Winch cable dispenser adaptive control method and system

Abstract

The application provides a winch cable arranging device adaptive control method and system. The winch adaptive cable arranging control depends on a system containing a winch controller, double motors and multiple sensors. The controller receives instructions and inquires the cable arranging motor position, and switches the speed or position control mode accordingly. In the speed mode, the theoretical speed of the cable arranging motor is calculated in combination with the drum rotating speed, cable diameter and lead screw pitch, the rotating speed is adjusted according to the deviation sensor data, and the PI algorithm output value is superimposed when the deviation exceeds the threshold. The PI algorithm adopts a combination strategy of variable proportional coefficient, anti-integral saturation and variable integral coefficient to realize adaptive coefficient and anti-saturation. In the position mode, the target position is calculated through the drum turn number sensor data, eight working conditions based on the position threshold, layer number and cable winding and unwinding state are covered, and the cable arranging and reversing alignment are ensured.

Description

Technical Field

[0001] This invention relates to the field of unmanned equipment technology, specifically to an adaptive control method and system for a winch cable laying device, and more particularly to an unmanned winch cable laying control algorithm. Background Technology

[0002] For winch equipment to achieve superior performance and strong anti-interference capabilities, neat cable laying is one of the most crucial technologies. During the winch system's cable retrieval and deployment processes, the cable laying motor and drum motor work together to orderly and neatly lay the cable onto or release it from the drum. Increased cable length and harsh marine environments can both affect neat cable laying. If cable overlap or cracks appear on the winch drum, it will affect subsequent cable laying. If timely automatic adjustment is not possible, it may cause cable damage, or even more serious problems such as cable overflowing from the drum.

[0003] Existing winch cable laying methods are relatively simple, mainly using three control methods: First, the cable laying screw uses a double-helix structure, the cable laying device automatically reverses direction, and the cable laying motor uses speed control; second, the cable laying screw uses a single-helix structure, the cable laying device relies on position switches on both sides to reverse direction, and the cable laying motor uses speed control; third, the cable laying screw uses a single-helix structure, the cable laying motor uses position control, and the position of the cable laying device is calculated based on an algorithm to determine the distance. The first two methods have difficulty ensuring neat cable laying during layer changes, and they cannot adaptively adjust when encountering interference, leading to gaps or cable overlaps during laying; the third method can ensure neat cable laying during layer changes, but it cannot adaptively adjust when encountering interference, also leading to gaps or cable overlaps. Based on these problems, this invention patent provides a novel cable laying control algorithm. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide an adaptive control method and system for winch cable laying devices.

[0005] An adaptive control method and system for a winch cable laying device provided by the present invention includes the following steps: Step S1: Receive speed and direction commands from the host computer via the winch controller, and simultaneously query the position information of the cable laying motor; Step S2: Determine whether the position of the cable laying motor exceeds the preset threshold range; if it does, control the winch cable laying device to switch to position control mode; if it does not exceed the threshold, control the winch cable laying device to maintain speed control mode.

[0006] Preferably, when the winch cable feeder is in speed control mode, the preset drum speed setting is used. Cable diameter Single helix pitch of cable screw The theoretical speed of the cable-laying motor was calculated. The calculation formula is:

[0007] Deviation data values ​​are collected using a correction sensor. The data value is compared with the preset deflection angle threshold. Compare and set the operating speed of the cable laying motor accordingly. : If the deviation data value Less than the deflection angle threshold Then set the operating speed of the cable laying motor. Equal to the theoretical speed of the cable motor The formula is:

[0008] If the deviation data value greater than the deflection angle threshold Then set the operating speed of the cable laying motor. The theoretical speed of the cable-laying motor With PI algorithm output value The sum is calculated using the following formula:

[0009] The parameters of the PI algorithm output value are adjusted according to the actual operating conditions of the equipment.

[0010] Preferably, the calculation formula for the PI algorithm is as follows:

[0011] in, This is the output value of the PI algorithm. This is the proportionality coefficient. The coefficient of the integral term; , These are adaptation values ​​adjusted based on the actual parameters of the equipment; The coefficients are variable proportional integrals; the proportional term uses the variable proportional coefficient algorithm; the integral term is calculated using a combination of the anti-integral saturation algorithm and the variable integral coefficient algorithm.

[0012] Preferably, in the variable scaling factor algorithm, the following is set: , The threshold for the proportional term is based on the cable tray deviation. Dynamic calculation of the proportional term coefficient The larger the deviation, the larger the proportional term coefficient; the smaller the deviation, the smaller the proportional term coefficient. This achieves adaptive adjustment of the proportional term coefficient according to the deviation. The specific expression is as follows:

[0013] in, , , , These are all adaptation values ​​adjusted based on the actual parameters of the equipment.

[0014] Preferably, in the anti-integral saturation algorithm, the following is set: This is the maximum forward rotation speed of the cable laying motor. This is the maximum reverse rotation speed of the cable laying motor, and the maximum forward rotation speed is equal to the maximum reverse rotation speed; When the set speed of the cable laying motor When the absolute value is greater than the maximum speed, the forced cable puller deviation... Zero; when the cable laying motor is in reverse and the set speed is zero. Less than the highest speed of reverse rotation Or it is in forward rotation and the set speed is Less than the highest forward rotation speed At that time, the integral term functions normally; the specific expression is:

[0015] .

[0016] Preferably, in the variable integral coefficient algorithm, the following is set: This is the upper limit threshold for the integral term. The lower limit threshold of the integral term, For variable proportional integral coefficients; When the cable puller deviates The absolute value is greater than the upper limit threshold of the integral term. When, the variable proportional integral coefficient Values When the cable laying device deviates The absolute value is less than the lower limit threshold of the integral term. When, the variable proportional integral coefficient Values When the cable laying device deviates The absolute value is between the lower limit threshold of the integral term. With the upper limit threshold of the integral term When the variable proportional integral coefficient is between Deviation from cable laying device It shows a positive correlation; the specific expression is:

[0017] When the cable puller deviates Greater than the upper limit threshold of the integral term When the integral term stops working, only the proportional term works alone; when the cable laying device deviates... Less than the upper limit threshold of the integral term When the integral term starts working; when the cable laying device deviates... Between the upper limit threshold of the integral term With the lower limit threshold of the integral term During this period, the integral term is gradually initiated.

[0018] Preferably, when the winch cable laying device is in position control mode, data is collected by the drum rotation sensor and the target position of the cable laying motor is calculated by combining the data with a preset algorithm to ensure the neatness of cable laying and the neatness of reversal.

[0019] Preferably, the position control mode includes eight operating conditions, namely: Condition 1: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the odd-numbered layer cable winding state; Condition 2: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the odd-numbered layer cable laying state; Condition 3: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the even-numbered layer cable winding state; Condition 4: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the even-numbered layer cable laying state; Condition 5: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the odd-numbered layer cable winding state; Condition 6: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the odd-numbered layer cable laying state; Condition 7: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the even-numbered layer cable winding state; Condition 8: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the even-numbered layer cable laying state.

[0020] Preferably, the winch cable laying device includes: a winch controller, a drum motor, a cable laying motor, a correction sensor, a drum turn count sensor, a cable laying device left limit sensor, and a cable laying device right limit sensor; The winch controller is electrically connected to the drum motor, the cable laying motor, the correction sensor, the drum turns sensor, the left limit sensor of the cable laying device, and the right limit sensor of the cable laying device, and is used to receive commands, collect sensor data, and output control signals.

[0021] The present invention also provides an adaptive control system for a winch cable laying device, comprising the following modules: Module M1: Receives speed and direction commands from the host computer via the winch controller, and simultaneously queries the position information of the cable laying motor; Module M2: Determines whether the position of the cable laying motor exceeds a preset threshold range; if it does, controls the winch cable laying device to switch to position control mode; if it does not exceed the threshold, controls the winch cable laying device to remain in speed control mode.

[0022] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention improves the accuracy and neatness of cable laying. By adaptively switching between speed and position modes and combining eight working conditions to precisely control the position mode operation, and with the help of a correction sensor to dynamically adjust the speed, this invention effectively ensures neat cable laying and reversal, and avoids cable tangling and deviation problems.

[0023] 2. This invention optimizes system response and stability. It adopts a PI algorithm that integrates variable proportional, anti-integral saturation and variable integral coefficient strategies to achieve adaptive adjustment of coefficients with deviation, prevent integral saturation, balance the system's fast response capability and operational stability, and adapt to different working conditions.

[0024] 3. This invention enhances control flexibility and adaptability. Based on multi-sensor data linkage control, this invention can dynamically switch working modes and algorithm parameters according to the position and deviation value of the cable laying motor, adapting to different cable diameters and speed scenarios, and improving the reliability and versatility of equipment operation.

[0025] 4. This invention can ensure that single-layer cable laying is neat and that layer-changing cable laying is neat, and can ensure that cable laying irregularities caused by external interference will not affect subsequent cable laying. Attached Figure Description

[0026] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a hardware composition diagram of the winch cable laying control method of the present invention; Figure 2 This is a hardware physical interface diagram of the winch cable laying control method of the present invention; Figure 3 This is a hardware data interaction diagram of the winch cable laying control method of the present invention; Figure 4 This is a flowchart of the control algorithm for the winch cable laying control method of the present invention; Figure 5 This is a flowchart of the speed control algorithm for the winch cable laying control method of the present invention; Figure 6 This is a flowchart of the position control algorithm for the winch cable laying control method of the present invention.

[0027] The diagram shows: 1. Winch controller; 2. Drum motor; 3. Cable laying motor; 4. Correction sensor; 5. Left cable laying limit sensor; 6. Right cable laying limit sensor; 7. Turns sensor. Detailed Implementation

[0028] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0029] Example 1 This embodiment addresses the problem of uneven cable laying caused by discrepancies between the theoretical and actual speeds of the drum motor and the cable laying motor, or by uneven cable laying caused by external interference. The primary purpose of this embodiment is to solve the problems of uneven cable laying in single layers and uneven cable laying during layer changes. The secondary purpose is to solve the problem of uneven cable laying affecting subsequent cable laying due to external interference.

[0030] To overcome the shortcomings of existing cable laying technologies and ensure better working performance of the winch equipment, meeting the requirements of winch cable laying control, this embodiment proposes the following technical solution: An adaptive cable laying control method for a winch, the hardware of which mainly consists of a winch controller, a drum motor, a cable laying motor, a correction sensor, a drum turn count sensor, a left limit sensor for the cable laying device, and a right limit sensor for the cable laying device. First, the winch controller receives speed and direction commands from a host computer. Second, the winch controller queries the position information of the cable laying motor. If the position of the cable laying motor is greater than an upper threshold or less than a lower threshold, the device operates in position control mode. If the above conditions are not triggered, the device operates in speed control mode.

[0031] The equipment operates in speed mode; if the drum speed is set to a certain value... The cable diameter is The cable guide screw is a single-helix screw with a pitch of The theoretical speed of the cable-laying motor was calculated. The set speed of the drum motor is positively correlated with the theoretical speed of the cable laying motor.

[0032] Read the data value from the correction sensor; if the data value Less than the deflection angle threshold Cable laying motor setting value Theoretical speed of cable-laying motor Equal. Read the data value from the correction sensor; if the data value... greater than the deflection angle threshold Cable laying motor setting value :

[0033] in, For the output value of the PI algorithm, Adjust according to the equipment.

[0034] PI algorithm calculation formula:

[0035] The proportional term uses a variable proportionality coefficient algorithm, where , The threshold for the proportional term is based on the cable tray deviation. Size calculation ratio item The larger the deviation, the larger the proportional term coefficient; the smaller the deviation, the smaller the proportional term coefficient, ensuring that the proportional term adaptively adjusts according to the deviation. , , and Adjust according to equipment requirements; is the coefficient of the integral term.

[0036] The integral value is calculated using a combination of an anti-integral saturation algorithm and a variable integral coefficient algorithm. The anti-integral saturation algorithm, in which... This is the maximum forward rotation speed of the cable laying motor. This is the maximum speed for the cable laying motor in reverse rotation; the maximum speed in both forward and reverse rotations is the same. (The cable laying motor setting value is missing from the original text.) When the absolute value is greater than the maximum speed, the cable puller deviation... The integral term is zero when the cable laying motor is rotating in reverse and its speed is less than the maximum reverse speed; it is also active when the cable laying motor is rotating in forward and its speed is less than the maximum forward speed. This ensures that the deviation value will not accumulate when the cable laying motor reaches its maximum speed, preventing system integral saturation and improving system response speed.

[0037] Variable integral coefficient algorithm, where This is the upper limit threshold for the integral term. The lower limit threshold of the integral term, For variable proportional integral coefficients, when the cable laying device deviates... The absolute value is greater than the upper limit threshold of the integral term. When, the variable proportional integral coefficient is When the cable laying device deviates The absolute value is less than the lower limit threshold of the integral term. When, the variable proportional integral coefficient is When the cable laying device deviates The absolute value is greater than the lower limit threshold of the integral term. Less than the lower limit threshold of the integral term At that time, the variable proportional integral coefficient and the cable laying device deviation They are positively correlated.

[0038] When the cable puller deviates When the deviation exceeds the upper limit threshold of the integral term, the integral term has no effect, and only the proportional term takes effect to ensure the system's fast response; when the cable tray deviation... When the deviation is less than the upper limit threshold of the integral term, the integral term takes effect to ensure system stability; cable tray deviation It starts to take effect when the integral term is between the upper and lower thresholds, ensuring that the integral coefficients are adaptively adjusted according to the deviation value.

[0039] When the equipment operates in position mode, it queries the data value from the drum rotation sensor and calculates the position of the cable laying motor based on an algorithm to ensure neat cable laying and reversal. There are a total of 8 operating conditions in position mode: The cable laying motor position sensor data value is less than the position mode lower threshold and is collected on an odd-numbered layer; the cable laying motor position sensor data value is less than the position mode lower threshold and is laid on an odd-numbered layer; the cable laying motor position sensor data value is less than the position mode lower threshold and is collected on an even-numbered layer; the cable laying motor position sensor data value is less than the position mode lower threshold and is laid on an even-numbered layer; the cable laying motor position sensor data value is greater than the position mode upper threshold and is collected on an odd-numbered layer; the cable laying motor position sensor data value is greater than the position mode upper threshold and is laid on an odd-numbered layer; the cable laying motor position sensor data value is greater than the position mode upper threshold and is collected on an even-numbered layer; the cable laying motor position sensor data value is greater than the position mode upper threshold and is laid on an even-numbered layer.

[0040] The winch system reduces cable overlap and gaps during cable laying by combining speed control and position control algorithms, improves the anti-interference capability of cable laying, ensures the reliability of cable laying and layer changing, and ultimately greatly reduces the probability of gaps and cable overlaps during cable laying and layer changing.

[0041] Example 2 Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0042] refer to Figure 1 , Figure 2 This embodiment provides a winch adaptive cable laying control method, including a winch controller 1, a drum motor 2, a cable laying motor 3, a deviation correction sensor 4, a drum turn count sensor 5, a cable laying device left limit sensor 6, and a cable laying device right limit sensor 7.

[0043] refer to Figure 3The speed push rod outputs the speed and direction commands of the device; the drum rotation sensor outputs the number of drum rotations and angle information; the correction sensor outputs the deflection angle information of the cable laying device; the left cable laying limit sensor outputs a switch signal; the right cable laying limit sensor outputs a switch signal; and the cable laying motor outputs the position information of the motor.

[0044] refer to Figure 4 First, the winch controller 1 queries the position information of the cable laying motor. If the position of the cable laying motor is greater than the upper limit threshold or less than the lower limit threshold, the equipment operates in position control mode. If neither of the above conditions is triggered, the equipment operates in speed control mode.

[0045] refer to Figure 5 The equipment operates in speed mode. If the drum speed is set to a certain value... The cable diameter is The cable guide screw is a single-helix screw with a pitch of The theoretical speed of the cable-laying motor was calculated. :

[0046] Read the data value from the correction sensor; if the data value Less than the deflection angle threshold Cable laying motor setting value :

[0047] Read the data value from the correction sensor; if the data value greater than the deflection angle threshold Cable laying motor setting value :

[0048] in, For the output value of the PI algorithm, Adjust according to the equipment.

[0049] For the cable laying device angle deviation:

[0050] PI algorithm calculation formula:

[0051] The proportional term uses a variable proportionality coefficient algorithm, where , For the threshold of the proportional term, For the coefficient of the integral term:

[0052] According to the cable tray deviation Size calculation ratio item The larger the deviation, the larger the proportional term coefficient; the smaller the deviation, the smaller the proportional term coefficient, ensuring that the proportional term adaptively adjusts according to the deviation. , , and Adjust according to the equipment.

[0053] The integral value is calculated by combining the anti-integral saturation algorithm and the variable integral coefficient algorithm.

[0054] Anti-integral saturation algorithm, where This is the maximum forward rotation speed of the cable laying motor. The maximum speed for the cable laying motor to reverse is:

[0055]

[0056] To ensure that the deviation value will not accumulate when the cable laying motor reaches its maximum speed, this prevents system integral saturation and improves the system's response speed.

[0057] Variable integral coefficient algorithm, where This is the upper limit threshold for the integral term. The lower limit threshold for the integral term:

[0058] When the cable puller deviates When the deviation exceeds the upper limit threshold of the integral term, the integral term has no effect, and only the proportional term takes effect to ensure the system's fast response; when the cable tray deviation... When the deviation is less than the upper limit threshold of the integral term, the integral term takes effect to ensure system stability; cable tray deviation It starts to take effect when the integral term is between the upper and lower thresholds, ensuring that the integral coefficients are adaptively adjusted according to the deviation value.

[0059] refer to Figure 6 When the equipment operates in position mode, it queries the data value of the drum rotation sensor and calculates the position of the cable laying motor according to the algorithm to ensure neat cable laying and reversal. There are a total of 8 operating conditions in position mode, and the algorithm for calculating the cable laying motor position is as follows: Table 1

[0060] Table 2

[0061] Table 3

[0062] Table 4

[0063] The winch system employs a combination of speed control and position control algorithms to ensure the cable laying device remains under closed-loop control throughout the entire process. The cable laying device is constrained by the speed control algorithm at the center position of the lead screw and by the control algorithm at its sides. This reduces cable overlap and gaps during cable laying, improves the anti-interference capability of the cable laying process, ensures the reliability of cable laying and reversal, and ultimately significantly reduces the probability of gaps and overlaps during cable laying and reversal.

[0064] This invention provides an adaptive control method and system for a winch cable laying device. The adaptive cable laying control relies on a system including a winch controller, dual motors, and multiple sensors. The controller receives commands and queries the position of the cable laying motor, switching between speed and position control modes accordingly. In speed mode, the theoretical speed of the cable laying motor is calculated by combining the drum speed, cable diameter, and screw pitch. The speed is adjusted based on data from the correction sensor, and a PI algorithm output value is superimposed when the deviation exceeds a threshold. The PI algorithm employs a combination of variable proportional coefficients, anti-integral saturation, and variable integral coefficients to achieve adaptive coefficients and anti-saturation. In position mode, the target position is calculated using data from the drum rotation number sensor, covering eight working conditions based on position thresholds, layer count, and cable winding / unwinding status, ensuring neat cable laying and reversing.

[0065] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0066] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An adaptive control method for a winch cable laying device, characterized in that, Includes the following steps: Step S1: Receive speed and direction commands from the host computer via the winch controller, and simultaneously query the position information of the cable laying motor; Step S2: Determine whether the position of the cable laying motor exceeds the preset threshold range; If the speed exceeds the limit, the winch cable laying mechanism is switched to position control mode; if the speed does not exceed the limit, the winch cable laying mechanism is kept in speed control mode.

2. The adaptive control method for winch cable laying device according to claim 1, characterized in that, When the winch cable guide is in speed control mode, it is based on the preset drum speed setting value. Cable diameter Single helix pitch of cable screw The theoretical speed of the cable-laying motor was calculated. The calculation formula is: Deviation data values ​​are collected using a correction sensor. The data value is compared with the preset deflection angle threshold. Compare and set the operating speed of the cable laying motor accordingly. : If the deviation data value Less than the deflection angle threshold Then set the operating speed of the cable laying motor. Equal to the theoretical speed of the cable motor The formula is: If the deviation data value greater than the deflection angle threshold Then set the operating speed of the cable laying motor. The theoretical speed of the cable-laying motor With PI algorithm output value The sum is calculated using the following formula: The parameters of the PI algorithm output value are adjusted according to the actual operating conditions of the equipment.

3. The adaptive control method for winch cable laying device according to claim 2, characterized in that, The calculation formula for the PI algorithm is as follows: in, This is the output value of the PI algorithm. This is the proportionality coefficient. The coefficient of the integral term; , These are adaptation values ​​adjusted based on the actual parameters of the equipment; the proportional term uses a variable proportional coefficient algorithm; the integral term is calculated using a combination of an anti-integral saturation algorithm and a variable integral coefficient algorithm.

4. The adaptive control method for winch cable laying device according to claim 3, characterized in that, In the variable scaling factor algorithm, the following is set , The threshold for the proportional term is based on the cable tray deviation. Dynamic calculation of the proportional term coefficient The larger the deviation, the larger the proportional term coefficient; the smaller the deviation, the smaller the proportional term coefficient. This achieves adaptive adjustment of the proportional term coefficient according to the deviation. The specific expression is as follows: in, , , , These are all adaptation values ​​adjusted based on the actual parameters of the equipment.

5. The adaptive control method for winch cable laying device according to claim 3, characterized in that, In the aforementioned anti-integral saturation algorithm, the following settings are made: This is the maximum forward rotation speed of the cable laying motor. This is the maximum reverse rotation speed of the cable laying motor, and the maximum forward rotation speed is equal to the maximum reverse rotation speed; When the set speed of the cable laying motor When the absolute value is greater than the maximum speed, the forced cable puller deviation... Zero; when the cable laying motor is in reverse and the set speed is zero. Less than the highest speed of reverse rotation Or it is in forward rotation and the set speed is Less than the highest forward rotation speed At that time, the integral term functions normally; the specific expression is: 。 6. The adaptive control method for winch cable laying device according to claim 3, characterized in that, In the variable integral coefficient algorithm, the following is set This is the upper limit threshold for the integral term. The lower limit threshold of the integral term, For variable proportional integral coefficients; When the cable puller deviates The absolute value is greater than the upper limit threshold of the integral term. When, the variable proportional integral coefficient Values ; When the cable puller deviates The absolute value is less than the lower limit threshold of the integral term. When, the variable proportional integral coefficient Values ; When the cable puller deviates The absolute value is between the lower limit threshold of the integral term. With the upper limit threshold of the integral term When the variable proportional integral coefficient is between Deviation from cable laying device It shows a positive correlation; the specific expression is: When the cable puller deviates Greater than the upper limit threshold of the integral term When the integral term ceases to function, only the proportional term functions independently; When the cable puller deviates Less than the upper limit threshold of the integral term At that time, the integration process begins; When the cable puller deviates Between the upper limit threshold of the integral term With the lower limit threshold of the integral term During this period, the integral term is gradually initiated.

7. The adaptive control method for winch cable laying device according to claim 1, characterized in that, When the winch cable laying device is in position control mode, data is collected by the drum rotation sensor and the target position of the cable laying motor is calculated by combining the data with a preset algorithm to ensure the neatness of cable laying and the neatness of reversal.

8. The adaptive control method for winch cable laying device according to claim 7, characterized in that, The position control mode includes eight operating conditions, namely: Condition 1: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the odd-numbered layer cable winding state; Condition 2: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the odd-numbered layer cable laying state; Condition 3: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the even-numbered layer cable winding state; Condition 4: The data value of the cable laying motor position sensor is less than the lower limit threshold of the position mode, and the winch is in the even-numbered layer cable laying state; Condition 5: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the odd-numbered layer cable winding state; Condition 6: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the odd-numbered layer cable laying state; Condition 7: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the even-numbered layer cable winding state; Condition 8: The data value of the cable laying motor position sensor is greater than the upper limit threshold of the position mode, and the winch is in the even-numbered layer cable laying state.

9. The adaptive control method for winch cable laying device according to claim 7, characterized in that, The winch cable laying device includes: winch controller, drum motor, cable laying motor, correction sensor, drum turns sensor, cable laying device left limit sensor and cable laying device right limit sensor; The winch controller is electrically connected to the drum motor, the cable laying motor, the correction sensor, the drum turns sensor, the left limit sensor of the cable laying device, and the right limit sensor of the cable laying device, and is used to receive commands, collect sensor data, and output control signals.

10. An adaptive control system for a winch cable laying device, characterized in that, Includes the following modules: Module M1: Receives speed and direction commands from the host computer via the winch controller, and simultaneously queries the position information of the cable laying motor; Module M2: Determines whether the position of the cable laying motor exceeds a preset threshold range; If the speed exceeds the limit, the winch cable laying mechanism is switched to position control mode; if the speed does not exceed the limit, the winch cable laying mechanism is kept in speed control mode.

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