intelligent digital twins, specifically to a digital twin winch system and its control method. Background Technology

[0002] The national standard GB / T 41723-2022, "Automation Systems and Integration: Digital Twin Architecture for Complex Products," proposes a digital twin architecture for complex products that starts from the lifecycle stages of design, manufacturing, and service. It adopts digital twin technology to establish and manage virtual and physical data and digital twin models of the design, manufacturing, and service processes of complex products. This enables real-time mapping of virtual and physical spaces and interactive collaboration of business activities in the design, manufacturing, and service of complex products driven by digital twins. It provides solutions and ideas for planning the next generation of complex products or intelligently upgrading complex products, forming intelligent complex products with features such as self-adaptation, self-decision-making, self-diagnosis, and virtual-physical interaction.

[0003] Winches are a very common type of mechanical transmission equipment, used in various industries such as lifting equipment, airships, and deep-sea exploration. Because steel wire ropes have sufficient strength and rigidity, are resistant to compression and deformation, and offer high safety, they are generally used to connect winches to the towed object. However, if the required rope length is long, hundreds or even thousands of meters, the weight of the steel wire rope itself may exceed the weight of the towed object, inevitably requiring an increase in the equipment's drive power. If the towed object is a device requiring wired power supply and wired communication with other equipment, steel wire ropes are clearly unsuitable as a towing medium. Therefore, optoelectronic composite load-bearing cables become the preferred choice.

[0004] Optoelectronic composite load-bearing cables use high-polymer materials as fibers for load-bearing, offering advantages such as light weight and high tensile strength. They can embed optical fibers and cables, thus solving problems related to long-distance communication, power transmission, and load-bearing. However, these cables cannot maintain a circular shape when subjected to significant radial compressive stress, meaning they are easily flattened, damaging the internal optical fibers and cables. Furthermore, when the speeds of the storage drum motor and the lead screw motor are inconsistent, the optical fiber composite load-bearing cable is subjected to increased compression and stretching. In addition, the versatility of the optical fiber composite load-bearing cable makes it very expensive. Effectively preventing damage to the cable from the winch system during deployment and retrieval, and extending the cable's service life, is a major challenge for the winch system. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide a digital twin winch system and its control method. This solution improves the integrated collaboration of the winch system's design, manufacturing, and service stages by real-time mapping and interaction between the virtual and physical spaces of the winch system. At the same time, it effectively enhances the winch system's self-diagnosis and self-decision-making capabilities.

[0006] Technical solution: The present invention provides a digital twin winch system, comprising a winch virtual space model and a winch physical space model that are mapped and interacted in real time;

[0007] The winch virtual space model includes a virtual cable storage drum and a virtual cable storage drum motor connected to the virtual cable storage drum to drive its rotation.

[0008] The virtual space model of the winch includes at least one interconnected virtual winch, a virtual winch speed motor connected to one of the virtual winches, and a virtual winch torque motor connected to the other virtual winch; the virtual winch speed motor is used to drive the virtual winch to take in or release the cable, and the virtual winch torque motor performs a following action.

[0009] The winch virtual space model also includes a virtual load motor and a virtual load light tube connected to and driven by the virtual load motor.

[0010] The virtual cable storage drum is wound with a cable, and after passing through the virtual winch, the cable is wound around the virtual load optical drum.

[0011] The physical space model of the winch includes a physical cable storage drum and a physical cable storage drum motor connected to the physical cable storage drum to drive its rotation.

[0012] The physical space model of the winch includes at least one interconnected physical winch, a physical winch speed motor connected to one of the physical winches, and a physical winch torque motor connected to the other physical winch; the physical winch speed motor is used to drive the physical winch to take in or release the cable, and the physical winch torque motor performs a following action.

[0013] The winch physical space model also includes a physical load motor and a physical load optical tube connected to and driven by the physical load motor.

[0014] The cable is wound around the physical cable storage drum, and after passing through the physical winch, the cable is wound around the physical load optical drum.

[0015] Furthermore, the virtual cable storage cylinder is connected to the virtual cable storage bidirectional lead screw with a fixed transmission ratio, and a virtual cable storage lead screw guide device is provided on the virtual cable storage bidirectional lead screw.

[0016] After the virtual cable storage drum motor is started, it drives the virtual cable storage drum to rotate, and the virtual cable storage bidirectional screw rotates accordingly, thereby driving the virtual cable storage screw guide device to move left and right.

[0017] The physical cable storage cylinder is connected to the physical cable storage bidirectional screw with a fixed transmission ratio, and a physical cable storage screw guide device is provided on the physical cable storage bidirectional screw.

[0018] After the physical cable storage drum motor starts, it drives the physical cable storage drum to rotate, and the physical cable storage bidirectional screw rotates accordingly, thereby driving the physical cable storage screw guide device to move left and right.

[0019] Furthermore, the virtual load optical tube is connected to the virtual load bidirectional lead screw with a fixed transmission ratio, and a virtual load lead screw guide device is provided on the virtual load bidirectional lead screw;

[0020] After the virtual load motor is started, it drives the virtual load light cylinder to rotate, and the virtual load bidirectional lead screw rotates accordingly, thereby driving the virtual load lead screw guide device to move left and right.

[0021] The physical load optical tube is connected to the physical load bidirectional lead screw with a fixed transmission ratio, and a physical load lead screw guide device is provided on the physical load bidirectional lead screw.

[0022] After the physical load motor starts, it drives the physical load light tube to rotate, and the physical load bidirectional lead screw rotates accordingly, thereby driving the physical load lead screw guide device to move left and right.

[0023] Furthermore, it also includes a virtual mounting bracket and a virtual guide wheel mounted on the virtual mounting bracket. After the cable comes out of the virtual winch, it first passes through the virtual guide wheel and then reaches the virtual load screw guide device. It also includes a physical mounting bracket and a physical guide wheel mounted on the physical mounting bracket. After the cable comes out of the physical winch, it first passes through the physical guide wheel and then reaches the physical load screw guide device.

[0024] Furthermore, the virtual cable storage drum is provided with a virtual double-folded rope groove for winding the cable; the physical cable storage drum is provided with a physical double-folded rope groove for winding the cable.

[0025] Based on the same inventive concept, the present invention provides a control method for a digital twin winch system, which is applied to the aforementioned digital twin winch system and includes the following steps:

[0026] Establish virtual space models and physical space models, and ensure that communication between the models is normal;

[0027] The controller collects operating parameters and determines the operating mode of the winch system based on the received data.

[0028] In cable retrieval mode, the virtual space model and the physical space model of the winch perform cable retrieval actions. The virtual cable storage drum motor and the virtual load motor are simultaneously set to torque mode. The virtual winch speed motor is set to speed mode, the virtual winch torque motor is set to torque mode, and the virtual winch speed motor is set to positive speed. The torque of the virtual winch torque motor changes synchronously with the speed of the virtual winch speed motor.

[0029] In the physical space model of the winch, the physical cable drum motor and the physical load motor are both set to torque mode; the physical winch speed motor in the physical space model of the winch is set to speed mode, the physical winch torque motor is set to torque mode, and the physical winch speed motor is set to positive speed. The torque of the physical winch torque motor changes synchronously with the speed of the physical winch speed motor.

[0030] The virtual space model of the winch and the physical space model of the winch are mapped and interact in real time to perform the cable winding action;

[0031] If any of the winch virtual space model or winch physical space model malfunctions, an alarm will be triggered, and a stop action will be initiated.

[0032] Furthermore, the torque of the virtual load motor is determined based on the simulated torque, and the torque of the virtual cable drum motor changes synchronously with the virtual load motor.

[0033] Furthermore, the torque of the physical load motor is determined according to the physical load, and the torque of the physical cable drum motor changes synchronously with the torque of the physical load motor.

[0034] Furthermore, in the cable laying mode, the virtual winch speed motor is set to the reverse speed, and the physical winch speed motor in the physical space model is also set to the reverse speed.

[0035] In parking mode, a parking action is performed; at this time, the speed of the virtual winch speed motor is set to 0, and the virtual winch speed motor and virtual winch torque motor engage the parking brake.

[0036] The virtual cable drum motor and the virtual load motor stop and engage the brakes;

[0037] The speed of the physical winch speed motor is set to 0, and the physical winch speed motor and the physical winch torque motor are stopped and braked.

[0038] The physical cable drum motor and the physical load motor stop and engage the brake;

[0039] The virtual space model and physical space model of the winch are mapped and interact in real time to perform the stopping action.

[0040] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0041] (1) The virtual space model of the winch system and the physical space model of the winch system are mapped and interacted in real time, providing visualized value products.

[0042] (2) Digital twin technology utilizes various digital means, including the Internet of Things, virtual reality, and simulation tools, to map the properties of physical models into virtual space, thereby accelerating people's understanding of physical models. Verifying the feasibility of some solutions on real physical models is costly, but it can be done on virtual models.

[0043] (3) The part drawings, assembly, and control algorithms designed in the virtual space model of the winch system can greatly help the production, assembly, and control algorithm implementation of the parts in the physical space model of the winch system. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of a digital twin winch system disclosed in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the cable take-up control process disclosed in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the cable laying control process disclosed in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the parking control process disclosed in an embodiment of the present invention. Detailed Implementation

[0048] The technical solution of the present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0049] Example 1

[0050] Please see Figure 1 , Figure 1 This is a schematic diagram of a digital twin winch system disclosed in an embodiment of the present invention. The digital twin winch system includes a virtual space model of the winch and a physical space model of the winch, and the two models are mapped and interact in real time.

[0051] The virtual space model of the winch includes a virtual mounting bracket 100, a virtual cable storage drum fixing seat 101, a virtual bidirectional cable storage screw 102, a virtual cable storage drum 103, a virtual double-folded rope groove 104, a virtual cable storage screw guide device 105, a virtual cable storage drum motor 106, a virtual winch fixing seat 107, a virtual winch 108, a virtual winch speed motor 109, a virtual winch torque motor 110, a virtual guide wheel 111, a virtual load motor 112, a virtual load screw guide device 113, a virtual load bidirectional screw 114, a virtual load optical cylinder 115, and a virtual load optical cylinder fixing seat 116. In addition to the above components, the virtual space model also includes part modeling, part drawings, assembly, 3D modeling, electromechanical conceptual design, and signal mapping for the winch system. The specific installation methods between the components are as follows:

[0052] The virtual cable storage drum fixing base 101 and the virtual cable storage bidirectional lead screw 102 are mounted on the virtual mounting bracket 100. The rotation center of the virtual cable storage drum 103 is connected to the output shaft of the virtual cable storage drum motor 106 and is mounted on the virtual cable storage drum fixing base 101. The virtual cable storage drum motor 106 drives the virtual cable storage drum 103 to rotate. The virtual cable storage drum 103 and the virtual cable storage bidirectional lead screw 102 are connected with a fixed transmission ratio, and the virtual cable storage lead screw guide device 105 is mounted on the virtual cable storage bidirectional lead screw 102. The virtual cable storage drum motor 106 continuously performs cable winding in positive torque mode. The virtual cable storage drum 103 moves with the virtual cable storage drum motor 106, and the virtual cable storage bidirectional lead screw 102 follows the movement of the virtual cable storage drum 103, driving the virtual cable storage lead screw guide device 105 to move left and right and to the edge to perform a reversing action. The virtual cable storage drum 103 is provided with a virtual double-folded rope groove 104 for winding the cable.

[0053] The virtual winch mounting base 107 is mounted on the virtual mounting bracket 100. In this embodiment, the virtual winches 108 are interconnected and mounted on one side of the virtual winch mounting base 107. The virtual winch speed motor 109 and the virtual winch torque motor 110 are mounted on the other side of the virtual winch mounting base 107. The output shaft of the virtual winch speed motor 109 is connected to the rotation center of one of the virtual winches 108, and the virtual winch torque motor 110 is connected to the rotation center of the other virtual winch 108.

[0054] This solution employs a dual-drive control mode. One motor, positioned closer to the virtual cable storage drum 103, is configured for speed control, while the other motor is configured for torque control. The virtual winch speed motor 109 performs the cable winding and unwinding actions, while the virtual winch torque motor 110 performs the following actions. Under heavy loads, both motors can be configured in speed mode to work together for cable winding and unwinding. In the event of a single motor failure, the working motor can be configured in speed mode to perform the cable winding and unwinding actions, serving as a backup for each other.

[0055] A virtual guide wheel 111 is mounted on a virtual mounting bracket 100. After exiting the virtual winch 108, the cable first passes through the virtual guide wheel 111 and then reaches the virtual load screw guide device 113. A virtual load motor 112 and a virtual load optical cylinder 115 are mounted on a virtual load optical cylinder mounting base 116. The output shaft of the virtual load motor 112 is connected to the rotation center of the virtual load optical cylinder 115, driving the virtual load optical cylinder 115 to rotate. A virtual load bidirectional screw 114 is connected to the virtual load optical cylinder 115 with a fixed transmission ratio. The virtual load screw guide device 113 is mounted on the virtual load bidirectional screw 114. The virtual load optical cylinder mounting base 116 and the virtual load bidirectional screw 114 are mounted on the virtual mounting bracket 100. The virtual load motor 112 operates in positive torque mode, continuously winding the cable. The virtual load tube 115 moves in tandem with the virtual load motor 112, and the virtual load bidirectional lead screw 114 follows the movement of the virtual load tube 115, driving the virtual load lead screw guide device 113 to move left and right and change direction at the edge. This simulates the actual load size based on different load torque magnitudes.

[0056] The cable is wound around the virtual double-folded rope groove 104, passes through the virtual cable storage screw guide device 105, is wound around the virtual winch 108, passes through the virtual guide wheel 111, passes through the virtual load screw guide device 113, and finally is wound around the virtual load light cylinder 115.

[0057] The physical space model of the winch includes a physical mounting bracket 200, a physical cable storage drum fixing seat 201, a physical cable storage bidirectional lead screw 202, a physical cable storage drum 203, a physical double-folded rope groove 204, a physical cable storage lead screw guide device 205, a physical cable storage drum motor 206, a physical winch fixing seat 207, a physical winch 208, a physical winch speed motor 209, a physical winch torque motor 210, a physical guide wheel 211, a physical load motor 212, a physical load lead screw guide device 213, a physical load bidirectional lead screw 214, a physical load optical cylinder 215, and a physical load optical cylinder fixing seat 216. In addition to the above components, the physical space model also includes part modeling, part drawings, assembly, 3D modeling, electromechanical conceptual design, and signal mapping for the winch system. The specific installation methods between the components are as follows:

[0058] The physical cable storage drum fixing base 201 and the physical cable storage bidirectional lead screw 202 are mounted on the physical mounting bracket 200. The rotation center of the physical cable storage drum 203 is connected to the output shaft of the physical cable storage drum motor 206 and is mounted on the physical cable storage drum fixing base 201. The physical cable storage drum motor 206 drives the physical cable storage drum 203 to rotate. The physical cable storage drum 203 and the physical cable storage bidirectional lead screw 202 are connected with a fixed transmission ratio, and the physical cable storage lead screw guide device 205 is mounted on the physical cable storage bidirectional lead screw 202. The physical cable storage drum motor 206 continuously performs cable winding in positive torque mode. The physical cable storage drum 203 moves with the physical cable storage drum motor 206, and the physical cable storage bidirectional lead screw 202 follows the movement of the physical cable storage drum 203, driving the physical cable storage lead screw guide device 205 to move left and right and to the edge to perform a reversing action. The physical cable storage drum 203 is provided with a physical double-folded rope groove 204 for winding the cable.

[0059] The physical winch mounting base 207 is mounted on the physical mounting bracket 200. In this embodiment, the physical winches 208 are interconnected and mounted on one side of the physical winch mounting base 207. The physical winch speed motor 209 and the physical winch torque motor 210 are mounted on the other side of the physical winch mounting base 207. The output shaft of the physical winch speed motor 209 is connected to the rotation center of one of the physical winches 208, and the physical winch torque motor 210 is connected to the rotation center of the other physical winch 208.

[0060] This solution employs a dual-drive control mode. A speed-controlled motor is positioned near the physical cable storage drum 203, while the other motor is configured for torque control. The physical winch speed motor 209 performs the cable winding and unwinding actions, while the physical winch torque motor 210 performs the following actions. Under heavy loads, both motors can be configured in speed mode to work together for cable winding and unwinding. In the event of a single motor failure, the working motor can be configured in speed mode for cable winding and unwinding, serving as a backup.

[0061] A physical guide wheel 211 is mounted on a physical mounting bracket 200. After exiting the physical winch 208, the cable first passes through the physical guide wheel 211 and then reaches the physical load screw guide device 213. A physical load motor 212 and a physical load optical tube 215 are mounted on a physical load optical tube mounting base 216. The output shaft of the physical load motor 212 is connected to the rotation center of the physical load optical tube 215, driving the physical load optical tube 215 to rotate. A physical load bidirectional screw 214 is connected to the physical load optical tube 215 with a fixed transmission ratio. The physical load screw guide device 213 is mounted on the physical load bidirectional screw 214. The physical load optical tube mounting base 216 and the physical load bidirectional screw 214 are mounted on the physical mounting bracket 200. The physical load motor 212 operates in positive torque mode, continuously winding the cable. The physical load tube 215 moves in tandem with the physical load motor 212, and the physical load bidirectional lead screw 214 follows the movement of the physical load tube 215, driving the physical load lead screw guide device 213 to move left and right and change direction at the edge. This simulates the actual load size based on different load torque magnitudes.

[0062] The cable is wound on the physical double-folded rope groove 204, passes through the physical cable storage screw guide device 205, is wound on the physical winch 208, passes through the physical guide wheel 211, passes through the physical load screw guide device 213, and finally is wound on the physical load light cylinder 215.

[0063] To improve the efficiency and quality of winch system research and development, manufacturing, maintenance, and other processes, and to enhance its intelligence level, this invention establishes a real-time mapping and interaction relationship between the virtual and physical spaces of the winch system. It also aims to guide and control the physical entities of the winch system based on the virtual space simulation results, promote integrated collaboration across all stages of winch system design, manufacturing, and service, and improve the winch system's self-diagnosis and self-decision-making capabilities. Therefore, it is essential to employ next-generation information technology and advanced data analysis technology to intelligently manage the design, manufacturing, and service processes of the winch system.

[0064] Example 2

[0065] This invention also includes a control method for a digital twin winch system, which can be applied to the aforementioned digital twin winch system, comprising the following steps:

[0066] S1. Establish virtual space model and physical space model, and ensure normal communication between the models.

[0067] In this step, the virtual space model is established, including component modeling, component drawings, assembly, 3D modeling, electromechanical conceptual design, and signal mapping of the winch system.

[0068] In this step, establishing the physical space model includes fabricating the various parts used in the winch system, assembling the physical model, the control system, and signal mapping.

[0069] S2. The controller collects data on operating parameters and determines the operating mode of the winch system based on the received data.

[0070] S3, such as Figure 2 As shown, in the cable retrieval mode, the virtual space model and the physical space model of the winch perform cable retrieval actions. The virtual cable storage drum motor 106 and the virtual load motor 112 are simultaneously set to torque mode. The virtual winch speed motor 109 is set to speed mode, and the virtual winch torque motor 110 is set to torque mode. The virtual winch speed motor 109 is set to positive speed, and the torque of the virtual winch torque motor 110 changes synchronously with the speed of the virtual winch speed motor 109.

[0071] In this step, the torque of the virtual load motor 112 is determined according to the simulated torque, and the torque of the virtual cable drum motor 106 changes synchronously with the virtual load motor 112; more specifically, the magnitude of the torque of the virtual load motor 112 is set according to the magnitude of the simulated torque, and the magnitude of the torque of the virtual cable drum motor 106 changes with the magnitude of the torque of the virtual load motor 112.

[0072] S4. In the physical space model of the winch, the physical cable drum motor 206 and the physical load motor 212 are both set to torque mode. In the physical space model, the physical winch speed motor 209 is set to speed mode, the physical winch torque motor 210 is set to torque mode, and the physical winch speed motor 209 is set to positive speed. The torque of the physical winch torque motor 210 changes synchronously with the speed of the physical winch speed motor 209.

[0073] In this step, the torque of the physical load motor 212 is determined according to the physical load, and the torque of the physical cable drum motor 206 changes synchronously with the torque of the physical load motor 212; more specifically, the size of the physical load motor 212 is set according to the size of the physical load torque, and the size of the torque of the physical cable drum motor 206 changes with the size of the torque of the physical load motor 212.

[0074] S5. The virtual space model and physical space model of the winch are mapped and interact in real time to perform cable winding actions.

[0075] S6. If any of the winch virtual space model or winch physical space model malfunctions, an alarm will be triggered, and a stop action will be initiated.

[0076] like Figure 3As shown, in the cable laying mode, it is only necessary to set the virtual winch speed motor 109 to the reverse speed in step S3 and the physical winch speed motor 209 in the physical space model to the reverse speed in step S4. Apart from this, the other actions in steps S1 to S6 remain the same, and will not be repeated here.

[0077] like Figure 4 As shown, in parking mode, a parking action is performed. At this time, the speed of the virtual winch speed motor 109 is set to 0, and the virtual winch speed motor 109 and the virtual winch torque motor 110 are braked; the virtual cable drum motor 106 and the virtual load motor 112 are braked; then the speed of the physical winch speed motor 209 is set to 0, and the physical winch speed motor 209 and the physical winch torque motor 210 are braked; the physical cable drum motor 206 and the physical load motor 212 are braked; the virtual space model and the physical space model are mapped and interacted in real time to perform the parking action.

Claims

1. A digital twin winch system, characterized in that: This includes a real-time mapping and interactive virtual space model of the winch and a physical space model of the winch. The winch virtual space model includes a virtual cable storage drum (103) and a virtual cable storage drum motor (106) connected to the virtual cable storage drum (103) to drive its rotation. The virtual space model of the winch includes at least one interconnected virtual winch (108), a virtual winch speed motor (109) connected to one of the virtual winches (108), and a virtual winch torque motor (110) connected to the other virtual winch (108); the virtual winch speed motor (109) is used to drive the virtual winch (108) to take in or release the cable, and the virtual winch torque motor (110) performs a following action; The winch virtual space model also includes a virtual load motor (112) and a virtual load light tube (115) connected to and driven by the virtual load motor (112). The virtual cable storage cylinder (103) is wound with a cable, and after passing through the virtual winch (108), the cable is wound around the virtual load optical cylinder (115); The physical space model of the winch includes a physical cable storage drum (203) and a physical cable storage drum motor (206) connected to the physical cable storage drum (203) to drive its rotation. The physical space model of the winch includes at least one interconnected physical winch (208), a physical winch speed motor (209) connected to one of the physical winches (208), and a physical winch torque motor (210) connected to the other physical winch (208); the physical winch speed motor (209) is used to drive the physical winch (208) to take in or release the cable, and the physical winch torque motor (210) performs a following action; The winch physical space model also includes a physical load motor (212) and a physical load light tube (215) connected to and driven by the physical load motor (212). The cable is wound around the physical cable storage cylinder (203), and after passing through the physical winch (208), the cable is wound around the physical load optical cylinder (215); The virtual cable storage cylinder (103) is connected to the virtual cable storage bidirectional screw (102) with a fixed transmission ratio, and a virtual cable storage screw guide device (105) is provided on the virtual cable storage bidirectional screw (102). After the virtual cable storage drum motor (106) is started, it drives the virtual cable storage drum (103) to rotate, and the virtual cable storage bidirectional screw (102) rotates accordingly, thereby driving the virtual cable storage screw guide device (105) to move left and right. The physical cable storage cylinder (203) is connected to the physical cable storage bidirectional screw (202) with a fixed transmission ratio, and a physical cable storage screw guide device (205) is provided on the physical cable storage bidirectional screw (202). After the physical cable storage drum motor (206) is started, it drives the physical cable storage drum (203) to rotate, and the physical cable storage bidirectional screw (202) rotates accordingly, thereby driving the physical cable storage screw guide device (205) to move left and right; The virtual load light tube (115) is connected to the virtual load bidirectional lead screw (114) with a fixed transmission ratio, and a virtual load lead screw guide device (113) is provided on the virtual load bidirectional lead screw (114). After the virtual load motor (112) is started, it drives the virtual load light tube (115) to rotate, and the virtual load bidirectional lead screw (114) rotates accordingly, thereby driving the virtual load lead screw guide device (113) to move left and right. The physical load light tube (215) is connected to the physical load bidirectional lead screw (214) with a fixed transmission ratio, and the physical load bidirectional lead screw (214) is provided with a physical load lead screw guide device (213). After the physical load motor (212) is started, it drives the physical load light tube (215) to rotate, and the physical load bidirectional lead screw (214) rotates accordingly, thereby driving the physical load lead screw guide device (213) to move left and right.

2. The digital twin winch system according to claim 1, characterized in that: It also includes a virtual mounting bracket (100) and a virtual guide wheel (111) mounted on the virtual mounting bracket (100). After the cable comes out of the virtual winch (108), it first passes through the virtual guide wheel (111) and then reaches the virtual load screw guide device (113). It also includes a physical mounting bracket (200) and a physical guide wheel (211) mounted on the physical mounting bracket (200). After the cable comes out of the physical winch (208), it first passes through the physical guide wheel (211) and then reaches the physical load screw guide device (213).

3. The digital twin winch system according to claim 1, characterized in that: The virtual cable storage cylinder (103) is provided with a virtual double-folded rope groove (104) for winding the cable; the physical cable storage cylinder (203) is provided with a physical double-folded rope groove (204) for winding the cable.

4. A control method for a digital twin winch system, characterized in that, This method, applied to the digital twin winch system of claim 1, includes the following steps: Establish virtual space models and physical space models of the winch, and ensure that communication between the models is normal; The controller collects operating parameters and determines the operating mode of the winch system based on the received data. In cable retrieval mode, the virtual space model and the physical space model of the winch perform cable retrieval actions. The virtual cable storage drum motor (106) and the virtual load motor (112) are simultaneously set to torque mode. The virtual winch speed motor (109) is set to speed mode, the virtual winch torque motor (110) is set to torque mode, and the virtual winch speed motor (109) is set to positive speed. The torque of the virtual winch torque motor (110) changes synchronously with the speed of the virtual winch speed motor (109). In the physical space model of the winch, the physical cable drum motor (206) and the physical load motor (212) are both set to torque mode; the physical winch speed motor (209) in the physical space model is set to speed mode, the physical winch torque motor (210) is set to torque mode, and the physical winch speed motor (209) is set to positive speed. The torque of the physical winch torque motor (210) changes synchronously with the speed of the physical winch speed motor (209). The virtual space model of the winch and the physical space model of the winch are mapped and interact in real time to perform the cable winding action; If any of the winch virtual space model or winch physical space model malfunctions, an alarm will be triggered, and a stop action will be initiated.

5. The control method for the digital twin winch system according to claim 4, characterized in that: The torque of the virtual load motor (112) is determined according to the simulated torque, and the torque of the virtual cable drum motor (106) changes synchronously with the virtual load motor (112).

6. The control method for the digital twin winch system according to claim 4, characterized in that: The torque of the physical load motor (212) is determined according to the physical load, and the torque of the physical cable drum motor (206) changes synchronously with the torque of the physical load motor (212).

7. The control method for the digital twin winch system according to claim 4, characterized in that: In the cable laying mode, the virtual winch speed motor (109) is set to the reverse speed, and the physical winch speed motor (209) in the physical space model is set to the reverse speed.

8. The control method for the digital twin winch system according to claim 4, characterized in that: In parking mode, a parking action is performed; at this time, the speed of the virtual winch speed motor (109) is set to 0, and the virtual winch speed motor (109) and the virtual winch torque motor (110) engage the parking brake; The virtual cable drum motor (106) and the virtual load motor (112) are stopped and braked; The speed of the physical winch speed motor (209) is set to 0, and the physical winch speed motor (209) and the physical winch torque motor (210) are stopped and braked. The physical cable drum motor (206) and the physical load motor (212) are stopped and braked; The virtual space model and physical space model of the winch are mapped and interact in real time to perform the stopping action.

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