Self-adaptive cable arrangement device, control method, control unit and medium

Abstract

The invention provides a self-adaptive cable arrangement device, a control method, a control unit and a medium. The method is applied to the self-adaptive cable arrangement device and comprises the steps that a programmable controller collects a first rotation signal of a cable arrangement driver, a second rotation signal of a roller driver and a switching signal of a proximity switch at the previous moment; the programmable controller determines the layer number of the cable wound on the cable storage roller according to the switching signal, and determines the third rotation direction of the cable arrangement driver driving the threaded lead screw at the current moment according to the layer number; the programmable controller constructs a self-adaptive adjustment coefficient according to the first rotating speed, the second rotating speed, the rope diameter of the mooring rope and the thread pitch of the threaded lead screw; and the programmable controller determines a third rotating speed at which the cable arrangement driver drives the threaded lead screw at the current moment according to the self-adaptive adjustment coefficient and the first rotating speed, and controls the roller driver according to the third rotating direction and the third rotating speed. The control precision of cable arrangement can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and specifically relates to an adaptive cable arrangement device, a control method, a control unit and a medium. Background Art

[0002] The winch is a commonly used equipment for underwater operations. It is installed on the deck of the ship and is used to store, lay and recover various cables, wire cables, umbilical cables, etc. It is used to complete the functions of lifting, dragging, power supply and communication between the underwater robot and the ship. The performance of the winch includes the cable storage capacity, load, laying and recovery speed, etc. It usually has two working modes: manual control cable arrangement and automatic control cable arrangement. Among them, the manual control cable arrangement is inefficient and is mainly used in the winch testing stage, or in the working conditions such as abnormal automatic control cable arrangement function; automatic control cable arrangement is currently the main method to improve the efficiency of winch operation.

[0003] However, during the operation of the automatic cable arrangement, errors in the mechanical structure often lead to transmission errors. Specifically, the winch's driver, cable storage drum, threaded screw and other components may wear, loosen or run unsteadily during long-term use, resulting in errors in the transmission process. These errors directly affect the matching between the winch's cable winding speed and the preset control instructions, especially in long-distance cable arrangement or complex terrain environments. The impact of these transmission errors is particularly significant, resulting in a reduction in the accuracy of cable winding and arrangement. In addition, existing automated cable arrangement control methods usually rely on preset control instructions and fixed operating modes. However, in the actual cable arrangement process, due to changes in the environment, load or working conditions, it is often necessary to flexibly adjust the control instructions. Failure to adjust the control instructions according to the actual working environment will affect the response speed and control accuracy of the cable winding and arrangement. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an adaptive cable arrangement device, a control method, a control unit and a medium, which can adjust the control instructions according to the actual working conditions and improve the control accuracy of the cable collection and arrangement.

[0005] In a first aspect, the present invention provides a control method for an adaptive cable arrangement device, wherein the adaptive cable arrangement device is composed of a programmable controller, a cable arrangement driver, a drum driver, a proximity switch, a threaded screw, a traveling carriage, a cable storage drum, and a cable. The control method comprises the following steps:

[0006] The programmable controller collects the first rotation signal of the cable arrangement driver, the second rotation signal of the drum driver, and the switch signal of the proximity switch at the previous moment; wherein the first rotation signal is used to describe the first rotation speed and the first rotation direction of the threaded screw driven by the cable arrangement driver, and the second rotation signal is used to describe the second rotation speed and the second rotation direction of the cable storage drum driven by the drum driver, the second rotation direction indicates cable arrangement or collection, and the switch signal is used to indicate whether the traveling carriage is located at the end of the threaded screw;

[0007] The programmable controller determines the number of layers of the cable wound around the cable storage drum according to the switch signal, and determines the third rotation direction of the threaded screw driven by the cable arrangement driver at the current moment according to the number of layers;

[0008] The programmable controller constructs an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable and the pitch of the threaded screw; the adaptive adjustment coefficient is used to correct the correlation between the first rotation speed and the second rotation speed;

[0009] The programmable controller determines the third rotation speed of the threaded screw driven by the cable arrangement driver at the current moment according to the adaptive adjustment coefficient and the first rotation speed, and controls the drum driver according to the third rotation direction and the third rotation speed.

[0010] Optionally, determining the number of layers of the cable wound around the cable storage drum according to the switch signal includes:

[0011] Count the number of times the switch signal is at a high level, and use the number as the number of layers of the cable wound around the cable storage drum;

[0012] By calculating the formula

[0013]

[0014] A third rotation direction k(n) is obtained; wherein n represents the number of layers, k(n)=1 represents positive rotation, which means that the rotation direction of the threaded screw driven by the cable arrangement driver is the same as the direction of the cable storage drum driven by the drum driver, and k(n)=-1 represents reverse rotation, which means that the rotation direction of the threaded screw driven by the cable arrangement driver is different from the direction of the cable storage drum driven by the drum driver.

[0015] Optionally, an adaptive adjustment coefficient is constructed according to the first rotation speed, the second rotation speed, the rope diameter of the cable, and the pitch of the threaded screw, including:

[0016] Determine whether the adaptive adjustment coefficient is increased or decreased;

[0017] When the adaptive adjustment coefficient is increasing, the formula is used to calculate

[0018] K ratio (i) = K ratio (i-1)+δK ratio

[0019] K ratio (0) = K norm

[0020]

[0021] Get the adaptive adjustment coefficient K at the current moment ratio (i); where K ratio (i) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-th moment, K ratio (i-1) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-1th moment, δK ratio Indicates the K corresponding to a single execution of the controller ratio (i) The change in K norm The proportional coefficient K of the cable arrangement speed and the drum speed at the zeroth moment ratio (0), is K ratio The initial value of (i) is determined by the mechanical design of the winch and cable guide, n drum Indicates the rotation ratio between the cable storage drum and the drum drive, n fleeting Indicates the rotation ratio between the screw and the cable drive, D umbilical Indicates the rope diameter, d pitch Indicates the thread pitch;

[0022] When the adaptive adjustment coefficient is reduced, the formula is used to calculate

[0023] K ratio (i) = K ratio (i-1)-δK ratio

[0024] Get the adaptive adjustment coefficient K at the current moment ratio (i).

[0025] Optional, the association is V fleeting =K norm *V drum ; Among them, V fleeting Indicates the first speed, V drum Indicates the second speed.

[0026] Optionally, determining a third rotational speed at which the cable arrangement driver drives the threaded screw at the current moment according to the adaptive adjustment coefficient and the first rotational speed includes:

[0027] By calculating the formula

[0028] V fleeting (i) = K ratio (i)*V drum (i)

[0029] Get the third speed V fleeting (i); where V drum (i) represents the rotation speed of the cable storage drum driven by the drum driver at the current moment.

[0030] Optionally, controlling the drum driver according to the third rotation direction and the third rotation speed includes:

[0031] According to the third rotation direction and the third rotation speed, an adaptive driving instruction is constructed; the expression of the adaptive driving instruction is M fleeting (i) = k(n)*V fleeting (i), M fleeting (i) represents the adaptive driving instruction at the current moment;

[0032] Based on the adaptive drive instruction, the rotation speed and rotation direction of the threaded screw driven by the cable driver are controlled.

[0033] In a second aspect, the present invention provides an adaptive cable arrangement device, comprising a programmable controller, a cable arrangement driver, a drum driver, a first proximity switch, a second proximity switch, a first limit proximity switch, a second limit proximity switch, a threaded screw, a traveling carriage, a cable storage drum and a cable; wherein the programmable controller is respectively connected to the cable arrangement driver and the drum driver, the right end of the cable arrangement driver is connected to one end of the threaded screw, a first limit proximity switch is also installed on the outer side of the right end of the cable arrangement driver, a second limit proximity switch is installed on the other end of the threaded screw, the traveling carriage is sleeved on the threaded screw and threadedly connected to the threaded screw, one end of the cable is fixed at the lower end of the traveling carriage and is downwardly wound around the cable storage drum, the first proximity switch is installed at the lower end of the traveling carriage and is located on the left side of the cable, and the second proximity switch is installed at the lower end of the traveling carriage and is located on the right side of the cable.

[0034] Optionally, the programmable controller is connected to the cable drive and the drum drive based on a Modbus communication bus.

[0035] In a third aspect, the present invention provides a control unit, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above-mentioned control method is implemented when the processor executes the computer program.

[0036] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program implements the above-mentioned control method when executed by a processor.

[0037] The beneficial effects of the present invention are:

[0038] The control method of the adaptive cable arrangement device provided by the present invention determines the number of layers of the cable wound around the cable storage drum according to the switch signal, and determines the third rotation direction of the threaded screw driven by the cable arrangement driver at the current moment according to the number of layers, and then constructs an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable and the pitch of the threaded screw, and finally determines the third rotation speed of the threaded screw driven by the cable arrangement driver at the current moment according to the adaptive adjustment coefficient and the first rotation speed, and controls the drum driver according to the third rotation direction and the third rotation speed. Among them, the adaptive adjustment coefficient can correct the correlation between the rotation speed of the threaded screw driven by the cable arrangement driver and the rotation speed of the cable storage drum driven by the drum driver in real time, reduce the transmission error caused by environmental conditions, and improve the control accuracy; at the same time, the control of the cable arrangement driver can be flexibly adjusted according to the adaptive adjustment coefficient, which is conducive to improving the control accuracy of the cable collection and arrangement. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a schematic structural diagram of an adaptive cable arrangement device in one embodiment of the present application;

[0040] Figure 2 This is a flow chart of a control method of an adaptive cable arrangement device in one embodiment of the present application;

[0041] Figure 3 This is a flow chart for determining a change in an adaptive adjustment coefficient in one implementation of the present application;

[0042] Figure 4 This is another flow chart for determining a change in an adaptive adjustment coefficient in one embodiment of the present application;

[0043] Figure 5 This is a flow chart for performing parameter rationality judgment and fault alarm in another implementation manner of the present application;

[0044] Figure 6 This is a fault detection flow chart of the cable arrangement driver in another embodiment of the present application when the first limit proximity switch is effective;

[0045] Figure 7 This is a fault detection flow chart of the cable arrangement driver in another embodiment of the present application when the second limit proximity switch is effective;

[0046] Figure 8 This is a schematic diagram of the structure of a control unit in one embodiment of the present application;

[0047] Among them, 101 represents a programmable controller, 102 represents a cable arrangement driver, 103 represents a drum driver, 104 represents a first proximity switch, 105 represents a second proximity switch, 106 represents a first limit proximity switch, 107 represents a second limit proximity switch, 108 represents a threaded screw, 109 represents a traveling carriage, 110 represents a cable storage drum, 111 represents a cable, 1021 represents a first motor, 1022 represents a first encoder, 1031 represents a second motor, and 1032 represents a second encoder. DETAILED DESCRIPTION

[0048] In view of the problem of low control accuracy of existing automatic control cable arrangement technology, the present invention provides an adaptive cable arrangement device, control method, control unit and medium. The control method determines the number of layers of cable wound around the cable storage drum according to the switch signal, and determines the third rotation direction of the threaded screw driven by the cable arrangement driver at the current moment according to the number of layers, and then constructs an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable and the pitch of the threaded screw. Finally, according to the adaptive adjustment coefficient and the first rotation speed, the third rotation speed of the threaded screw driven by the cable arrangement driver at the current moment is determined, and the drum driver is controlled according to the third rotation direction and the third rotation speed. Among them, the adaptive adjustment coefficient can correct the correlation between the rotation speed of the threaded screw driven by the cable arrangement driver and the rotation speed of the cable storage drum driven by the drum driver in real time, reduce the transmission error caused by environmental conditions, and improve the control accuracy; at the same time, the control of the cable arrangement driver can be flexibly adjusted according to the adaptive adjustment coefficient, which is conducive to improving the control accuracy of the cable collection and arrangement.

[0049] For ease of description, the structure of the adaptive cable arrangement device provided in the present application is first described.

[0050] like Figure 1 As shown, the adaptive cable arrangement device includes a programmable controller 101, a cable arrangement driver 102, a drum driver 103, a first proximity switch 104, a second proximity switch 105, a first limit proximity switch 106, a second limit proximity switch 107, a threaded screw 108, a traveling carriage 109, a cable storage drum 110 and a cable 111. Specifically, the programmable controller 101 is connected to the cable drive 102 and the drum drive 103 respectively, the right end of the cable drive 102 is connected to one end of the threaded screw 108, and a first limit proximity switch 106 is also installed on the outer side of the right end of the cable drive 102, and a second limit proximity switch 107 is installed on the other end of the threaded screw 108. The traveling car 109 is sleeved on the threaded screw 108 and threadedly connected with the threaded screw 108. One end of the cable 111 is fixed at the lower end of the traveling car 109 and is downwardly wound around the cable storage drum 110. The first proximity switch 104 is installed at the lower end of the traveling car 109 and is located on the left side of the cable 111. The second proximity switch 105 is installed at the lower end of the traveling car 109 and is located on the right side of the cable 111.

[0051] The programmable controller 101 is used to collect signals from the cable drive 102, the roller drive 103 and each proximity switch, and send a control instruction to the cable drive 102 to control the speed and rotation direction of the cable drive 102 to drive the threaded screw 108. In an embodiment of the present invention, the programmable controller 101 connects the cable drive 102 and the roller drive 103 based on a Modbus communication bus.

[0052] The cable drive 102 is used to drive the threaded screw 108 to rotate. In the embodiment of the present invention, the cable drive 102 is specifically composed of a first motor 1021 and a first encoder 1022. The first motor 1021 is used to receive the control instruction sent by the programmable controller 101 to drive the threaded screw 108 to rotate. The first encoder 1022 is used to encode the switch signals of the first proximity switch 104, the second proximity switch 105, the first limit proximity switch 106, the second limit proximity switch 107 and the rotation speed of the first motor 1021 and transmit them to the programmable controller 101. When the switch signal of the proximity switch is at a high level, it indicates that the traveling carriage 109 has moved to the left or right end of the threaded screw 108. When the switch signal of the limit proximity switch is at a high level, it indicates that the traveling carriage 109 will exceed the boundary of the threaded screw 108.

[0053] The drum driver 103 is used to drive the cable storage drum 110 to rotate. In the embodiment of the present invention, the drum driver 103 is specifically composed of a second motor 1031 and a second encoder 1032. The second motor 1031 is used to receive instructions from an operator to drive the cable storage drum 110 to rotate to achieve cable arrangement or collection. The second encoder 1032 is used to encode the rotation speed and rotation direction of the second motor and transmit them to the programmable controller 101.

[0054] The traveling carriage 109 is used to pull the cable 111 to be wound around the cable storage drum 110 , and moves horizontally along the threaded section of the threaded screw 108 as the threaded screw 108 rotates.

[0055] The control method of the adaptive cable arrangement device provided by the present invention is described below.

[0056] like Figure 2 As shown, the control method includes:

[0057] Step 21, the programmable controller collects the first rotation signal of the cable arrangement driver, the second rotation signal of the drum driver, and the switch signal of the proximity switch at the previous moment.

[0058] Among them, the first rotation signal is used to describe the first rotation speed and the first rotation direction of the cable arrangement driver driving the threaded screw, the second rotation signal is used to describe the second rotation speed and the second rotation direction of the cable storage drum driven by the drum driver, the second rotation direction indicates cable arrangement or collection, and the switch signal is used to indicate whether the traveling carriage is at the end of the threaded screw.

[0059] Step 22, the programmable controller determines the number of layers of the cable wound around the cable storage drum according to the switch signal, and determines the third rotation direction of the threaded screw driven by the cable arrangement driver at the current moment according to the number of layers.

[0060] Specifically, it includes step 22.1 to step 22.2.

[0061] Step 22.1, counting the number of times the switch signal is at a high level, and using the number as the number of layers of the cable wound around the cable storage drum.

[0062] Step 22.2, by calculating the formula

[0063]

[0064] A third rotation direction k(n) is obtained.

[0065] Wherein, n represents the number of layers, k(n)=1 represents forward rotation, which means that the rotation direction of the threaded screw driven by the cable arrangement driver is the same as the direction of the cable storage drum driven by the drum driver, and k(n)=-1 represents reverse rotation, which means that the rotation direction of the threaded screw driven by the cable arrangement driver is different from the direction of the cable storage drum driven by the drum driver.

[0066] For example, when the cable on the drum is the first layer, the drum reels in the cable and controls the traveling carriage to move rightward following the cable. When the drum releases the cable, the traveling carriage is controlled to move leftward following the cable. When the number of cable layers on the corresponding drum is an odd number, the same reversing logic is used. When the number of cable layers on the drum is an even number, the reversing logic is exactly the opposite.

[0067] It should be noted that, ideally, the rotation speed of the screw and the rotation speed of the drum are in a fixed relationship: V fleeting =K norm *V drum ; Among them, V fleeting Indicates the first speed, V drum In actual working conditions, however, structural components may wear, become loose, or run unsteadily during long-term use, resulting in a non-fixed correlation between the rotation speed of the screw rod and the rotation speed of the drum. This application will solve this problem in step 23.

[0068] Step 23, the programmable controller constructs an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable and the pitch of the threaded screw.

[0069] The adaptive adjustment coefficient is used to correct the correlation between the first rotation speed and the second rotation speed.

[0070] The above step 23 specifically includes step 23.1 to step 23.3.

[0071] Step 23.1, determining whether the adaptive adjustment coefficient is to be increased or decreased.

[0072] Specifically, in an embodiment of the present invention, the adaptive adjustment coefficient is determined to be increased or decreased according to the state of the proximity switch, the second rotation signal, and the third rotation direction.

[0073] Exemplarily, when the first proximity switch is effective, the process of determining the adaptive adjustment coefficient is as follows: Figure 3 shown.

[0074] When the second proximity switch is effective, the process of determining the adaptive adjustment coefficient is as follows: Figure 4 shown.

[0075] Step 23.2, when the adaptive adjustment coefficient is increasing, the formula is used to calculate

[0076] K ratio (i) = K ratio (i-1)+δK ratio

[0077] K ratio (0) = K norm

[0078]

[0079] Get the adaptive adjustment coefficient K at the current moment ratio (i); where K ratio (i) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-th moment, K ratio (i-1) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-1th moment, δK ratio Indicates the K corresponding to a single execution of the controller ratio (i) The change in K norm The proportional coefficient K of the cable arrangement speed and the drum speed at the zeroth moment ratio (0), is K ratio The initial value of (i) is determined by the mechanical design of the winch and cable guide, n drum Indicates the rotation ratio between the cable storage drum and the drum drive, n fleeting Indicates the rotation ratio between the screw and the cable drive, D umbilical Indicates the rope diameter, d pitch Indicates the thread pitch.

[0080] Step 23.3, when the adaptive adjustment coefficient is decreasing, the formula is used to calculate

[0081] K ratio (i) = K ratio (i-1)-δK ratio

[0082] Get the adaptive adjustment coefficient K at the current moment ratio (i).

[0083] It is worth mentioning that the adaptive adjustment coefficient can correct the correlation between the rotation speed of the threaded screw driven by the cable arrangement driver and the rotation speed of the cable storage drum driven by the drum driver in real time, reduce the transmission error caused by environmental conditions, and improve control accuracy.

[0084] It should be noted that, in another embodiment of the present invention, when both the first proximity switch and the second proximity switch are invalid, parameter rationality judgment and fault alarm will be performed. The specific process is as follows: Figure 5 shown.

[0085] Step 24, the programmable controller determines the third rotation speed of the threaded screw driven by the cable arrangement driver at the current moment according to the adaptive adjustment coefficient and the first rotation speed, and controls the drum driver according to the third rotation direction and the third rotation speed.

[0086] Specifically, it includes step 24.1 to step 24.2.

[0087] Step 24.1, constructing an adaptive drive instruction according to the third rotation direction and the third rotation speed.

[0088] The expression of the above adaptive drive instruction is M fleeting (i) = k(n)*V fleeting (i), M fleeting (i) represents the adaptive driving instruction at the current moment;

[0089] Step 24.2, based on the adaptive drive instruction, control the rotation speed and rotation direction of the threaded screw driven by the cable driver.

[0090] It is worth mentioning that the control of the cable arrangement driver can be flexibly adjusted according to the adaptive adjustment coefficient, which is beneficial to improving the control accuracy of the cable collection and arrangement.

[0091] In another embodiment of the present invention, the programmable controller also collects the switch signal of the limit proximity switch at the previous moment, and uses it to perform fault detection. The specific process is as follows:

[0092] When the rising edge of the first limit proximity switch or the second signal limit proximity switch is detected, the programmable controller will start the corresponding roller rotation counter respectively, and according to the feedback information of the second encoder, accumulate and calculate the corresponding roller rotation angle a1 or a2 from the detection of the rising edge of the first limit proximity switch or the second limit proximity switch to the detection of the falling edge of the first limit proximity switch or the second limit proximity switch; when the falling edge of the first limit proximity switch or the second limit proximity switch signal is detected, the programmable controller will clear the roller rotation counter data and make a1 or a2 equal to 0; otherwise, the fault operation state of the cable drive is judged when the first limit proximity switch or the second limit proximity switch signal is valid, and an alarm is issued and the safe explosion operation of the roller and the cable drive is stopped. The process of judging the fault operation state of the cable drive when the first limit proximity switch is valid is as follows. Figure 6 As shown in FIG. 1 , the process of judging the fault operation state of the cable drive when the second limit proximity switch is effective is as follows: Figure 7 shown.

[0093] like Figure 8 As shown, an embodiment of the present invention provides a control unit, such as Figure 8 As shown, the control unit D10 of this embodiment includes: at least one processor D100 ( Figure 8 Only one processor is shown in the figure), a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 implements the steps of any of the above-mentioned method embodiments when executing the computer program D102.

[0094] The processor D100 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0095] In some embodiments, the memory D101 may be an internal storage unit of the control unit D10, such as a hard disk or memory of the control unit D10. In other embodiments, the memory D101 may also be an external storage device of the control unit D10, such as a plug-in hard disk, a smart memory card (SMC, SmartMedia Card), a secure digital (SD, Secure Digital) card, a flash card (Flash Card), etc. equipped on the control unit D10. Further, the memory D101 may also include both an internal storage unit of the control unit D10 and an external storage device. The memory D101 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0096] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0097] An embodiment of the present application provides a computer program product. When the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0098] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0099] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A control method for an adaptive cable arrangement device, the adaptive cable arrangement device comprising a programmable controller, a cable arrangement driver, a drum driver, a proximity switch, a threaded screw, a traveling carriage, a cable storage drum and a cable, characterized in that: The control method comprises: The programmable controller collects the first rotation signal of the cable arrangement driver, the second rotation signal of the drum driver, and the switch signal of the proximity switch at the previous moment; wherein the first rotation signal is used to describe the first rotation speed and the first rotation direction of the threaded screw driven by the cable arrangement driver, the second rotation signal is used to describe the second rotation speed and the second rotation direction of the cable storage drum driven by the drum driver, the second rotation direction indicates cable arrangement or cable collection, and the switch signal is used to indicate whether the traveling carriage is located at the end of the threaded screw; The programmable controller determines the number of layers of the cable wound around the cable storage drum according to the switch signal, and determines the third rotation direction of the threaded screw driven by the cable arrangement driver at the current moment according to the number of layers; The programmable controller constructs an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable and the pitch of the threaded screw; the adaptive adjustment coefficient is used to correct the correlation between the first rotation speed and the second rotation speed; The programmable controller determines a third rotational speed at which the cable arrangement driver drives the threaded screw at the current moment according to the adaptive adjustment coefficient and the first rotational speed, and controls the drum driver according to the third rotational direction and the third rotational speed.

2. The control method according to claim 1, characterized in that: Determining the number of layers of the cable wound around the cable storage drum according to the switch signal comprises: Counting the number of times the switch signal is at a high level, and using the number as the number of layers of the cable wound around the cable storage drum; By calculating the formula The third rotation direction k(n) is obtained; wherein n represents the number of layers, k(n)=1 represents positive rotation, and the positive rotation means that the rotation direction of the threaded screw driven by the cable arrangement driver is the same as the direction of the cable storage drum driven by the drum driver, and k(n)=-1 represents reverse rotation, and the reverse rotation means that the rotation direction of the threaded screw driven by the cable arrangement driver is different from the direction of the cable storage drum driven by the drum driver.

3. The control method according to claim 2, characterized in that: The step of constructing an adaptive adjustment coefficient according to the first rotation speed, the second rotation speed, the rope diameter of the cable, and the pitch of the threaded screw comprises: Determine whether the adaptive adjustment coefficient is increased or decreased; When the adaptive adjustment coefficient is increasing, the formula is used to calculate K ratio (i)=K ratio (i-1)+δK ratio K ratio (0)=K norm Get the adaptive adjustment coefficient K at the current moment ratio (i); where K ratio (i) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-th moment, K ratio (i-1) represents the proportional coefficient between the cable arrangement speed and the drum speed at the i-1th moment, δK ratio Indicates the K corresponding to a single execution of the controller ratio (i) The change in K norm The proportional coefficient K of the cable arrangement speed and the drum speed at the zeroth moment ratio (0), is K ratio The initial value of (i) is determined by the mechanical design of the winch and cable guide, n drum represents the rotation ratio between the cable storage drum and the drum drive, n fleeting represents the rotation ratio between the threaded screw and the cable drive, D umbilical represents the rope diameter, d pitch represents the pitch; When the adaptive adjustment coefficient is reduced, the formula is used to calculate K ratio (i)=K ratio (i-1)-δK ratio Get the adaptive adjustment coefficient K at the current moment ratio (i).

4. The control method according to claim 3, characterized in that: The association relationship is V fleeting =K norm *V drum ; Among them, V fleeting represents the first speed, V drum represents the second speed.

5. The control method according to claim 4, characterized in that: The step of determining, according to the adaptive adjustment coefficient and the first rotational speed, a third rotational speed at which the cable arrangement driver drives the threaded screw at the current moment comprises: By calculating the formula V fleeting (i)=K ratio (i)*V drum (i) The third speed V is obtained fleeting (i); where V drum (i) represents the rotation speed of the cable storage drum driven by the drum driver at the current moment.

6. The control method according to claim 5, characterized in that: The controlling the drum driver according to the third rotation direction and the third rotation speed comprises: According to the third rotation direction and the third rotation speed, an adaptive driving instruction is constructed; the expression of the adaptive driving instruction is M fleeting (i) = k(n)*V fleeting (i), M fleeting (i) represents the adaptive driving instruction at the current moment; Based on the adaptive driving instruction, the cable drive is controlled to drive the rotation speed and rotation direction of the threaded screw.

7. An adaptive cable arrangement device, characterized in that: It includes a programmable controller, a cable arrangement driver, a drum driver, a first proximity switch, a second proximity switch, a first limit proximity switch, a second limit proximity switch, a threaded screw, a traveling carriage, a cable storage drum and a cable; wherein the programmable controller is respectively connected to the cable arrangement driver and the drum driver, the right end of the cable arrangement driver is connected to one end of the threaded screw, the first limit proximity switch is also installed on the outer side of the right end of the cable arrangement driver, the other end of the threaded screw is installed with the second limit proximity switch, the traveling carriage is sleeved on the threaded screw and threadedly connected with the threaded screw, one end of the cable is fixed at the lower end of the traveling carriage and is downwardly wound around the cable storage drum, the first proximity switch is installed at the lower end of the traveling carriage and is located on the left side of the cable, and the second proximity switch is installed at the lower end of the traveling carriage and is located on the right side of the cable.

8. The adaptive cable arrangement device according to claim 7, characterized in that: The programmable controller is connected to the cable drive and the drum drive based on a Modbus communication bus.

9. A control unit, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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