CN109516320A - A kind of control method for receiving discharge automatically suitable for variable diameters cable - Google Patents
A kind of control method for receiving discharge automatically suitable for variable diameters cable Download PDFInfo
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- CN109516320A CN109516320A CN201811419905.7A CN201811419905A CN109516320A CN 109516320 A CN109516320 A CN 109516320A CN 201811419905 A CN201811419905 A CN 201811419905A CN 109516320 A CN109516320 A CN 109516320A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/32—Optical fibres or optical cables
Abstract
The invention proposes a kind of control methods for receiving discharge automatically suitable for variable diameters cable.This method, which uses the release determined based on stabilizing moment, recycles speed control algorithm realizes the safety of release and recycling；Meanwhile passing through the measurement to folding and unfolding cable real time length, speed and combining the current cable diameter row's of adjustment cable driving speed in real time, to realize the Dual-spindle linked control for closely arranging cable under different cable diameters, length.Cable is able to maintain the state of relative close always in folding and unfolding repeatedly, improves the reliability of variable diameters drawing cable.
Description
Technical field
It is specially a kind of to receive discharge automatically suitable for variable diameters cable the present invention relates to Mechatronic control system application field
Control method.
Background technique
" foreign countries are latent to use the extension and retraction system brief introduction of dragging line battle array, acoustics and electronic engineering to document 1, and 2009 the 3rd phases, p21-22 " is introduced
The development of external dragging line battle array folding and unfolding technology.Modern submarine configuration dragging line battle array sonar mostly use greatly can extension and retraction system, dive
Dragging line battle array folding and unfolding storage device is mounted in ship, towing cable and dragging line battle array are stored in ship, and when use releases dragging line battle array.It has used
Dragging line battle array is taken in ship after finishing.Can extension and retraction system have it is easy to use, small advantage is influenced on submarine mobility.The U.S. " Lip river
The submarines such as Shan Ji " grade, " wave " grade, Britain " alertness " grade, Germany U212A are equipped with retractable dragging line battle array sonar.It is latent to use
Dragging line battle array draw off gear is mounted on other than pressure hull, needs the folding and unfolding that dragging line battle array is completed under water, under conditions of unmanned auxiliary, by
In special environment and mode of operation, extension and retraction system design need to solve the initial safe release of such as dragging line battle array, the biography in ship
It is defeated and protection, reciprocal folding and unfolding reliability the problems such as.But it is very limited about the latent technical data with dragging line battle array extension and retraction system.
Document 2 " unattended formula underwater winch system research, mine warfare and warship's safety, 2010.02, Vol.18,
No.1p43-46 " does not arrange rope type underwater winch in the external several typical underwater winchs of introduction and one kind and single layer row's rope type is underwater
After winch principle prototype, a kind of unattended formula underwater winch shape and principle are disclosed.The winch has dragline device, can keep away
The knotting and winding of cable during putting are exempted from, improves reliability when folding and unfolding, but the winch is only suitable for single cable diameters
Folding and unfolding control, for a variety of cable diameters row around being limited.
Its release and recycling are executed under unmanned state after the optical fiber dragging line battle array that submarine navigation device installs additional, when release
If the cable released on dragging line battle array cable disk cannot be hauled out in real time will make outside aircraft cable occur in aircraft redundancy accumulation,
Bending dragging line battle array simultaneously squeezes aircraft, jeopardizes the safety of dragging line battle array and aircraft；Actually for optical fiber dragging line battle array, while there are three types of
Different diameters and its corresponding length, to guarantee to remain to safe retrieving after dragging line battle array repeatedly discharges under water, it is desirable that each folding and unfolding
Cable can be closely spaced together in the process.Although document 1 describes several latent contour structures and key with dragging line battle array
Technology, but key technology is not yet disclosed, can not be referred to；Though document 2 is able to achieve the reciprocal folding and unfolding control of cable, it is limited to list
Under one cable diameter, and it is unable to satisfy variable diameters cable and repeats release, recycling and the control requirement of close row's cable.
Summary of the invention
Cable under multiple diameter is broken through simultaneously to improve the safety for discharging and recycling after aircraft installs optical fiber dragging line battle array additional
It discharges repeatedly, remain to closely arrange around problem after recycling, the invention proposes a kind of to receive discharge suitable for variable diameters cable automatically
Control method.This method, which uses the release determined based on stabilizing moment, recycles speed control algorithm realizes release and recycling
Safety；Meanwhile passing through the measurement to folding and unfolding cable real time length, speed and combining the current cable diameter speed of the row's of adjustment cable driving in real time
Degree, to realize the Dual-spindle linked control for closely arranging cable under different cable diameters, length.Cable is able to maintain always in folding and unfolding repeatedly
The state of relative close improves the reliability of variable diameters drawing cable.
The technical solution of the present invention is as follows:
A kind of control method for receiving discharge automatically suitable for variable diameters cable, it is characterised in that: including start secure
It releases the control, the control of dragging line battle array safe retrieving and close row's cable control when folding and unfolding；
The start secure is released the control using the rate of release control algolithm determined based on stabilizing moment, according in folding and unfolding
In the process, the folding and unfolding torque T that the cable disk measured by sensor is subject to controls the cable releasing speed of cable disk:
Wherein vfFor cable releasing speed, T0Torque threshold, T are discharged for startingmaxFor maximum moment allowed, VmaxIt is maximum allowable
Speed, T1To be gradually increased to V when cable releasing speedmaxWhen corresponding torque；
Dragging line battle array safe retrieving control is using the recycling speed control algorithm determined based on stabilizing moment, according to receiving
During putting, the folding and unfolding torque T that the cable disk measured by sensor is subject to controls the take-up speed of cable disk:
Wherein vsFor take-up speed, V2Speed, T are recycled for minimum2To reach V when take-up speedmaxWhen corresponding torque；
Close row's cable control when the folding and unfolding adjusts control algolithm using the speed of folding and unfolding and row's cable Dual-spindle linked, in real time
Obtain cable diameter dlWith the cable disk cable releasing speed or take-up speed determined by process above, according to formula
Control row cable motor control revolving speed np, wherein nsCable disk to be determined according to cable disk cable releasing speed or take-up speed turns
Speed, ipTo arrange cable system slowdown ratio, s is cable sector lead.
Beneficial effect
The beneficial effects of the present invention are: the dragging line battle array draw off gear designed using this method, carrying UUV, which has been successfully completed, to be comforted
The test of folding and unfolding for several times on celestial lake, the receipts discharge for realizing variable diameters optical fiber dragging line battle array automatically control；The project is subsequent greatly enhances
It spends application of the optical fiber dragging line battle array on the submarine navigation devices such as UUV and has established technical foundation, the remote probe energy of UUV can be greatly improved
Power, make it possible multiple functions complex probe on UUV application.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
Cable under multiple diameter is broken through simultaneously to improve the safety for discharging and recycling after aircraft installs optical fiber dragging line battle array additional
It discharges repeatedly, remain to closely arrange around problem after recycling, the invention proposes a kind of to receive discharge suitable for variable diameters cable automatically
Control method.This method, which uses the release determined based on stabilizing moment, recycles speed control algorithm realizes release and recycling
Safety；Meanwhile passing through the measurement to folding and unfolding cable real time length, speed and combining the current cable diameter speed of the row's of adjustment cable driving in real time
Degree, to realize the Dual-spindle linked control for closely arranging cable under different cable diameters, length.Cable is able to maintain always in folding and unfolding repeatedly
The state of relative close improves the reliability of variable diameters drawing cable.
This method includes close row's cable control when start secure releases the control, dragging line battle array safe retrieving controls and folding and unfolding.
1 start secure releases the control
Optical fiber dragging line battle array is discharged and is recycled by unwrapping wire pipeline, and drag is not enough or because pipeline rubs when to prevent release
Wipe, blocking causes the dragging line battle array of release accumulate, squeeze in aircraft, jeopardizing dragging line battle array and product safety, to towing when release
Torque is monitored and passes through torque range when safe release is tested in simulation release, determines starting release torque threshold, maximum
Allow torque, provides change curve of the torque greater than speed and torque after threshold value in conjunction with rate of release；It has determined therefrom that based on steady
The rate of release control algolithm for determining torque judgement, as shown in formula (1), according to cable during folding and unfolding, measured by sensor
The folding and unfolding torque T that disk is subject to controls the cable releasing speed of cable disk:
Wherein vfFor controlled cable releasing speed；T0Torque threshold is discharged for starting, is converted in the present embodiment by pipe friction
1.5 times calculating of the torque plus the sum of cable disk rotating torque；TmaxFor maximum moment allowed, broken in the present embodiment by dragging line battle array
0.5 times of force value is converted and the value should be much smaller than the tilting moment of worm and gear in cable disk；VmaxFor maximum permission speed, VmaxValue
Given by design side but should be less than the speed of a ship or plane of aircraft ontology when release；T1To be gradually increased to V when cable releasing speedmaxWhen it is corresponding
Torque；Above formula gives when folding and unfolding torque is in [T0,Tmax] Shi Zhihang based on torque determine rate of release control calculate
Method, the formula do not depend on the speed of a ship or plane and state of aircraft, can execute to release order and be effectively ensured under conditions of broad and release
The safety put.
The control of 2 dragging line battle array safe retrievings
When for the recycling of dragging line battle array, pulling force is not excessive when to guarantee recycling, jeopardizes the safety of dragging line battle array and product, to recycling
When speed also need carry out torque judgement control, as shown in formula (2), using determined based on stabilizing moment recycling speed control calculation
Method controls the take-up speed v of cable disk according to the folding and unfolding torque T that cable disk during folding and unfolding, measured by sensor is subject tos:
Accumulation of the dragging line battle array in aircraft will not occur when recycling, need to only consider that pulling force when recycling is no more than dragging line battle array
Allow pulling force and does not topple, therefore maximum moment TmaxValue when still can be by release calculates, only when torque is less than TmaxShi Caikai
Begin to recycle；As the reduction speed of torque is gradually increased until that torque is down to T when recycling2Speed reaches maximum V afterwardsmax, VmaxStill
Value when by release, is determined by design；V2It is that torque is less than TmaxWhen minimum recycling speed, take maximum speed in the present embodiment
Half；T2To reach V when take-up speedmaxWhen corresponding torque.When torque is no more than T2Shi Zhihang constant speed way of recycling, so as to
Dragging line battle array is quickly retracted to cable disk；When torque is in [T2,Tmax] when use deceleration way of recycling, with guarantee equipment recycling
Safety.
Close row's cable control when 3 folding and unfolding
To realize that variable diameters cable tightens solid matter around need to know different moments corresponding cable diameter, and foundation in cable disk
The speed of the cable disk rotating speed row's of adjustment cable in real time makes when cable disk one circle of rotation the mobile distance of row's cable be exactly the astragal cable corresponding
Cable diameter value.Here it uses the length of absolute value encoder real-time measurement folding and unfolding dragging line battle array and corresponding line is determined according to the length value
Diameter value is controlled row's cable using speed change move mode further according to the cable disk rotating speed row's of adjustment cable speed in real time, to guarantee tight
Solid matter cable obtains cable diameter d as shown in formula (3) in real timelWith the cable disk cable releasing speed determined by process above or take-up speed
Degree, according to formula
Control row cable motor control revolving speed np, wherein nsCable disk to be determined according to cable disk cable releasing speed or take-up speed turns
Speed, ipTo arrange cable system slowdown ratio, s is cable sector lead.In the present embodiment, dlValue according to software set, when length value reaches
When to predetermined set, algorithm automatically switches to cable diameter value at this time, to guarantee to arrange the accuracy of cable position.
In addition, cannot bear to bend for the optical fiber dragging line battle array place of starting, it is accurate to need when returning to first lap after release
Determine the position of starting, reverse-winding will be carried out otherwise to damage dragging line battle array.On the one hand remembered accordingly using absolute type encoder
Position when record starting coiling guarantees record take-up length no more than release length；On the other hand limit is set at the row's of starting cable
Position travel switch carries out double protection, dual identification is carried out to extension position and limit switch signal in software design, to guarantee
The safe release of dragging line battle array and the timely parking of motor.Since row's cable control is opened loop control, because of the presence of data noise
So that certain deviation will occur in position after repeatedly row's cable, (release finishes) row is respectively set at cable sector both ends thus
Cheng Kaiguan and (commutation) travel switch simultaneously cooperate absolute position coder to be positioned, by acquiring travel switch and volume in real time
The output of code device adjusts cable sector position to guarantee no matter when position deviation is always within the scope of allowable error, specifically such as
Under:
The first lap of dragging line battle array fixed first, mobile cable-remover make it trigger the output of (release finishes) travel switch when debugging
H1, record encoder position P at this time1, cable-remover position is adjusted after first layer arranges cable opens its triggering (changing layer) stroke
Close output H2And record the position P of encoder at this time2, row's cable of the progress second layer after layer is changed, a fixed length is reserved according to unwrapping wire pipe range
Dragging line battle array is completed after degree arranges cable, position P when record row's cable finishes3.Assuming that take-up process code device output position data increase
And every circle numerical value change 4096, by taking release process as an example:
1, H is detected in the ban2When, encoder output P meets P2< P < P2+ 4096, it is not further processed, commutates subsequent
It is continuous to be discharged；If P2+ n4096 < P < P2+ (n+1) 4096, the then stalling of the heel row that commutates cable motor, cable disk continue to discharge n
After circle, row's cable motor is continued to run, and a layer process is changed in completion.H is first detected again when continuing release1When, if encoder output P is full
Sufficient P1+ Δ P < P < P1+ 4096 (Δ P is safe release surplus), then stop discharging, it is believed that the release of dragging line battle array finishes；If P1+n·
4096 < P < P1+ (n+1) 4096, then arrange the stalling of cable motor, and cable disk continues to think that the release of dragging line battle array finishes after discharging n circle；When
If first detecting P after continuing release1When+Δ P, then dragging line battle array release finishes, and stopping cable disk rotates and the row's of movement cable motor rotates
Until triggering H1The release of dragging line battle array is completed in output.
2, P is detected in the ban2When, if continuing to run in encoder output P in P2- 4096 < P < P2H is detected in range2
It when signal, is not also further processed, continues to discharge after commutation；If when P is in P2(n+1) 4096 < P < P2-n·
H is detected in 4096 ranges2When signal, then cable disk stops release, and cable-remover continues to move to nd after commutationlDistance after, continue into
A layer process is changed in row release, completion.P is first detected again when continuing release1When+Δ P, then dragging line battle array release finishes, and stops cable disk
It rotates and the row's of movement cable motor rotates up to triggering H1The release of dragging line battle array is completed in output；If first detecting H when continuing release1When,
And encoder output P meets P1+ Δ P < P < P1+ 4096 (Δ P is safe release surplus), then stop discharging, it is believed that dragging line battle array is released
It discharges complete；If P1+ n4096 < P < P1+ (n+1) 4096, then arrange the stalling of cable motor, and cable disk continues to think to drag after discharging n circle
Linear array release finishes.
The above-mentioned process that releases the control can guarantee that row cable position does not occur relatively large deviation when originating and changing layer, realize that safety is released
It puts；Its location error of pilot process is determined by speed control error, practice have shown that the error amount is minimum；Similarly, when cable recycles
Control process can refer to above situation analogy and be operated.By using above embodiment and control algolithm is combined, is realized
The automatic receipts emission control of variable diameters cable simultaneously improves the safety and reliability to work under unmanned state.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. a kind of control method for receiving discharge automatically suitable for variable diameters cable, it is characterised in that: discharge and control including start secure
Close row's cable control when system, the control of dragging line battle array safe retrieving and folding and unfolding；
The start secure is released the control using the rate of release control algolithm determined based on stabilizing moment, according in folding and unfolding process
In, the folding and unfolding torque T that the cable disk measured by sensor is subject to controls the cable releasing speed of cable disk:
Wherein vfFor cable releasing speed, T0Torque threshold, T are discharged for startingmaxFor maximum moment allowed, VmaxFor maximum permission speed,
T1To be gradually increased to V when cable releasing speedmaxWhen corresponding torque；
The dragging line battle array safe retrieving control is using the recycling speed control algorithm determined based on stabilizing moment, according in folding and unfolding
Cheng Zhong, the folding and unfolding torque T that the cable disk measured by sensor is subject to control the take-up speed of cable disk:
Wherein vsFor take-up speed, V2Speed, T are recycled for minimum2To reach V when take-up speedmaxWhen corresponding torque；
Close row's cable control when the folding and unfolding adjusts control algolithm using the speed of folding and unfolding and row's cable Dual-spindle linked, obtains in real time
Cable diameter dlWith the cable disk cable releasing speed or take-up speed determined by process above, according to formula
Control row cable motor control revolving speed np, wherein nsFor the cable disk rotating speed determined according to cable disk cable releasing speed or take-up speed, ip
To arrange cable system slowdown ratio, s is cable sector lead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419905.7A CN109516320B (en) | 2018-11-26 | 2018-11-26 | Control method suitable for automatic winding and discharging of variable-diameter cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811419905.7A CN109516320B (en) | 2018-11-26 | 2018-11-26 | Control method suitable for automatic winding and discharging of variable-diameter cable |
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| Publication Number | Publication Date |
|---|---|
| CN109516320A true CN109516320A (en) | 2019-03-26 |
| CN109516320B CN109516320B (en) | 2020-11-10 |
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| CN201811419905.7A Active CN109516320B (en) | 2018-11-26 | 2018-11-26 | Control method suitable for automatic winding and discharging of variable-diameter cable |
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| JP6379734B2 (en) * | 2014-06-27 | 2018-08-29 | 住友電気工業株式会社 | Tape tension control method and tape winding material manufacturing method |
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2018
- 2018-11-26 CN CN201811419905.7A patent/CN109516320B/en active Active
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|---|---|---|---|---|
| JP6379734B2 (en) * | 2014-06-27 | 2018-08-29 | 住友電気工業株式会社 | Tape tension control method and tape winding material manufacturing method |
| CN104627886A (en) * | 2014-12-29 | 2015-05-20 | 杭州航海仪器有限公司 | Automatic cable arranging device and method for multi-diameter cable arrays on winch |
| CN106946097A (en) * | 2017-03-21 | 2017-07-14 | 南京航空航天大学 | Cable pull self-regulation capstan winch and its control method |
| US10392236B2 (en) * | 2017-03-23 | 2019-08-27 | The Boeing Company | String reels with level wind apparatus |
| CN107187960A (en) * | 2017-07-06 | 2017-09-22 | 西安科技大学 | Wired control machine people cable winding apparatus and drawing cable method |
| CN207390696U (en) * | 2017-07-18 | 2018-05-22 | 深圳市景宏光电科技有限公司 | A kind of intelligent radio and tape player for being applied to be tethered at unmanned plane |
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| Publication number | Publication date |
|---|---|
| CN109516320B (en) | 2020-11-10 |
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