A method and device for distributing the amount of a pull rope

Abstract

The application relates to the technical field of position or direction control, and discloses a pulling rope winding and unwinding amount distribution control method and device. The method collects current pulling rope length values and current pulling rope tension values of four pulling ropes, obtains a current posture, a target posture and a target deviation, establishes a four-rope cooperative distribution matrix based on a space connection relationship, an action direction, a length state and a tension state, and generates a target winding and unwinding amount group. After identifying repetitive set characteristics and insufficient distribution characteristics, the distribution weight is adjusted, a corrected winding and unwinding amount group is generated and executed. The application can reduce the inconsistency of the execution amount distribution caused by the same direction distribution of a single pulling rope in the composite posture control and the insufficient bearing of the dominant posture direction, and improve the controllability of the posture feedback control.

Description

Technical Field

[0001] This application relates to the field of position or direction control technology, specifically to a method and device for controlling the distribution of rope retraction and extension. Background Technology

[0002] Existing draw-rope mechanisms are commonly used in equipment requiring position, direction, and attitude control. By retracting or releasing four draw-ropes, the spatial attitude of the controlled object is altered, adjusting it from its current posture to a target posture. In such automatic control systems, the controller typically obtains deviations in azimuth, pitch, and roll directions based on attitude detection results, and then converts these deviations into draw-rope control quantities for the servo actuator, thereby adjusting the position or direction of the controlled object. Therefore, the length and tension of the four draw-ropes, as well as the relationship between each draw-rope and its effect on different attitude directions, directly affect the attitude feedback control and the allocation of actuated quantities.

[0003] In existing four-point rope attitude adjustment methods, a common approach is to generate the execution amount of each rope according to a pre-set rope extension / retraction relationship based on the deviation between the target attitude and the current attitude. This method can achieve basic control when adjusting a single attitude direction or when the rope state is close to the calibration state. However, in complex attitude adjustments where there are deviations in azimuth, pitch, and roll simultaneously, if a fixed allocation relationship is still used, it is easy to overlook the changes in the spatial connection relationship of the four ropes in the current attitude. It is also difficult to reflect the impact on the executable extension / retraction capability when the current rope length value is close to the length boundary or the current rope tension value is close to the tension boundary.

[0004] Especially when multiple attitude directions are involved in control simultaneously, the same pull rope may be assigned to both take-up and release amounts in multiple attitude directions (azimuth, pitch, and roll). Multiple control quantities in the same direction will converge on the same pull rope after aggregation, causing a single pull rope to bear excessive take-up and release strokes, leading to excessive local execution quantities during servo position control. On the other hand, when the deviation in the dominant attitude direction is large, the pull rope that is more suitable for controlling the dominant attitude direction may be weakened due to its current length or tension deviating from the allowable range. If the controller fails to recognize this imbalance, the control quantity in the dominant attitude direction may be transferred to other pull ropes with the same direction of action, resulting in a mismatch between the adjustment process of the dominant attitude direction and the actual force state of the controlled object.

[0005] The aforementioned problems cannot be solved simply by improving servo motor accuracy, shortening the sampling period, or simply adjusting proportional parameters. This is because the control deviation in composite attitude adjustment does not originate solely from measurement errors in a single attitude direction, but rather from the coupling relationships between target deviation decomposition, the direction of the pull rope action, the pull rope length boundary, the pull rope tension boundary, and the superposition of execution quantities in multiple attitude directions. If existing position or direction control methods cannot identify the same-direction distribution concentration of the same pull rope before execution, and the problem of insufficient control quantity under the dominant attitude direction, the extension and retraction of the four pull ropes will result in inconsistent distribution in the control output stage, affecting the process of the controlled object adjusting from the current attitude to the target attitude. Therefore, how to constrain the distribution of pull rope execution quantities under the combined deviations of azimuth, pitch, and roll during four-point pull rope attitude adjustment, and reduce the concentration of single pull rope execution quantities and insufficient control quantity under the dominant attitude direction, is a problem that existing technologies need to address. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this application aims to provide a method and apparatus for controlling the distribution of pull rope retraction and extension. This addresses the technical problems of existing position or direction control methods in azimuth, pitch, and roll composite attitude control, where it is difficult to identify the same-direction distribution concentration of the same pull rope before servo position control output, and difficult to identify insufficient control quantity under the dominant attitude direction. This application establishes a four-rope collaborative distribution matrix by collecting the current length and tension values ​​of the four pull ropes, combining the current attitude, target attitude, spatial connection relationship, and direction of action. Based on the characteristics of repetitive concentration and insufficient distribution, the distribution weights are adjusted to generate and execute corrected retraction and extension groups for the four pull ropes. This allows position control, direction control, and attitude feedback control during composite attitude adjustment to complete retraction and extension constraints before execution, thereby reducing inconsistencies in retraction and extension distribution caused by concentrated execution of single pull ropes and insufficient control quantity under the dominant attitude direction.

[0007] To achieve the above objectives, this application adopts the following technical solution:

[0008] In a first aspect, this application provides a method for controlling the distribution of pull rope release and take-off, including:

[0009] Collect the current rope length and tension values ​​of the four ropes, obtain the current attitude and target attitude, and obtain the target deviation determined by the target attitude and the current attitude;

[0010] Using azimuth, pitch, and roll as attitude directions, the weighting of each rope for each attitude direction is determined based on the spatial connection of the four ropes in the current attitude, the direction of action of each rope when it is retracted or released, the current rope length value, and the current rope tension value, and a four-rope collaborative weighting matrix is ​​established.

[0011] Input the target deviation into the four-rope collaborative allocation matrix to generate the sub-item take-up and release amounts for each rope in each attitude direction and the target take-up and release amount group for the four ropes.

[0012] The attitude direction corresponding to the deviation with the largest absolute value among the target deviations is determined as the dominant attitude direction;

[0013] When the sub-items of the take-up and release of the same pull rope in at least two attitude directions are both take-up or both release, it is determined that the target take-up and release group has a repetitive and concentrated characteristic.

[0014] When the absolute value of the sub-item take-up and release amount of the dominant receiving pull rope corresponding to the dominant attitude direction, determined based on the preset basic weight, is less than the absolute value of the sub-item take-up and release amount of other pull ropes with the same action direction corresponding to the dominant attitude direction, it is determined that the target take-up and release amount group has insufficient allocation characteristics.

[0015] The allocation weights are adjusted based on the characteristics of repetitive concentration and insufficient allocation, and the corrected take-in and release amount groups for the four pull ropes are generated and executed.

[0016] Preferably, the method for determining the dominant attitude direction includes:

[0017] Target deviations include azimuth deviation, pitch deviation, and roll deviation;

[0018] Obtain the absolute values ​​of azimuth deviation, pitch deviation, and roll deviation respectively;

[0019] When one absolute value is greater than the other two absolute values, the attitude direction corresponding to the deviation with the largest absolute value is determined as the dominant attitude direction.

[0020] When at least two absolute values ​​are equal and both are greater than the remaining absolute values, for each attitude direction with equal absolute values, count the number of ropes whose weights are not zero and whose current rope tension exceeds the preset tension range under the corresponding attitude direction.

[0021] When the number of ropes obtained from the statistics has a maximum value, the posture direction corresponding to the maximum value is determined as the dominant posture direction;

[0022] When there is no unique maximum value for the number of ropes obtained from statistics, the dominant posture direction is determined from the posture directions with equal absolute values ​​according to the preset posture direction priority.

[0023] Preferably, the method for determining the weighting of each rope for each attitude direction includes:

[0024] Based on the spatial connection relationship of the four ropes in the current posture and the direction of action of each rope on each posture direction when it is pulled up or released, determine the direction sign of each rope with respect to each posture direction.

[0025] The length deviation is determined based on the deviation between the current rope length and the preset length range;

[0026] The tension deviation is determined based on the deviation between the current tension value and the preset tension range;

[0027] Read the preset basic weights for each rope corresponding to each posture direction from the preset basic weight table;

[0028] The weight deduction amount is determined based on the length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient, and the weight deduction amount is deducted using the preset basic weight.

[0029] Multiply the pre-set base weights after deduction by the direction sign to obtain the weights assigned to each rope for each attitude direction.

[0030] Preferably, the method for determining that the target release and take-off volume group has a repetitive clustering characteristic includes:

[0031] The directional statistics of the individual take-up and release amounts for the same pull rope in the corresponding orientation, pitch and roll are obtained to obtain the number of ropes taken up and released for each attitude direction.

[0032] When the number of rope take-up amounts in each attitude direction of the same pull rope is not less than two, or the number of rope release amounts is not less than two, it is determined that the target take-up and release amount group has a repetitive and concentrated characteristic.

[0033] Preferably, the method for determining that the target release / take-out group has insufficient allocation characteristics includes:

[0034] Under the dominant posture direction, the rope with the largest absolute value of the preset basic weight corresponding to the dominant posture direction is determined as the dominant receiving rope.

[0035] When the absolute value of the sub-item take-up and release amount of the main receiving pull rope corresponding to the main attitude direction is less than the absolute value of the sub-item take-up and release amount of at least one other pull rope with the same action direction corresponding to the main attitude direction, it is determined that the target take-up and release amount group has insufficient allocation characteristics.

[0036] Preferably, after determining that the target take-out and release quantity group has insufficient allocation characteristics, the method further includes:

[0037] Among the other ropes that act in the same direction as the main receiving rope in the main attitude direction, the rope with the largest absolute value of the sub-item take-up and release amount in the corresponding main attitude direction is determined as the alternative receiving rope.

[0038] The absolute difference between the sub-item take-up and release amounts of the alternative receiving rope and the main receiving rope in the dominant attitude direction is determined as the insufficient allocation amount.

[0039] The increase in the allocation weight of the main receiving rope in the corresponding main posture direction is determined based on the insufficient allocation amount.

[0040] Preferably, the method for adjusting the allocation weights based on the characteristics of repeated concentrations and insufficient allocation includes:

[0041] When the target take-up and take-down volume group has a repetitive concentration feature, the pull rope with at least two sub-items of take-up and take-down volume in the same direction is identified as the repetitive concentration pull rope, and the allocation weight of the non-dominant attitude direction corresponding to the repetitive concentration pull rope is reduced.

[0042] When the target take-up and take-down volume group has insufficient allocation characteristics, increase the allocation weight of the dominant receiving pull rope corresponding to the dominant attitude direction and decrease the allocation weight of the alternative receiving pull rope corresponding to the dominant attitude direction.

[0043] The four-rope collaborative allocation matrix was re-established after adjustment.

[0044] Preferably, the method for reducing the weighting of the non-dominant posture direction corresponding to the repeated concentrated pull rope includes:

[0045] In the repeated concentrated pull rope corresponding to at least two unidirectional sub-items of take-up and release, determine the allocation weight corresponding to the non-dominant posture direction;

[0046] Identify candidate receiving ropes that are in the same direction of action as the repeated concentrated pulling ropes under the same non-dominant posture direction and whose current tension value is within the preset tension range;

[0047] When the number of candidate receiving ropes is zero, the weighting of the non-dominant posture direction corresponding to the repeated concentrated ropes remains unchanged;

[0048] When the number of candidate receiving ropes is not zero, reduce the allocation weight of the non-dominant posture direction corresponding to the repeated concentrated ropes to obtain the weight reduction amount, and allocate the weight reduction amount to the candidate receiving ropes.

[0049] Preferably, the method for determining the increase in the allocation weight of the dominant receiving rope in the dominant attitude direction based on the insufficient allocation includes:

[0050] Multiply the insufficient allocation amount by the preset weight conversion coefficient to obtain the increase in candidate weight;

[0051] The amount that can be reduced is obtained based on the difference between the absolute value of the current assigned weight of the alternative receiving rope in the dominant posture direction and the preset weight lower limit.

[0052] The remaining amount that can be increased is obtained based on the difference between the preset upper limit of the weight of the main receiving rope corresponding to the main attitude direction and the absolute value of the currently allocated weight;

[0053] The minimum value among the candidate weight increase, the amount that can be reduced, and the remaining amount that can be increased is selected as the weight increase for allocation;

[0054] According to the original direction signs of the dominant attitude directions corresponding to the alternative receiving rope and the dominant receiving rope, the absolute value of the assigned weight is reduced or increased, and the original direction signs are restored after adjustment.

[0055] Secondly, this application provides a rope take-up and release amount distribution control device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the rope take-up and release amount distribution control method.

[0056] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0057] This application acquires the current rope length and tension values ​​of the four ropes to obtain the current attitude, target attitude, and target deviation determined by the target attitude and the current attitude. Based on the spatial connection relationship, direction of action, current rope length and tension values, a four-rope coordinated allocation matrix is ​​established, enabling azimuth deviation, pitch deviation, and roll deviation to be converted into the sub-items of extension and retraction of the four ropes corresponding to each attitude direction within the same position or direction control framework. As a result, the target deviation, rope direction of action, length boundary, and tension boundary in composite attitude control are no longer isolated from each other, and the subsequent servo position control output can be formed based on the same allocation basis.

[0058] This application determines the dominant attitude direction by identifying the attitude direction corresponding to the largest absolute value of the azimuth, pitch, and roll deviations. It also identifies repetitive concentration and insufficient allocation characteristics in the target retraction / release group. This allows it to detect situations where the same rope is superimposed and allocated in the same direction by multiple attitude directions before the four ropes actually perform retraction or release, and situations where the dominant attitude direction control quantity is not received by the corresponding dominant receiving rope. As a result, it avoids the position or direction control process relying on attitude feedback error for correction only after execution, and ensures that allocation anomalies in composite attitude adjustment are handled before control output.

[0059] When the target take-up and release volume group has repetitive concentration characteristics, this application reduces the allocation weight of the repetitive concentration pull rope corresponding to the non-dominant attitude direction, and allocates the weight reduction to the candidate receiving pull rope that meets the tension condition under the same non-dominant attitude direction. As a result, it can reduce the situation where the same pull rope is allocated as the same take-up volume or the same release volume in multiple attitude directions in azimuth, pitch and roll, so that the local execution volume of a single pull rope in servo position control is constrained, while maintaining the corresponding control volume source in the non-dominant attitude direction.

[0060] When the target take-up and take-down volume group has insufficient allocation characteristics, this application determines the increase in allocation weight based on the insufficient allocation amount, the preset weight conversion coefficient, the preset weight lower limit, and the preset weight upper limit, and increases the allocation weight of the dominant receiving rope corresponding to the dominant attitude direction, while decreasing the allocation weight of the alternative receiving rope corresponding to the dominant attitude direction. As a result, the control amount of the dominant attitude direction can be redistributed to the dominant receiving rope, reducing the directional adjustment deviation caused by the excessive receiving of other ropes with the same action direction in the dominant attitude direction.

[0061] In summary, this application does not simply output the extension / retraction amount of the four ropes based on the deviation between the target posture and the current posture. Instead, it forms a control chain based on the length state, tension state, spatial connection relationship, direction of action, and superposition relationship of the extension / retraction amounts of the four ropes during the complex posture adjustment process. This chain extends from target deviation input, establishment of a four-rope collaborative allocation matrix, identification of repetitive concentrated features, identification of insufficient allocation features, adjustment of allocation weights, to execution of the corrected extension / retraction amount group. As a result, this application can improve the consistency and controllability of position control, direction control, and posture feedback control during the four-point rope posture adjustment process, and reduce the impact of inconsistent allocation of the four ropes' execution amounts on the target posture adjustment process in complex posture control scenarios. Attached Figure Description

[0062] Figure 1 A flowchart of a method for controlling the distribution of pull rope take-off and extension;

[0063] Figure 2 A flowchart illustrating the logic for weight allocation and feature determination.

[0064] Figure 3 A logic diagram for reducing the weighting of non-dominant posture directions corresponding to repeated concentrated rope pulling. Detailed Implementation

[0065] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of this application, rather than limitations thereof.

[0066] Example 1:

[0067] like Figure 1-3 As shown, this embodiment provides a method for controlling the distribution of pull rope retraction and extension, specifically including:

[0068] Collect the current length and tension values ​​of the four ropes, obtain the current attitude and target attitude, and obtain the target deviation determined by the target attitude and the current attitude. The target deviation includes azimuth deviation, pitch deviation and roll deviation.

[0069] The current length and tension values ​​of the four pull ropes represent the execution status of the four pull ropes at the same reading point. The current pull rope length value represents the length of each pull rope from the winding end to the connection end of the attitude adjustment object. The current pull rope tension value represents the tension value borne by each pull rope along the extension direction. In this embodiment, the current pull rope length value is calculated from the pulse accumulation, winding direction, and winding radius of the winding reel of the servo motor encoder corresponding to each pull rope. After the attitude adjustment mechanism is powered on, the servo motor encoder first performs zero-position confirmation. The pulse accumulation after zero-position confirmation is calculated according to the rope winding... The direction and release direction are accumulated separately; the controller determines the change in the pull rope's extension and retraction based on the rotation angle of the winding disc corresponding to the accumulated pulse amount, and then combines it with the initial pull rope length value recorded when the zero position is confirmed to obtain the current pull rope length value of the four pull ropes; the current pull rope tension value is collected by the tension sensor installed at the fixed end of the pull rope or the force position of the guide wheel; after the attitude adjustment mechanism is powered on, the tension sensor first performs no-load calibration and range calibration, and the controller reads the tension sensor output value at the same reading point as reading the current pull rope length value, and converts the tension sensor output value into the current pull rope tension value of the four pull ropes.

[0070] The current attitude represents the attitude state of the attitude adjustment object relative to the installation reference coordinates at the current reading point. The installation reference coordinates are a fixed attitude reference used by the controller to uniformly represent the current attitude, target attitude, spatial connection relationship, and direction of action. The installation reference coordinates are established after the mechanical installation of the four-point rope attitude adjustment mechanism is completed. The establishment process is as follows: the attitude adjustment object is placed in the mechanical zero position determined during installation and debugging. The controller records the azimuth, pitch, and roll angles output by the attitude detection unit in the mechanical zero position and uses the mechanical zero position as the starting reference for calculating the azimuth, pitch, and roll angles. At the same time, the controller records the fixed end positions of the four ropes, the connection end positions of the attitude adjustment object, and the extension direction of the ropes in the mechanical zero position. The fixed end positions, the connection end positions of the attitude adjustment object, and the extension direction of the ropes are used as references for subsequently determining the spatial connection relationship and direction of action, thus forming the installation reference coordinates.

[0071] The current attitude includes the current angles corresponding to azimuth, pitch, and roll, respectively; the target attitude represents the attitude state that the attitude adjustment object needs to reach; the target attitude includes the target angles corresponding to azimuth, pitch, and roll, respectively; in this embodiment, the current attitude is acquired by an attitude detection unit installed on the attitude adjustment object; the attitude detection unit outputs the azimuth, pitch, and roll angles of the attitude adjustment object relative to the installation reference coordinates; the controller performs unit unification and zero-point correction on the azimuth, pitch, and roll angles output by the attitude detection unit to form the current attitude; the zero-point correction process is as follows: the controller reads the azimuth, pitch, and roll angles recorded at the mechanical zero position, and uses the azimuth, pitch, and roll angles recorded at the mechanical zero position as the subtraction reference to correct the azimuth, pitch, and roll angles at the current reading point, so that the current attitude is consistent with the installation reference coordinates.

[0072] The target attitude is obtained from attitude control commands issued by the host computer or from a preset attitude task table. The controller reads the target azimuth, target pitch, and target roll angles from the attitude control commands or the preset attitude task table, and determines whether the angle unit, positive direction, and starting point of the angle used for the target azimuth, target pitch, and target roll angles are consistent with the installation reference coordinates. When the angle unit, positive direction, or starting point of the angle used for the target azimuth, target pitch, and target roll angles is inconsistent with the installation reference coordinates, the controller first unifies the unit, direction, and starting point of the target azimuth, target pitch, and target roll angles before forming the target attitude. When the angle unit, positive direction, and starting point of the angle used for the target azimuth, target pitch, and target roll angles are all consistent with the installation reference coordinates, the controller directly determines the target azimuth, target pitch, and target roll angles as the target angles for the corresponding azimuth, pitch, and roll in the target attitude.

[0073] In this embodiment, the target deviation is used to represent the angular difference between the target attitude and the current attitude in the three attitude directions of azimuth, pitch, and roll. The process of determining the target deviation is as follows: the controller first confirms that the current attitude and the target attitude use the same installation reference coordinates, the same angle unit, the same positive angle direction, and the same angle representation range. When the current attitude and the target attitude have different sources, or the current attitude and the target attitude have different angle representation ranges, the controller first performs coordinate unification, unit unification, positive angle direction unification, and angle range unification on the current attitude and the target attitude. Angle range unification means converting the azimuth, pitch, and roll in the current attitude and the target attitude into their respective coordinates. Once the angle representation range is unified, the angle representation range is determined by the angle output rules adopted by the attitude detection unit and the host computer. After unification, the controller subtracts the current angle corresponding to the azimuth in the current attitude from the target angle corresponding to the azimuth in the target attitude to obtain the azimuth deviation. The controller subtracts the current angle corresponding to the pitch in the current attitude from the target angle corresponding to the pitch in the target attitude to obtain the pitch deviation. The controller subtracts the current angle corresponding to the roll in the current attitude from the target angle corresponding to the roll in the target attitude to obtain the roll deviation. The signs of the azimuth deviation, pitch deviation, and roll deviation are determined according to the positive direction of the angle in the corresponding attitude direction under the installation reference coordinates.

[0074] When the azimuth, pitch, or roll angle range boundaries are crossed, the controller first subtracts the current angle from the target angle to obtain the uncorrected angle difference. The controller then reads the upper and lower limits of the angle representation for the same attitude direction and subtracts the lower limit from the upper limit to obtain the angle range length. When the absolute value of the uncorrected angle difference exceeds half the angle range length, the controller performs boundary correction on the uncorrected angle difference. The boundary correction process is as follows: if the uncorrected angle difference is positive, the angle range length is subtracted from the uncorrected angle difference to obtain the deviation in the corresponding attitude direction; if the uncorrected angle difference is negative, the angle range length is added to the uncorrected angle difference to obtain the deviation in the corresponding attitude direction; when the absolute value of the uncorrected angle difference does not exceed half the angle range length, the controller directly uses the uncorrected angle difference as the deviation in the corresponding attitude direction. The target deviation is formed by the combined azimuth, pitch, and roll deviations.

[0075] Azimuth deviation represents the angle difference that the target attitude needs to adjust in the azimuth direction relative to the current attitude; pitch deviation represents the angle difference that the target attitude needs to adjust in the pitch direction relative to the current attitude; roll deviation represents the angle difference that the target attitude needs to adjust in the roll direction relative to the current attitude. Azimuth deviation, pitch deviation, and roll deviation all have directional attributes. When the deviation is positive, it means that the target attitude is adjusted in the positive direction of the corresponding attitude direction relative to the current attitude. When the deviation is negative, it means that the target attitude is adjusted in the negative direction of the corresponding attitude direction relative to the current attitude. When the deviation is zero, it means that the target attitude does not need to make any angle adjustment in the corresponding attitude direction relative to the current attitude.

[0076] By collecting the current length and tension values ​​of the four ropes, the length boundaries and stress state of the four ropes before execution can be obtained. By acquiring the current attitude and target attitude, and determining the target deviation including azimuth deviation, pitch deviation, and roll deviation, the attitude adjustment requirements can be converted into input quantities that can be processed by the subsequent four-rope collaborative allocation matrix. The current rope length value, current rope tension value, and target deviation are used together to determine the allocation weight of each rope to each attitude direction, and are used to generate the sub-item retraction and extension amounts of each rope corresponding to each attitude direction and the target retraction and extension amount group of the four ropes.

[0077] Using azimuth, pitch, and roll as attitude directions, the weighting of each rope for each attitude direction is determined based on the spatial connection of the four ropes in the current attitude, the direction of action of each rope when it is retracted or released, the current rope length value, and the current rope tension value, and a four-rope collaborative weighting matrix is ​​established.

[0078] Among them, attitude direction is the attitude dimension in which the controller decomposes the target deviation and classifies the effects of the four pull ropes; attitude direction includes azimuth, pitch and roll; azimuth is used to indicate the rotation direction of the attitude adjustment object around the vertical reference in the installation reference coordinate system; pitch is used to indicate the rotation direction of the attitude adjustment object around the lateral reference in the installation reference coordinate system; roll is used to indicate the rotation direction of the attitude adjustment object around the longitudinal reference in the installation reference coordinate system; the controller processes azimuth, pitch and roll under the same installation reference coordinate system, so that the current attitude, target attitude, target deviation, spatial connection relationship and action direction adopt the same attitude reference.

[0079] The four-rope coordination weighting matrix is ​​a data table consisting of the weighting of the four ropes for azimuth, pitch, and roll, respectively. Each row in the matrix corresponds to one of the four ropes; each column corresponds to one of the azimuth, pitch, and roll weights; each element represents the weighting of the corresponding rope for the corresponding attitude direction; the sign of the weighting indicates the direction of the rope's action on the corresponding attitude direction when it retracts or extends; the absolute value of the weighting indicates the length of retraction or extension per unit angle in the corresponding attitude direction; a weighting of zero indicates that the corresponding rope does not participate in weighting in the corresponding attitude direction.

[0080] The method for determining the weight allocation of each rope to each attitude direction includes: determining the direction sign based on the direction of action of each rope on each attitude direction when it is pulled up or released; determining the length deviation based on the deviation between the current rope length value and the preset length range; determining the tension deviation based on the deviation between the current rope tension value and the preset tension range; reading the preset basic weights of each rope for each attitude direction from the preset basic weight table; determining the weight deduction based on the length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient, and deducting the weight deduction using the preset basic weights; and multiplying the deducted preset basic weights by the direction sign to obtain the weight allocation of each rope to each attitude direction.

[0081] The method for determining the direction sign is as follows: The controller first reads the spatial connection relationship of the four pull ropes in the current attitude; the spatial connection relationship includes the fixed end position of each pull rope, the connection end position of the attitude adjustment object, and the extension direction of the pull rope formed from the fixed end position to the connection end position of the attitude adjustment object; the controller then reads the positive angular directions corresponding to the position, pitch, and roll in the installation reference coordinate system; for any pull rope and any attitude direction, the controller first determines the direction of the tension applied to the connection end position of the attitude adjustment object when the corresponding pull rope is retracted based on the extension direction of the pull rope; the controller then determines the direction of the tension applied to the connection end position of the attitude adjustment object relative to the attitude adjustment object based on the connection end position of the attitude adjustment object. The relative position of the center position determines the direction of the angular change caused by the tension direction with respect to the corresponding posture direction. When the direction of the angular change during rope retraction is consistent with the positive direction of the corresponding posture direction, the direction sign is determined to be positive. When the direction of the angular change during rope retraction is opposite to the positive direction of the corresponding posture direction, the direction sign is determined to be negative. When there is no angular change in the corresponding posture direction during rope retraction, the direction sign is determined to be zero. The direction of action of the corresponding posture direction during rope release is opposite to the direction of action of the corresponding posture direction during rope retraction. The controller determines whether to retract or release the rope based on the positive or negative sign of the sub-item retraction and release amounts when generating subsequent sub-item retraction and release amounts.

[0082] The preset length range represents the length interval allowed for each rope to participate in the allocation during attitude adjustment. The preset length range is set during the mechanical installation and debugging phase. When setting the preset length range, the controller first reads the minimum and maximum mechanical lengths of each rope. The minimum mechanical length is determined by the winding reel's rope winding limit, the guide installation position, and the connection end position of the attitude adjustment object. The maximum mechanical length is determined by the winding reel's rope unwinding limit, the rope anti-derailment requirements, and the maximum allowable displacement of the attitude adjustment object. Subsequently, the controller leaves a rope winding allowance within the minimum mechanical length and a rope unwinding allowance within the maximum mechanical length. The length value after leaving the rope winding allowance is used as the lower limit of the preset length range, and the length value after leaving the rope unwinding allowance is used as the upper limit of the preset length range. The rope winding allowance and rope unwinding allowance are set based on the maximum allowable winding and unwinding amount during a single attitude adjustment, the servo controller's braking distance, and the rope installation safety margin.

[0083] The preset tension range is used to represent the tension interval that each rope is allowed to participate in during the attitude adjustment process. The preset tension range is set during the rope tensioning and debugging stage. When setting the preset tension range, the controller first reads the minimum tension value required for the rope to maintain tension and uses the minimum tension value as the basis for setting the lower limit of the preset tension range. The controller then reads the rated load value of the rope, the allowable force value of the attitude adjustment object, and the upper limit of the tension sensor range, and uses the lowest limit value among the above three as the basis for setting the upper limit of the preset tension range. Subsequently, the controller performs multiple rope winding and unwinding adjustments between the lower limit and the upper limit of the preset tension range to confirm that the four ropes can maintain tension within the preset tension range and can perform the target winding and unwinding volume group. The confirmed interval is then written into the controller.

[0084] The method for determining the length deviation based on the deviation between the current pull rope length value and the preset length range is as follows: The controller reads the current pull rope length value, the lower limit of the preset length range, and the upper limit of the preset length range for each pull rope; when the current pull rope length value is not less than the lower limit of the preset length range and not greater than the upper limit of the preset length range, the controller sets the length deviation to zero; when the current pull rope length value is less than the lower limit of the preset length range, the controller subtracts the current pull rope length value from the lower limit of the preset length range to obtain the length deviation; when the current pull rope length value is greater than the upper limit of the preset length range, the controller subtracts the upper limit of the preset length range from the current pull rope length value to obtain the length deviation; the length deviation is used to represent the length by which the current pull rope length value exceeds the preset length range.

[0085] The method for determining the tension deviation based on the deviation between the current tension value and the preset tension range is as follows: The controller reads the current tension value, the lower limit of the preset tension range, and the upper limit of the preset tension range for each rope. When the current tension value is not less than the lower limit of the preset tension range and not greater than the upper limit of the preset tension range, the controller sets the tension deviation to zero. When the current tension value is less than the lower limit of the preset tension range, the controller subtracts the current tension value from the lower limit of the preset tension range to obtain the tension deviation. When the current tension value is greater than the upper limit of the preset tension range, the controller subtracts the upper limit of the preset tension range from the current tension value to obtain the tension deviation. The tension deviation is used to represent the tension value of the current rope tension value exceeding the preset tension range.

[0086] The preset base weight table is used to record the basic extension and retraction relationship of the four ropes in each attitude direction under preset attitude states. The preset base weight is the basic extension and retraction length of a rope and an attitude direction corresponding to a unit angle in the preset base weight table. The basic extension and retraction length of a unit angle indicates the basic extension and retraction length that the corresponding rope needs to perform when a unit angle change occurs in the corresponding attitude direction. The preset base weight table is established during the installation and commissioning phase. When establishing the preset base weight table, the controller puts the attitude adjustment object in the preset attitude state and records the azimuth, pitch, and roll in the preset attitude state as the commissioning reference attitude. The preset attitude state is the attitude state in which all four ropes are within the preset length range and all four ropes are within the preset tension range after the attitude adjustment object has been installed and commissioned.

[0087] When establishing the preset basic weight table, the controller first uses the orientation as the current orientation for debugging. The controller controls the four pull ropes to perform coordinated retraction and extension according to the direction of action corresponding to the orientation, so that the orientation adjustment object produces a preset unit angle change from the debugging reference orientation. The preset unit angle change is determined by the angle recognition accuracy of the orientation detection unit and the allowable angle range for the orientation adjustment mechanism, and is written into the controller during the installation and debugging phase. The controller records the basic retraction and extension lengths corresponding to the four pull ropes when the preset unit angle change occurs. The controller divides the basic retraction and extension length corresponding to each pull rope by the preset unit angle change to obtain the unit angle basic retraction and extension length for each pull rope in the corresponding orientation, and writes the unit angle basic retraction and extension length for each pull rope in the corresponding orientation as the preset basic weight for each pull rope in the preset basic weight table.

[0088] The controller then uses pitch as the current orientation for adjustment and, following the same adjustment method corresponding to the orientation, makes the attitude adjustment object change from the reference attitude to a preset unit angle under pitch. The controller records the basic extension and retraction lengths of the four ropes when the preset unit angle change occurs. The controller divides the basic extension and retraction length of each rope by the preset unit angle change to obtain the basic extension and retraction length of each rope corresponding to the pitch at a unit angle. The controller then writes the basic extension and retraction length of each rope corresponding to the pitch at a unit angle into the preset basic weight table as the preset basic weight of each rope corresponding to the pitch. The controller then uses roll as the current orientation for debugging and, following the same debugging method corresponding to the orientation, makes the orientation adjustment object change by a preset unit angle from the debugging reference orientation during roll. The controller records the basic extension and retraction lengths of the four pull ropes when the preset unit angle change occurs. The controller divides the basic extension and retraction length of each pull rope by the preset unit angle change to obtain the basic extension and retraction length of each pull rope corresponding to the roll at a unit angle, and writes the basic extension and retraction length of each pull rope corresponding to the roll at a unit angle into the preset basic weight table as the preset basic weight of each pull rope corresponding to the roll.

[0089] When a rope can complete a preset unit angle change without retracting or releasing it in a certain attitude direction, the controller records the preset basic weight of the rope in that attitude direction as zero. When a rope needs to be retracted or released in a certain attitude direction to complete a preset unit angle change, the controller records the quotient between the basic retracted / released length and the preset unit angle change as the preset basic weight. Thus, the preset basic weight is not simply a dimensionless ratio, but a basic conversion value for converting angle deviation into rope length retracted / released amount. Subsequently, by multiplying the azimuth deviation, pitch deviation, and roll deviation by the assigned weights for the corresponding attitude directions, the individual retracted / released amounts for each rope in each attitude direction can be obtained.

[0090] The preset length correction coefficient is used to represent the deduction relationship between the length deviation and the preset base weight; the preset tension correction coefficient is used to represent the deduction relationship between the tension deviation and the preset base weight; the preset length correction coefficient and the preset tension correction coefficient are set during the installation and commissioning phase; when setting the preset length correction coefficient, the controller first reads the lower limit of the preset length range, the upper limit of the preset length range, and the preset base weight; the controller respectively sets the current rope length value to the commissioning states of being within the preset length range, below the lower limit of the preset length range, and above the upper limit of the preset length range, and performs attitude adjustment commissioning corresponding to the same target deviation in each commissioning state; the controller records the current rope length value, length deviation, preset base weight of the corresponding attitude direction, and unit angle extension / retraction length required to actually complete the attitude adjustment in the corresponding attitude direction in each commissioning state; the controller uses the unit angle extension / retraction length required to actually complete the attitude adjustment in the corresponding attitude direction... The change in unit angle extension / retraction length is obtained by subtracting the preset base weight in the corresponding attitude direction from the unit angle extension / retraction length. The controller divides the change in unit angle extension / retraction length by the length deviation to obtain the single length correction value. When the length deviation is zero, the controller does not calculate the single length correction value. The controller takes the arithmetic mean of each single length correction value below the lower limit of the preset length range and above the upper limit of the preset length range to obtain the preset length correction coefficient. The unit of the preset length correction coefficient is the ratio between the unit angle extension / retraction length and the length deviation. The value of the preset length correction coefficient is not less than zero. When the calculated preset length correction coefficient is less than zero, the controller records the preset length correction coefficient as zero. When the calculated preset length correction coefficient causes the weight deduction to be greater than the preset base weight, the controller limits the preset length correction coefficient to a value that ensures the weight deduction does not exceed the preset base weight.

[0091] When setting the preset tension correction coefficient, the controller first reads the lower limit of the preset tension range, the upper limit of the preset tension range, and the preset basic weight. The controller then adjusts the current rope tension value to be within the preset tension range, below the lower limit, and above the upper limit, and performs attitude adjustment adjustments corresponding to the same target deviation in each adjustment state. In each adjustment state, the controller records the current rope tension value, tension deviation, the preset basic weight for the corresponding attitude direction, and the unit angle extension / retraction length required to complete the attitude adjustment in the corresponding attitude direction. The controller subtracts the preset basic weight for the corresponding attitude direction from the unit angle extension / retraction length required to complete the attitude adjustment in the corresponding attitude direction to obtain the change in unit angle extension / retraction length. The controller then uses the unit angle extension / retraction length... The change in extension / retraction length is divided by the tension deviation to obtain the single tension correction value. When the tension deviation is zero, the controller does not calculate the single tension correction value. The controller takes the arithmetic mean of each single tension correction value below the lower limit of the preset tension range and above the upper limit of the preset tension range to obtain the preset tension correction coefficient. The unit of the preset tension correction coefficient is the ratio between the extension / retraction length per unit angle and the tension deviation. The value of the preset tension correction coefficient is not less than zero. When the calculated preset tension correction coefficient is less than zero, the controller records the preset tension correction coefficient as zero. When the calculated preset tension correction coefficient causes the weight deduction to be greater than the preset basic weight, the controller limits the preset tension correction coefficient to a value that ensures the weight deduction does not exceed the preset basic weight.

[0092] The method for determining the weight deduction based on length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient is as follows: The controller reads the length deviation, tension deviation, preset length correction coefficient, preset tension correction coefficient, and preset basic weight for each rope and each attitude direction; the controller first multiplies the length deviation by the preset length correction coefficient to obtain the first product; the controller then multiplies the tension deviation by the preset tension correction coefficient to obtain the second product; the controller adds the first product and the second product to obtain the weight deduction; when the weight deduction is greater than the preset basic weight, the controller limits the weight deduction to the preset basic weight; when both the length deviation and tension deviation are zero, the controller sets the weight deduction to zero; subsequently, the controller subtracts the weight deduction from the preset basic weight to obtain the subtracted preset basic weight; the controller multiplies the subtracted preset basic weight by the direction sign to obtain the weight assigned to the corresponding rope for the corresponding attitude direction.

[0093] The weighting of each rope in each attitude direction represents the actual share of position, pitch, and roll for each rope in the current attitude. The weighting includes both the direction of action and the length extension / retraction per unit angle. The sign of the weighting indicates the angular direction of action in the corresponding attitude direction, and the absolute value of the weighting indicates the length extension / retraction per unit angle deviation. The sign of the weighting is determined by the direction sign. The absolute value of the weighting is determined by subtracting a weight reduction from the preset base weight. When the current rope length exceeds the preset length range, the length deviation of the corresponding rope is not zero, and the weight reduction is calculated along with the length deviation, reducing the absolute value of the weighting of the corresponding rope in the corresponding attitude direction. When the current rope tension exceeds the preset tension range, the tension deviation of the corresponding rope is not zero, and the weight reduction is calculated along with the tension deviation, reducing the absolute value of the weighting of the corresponding rope in the corresponding attitude direction. When the current rope length and tension are both within the preset length and tension range, both the length and tension deviations are zero, and the corresponding rope participates in the weighting according to the preset base weight.

[0094] As can be seen from the above process, the spatial connection relationship and direction of action first determine whether the four ropes have a positive, negative, or no effect on the orientation, pitch, and roll. The preset basic weight table then determines the basic extension / retraction length per unit angle for each attitude direction of the four ropes under the preset attitude state. The current rope length value and current rope tension value are used to calculate the weight deduction amount through the length deviation and tension deviation, so that the ropes close to the length boundary or tension boundary bear less extension / retraction length per unit angle in the corresponding attitude direction. Therefore, the four-rope collaborative allocation matrix does not only allocate the target deviation according to a fixed ratio, but also reflects the spatial connection relationship, direction of action, length state, and tension state of the four ropes under the current attitude. When the target deviation is input into the four-rope collaborative allocation matrix, the obtained extension / retraction amount can be decomposed according to the actual executable state of the four ropes, thereby reducing the conditions for a single rope to be repeatedly allocated control amount or insufficiently allocated control amount under compound attitude conditions.

[0095] Input the target deviation into the four-rope collaborative allocation matrix to generate the sub-item take-up and release amounts for each rope in each attitude direction and the target take-up and release amount group for the four ropes.

[0096] The method for generating the sub-item extension / retraction amount for each rope in each attitude direction includes: the controller first reads the azimuth deviation, pitch deviation, and roll deviation from the target deviation; the controller then reads the allocation weights for azimuth, pitch, and roll for each rope in the four-rope collaborative allocation matrix; where the allocation weights do not merely represent dimensionless sharing ratios, but rather represent the extension / retraction length required for the corresponding rope relative to a unit angular deviation in the corresponding attitude direction; the allocation weights are obtained by correcting the preset base weights for direction sign, length deviation, and tension deviation; when the preset base weights are recorded in the preset base weight table, they include the correspondence between the unit angular deviation in the corresponding attitude direction and the basic extension / retraction length of the corresponding rope; therefore, the result obtained by multiplying the angular deviation in the target deviation by the allocation weights is the extension / retraction amount of the rope length.

[0097] In actual calculations, for any pull rope, the controller first reads the assigned weight of the corresponding azimuth of that pull rope; the controller multiplies the azimuth deviation by the assigned weight of the corresponding azimuth of that pull rope to obtain the sub-item take-up and extend amount for that azimuth of that pull rope; since the assigned weight of the corresponding azimuth of that pull rope already includes the correspondence between the unit angle deviation of the azimuth and the take-up and extend length of that pull rope, the sub-item take-up and extend amount for that azimuth of that pull rope is a length quantity; the controller then reads the assigned weight of the corresponding pitch of that pull rope; the controller multiplies the pitch deviation by the assigned weight of the corresponding pitch of that pull rope to obtain the sub-item pitch of that pull rope. The retraction / expansion amount is calculated as follows: Since the pitch allocation weight for any pull rope already includes the correspondence between the unit angle deviation of the pitch and the retraction / expansion length of any pull rope, the retraction / expansion amount for any pull rope corresponding to the pitch is a length quantity; The controller then reads the roll allocation weight for any pull rope; The controller multiplies the roll deviation by the roll allocation weight for any pull rope to obtain the retraction / expansion amount for any pull rope corresponding to the roll; Since the roll allocation weight for any pull rope already includes the correspondence between the unit angle deviation of the roll and the retraction / expansion length of any pull rope, the retraction / expansion amount for any pull rope corresponding to the roll is a length quantity.

[0098] The controller processes the four ropes sequentially using the same method until it obtains the individual retraction and release amounts for the four ropes corresponding to azimuth, pitch, and roll. When the individual retraction and release amount is positive, it means that the corresponding rope needs to be retracted in the corresponding attitude direction. When the individual retraction and release amount is negative, it means that the corresponding rope needs to be released in the corresponding attitude direction. When the individual retraction and release amount is zero, it means that the corresponding rope does not generate any retraction or release amount in the corresponding attitude direction.

[0099] The target retraction / expansion set for the four cables represents the target retraction / expansion amount that each of the four cables needs to perform during this attitude adjustment. The generation process of the target retraction / expansion set for the four cables is as follows: the controller first establishes a target retraction / expansion amount record for each of the four cables; for any cable, the controller reads the sub-item retraction / expansion amount for the corresponding azimuth, the sub-item retraction / expansion amount for the corresponding pitch, and the sub-item retraction / expansion amount for the corresponding roll; the controller adds the sub-item retraction / expansion amounts for the corresponding azimuth, pitch, and roll of each cable according to their positive and negative signs. The controller obtains the target take-up / delay amount for each pull rope; it processes the four pull ropes sequentially using the same method to obtain the target take-up / delay amounts for each of the four pull ropes; the target take-up / delay amounts for the four pull ropes are arranged in a fixed numerical order according to their numbers to form a group of target take-up / delay amounts for the four pull ropes; when the target take-up / delay amount is positive, the controller records it as the take-up amount for the corresponding pull rope; when the target take-up / delay amount is negative, the controller records it as the release amount for the corresponding pull rope; when the target take-up / delay amount is zero, the controller records it as the current pull rope length value for the corresponding pull rope.

[0100] As can be seen from the above process, azimuth deviation, pitch deviation, and roll deviation are not converted into independent single-axis execution quantities, but are respectively associated with the allocation weights of the four ropes for the corresponding attitude directions in the four-rope collaborative allocation matrix. The sub-item take-up and release quantities of each rope corresponding to azimuth, pitch, and roll are generated by the same target deviation and the same four-rope collaborative allocation matrix. Therefore, the take-up and release quantities of the same rope in different attitude directions can be retained as sub-item take-up and release quantities before the target take-up and release quantity group is generated. The controller can continue to identify whether the same rope is simultaneously undertaking multiple sub-item take-up and release quantities in the same direction, or whether the sub-item take-up and release quantities corresponding to the dominant attitude direction are lower than those of other ropes with the same direction of action. After the target take-up and release quantity group is generated, the controller can obtain the direct execution input of the four ropes in this attitude adjustment, providing a data basis for subsequent determination of repetitive concentration characteristics, insufficient allocation characteristics, and generation of corrected take-up and release quantity groups.

[0101] The attitude direction corresponding to the largest absolute value among azimuth, pitch, and roll deviations is determined as the dominant attitude direction.

[0102] The method for determining the dominant attitude direction specifically includes: the controller first reads the azimuth deviation, pitch deviation, and roll deviation from the target deviation; the controller removes the signs of the azimuth deviation, pitch deviation, and roll deviation respectively to obtain the absolute values ​​of the azimuth deviation, pitch deviation, and roll deviation; the controller compares the absolute value of the azimuth deviation with the absolute values ​​of the pitch deviation and roll deviation respectively; when the absolute value of the azimuth deviation is greater than the absolute value of the pitch deviation, and the absolute value of the azimuth deviation is greater than the absolute value of the roll deviation, the controller determines the azimuth as the dominant attitude direction. The controller compares the absolute value of the pitch deviation with the absolute values ​​of the azimuth deviation and the roll deviation, respectively. When the absolute value of the pitch deviation is greater than the absolute value of the azimuth deviation, and the absolute value of the pitch deviation is greater than the absolute value of the roll deviation, the controller determines the pitch as the dominant attitude direction. The controller also compares the absolute value of the roll deviation with the absolute values ​​of the azimuth deviation and the pitch deviation, respectively. When the absolute value of the roll deviation is greater than the absolute value of the azimuth deviation, and the absolute value of the roll deviation is greater than the absolute value of the pitch deviation, the controller determines the roll as the dominant attitude direction.

[0103] When at least two absolute values ​​are equal and both are greater than the remaining absolute values, the controller first determines the attitude directions with equal and greater absolute values ​​as candidate attitude directions. Candidate attitude directions can be azimuth and pitch, azimuth and roll, pitch and roll, or azimuth, pitch, and roll. For each candidate attitude direction, the controller reads the allocation weights of the four ropes in the four-rope coordination allocation matrix. The controller checks the absolute value of each rope's allocation weight. When the absolute value of a rope's allocation weight for a candidate attitude direction is zero, the controller does not include that rope in the tension statistics for the candidate attitude direction. When the value is not zero, the controller continues to read the current tension value of one rope and compares it with the lower limit and upper limit of the preset tension range, respectively. When the current tension value is less than the lower limit or greater than the upper limit, the controller increments the number of ropes in the candidate posture direction by one. When the current tension value is not less than the lower limit and not greater than the upper limit, the controller does not increment the number of ropes in the candidate posture direction. The controller completes the counting of the four ropes in each candidate posture direction in the same way to obtain the number of ropes corresponding to each candidate posture direction.

[0104] The controller compares the number of pull ropes corresponding to each candidate attitude direction. When the number of pull ropes corresponding to one candidate attitude direction is greater than the number of pull ropes corresponding to other candidate attitude directions, the controller determines the candidate attitude direction with the largest number of pull ropes as the dominant attitude direction. When the number of pull ropes corresponding to two candidate attitude directions is equal and both are greater than the number of pull ropes corresponding to the remaining candidate attitude directions, or when the number of pull ropes corresponding to each candidate attitude direction is equal, the controller determines that there is no unique maximum value in the statistically obtained number of pull ropes. When there is no unique maximum value in the statistically obtained number of pull ropes, the controller reads the preset attitude direction priority and selects the candidate attitude direction that ranks first in the preset attitude direction priority as the dominant attitude direction.

[0105] The preset attitude direction priority is written into the controller during the installation and commissioning phase. The method for setting the preset attitude direction priority is as follows: first, determine the control order of azimuth, pitch, and roll based on the usage task of the attitude adjustment mechanism; when the usage task of the attitude adjustment mechanism requires first orienting the attitude adjustment object toward the target direction, and then adjusting the pitch and roll angles of the attitude adjustment object, set azimuth as the first priority in the preset attitude direction priority; when the usage task of the attitude adjustment mechanism requires first orienting the attitude adjustment object to a specified pitch angle, and then adjusting the azimuth and roll angles of the attitude adjustment object, set pitch as the first priority in the preset attitude direction priority; when the usage task of the attitude adjustment mechanism requires first limiting the roll angle of the attitude adjustment object, and then adjusting the azimuth and pitch angles of the attitude adjustment object, set roll as the first priority in the preset attitude direction priority; the controller saves the set order of azimuth, pitch, and roll as the preset attitude direction priority, and calls the preset attitude direction priority when neither the target deviation nor the number of pull ropes can determine a unique dominant attitude direction.

[0106] As can be seen from the above process, the dominant attitude direction is first determined by the absolute values ​​of azimuth, pitch, and roll deviations. The absolute value of the deviation represents the adjustment requirement of the target attitude relative to the current attitude in the corresponding attitude direction. When the absolute value of the deviation in one attitude direction is greater than the absolute values ​​of the deviations in the other two attitude directions, this attitude direction is determined as the dominant attitude direction, ensuring that subsequent weight allocation adjustments prioritize the attitude direction corresponding to the adjustment requirement. When the absolute values ​​of the deviations in at least two attitude directions are equal, the number of ropes with non-zero absolute values ​​of the weights allocated in the corresponding attitude direction and whose current rope tension exceeds the preset tension range is then counted. The attitude direction corresponding to the constraint under the current tension state of the four pull ropes is determined. When there is a maximum value for the number of pull ropes, the attitude direction corresponding to the maximum value is determined as the dominant attitude direction. This allows the subsequent processing of repetitive concentrated features and insufficient allocation features to first apply to the attitude direction affected by the tension state. When there is no unique maximum value for the number of pull ropes, the dominant attitude direction is determined according to the preset attitude direction priority. This allows the controller to still output a unique dominant attitude direction under the same deviation and tension statistical conditions. This provides a basis for subsequently reducing the allocation weight of non-dominant attitude directions and increasing the allocation weight of the dominant attitude direction corresponding to the dominant receiving pull rope.

[0107] When the sub-item take-up and release quantities corresponding to at least two attitude directions for the same pull rope are both take-up quantities or both release quantities, it is determined that the target take-up and release quantity group has a repetitive and concentrated characteristic.

[0108] The method for determining whether a target take-up / deployment quantity group exhibits repetitive clustering characteristics specifically includes: the controller first reads the azimuth, pitch, and roll take-up / deployment quantities for the four pull ropes respectively; the controller processes the four pull ropes one by one according to their fixed numbering order; for the pull rope being processed, the controller first reads the azimuth take-up / deployment quantity for the pull rope being processed and determines whether the azimuth take-up / deployment quantity is greater than the preset minimum execution quantity; when the azimuth take-up / deployment quantity is greater than the preset minimum execution quantity, the controller increments the take-up quantity of the pull rope being processed by one; when the azimuth take-up / deployment quantity is less than the negative value of the preset minimum execution quantity, the controller increments the release quantity of the pull rope being processed by one; when the absolute value of the azimuth take-up / deployment quantity is not greater than the preset minimum execution quantity, the controller does not perform any take-up / deployment for the azimuth. The quantity of rope taken up or released is recorded. The controller processes the pitch and roll portions of the rope being processed separately in the same way to obtain the quantity of rope taken up and released for the rope being processed. When the quantity of rope taken up for the rope being processed is not less than two, or the quantity of rope released for the rope being processed is not less than two, the controller identifies the rope being processed as a repeating concentrated rope and determines that the target take-up and release quantity group has a repeating concentrated characteristic. When the quantity of rope taken up for the rope being processed is less than two and the quantity of rope released for the rope being processed is less than two, the controller continues to process the next rope. When all four ropes have been processed and there are no repeating concentrated ropes, the controller determines that the target take-up and release quantity group does not have a repeating concentrated characteristic.

[0109] The preset minimum execution quantity is used to exclude sub-item take-up and release quantities that the servo controller cannot form an effective take-up and release action; the preset minimum execution quantity is set during the installation and commissioning phase; when setting the preset minimum execution quantity, the controller reads the minimum executable pulse quantity of the servo controller, the winding radius of the winding reel, and the transmission backlash compensation quantity, and calculates the minimum take-up and release length that can cause a change in the length of the pull rope in a single control; the controller writes the minimum take-up and release length into the preset minimum execution quantity; therefore, when the absolute value of the sub-item take-up and release quantity is not greater than the preset minimum execution quantity, the controller does not use the sub-item take-up and release quantity as the basis for judging the repetitive set feature.

[0110] After determining the repeating concentrated pull rope, the controller reads the corresponding azimuth, pitch, and roll retraction and release amounts for the repeating concentrated pull rope. When the number of retraction amounts for the repeating concentrated pull rope is not less than two, the controller determines the retraction direction to the same retraction and release direction corresponding to the repeating concentrated pull rope, and reads the retraction and release amounts of each item in the repeating concentrated pull rope that are greater than the preset minimum execution amount. The controller obtains the absolute value of each of the aforementioned retraction and release amounts, and adds the absolute values ​​of the aforementioned retraction and release amounts to obtain the repeating concentrated amount. When the number of release amounts for the repeating concentrated pull rope is not less than two, the controller determines the release direction to... The controller is set to the same take-up and release direction corresponding to the repeated concentrated pull rope, and reads the take-up and release amounts of each sub-item that are less than the preset minimum execution amount from the repeated concentrated pull rope; the controller obtains the absolute value of each sub-item take-up and release amount respectively, and adds the absolute values ​​of each sub-item take-up and release amount to obtain the repeated concentrated amount; when the repeated concentrated pull rope simultaneously satisfies that the number of take-up ropes is not less than two and the number of release ropes is not less than two, the controller calculates the repeated concentrated amount corresponding to the take-up direction and the repeated concentrated amount corresponding to the release direction respectively, and uses the repeated concentrated amount with the larger value as the repeated concentrated amount used for subsequent processing.

[0111] The preset repetitive concentration threshold is used to determine whether the repetitive concentration of pull ropes in the same direction requires a reduction in the weight allocation. The preset repetitive concentration threshold is set during the installation and commissioning phase. When setting the preset repetitive concentration threshold, the controller reads the maximum repetitive amount of each of the four pull ropes allowed in a single attitude adjustment, and also reads the preset minimum execution amount. The maximum repetitive amount of each rope is determined by the servo controller's single allowed output stroke, the winding reel's single allowed rotation stroke, the preset length range, and the preset tension range. The controller subtracts the preset minimum execution amount from the maximum repetitive amount of each rope to obtain the upper limit of the repetitive amount of each rope in the same direction. The controller writes this upper limit to the preset repetitive concentration threshold. When the upper limit of the repetitive amount of each rope in the same direction is less than the preset minimum execution amount, the controller records the preset repetitive concentration threshold as the preset minimum execution amount. By subtracting the preset minimum execution amount from the maximum repetitive amount of each rope to form the preset repetitive concentration threshold, a length space corresponding to one executable repetitive action can be reserved when judging the repetitive concentration, preventing the sum of multiple repetitive repetitive amounts of each rope in the same direction from directly reaching the maximum repetitive amount of each rope.

[0112] When the target recovery and deployment volume group exhibits repetitive concentration characteristics, the controller first reads the dominant attitude direction and determines the allocation weight corresponding to the non-dominant attitude direction from the allocation weights of azimuth, pitch, and roll corresponding to the repetitive concentration pull rope. When the sub-item recovery and deployment volume corresponding to the non-dominant attitude direction does not participate in the calculation of the repetitive concentration volume in the same recovery and deployment direction, the controller keeps the allocation weight corresponding to the non-dominant attitude direction unchanged. When the sub-item recovery and deployment volume corresponding to the non-dominant attitude direction participates in the calculation of the repetitive concentration volume in the same recovery and deployment direction, the controller reads the sign of the allocation weight corresponding to the non-dominant attitude direction and obtains the absolute value of the allocation weight corresponding to the non-dominant attitude direction. The controller multiplies the absolute value of the assigned weight corresponding to the non-dominant attitude direction by a preset adjustment coefficient to obtain the absolute value of the adjusted assigned weight. The controller then combines the absolute value of the adjusted assigned weight with the sign of the original assigned weight to obtain the adjusted assigned weight. When the non-dominant attitude direction includes two attitude directions and the sub-items of the extension and retraction corresponding to the two attitude directions are both included in the calculation of the repeated concentration amount in the same extension and retraction direction, the controller performs the same adjustment process on the assigned weights corresponding to the two attitude directions respectively. When the repeated concentration amount is not greater than the preset repeated concentration threshold, the controller keeps the assigned weights of each attitude direction corresponding to the repeated concentration pull rope unchanged.

[0113] The preset reduction coefficient is used to determine the reduction ratio of the weight allocation for the non-dominant attitude direction corresponding to the repetitive concentrated pull rope. The preset reduction coefficient is set during the installation and commissioning phase. When setting the preset reduction coefficient, the controller first reads the preset basic weight of the non-dominant attitude direction corresponding to the repetitive concentrated pull rope, and then reads the compensation extension / retraction amount that needs to be retained in the composite attitude adjustment for the non-dominant attitude direction. The compensation extension / retraction amount is obtained by multiplying the allowable residual deviation corresponding to the non-dominant attitude direction by the preset basic weight. The controller divides the compensation extension / retraction amount by the absolute value of the individual extension / retraction amounts of the non-dominant attitude direction corresponding to the repetitive concentrated pull rope before the reduction to obtain the preset reduction coefficient. When the calculated preset reduction coefficient is not greater than 0, the controller records the preset reduction coefficient as the smallest recordable value greater than 0. When the calculated preset reduction coefficient is not less than 1, the controller records the preset reduction coefficient as the largest recordable value less than 1. Thus, the weight allocation for the non-dominant attitude direction corresponding to the repetitive concentrated pull rope retains the compensation effect of the non-dominant attitude direction after the reduction, while reducing the unidirectional superposition of the non-dominant attitude direction on the repetitive concentrated pull rope.

[0114] As can be seen from the above process, the repetitive concentration feature is not directly determined based on the target retraction / expansion amount in the target retraction / expansion amount group, but rather based on the sub-items of retraction / expansion amount for the same pull rope corresponding to the azimuth, pitch, and roll. When at least two attitude directions of the same pull rope produce the same retraction / expansion direction and the absolute value of the sub-item retraction / expansion amount is greater than the preset minimum execution amount, it indicates that different attitude directions, after decomposition, simultaneously require the same pull rope to perform the same direction action. The aforementioned same-direction action, after being summarized into the target retraction / expansion amount, will increase the target retraction / expansion amount corresponding to the same pull rope. Therefore, the controller identifies the same pull rope as the repetitive concentration pull rope. The repetitive concentration amount further includes the repetitive pull ropes participating in the same retraction / expansion direction. The concentrated sub-items of take-up and release are converted into comparable values. When there are repeated concentrated features in the target take-up and release group, the controller reduces the allocation weight of the non-dominant attitude direction corresponding to the repeated concentrated pull rope, while retaining the allocation weight of the dominant attitude direction corresponding to the repeated concentrated pull rope. This ensures that when the four-rope collaborative allocation matrix is ​​re-established, the repeated concentrated pull rope will take priority in controlling the dominant attitude direction, and the non-dominant attitude direction will reduce the same-direction superposition allocation of the repeated concentrated pull rope. Therefore, when the target take-up and release group is generated in the future, the same-direction target take-up and release amount formed by the superposition of multiple attitude directions of the same pull rope can be limited to the range constrained by the preset repeated concentration threshold.

[0115] When the sub-item take-up and release amount of the dominant receiving pull rope, determined based on the preset basic weight, in the dominant attitude direction is lower than the sub-item take-up and release amount of other pull ropes in the same direction of action in the dominant attitude direction, it is determined that the target take-up and release amount group has insufficient allocation characteristics.

[0116] The method for determining whether the target take-up and release group has insufficient allocation characteristics specifically includes: the controller first reads the dominant posture direction and reads the preset basic weights of the four pull ropes corresponding to the dominant posture direction from the preset basic weight table; the controller obtains the absolute value of the preset basic weight of the four pull ropes corresponding to the dominant posture direction; the controller judges the magnitude of the absolute value of the preset basic weight of the four pull ropes corresponding to the dominant posture direction in turn; when the absolute value of the preset basic weight of one pull rope corresponding to the dominant posture direction is greater than the absolute value of the preset basic weight of the other three pull ropes corresponding to the dominant posture direction, the controller determines one pull rope as the dominant receiving pull rope; when the absolute values ​​of the preset basic weights of at least two pull ropes corresponding to the dominant posture direction are equal and both are greater than the absolute values ​​of the preset basic weights of the remaining pull ropes corresponding to the dominant posture direction, the controller reads the pull rope whose current tension value is within the preset tension range from at least two pull ropes; when the current tension value is within the preset tension range... When there is only one rope within the tension range, the controller designates the rope with the current tension value within the preset tension range as the dominant receiving rope. When there are at least two ropes with the current tension value within the preset tension range, the controller subtracts the current rope tension value from the upper limit of the preset tension range to obtain the tension margin of each rope, and designates the rope with the largest tension margin as the dominant receiving rope. When there is no unique maximum tension margin, the controller designates the rope with the first fixed number as the dominant receiving rope according to the fixed numbering order of the four ropes. When there are no ropes with the current tension value within the preset tension range among at least two ropes, the controller designates the rope with the first fixed number as the dominant receiving rope according to the fixed numbering order of the four ropes. The tension margin is the difference between the upper limit of the preset tension range and the current rope tension value, and the tension margin is used to represent the tension space that the rope can still bear within the preset tension range.

[0117] After determining the dominant support rope, the controller reads the preset basic weight, length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient for the dominant support rope in the corresponding dominant posture direction. Based on these parameters, the controller determines the weight deduction for the dominant support rope in the corresponding dominant posture direction. The controller subtracts the weight deduction from the preset basic weight of the dominant support rope in the corresponding dominant posture direction and, combined with the direction sign of the dominant support rope in the corresponding dominant posture direction, obtains the allocated weight for the dominant support rope in the corresponding dominant posture direction. The controller multiplies the deviation corresponding to the dominant posture direction by the allocated weight for the dominant support rope in the corresponding dominant posture direction to obtain the individual take-up and release amounts for the dominant support rope in the corresponding dominant posture direction. The controller obtains the absolute value of the individual take-up and release amounts for the dominant support rope in the corresponding dominant posture direction as the absolute value of the individual take-up and release amounts after deducting the length deviation and tension deviation.

[0118] The controller then reads the direction symbols of other ropes besides the main receiving rope, corresponding to the main attitude direction. If the direction symbols of other ropes are inconsistent with those of the main receiving rope, the controller does not include them in the insufficient allocation feature judgment. If the direction symbols of other ropes are consistent with those of the main receiving rope, the controller reads the preset basic weight, length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient of the other ropes corresponding to the main attitude direction. The controller then uses the length deviation, tension deviation, and preset length correction coefficient of the other ropes as the basis for its judgment. The degree correction coefficient and the preset tension correction coefficient determine the weight deduction amount for the other ropes corresponding to the dominant posture direction; the controller deducts the weight deduction amount using the preset basic weight of the other ropes corresponding to the dominant posture direction, and combines it with the direction sign of the other ropes corresponding to the dominant posture direction to obtain the allocated weight of the other ropes corresponding to the dominant posture direction; the controller multiplies the deviation corresponding to the dominant posture direction by the allocated weight of the other ropes corresponding to the dominant posture direction to obtain the sub-item take-up and release amount of the other ropes corresponding to the dominant posture direction; the controller obtains the absolute value of the sub-item take-up and release amount of the other ropes corresponding to the dominant posture direction as the absolute value of the sub-item take-up and release amount of the other ropes after deducting the length deviation and tension deviation.

[0119] When the absolute value of the sub-item take-up and release amount of at least one other pull rope with the same direction of action, after deducting the length deviation and tension deviation, is greater than the absolute value of the sub-item take-up and release amount of the main receiving pull rope after deducting the length deviation and tension deviation, the controller determines that the target take-up and release amount group has insufficient allocation characteristics; when the absolute value of the sub-item take-up and release amount of all other pull ropes with the same direction of action, after deducting the length deviation and tension deviation, is not greater than the absolute value of the sub-item take-up and release amount of the main receiving pull rope after deducting the length deviation and tension deviation, the controller determines that the target take-up and release amount group does not have insufficient allocation characteristics.

[0120] After determining that the target take-up and release group has insufficient allocation characteristics, the controller selects alternative take-up ropes from other ropes whose action direction is the same as that of the main take-up rope in the main attitude direction. The process of selecting alternative take-up ropes is as follows: the controller first reads the absolute value of the sub-take-up and release amount corresponding to the main take-up rope in the main attitude direction; the controller then reads the absolute value of the sub-take-up and release amount corresponding to the main attitude direction of each of the other ropes with the same action direction; when the absolute value of the sub-take-up and release amount corresponding to the main attitude direction of the other ropes is not greater than the absolute value of the sub-take-up and release amount corresponding to the main take-up rope in the main attitude direction, the controller does not consider the other ropes as candidates for alternative take-up ropes; when the other ropes... When the absolute value of the sub-item retraction / expansion amount corresponding to the dominant attitude direction is greater than the absolute value of the sub-item retraction / expansion amount corresponding to the dominant attitude direction of the main receiving rope, the controller will consider other ropes as candidates for replacement receiving ropes. The controller will select the rope with the largest absolute value of the sub-item retraction / expansion amount corresponding to the dominant attitude direction from all candidates and determine it as the replacement receiving rope. The controller will calculate the difference between the current rope tension value and the upper limit of the preset tension range for each candidate and determine the candidate with the smallest absolute value of the difference as the replacement receiving rope. When the absolute values ​​of the differences are equal, the candidate with the first fixed number among the four ropes will be determined as the replacement receiving rope according to the fixed numbering order of the four ropes.

[0121] After determining the alternative receiving rope, the controller reads the absolute value of the sub-item take-up and release amount corresponding to the dominant attitude direction of the alternative receiving rope, and also reads the absolute value of the sub-item take-up and release amount corresponding to the dominant attitude direction of the dominant receiving rope. The controller subtracts the absolute value of the sub-item take-up and release amount corresponding to the dominant attitude direction of the alternative receiving rope from the absolute value of the sub-item take-up and release amount corresponding to the dominant attitude direction to obtain the insufficient allocation amount. The insufficient allocation amount is used to represent the amount of sub-item take-up and release that the dominant receiving rope takes up less than that of the alternative receiving rope in the dominant attitude direction. When the insufficient allocation amount is positive, the controller enters the process of determining the allocation weight increase amount. When the insufficient allocation amount is not positive, the controller stops the allocation weight increase processing for the insufficient allocation feature.

[0122] The method for determining the increase in the allocation weight of the dominant receiving rope corresponding to the dominant attitude direction based on the insufficient allocation amount specifically includes: the controller reads the insufficient allocation amount and the preset weight conversion coefficient, and multiplies the insufficient allocation amount by the preset weight conversion coefficient to obtain the candidate weight increase amount; the preset weight lower limit is used to limit the allocation weight of the alternative receiving rope corresponding to the dominant attitude direction to retain the basic sharing capacity of the dominant attitude direction after reduction; the preset weight lower limit is set during the installation and commissioning phase. The setting process is as follows: the controller first reads the preset basic weights of the four ropes corresponding to the dominant attitude directions in the preset basic weight table, and then reduces the dominant attitude of each rope respectively under the preset attitude state. The controller assigns weights to directions and records the weight values ​​for the corresponding pull ropes that still produce identifiable angular changes in the dominant attitude direction. The controller uses the weight values ​​that produce identifiable angular changes as candidate values ​​for the lower limit of the weight assignment and, in conjunction with the executable retraction and release requirements corresponding to the preset minimum execution amount, determines the preset weight lower limit. The logic for setting the preset weight lower limit is to ensure that after the alternative receiving pull rope releases part of the weight assignment in the dominant attitude direction, the sub-item retraction and release amounts of the alternative receiving pull rope in the corresponding dominant attitude direction can still correspond to the retraction or release amounts that the servo controller can execute, and the alternative receiving pull rope does not withdraw from the collaborative sharing of the dominant attitude direction due to the reduction of the weight assignment.

[0123] The preset weight limit is used to limit the weight allocated to the main support rope in the main attitude direction to not exceed the support capacity of the main support rope after being increased. The preset weight limit is set during the installation and commissioning phase. The setting process is as follows: the controller first reads the preset basic weight, preset length range, and preset tension range of the main support rope in the main attitude direction. Then, under the preset attitude state, it gradually increases the weight allocated to the main support rope in the main attitude direction and simultaneously reads the current rope length value and current rope tension value of the main support rope during the corresponding attitude adjustment process. When the current rope length value of the main support rope reaches the preset length range boundary, or the current rope tension value of the main support rope reaches the preset tension range boundary, the controller uses the commissioning value before reaching the boundary as the candidate value for the weight limit.

[0124] The controller then limits the candidate values ​​of the upper limit of the allocation weight based on the weight transfer relationship of the same action direction under the dominant attitude direction. In this embodiment, the allocation weight under the same attitude direction is not limited to a normalized ratio, nor is it required that the sum of the absolute values ​​of the allocation weights of the four pull ropes corresponding to the same attitude direction be equal to one. The allocation weight is the pull rope length corresponding to a unit angle deviation, and the sum of the absolute values ​​of the allocation weights represents the total length of the pull ropes corresponding to a unit angle deviation under the same attitude direction. When the allocation weight of the dominant receiving pull rope corresponding to the dominant attitude direction is increased, the controller simultaneously reduces the allocation weight of the alternative receiving pull rope corresponding to the dominant attitude direction, so that the total absolute value of the allocation weights with the same action direction under the dominant attitude direction remains unchanged before and after the adjustment. Therefore, the total allocation weight constraint means that the increase in the allocation weight of the dominant receiving pull rope corresponding to the dominant attitude direction shall not be greater than the allocation weight that can be released above the preset lower limit of the allocation weight of the alternative receiving pull rope corresponding to the dominant attitude direction, and the adjusted allocation weight of the dominant receiving pull rope corresponding to the dominant attitude direction shall not cause the total absolute value of the allocation weights with the same action direction under the dominant attitude direction to exceed the total value before the adjustment.

[0125] When determining the upper limit of the preset weight, the controller first reads the preset basic weights of each rope in the same direction of action as the dominant support rope under the dominant attitude direction, and obtains the absolute value of each preset basic weight. The controller adds the absolute values ​​of each preset basic weight to obtain the total allocation weight baseline for ropes in the same direction of action under the dominant attitude direction. The controller then reads the lower limit of the preset weights for each rope in the same direction of action (excluding the dominant support rope) corresponding to the dominant attitude direction, and adds the lower limits of each preset weight to obtain the total reserved weight. The controller subtracts the total reserved weight from the total allocation weight baseline to obtain the weight of the dominant support rope in the dominant attitude direction based on the weights of each rope. The upper limit of the total weight allocation constraint is allowed; the controller selects the smaller value from the candidate values ​​of the upper limit of the weight allocation and the upper limit of the total weight allocation constraint as the preset upper limit of the weight allocation; the setting logic of the preset upper limit of the weight allocation is that after the main receiving rope increases the allocation weight in the corresponding main attitude direction, the current rope length value of the main receiving rope is still within the preset length range, the current rope tension value of the main receiving rope is still within the preset tension range, and the increase in the allocation weight of the main receiving rope in the corresponding main attitude direction can be taken over by the decrease in the allocation weight of the replacement receiving rope in the corresponding main attitude direction.

[0126] The preset weight conversion coefficient is used to convert the difference between the retraction and extension of the sub-items into the adjustment amount of the allocated weight. The preset weight conversion coefficient is set during the installation and commissioning stage. When setting it, the controller changes the allocated weight of the single pull rope corresponding to the dominant posture direction in the preset posture state, and records the correspondence between the change in allocated weight and the change in the retraction and extension of the sub-items. Then, the preset weight conversion coefficient is determined based on the correspondence.

[0127] The controller reads the current assigned weight and preset weight lower limit of the dominant attitude direction corresponding to the alternative receiving rope. When the current assigned weight of the alternative receiving rope corresponding to the dominant attitude direction is positive, the controller subtracts the preset weight lower limit from the current assigned weight of the alternative receiving rope corresponding to the dominant attitude direction to obtain the reduction amount. When the current assigned weight of the alternative receiving rope corresponding to the dominant attitude direction is negative, the controller first obtains the absolute value of the current assigned weight of the alternative receiving rope corresponding to the dominant attitude direction, and then subtracts the preset weight lower limit from the absolute value of the current assigned weight of the alternative receiving rope corresponding to the dominant attitude direction to obtain the reduction amount. The controller reads the preset upper limit of the weight and the current allocated weight of the main bearing pull rope corresponding to the main attitude direction. When the current allocated weight of the main bearing pull rope corresponding to the main attitude direction is positive, the controller subtracts the current allocated weight of the main bearing pull rope corresponding to the main attitude direction from the preset upper limit to obtain the remaining amount that can be increased. When the current allocated weight of the main bearing pull rope corresponding to the main attitude direction is negative, the controller first obtains the absolute value of the current allocated weight of the main bearing pull rope corresponding to the main attitude direction, and then subtracts the absolute value of the current allocated weight of the main bearing pull rope corresponding to the main attitude direction from the preset upper limit to obtain the remaining amount that can be increased.

[0128] The controller selects the smallest value among the candidate weight increase, the amount that can be reduced, and the remaining amount that can be increased, as the weight increase amount. When the weight increase amount is less than zero, the controller sets the weight increase amount to zero. When the weight is negative, the controller uses the absolute value of the weight to calculate the amount that can be reduced and the remaining amount that can be increased, and restores the sign of the weight according to the original direction after the adjustment is completed. By limiting the reduction range of the alternative receiving rope by setting a lower limit and limiting the increase range of the dominant receiving rope by setting an upper limit, the correction process of insufficient weight allocation features can be completed within the dominant attitude direction to transfer the weight allocation, while preserving the executable range of the alternative receiving rope and the dominant receiving rope in their respective dominant attitude directions.

[0129] After determining the increase in the assigned weight, the controller adjusts the absolute value of the assigned weight according to the original direction sign of the dominant attitude direction corresponding to the substitute and main receiving ropes, either decreasing or increasing it, and then restoring the original direction sign after adjustment. When the assigned weight of the main receiving rope corresponding to the dominant attitude direction is positive, the controller increases the assigned weight by the amount of the increase based on the current assigned weight of the main receiving rope in the dominant attitude direction. When the assigned weight of the main receiving rope corresponding to the dominant attitude direction is negative, the controller increases the assigned weight by the amount of the increase based on the absolute value of the current assigned weight of the main receiving rope in the dominant attitude direction, and then restores the original direction sign of the assigned weight according to the negative value. Weighting; when the weight assigned to the dominant attitude direction corresponding to the substitute receiving rope is positive, the controller subtracts the increase in weight from the current weight assigned to the dominant attitude direction corresponding to the substitute receiving rope; when the weight assigned to the dominant attitude direction corresponding to the substitute receiving rope is negative, the controller subtracts the increase in weight from the absolute value of the current weight assigned to the dominant attitude direction corresponding to the substitute receiving rope, and then restores the weight assigned to the dominant attitude direction corresponding to the substitute receiving rope according to the negative value; the adjusted weight assigned to the dominant attitude direction corresponding to the dominant receiving rope does not exceed the preset upper limit of weight, and the adjusted weight assigned to the dominant attitude direction corresponding to the substitute receiving rope is not lower than the preset lower limit of weight.

[0130] As can be seen from the above process, the dominant receiving rope is the rope with the largest absolute value of the preset basic weight under the dominant attitude direction. After the weight allocation is reduced due to the current rope length and tension values, the sub-item take-up and release amount of the dominant receiving rope in the dominant attitude direction may be lower than that of other ropes in the same direction of action. When the four-rope collaborative allocation matrix normally reflects the sharing relationship, the absolute value of the sub-item take-up and release amount of the dominant receiving rope in the dominant attitude direction should not be less than the absolute value of the sub-item take-up and release amount of other ropes in the same direction of action in the dominant attitude direction. When the absolute value of the sub-item take-up and release amount of the dominant receiving rope in the dominant attitude direction is less than the absolute value of the sub-item take-up and release amount of other ropes in the same direction of action in the dominant attitude direction, it indicates that after the target deviation is input into the four-rope collaborative allocation matrix, the control quantity in the dominant attitude direction is not received by the dominant receiving rope to the corresponding unit angle take-up and release level, but is received by other ropes in the same direction of action to a higher proportion. Therefore, the controller determines that the target take-up and release amount group has insufficient allocation characteristics.

[0131] The insufficient allocation amount converts the difference in the partial take-up and release amounts of the substitute receiving rope and the main receiving rope in the dominant attitude direction into an adjustable numerical basis; the candidate weight increase amount is obtained from the insufficient allocation amount and the preset weight conversion coefficient, the reducible amount limits the allocation weight that the substitute receiving rope can release, and the remaining increase amount limits the allocation weight that the main receiving rope can increase; the controller selects the smallest value among the candidate weight increase amount, the reducible amount, and the remaining increase amount as the allocation weight increase amount, so that the allocation weight adjustment is simultaneously constrained by the insufficient allocation amount, the preset weight lower limit, and the preset weight upper limit; thus, when the four-rope coordinated allocation matrix is ​​re-established, the allocation weight of the main receiving rope in the dominant attitude direction increases, the allocation weight of the substitute receiving rope in the dominant attitude direction decreases, and the control amount in the dominant attitude direction is re-allocated to the main receiving rope, providing a basis for generating the corrected take-up and release amount group.

[0132] The allocation weights are adjusted based on the characteristics of repetitive concentration and insufficient allocation, and the corrected take-in and release amount groups for the four pull ropes are generated and executed.

[0133] The method for adjusting the allocation weights based on the characteristics of repetitive concentration and insufficient allocation includes: when the target take-up and release group has the characteristic of repetitive concentration, the rope with at least two sub-items of take-up and release in the same direction is identified as the rope with repetitive concentration, and the allocation weight of the rope corresponding to the non-dominant attitude direction is reduced; when the target take-up and release group has the characteristic of insufficient allocation, the allocation weight of the rope corresponding to the dominant attitude direction is increased, and the allocation weight of the rope corresponding to the dominant attitude direction is reduced; after adjustment, the four-rope collaborative allocation matrix is ​​re-established.

[0134] The method for reducing the weighting of non-dominant attitude directions corresponding to repetitive concentrated pull ropes specifically includes: the controller first reads the repetitive concentrated pull rope, the dominant attitude direction, the sub-item retraction / expansion amount corresponding to the azimuth of the repetitive concentrated pull rope, the sub-item retraction / expansion amount corresponding to the pitch of the repetitive concentrated pull rope, the sub-item retraction / expansion amount corresponding to the roll of the repetitive concentrated pull rope, and the weighting of the azimuth, pitch, and roll corresponding to the repetitive concentrated pull rope; the controller determines the same retraction / expansion direction participating in the repetitive concentrated feature in the repetitive concentrated pull rope; when the same retraction / expansion direction participating in the repetitive concentrated feature is the pull rope direction, the controller determines the sub-item retraction / expansion amount greater than the preset minimum execution amount as the sub-item retraction / expansion amount participating in the repetitive concentrated feature; when the same retraction / expansion direction participating in the repetitive concentrated feature is the release direction, the controller determines the sub-item retraction / expansion amount less than the negative value of the preset minimum execution amount as the sub-item retraction / expansion amount participating in the repetitive concentrated feature; the controller identifies the dominant attitude direction and non-dominant attitude direction among the attitude directions corresponding to the sub-item retraction / expansion amounts participating in the repetitive concentrated feature. The controller maintains the weighting of the repetitive concentrated pull rope in the dominant attitude direction when the repetitive concentrated pull rope's retraction and extension amount corresponds to the dominant attitude direction. When the repetitive concentrated pull rope's retraction and extension amount corresponds to a non-dominant attitude direction, the controller reads the sign of the weighting of the repetitive concentrated pull rope in the non-dominant attitude direction and obtains the absolute value of the weighting. The controller multiplies the absolute value of the weighting by a preset adjustment coefficient to obtain the absolute value of the adjusted weighting. The controller subtracts the absolute value of the adjusted weighting from the absolute value of the weighting in the non-dominant attitude direction to obtain the weight reduction. The controller combines the absolute value of the adjusted weighting with the sign of the weighting in the non-dominant attitude direction to obtain the adjusted weighting of the repetitive concentrated pull rope in the non-dominant attitude direction.

[0135] After obtaining the weight reduction, the controller determines the candidate receiving ropes under the same non-dominant attitude direction. The controller first reads the assigned weights of the four ropes under the same non-dominant attitude direction. The controller uses the sign of the assigned weights of the repeated concentrated ropes corresponding to the same non-dominant attitude direction as the direction of action of the repeated concentrated ropes. The controller reads the assigned weights of the other ropes (excluding the repeated concentrated ropes) corresponding to the same non-dominant attitude direction one by one. When the sign of the assigned weights of other ropes corresponding to the same non-dominant attitude direction is inconsistent with the sign of the assigned weights of the repeated concentrated ropes corresponding to the same non-dominant attitude direction, the controller does not... Other ropes are identified as candidate receiving ropes. When the sign of the weight assigned to the other ropes in the same non-dominant attitude direction is the same as the sign of the weight assigned to the repeated concentrated ropes in the same non-dominant attitude direction, the controller reads the current tension value of the other ropes. When the current tension value of the other ropes is not less than the lower limit of the preset tension range and not greater than the upper limit of the preset tension range, the controller identifies the other ropes as candidate receiving ropes. When the current tension value of the other ropes is less than the lower limit of the preset tension range or greater than the upper limit of the preset tension range, the controller does not identify the other ropes as candidate receiving ropes.

[0136] When there is only one candidate receiving rope, the controller reads the sign of the assigned weight for the same non-dominant orientation direction and obtains the absolute value of the assigned weight. The controller then increments the weight by the increment, obtaining the increased absolute value. This increased weight is then combined with the sign of the assigned weight for the same non-dominant orientation direction to obtain the adjusted assigned weight. When there are multiple candidate receiving ropes, the controller reads the current tension value of each rope and subtracts it from the preset tension range upper limit to obtain the tension margin for each rope. The tension margins of the ropes are added together to obtain a total tension margin. When the total tension margin is greater than zero, the controller divides the tension margin of each candidate receiving rope by the total tension margin to obtain the tension margin ratio of each candidate receiving rope. The controller multiplies the weight reduction by the tension margin ratio of each candidate receiving rope to obtain the assigned weight receiving amount for each candidate receiving rope. The controller increases the absolute value of the assigned weight for each candidate receiving rope in the same non-dominant attitude direction by the corresponding assigned weight receiving amount, and restores the assigned weight according to the original positive or negative sign of the assigned weight for each candidate receiving rope in the same non-dominant attitude direction. When the total tension margin is zero, the controller does not assign a weight reduction to the candidate receiving ropes and keeps the assigned weight for the non-dominant attitude direction of the repeated concentrated ropes unchanged. When the number of candidate receiving ropes is zero, the controller keeps the assigned weight for the non-dominant attitude direction of the repeated concentrated ropes unchanged.

[0137] The method for determining the increase in the allocation weight of the dominant receiving rope in the dominant attitude direction based on the insufficient allocation amount specifically includes: the controller reads the insufficient allocation amount and a preset weight conversion coefficient, and multiplies the insufficient allocation amount by the preset weight conversion coefficient to obtain the candidate weight increase amount; the controller reads the current allocation weight of the alternative receiving rope in the dominant attitude direction and a preset weight lower limit; when the current allocation weight of the alternative receiving rope in the dominant attitude direction is positive, the controller subtracts the preset weight lower limit from the current allocation weight of the alternative receiving rope in the dominant attitude direction to obtain the reduction amount; when the current allocation weight of the alternative receiving rope in the dominant attitude direction is negative, the controller first obtains the absolute value of the current allocation weight of the alternative receiving rope in the dominant attitude direction, and then subtracts the preset weight lower limit from the absolute value of the current allocation weight of the alternative receiving rope in the dominant attitude direction to obtain the reduction amount. The controller reads the preset weight limit and the current assigned weight of the main support rope corresponding to the main attitude direction. When the current assigned weight of the main support rope corresponding to the main attitude direction is positive, the controller subtracts the current assigned weight of the main support rope corresponding to the main attitude direction from the preset weight limit to obtain the remaining amount that can be increased. When the current assigned weight of the main support rope corresponding to the main attitude direction is negative, the controller first obtains the absolute value of the current assigned weight of the main support rope corresponding to the main attitude direction, and then subtracts the absolute value of the current assigned weight of the main support rope corresponding to the main attitude direction from the preset weight limit to obtain the remaining amount that can be increased. The controller selects the smallest value among the candidate weight increase, the decreaseable amount, and the remaining increase amount as the weight increase. When the weight increase is less than zero, the controller sets the weight increase to zero.

[0138] After determining the increase in the allocation weight, the controller adjusts the absolute value of the allocation weight according to the original direction sign of the dominant attitude direction corresponding to the substitute and main receiving ropes, decreasing or increasing it, and then restoring the original direction sign after adjustment. When the current allocation weight of the main receiving rope corresponding to the dominant attitude direction is positive, the controller increases the allocation weight by the amount of the increase to obtain the adjusted allocation weight of the main receiving rope corresponding to the dominant attitude direction. When the current allocation weight of the main receiving rope corresponding to the dominant attitude direction is negative, the controller increases the absolute value of the current allocation weight of the main receiving rope corresponding to the dominant attitude direction by the amount of the increase, and then restores the adjusted allocation weight of the main receiving rope corresponding to the dominant attitude direction according to the negative value. Weighting; when the current assigned weight of the substitute receiving rope in the dominant attitude direction is positive, the controller subtracts the increase in assigned weight from the current assigned weight of the substitute receiving rope in the dominant attitude direction to obtain the adjusted assigned weight of the substitute receiving rope in the dominant attitude direction; when the current assigned weight of the substitute receiving rope in the dominant attitude direction is negative, the controller subtracts the increase in assigned weight from the absolute value of the current assigned weight of the substitute receiving rope in the dominant attitude direction, and then restores the adjusted assigned weight of the substitute receiving rope in the dominant attitude direction according to the negative value; the controller writes the adjusted assigned weight into the position of the corresponding rope and the corresponding attitude direction in the four-rope collaborative assignment matrix, and keeps the assigned weights that have not participated in the adjustment unchanged, thereby re-establishing the four-rope collaborative assignment matrix.

[0139] The method for generating and executing the corrected release / take-up group for the four ropes specifically includes: the controller reads the re-established four-rope coordinated allocation matrix and reads the azimuth deviation, pitch deviation, and roll deviation from the target deviation; the controller multiplies the azimuth deviation by the adjusted allocation weights for the corresponding azimuth of each of the four ropes to obtain the individual release / take-up amount for each azimuth of the four ropes; the controller multiplies the pitch deviation by the adjusted allocation weights for the corresponding pitch of each of the four ropes to obtain the individual release / take-up amount for each pitch of the four ropes; the controller multiplies the roll deviation by the adjusted allocation weights for the corresponding roll of each of the four ropes to obtain the individual release / take-up amount for each roll of the four ropes; for the same rope, the controller reads the individual release / take-up amounts for the azimuth, pitch, and roll of the same rope; when the individual release / take-up amount is positive, the controller... The individual take-up and release amounts are used as the take-up amount; when the individual take-up and release amount is negative, the controller uses the absolute value of the individual take-up and release amount as the release amount; when the individual take-up and release amount is zero, the controller does not include the individual take-up and release amount in the take-up amount or the release amount; the controller adds up the take-up amounts for the same pull rope in the corresponding azimuth, pitch, and roll to obtain the total take-up amount for the same pull rope; the controller adds up the release amounts for the same pull rope in the corresponding azimuth, pitch, and roll to obtain the total release amount for the same pull rope; the controller subtracts the total release amount from the total take-up amount to obtain the corrected take-up and release amount for the same pull rope; the controller processes the four pull ropes in the same way to obtain the corrected take-up and release amounts corresponding to the four pull ropes respectively; the controller arranges the corrected take-up and release amounts corresponding to the four pull ropes in the fixed numbering order of the four pull ropes to form a corrected take-up and release amount group.

[0140] When executing the corrected take-up and release amount group for the four pull ropes, the controller reads the corrected take-up and release amount from the group for each rope. When the corrected take-up and release amount for any pull rope is positive, the controller converts it into a take-up control command for the servo controller and controls that pull rope to take up. When the corrected take-up and release amount for any pull rope is negative, the controller obtains the absolute value of the corrected take-up and release amount for that pull rope, converts it into a release control command for the servo controller, and controls that pull rope to release. When the corrected take-up and release amount for any pull rope is zero... The controller does not send rope retraction or release control commands to any servo controller corresponding to any rope, and controls any rope to maintain its current rope length value. When executing rope retraction or release control commands, the controller simultaneously reads the current rope length value and the current rope tension value. When the current rope length value after execution exceeds the preset length range, or the current rope tension value after execution exceeds the preset tension range, the controller stops the rope retraction or release of the corresponding rope, and re-acquires the current attitude, current rope length value, and current rope tension value for the next generation of target deviation and four-rope collaborative allocation matrix.

[0141] Example 2:

[0142] This embodiment provides a rope take-up and release amount distribution control device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the rope take-up and release amount distribution control method.

[0143] In summary, this application uses azimuth, pitch, and roll as attitude directions. The target deviation between the target attitude and the current attitude is directly input into the four-rope collaborative allocation matrix. The allocation weights are determined by the spatial connection relationship, direction of action, current rope length, and current rope tension of the four ropes in the current attitude. When the target take-off and release groups exhibit repetitive concentration characteristics, the allocation weight of the ropes corresponding to the repetitive concentration is reduced, and the weight reduction is transferred to the candidate receiving ropes that meet the tension conditions in the same non-dominant attitude direction. This allows the same rope to be stacked in the same direction in multiple attitude directions. The control quantity of the additional allocation is reduced; when the target retraction and extension quantity group has insufficient allocation characteristics, by increasing the allocation weight of the dominant receiving rope corresponding to the dominant attitude direction and decreasing the allocation weight of the alternative receiving rope corresponding to the dominant attitude direction, the control quantity of the dominant attitude direction is borne by the dominant receiving rope in a corresponding proportion; therefore, this application can convert the composite attitude adjustment requirement into a corrected retraction and extension quantity group that conforms to the cooperative constraints of the four ropes, so that the four ropes have completed the correction of the repetitive concentration characteristics and insufficient allocation characteristics before execution, thereby reducing the inconsistency in the execution quantity allocation of the four ropes caused by direct superposition after single-axis decomposition.

[0144] The above description is merely a preferred embodiment of this application. The scope of protection of this application is not limited to the above embodiments. All technical solutions falling within the scope of this application's concept are within the scope of protection of this application. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of this application should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the distribution of draw rope release and take-off, characterized in that, include: Collect the current rope length and tension values ​​of the four ropes, obtain the current attitude and target attitude, and obtain the target deviation determined by the target attitude and the current attitude; Using azimuth, pitch, and roll as attitude directions, the weighting of each rope for each attitude direction is determined based on the spatial connection of the four ropes in the current attitude, the direction of action of each rope when it is retracted or released, the current rope length value, and the current rope tension value, and a four-rope collaborative weighting matrix is ​​established. Input the target deviation into the four-rope collaborative allocation matrix to generate the sub-item take-up and release amounts for each rope in each attitude direction and the target take-up and release amount group for the four ropes. The attitude direction corresponding to the deviation with the largest absolute value among the target deviations is determined as the dominant attitude direction; When the sub-items of the take-up and release of the same pull rope in at least two attitude directions are both take-up or both release, it is determined that the target take-up and release group has a repetitive and concentrated characteristic. When the absolute value of the sub-item take-up and release amount of the dominant receiving pull rope corresponding to the dominant attitude direction, determined based on the preset basic weight, is less than the absolute value of the sub-item take-up and release amount of other pull ropes with the same action direction corresponding to the dominant attitude direction, it is determined that the target take-up and release amount group has insufficient allocation characteristics. The allocation weights are adjusted based on the characteristics of repetitive concentration and insufficient allocation, and the corrected take-in and release amount groups for the four pull ropes are generated and executed.

2. The method for controlling the distribution of draw rope retraction and extension according to claim 1, characterized in that, Methods for determining the dominant attitude direction include: Target deviations include azimuth deviation, pitch deviation, and roll deviation; Obtain the absolute values ​​of azimuth deviation, pitch deviation, and roll deviation respectively; When one absolute value is greater than the other two absolute values, the attitude direction corresponding to the deviation with the largest absolute value is determined as the dominant attitude direction. When at least two absolute values ​​are equal and both are greater than the remaining absolute values, for each attitude direction with equal absolute values, count the number of ropes whose weights are not zero and whose current rope tension exceeds the preset tension range under the corresponding attitude direction. When the number of ropes obtained from the statistics has a maximum value, the posture direction corresponding to the maximum value is determined as the dominant posture direction; When there is no unique maximum value for the number of ropes obtained from statistics, the dominant posture direction is determined from the posture directions with equal absolute values ​​according to the preset posture direction priority.

3. The method for controlling the distribution of draw rope retraction and extension according to claim 1, characterized in that, Methods for determining the weighting of each rope for each attitude direction include: Based on the spatial connection relationship of the four ropes in the current posture and the direction of action of each rope on each posture direction when it is pulled up or released, determine the direction sign of each rope with respect to each posture direction. The length deviation is determined based on the deviation between the current rope length and the preset length range; The tension deviation is determined based on the deviation between the current tension value and the preset tension range; Read the preset basic weights for each rope corresponding to each posture direction from the preset basic weight table; The weight deduction amount is determined based on the length deviation, tension deviation, preset length correction coefficient, and preset tension correction coefficient, and the weight deduction amount is deducted using the preset basic weight. Multiply the pre-set base weights after deduction by the direction sign to obtain the weights assigned to each rope for each attitude direction.

4. The method for controlling the distribution of draw rope retraction and extension according to claim 1, characterized in that, Methods for determining whether a target release / receive volume group exhibits repetitive clustering characteristics include: The directional statistics of the individual take-up and release amounts for the same pull rope in the corresponding orientation, pitch and roll are obtained to obtain the number of ropes taken up and released for each attitude direction. When the number of rope take-up amounts in each attitude direction of the same pull rope is not less than two, or the number of rope release amounts is not less than two, it is determined that the target take-up and release amount group has a repetitive and concentrated characteristic.

5. The method for controlling the distribution of draw rope retraction and extension according to claim 1, characterized in that, Methods for determining whether a target release / receiver group has under-allocation characteristics include: Under the dominant posture direction, the rope with the largest absolute value of the preset basic weight corresponding to the dominant posture direction is determined as the dominant receiving rope. When the absolute value of the sub-item take-up and release amount of the main receiving pull rope corresponding to the main attitude direction is less than the absolute value of the sub-item take-up and release amount of at least one other pull rope with the same action direction corresponding to the main attitude direction, it is determined that the target take-up and release amount group has insufficient allocation characteristics.

6. The method for controlling the distribution of draw rope retraction and extension according to claim 5, characterized in that, After determining that the target release and take-off volume group has insufficient allocation characteristics, it also includes: Among the other ropes that act in the same direction as the main receiving rope in the main attitude direction, the rope with the largest absolute value of the sub-item take-up and release amount in the corresponding main attitude direction is determined as the alternative receiving rope. The absolute difference between the sub-item take-up and release amounts of the alternative receiving rope and the main receiving rope in the dominant attitude direction is determined as the insufficient allocation amount. The increase in the allocation weight of the main receiving rope in the corresponding main posture direction is determined based on the insufficient allocation amount.

7. The method for controlling the distribution of rope retraction and extension according to claim 6, characterized in that, Methods for adjusting allocation weights based on the characteristics of duplicated sets and insufficient allocation include: When the target take-up and take-down volume group has a repetitive concentration feature, the pull rope with at least two sub-items of take-up and take-down volume in the same direction is identified as the repetitive concentration pull rope, and the allocation weight of the non-dominant attitude direction corresponding to the repetitive concentration pull rope is reduced. When the target take-up and take-down volume group has insufficient allocation characteristics, increase the allocation weight of the dominant receiving pull rope corresponding to the dominant attitude direction and decrease the allocation weight of the alternative receiving pull rope corresponding to the dominant attitude direction. The four-rope collaborative allocation matrix was re-established after adjustment.

8. The method for controlling the distribution of draw rope retraction and extension according to claim 7, characterized in that, Methods to reduce the weighting of non-dominant posture directions corresponding to repeated concentrated rope pulling include: In the repeated concentrated pull rope corresponding to at least two unidirectional sub-items of take-up and release, determine the allocation weight corresponding to the non-dominant posture direction; Identify candidate receiving ropes that are in the same direction of action as the repeated concentrated pulling ropes under the same non-dominant posture direction and whose current tension value is within the preset tension range; When the number of candidate receiving ropes is zero, the weighting of the non-dominant posture direction corresponding to the repeated concentrated ropes remains unchanged; When the number of candidate receiving ropes is not zero, reduce the allocation weight of the non-dominant posture direction corresponding to the repeated concentrated ropes to obtain the weight reduction amount, and allocate the weight reduction amount to the candidate receiving ropes.

9. The method for controlling the distribution of draw rope retraction and extension according to claim 6, characterized in that, The methods for determining the increase in the allocation weight of the dominant receiving rope in the dominant attitude direction based on the insufficient allocation amount include: Multiply the insufficient allocation amount by the preset weight conversion coefficient to obtain the increase in candidate weight; The amount that can be reduced is obtained based on the difference between the absolute value of the current assigned weight of the alternative receiving rope in the dominant posture direction and the preset weight lower limit. The remaining amount that can be increased is obtained based on the difference between the preset upper limit of the weight of the dominant receiving rope corresponding to the dominant posture direction and the absolute value of the currently allocated weight; The minimum value among the candidate weight increase, the amount that can be reduced, and the remaining amount that can be increased is selected as the weight increase for allocation; According to the original direction signs of the dominant attitude directions corresponding to the alternative receiving rope and the dominant receiving rope, the absolute value of the assigned weight is reduced or increased, and the original direction signs are restored after adjustment.

10. A rope take-up and release amount distribution control device, used to implement the rope take-up and release amount distribution control method according to any one of claims 1-9, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the aforementioned rope take-up and release distribution control method when executing the computer program.

Images