EP3319899B1 - Winch, method for controlling operation of a winch and method for operating a winch - Google Patents

Description

State of the art

The present invention relates to a method for controlling operation of a cable winch, a method for operating a cable winch, a corresponding device, a cable winch and a corresponding computer program product.

Cable winches, for example electric rescue winches, can have a capstan drive (also known as a capstan drive) and a cable drum for winding and unwinding a winch cable. The drum can be driven directly by a main drive, with a speed difference arising from the winding layers being able to be compensated for by means of a slipping clutch.

The DE 10 2012 013 527 A1 relates to an electrically operated cable drum as the main component of an electric capstan winch that can be used as a rescue winch in helicopters. The FR 2 843 954 A1 discloses a method for controlling an operation of a cable winch, the method being executable in connection with a cable winch which has a capstan drive unit for bringing in a cable into the cable winch and deploying the cable from the cable winch, a main drive for driving the capstan drive unit, a cable drum for receiving the Has rope by winding and unwinding the rope and a drum drive for driving the cable drum, wherein the drum drive and the main drive can be operated independently.

Disclosure of Invention

Against this background, a method for controlling operation of a cable winch, a method for operating a cable winch, a corresponding device, a cable winch and a corresponding computer program product according to the main claims are presented with the present invention. Advantageous configurations result from the respective dependent claims and the following description.

According to embodiments of the present invention, in particular a control strategy or regulation strategy or a regulation concept for cable winches, for example for electric cable winches, such as electric rescue winches, can be provided. Instead of coupling the main drive and cable drum, two separate drives, such as electric drives, each with a motor Transmission, be provided to independently drive a capstan drive and a rope drum. In particular, a torque on the cable drum can be increased here if cable slip is detected on the capstan drive. More precisely, for example, a cable section between the capstan drive and the cable drum can be kept under tension by adjusting the torque on the cable drum.

Advantageously, according to embodiments of the present invention, a cable winch can be operated with a winch cable at the optimum working point, particularly due to the control strategy or the regulation concept, which can reduce both wear on the cable and wear in mechanical components of the cable winch. In addition, parts can be saved, such as a slipping clutch, whereby the wear of such a part can be prevented, for example in comparison to a rigid coupling between drum and capstan drive, a variable torque suitable for the respective operating situation and thus easy adaptation to changing framework conditions will be realized. In particular, a slipping clutch can be dispensed with, in which case wear on a slipping clutch can be avoided and wear on the winch cable can be reduced.

A method for controlling the operation of a cable winch is presented, the method being executable in connection with a cable winch which has a capstan drive unit for bringing in a cable into the cable winch and releasing the cable from the cable winch, a main drive for driving the capstan drive unit, a cable drum for picking up the cable by winding and unwinding the cable, a drum drive for driving the cable drum, the drum drive and the main drive being operable independently of one another, and having a speed measuring device which is arranged in a cable entry section of the cable winch, the method having the following steps:
reading in a first speed, which represents a speed of the main drive, and a second speed, which represents a speed detected by the speed measuring device; and

Determining a torque value for setting a torque of the drum drive depending on the first speed and the second speed.

The cable winch can be designed as an electric cable winch. The cable winch can be used as a rescue winch or the like. The cable winch can also be installed in a vehicle, for example in an aircraft. The main drive can have an electric motor. Additionally or alternatively, the drum drive can have an electric motor. The drum drive and additionally or alternatively the main drive can also each have a gear. The cable entry section can represent a section of the cable winch in which the cable or winch cable enters the cable winch and additionally or alternatively exits from the cable winch. The capstan drive unit with the main drive can be arranged within the cable winch between the cable drum with the drum drive and the cable entry section with the speed measuring device in relation to a cable running direction. The first speed can be understood as a first speed value and the second speed can be understood as a second speed value. The first speed can be read in via an interface to the main drive or a detection device assigned to the main drive. The second speed can be read in via an interface to the speed measuring device.

According to one embodiment, the method can include a step of detecting the first speed and the second speed. Here, the first speed can be detected using the main drive. The second speed can be detected using the speed measuring device. The first speed and the second speed can be related to a reference diameter or normalized. Such an embodiment offers the advantage that the torque can be set reliably on the basis of easily available data.

The method can also have a step of determining a speed difference and additionally or alternatively a speed ratio between the first speed and the second speed. In this case, in the step of determining, the torque value can be determined as a function of the speed difference and additionally or alternatively the speed ratio. Such an embodiment offers the advantage that slippage of the cable on the capstan drive unit can be detected in a simple manner and can be eliminated reliably by adjusting the torque on the drum.

Furthermore, the method can have a step of performing a comparison of a mathematical relationship or a link between the first speed and the second speed with a threshold value for the mathematical relationship or the link. In this case, in the step of determining, the torque value can be determined as a function of a result of the comparison. The mathematical relationship can be a speed difference and additionally or alternatively a speed ratio between the first speed and the second speed. In this case, in the implementation step, an amount of the rotational speed difference can be compared with the threshold value. The threshold value can represent a slip limit, for example. Such an embodiment offers the advantage that, if the threshold value is exceeded, countermeasures can be taken quickly and reliably by adjusting the torque, so that the mathematical relationship again complies with the threshold value.

In particular, in the step of determining, the torque value can be determined in a starting state of the cable winch as an initial value using at least one default value dependent on the cable load. In this case, a look-up table with default values dependent on the cable load can be used in the determination step. Such an embodiment offers the advantage that cable slippage can be reliably prevented even when the drives of the cable winch are at a standstill during a start-up process.

In addition, the method can have a step of providing a control signal for controlling the drum drive. The control signal can represent the torque value. Using the control signal, the drum drive can be operable. In this case, the control signal can have, in particular, a setpoint value for the torque of the drum drive or a controlled or controlled variable for the torque. Such an embodiment offers the advantage that operational reliability of the cable winch can be increased in a simple and safe manner and wear of parts and of the cable can be prevented or reduced.

A method for operating a cable winch is also presented, the cable winch having a capstan drive unit for hauling in a cable into the cable winch and releasing the cable from the cable winch, a main drive for driving the capstan drive unit, a cable drum for receiving the cable by winding and unwinding the cable , A drum drive for driving the cable drum, wherein the The drum drive and the main drive can be operated independently of one another, and has a speed measuring device which is arranged in a cable entry section of the cable winch, the method having the following step:
Controlling an operation of the winch by performing the steps of an embodiment of the above method to reel in or pay out a cable from the winch.

The method of operating can advantageously be carried out in connection with an embodiment of the above method of controlling. In this case, in the control step, a control signal can also be used to activate the drum drive, which signal represents the torque value determined according to an embodiment of the above-mentioned method.

According to one embodiment, in the step of controlling, the torque of the drum drive can be adjusted until a mathematical relationship or a link between the first speed and the second speed meets a threshold value. Such an embodiment offers the advantage that slippage of the cable on the capstan drive unit can be reliably prevented or detected and eliminated.

A device is also presented which is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices. The object on which the invention is based can also be achieved quickly and efficiently by this embodiment variant of the invention in the form of a device.

The device can be designed to read in input signals and to determine and provide output signals using the input signals. An input signal can represent, for example, a sensor signal that can be read in via an input interface of the device. An output signal may represent a control signal or a data signal that may be provided at an output interface of the device. The device can be designed to determine the output signals using a processing specification implemented in hardware or software. For example, the device to a logic circuit, a include an integrated circuit or a software module and be implemented, for example, as a discrete component or be comprised of a discrete component.

• eine Spillantriebseinheit zum Einholen eines Seils in die Seilwinde und Ausbringen des Seils aus der Seilwinde;
• einen Hauptantrieb zum Antreiben der Spillantriebseinheit;
• eine Seiltrommel zum Aufnehmen des Seils durch Aufwickeln und Abwickeln des Seils;
• einen Trommelantrieb zum Antreiben der Seiltrommel, wobei der Trommelantrieb und der Hauptantrieb unabhängig voneinander betreibbar sind;
• eine Drehzahlmesseinrichtung, die in einem Seileintrittsabschnitt der Seilwinde angeordnet ist; und
• eine Ausführungsform der vorstehend genannten Vorrichtung, wobei die Vorrichtung signalübertragungsfähig mit dem Hauptantrieb, dem Trommelantrieb und der Drehzahlmesseinrichtung verbindbar oder verbunden ist.

A cable winch is also presented, which has the following features:

• a capstan drive unit for hauling in a rope into the winch and paying out the rope from the winch;
• a prime mover for driving the capstan drive unit;
• a rope drum for taking up the rope by winding and unwinding the rope;
• a drum drive for driving the cable drum, the drum drive and the main drive being operable independently of one another;
• a rotation speed measuring device, which is arranged in a cable entrance section of the cable winch; and
• an embodiment of the above-mentioned device, wherein the device can be connected or is connected to the main drive, the drum drive and the speed measuring device in a manner capable of transmitting signals.

In connection with the cable winch, an embodiment of the aforementioned device can thus be advantageously employed or used, in particular to control operation of the cable winch and additionally or alternatively to operate the cable winch. An embodiment of one of the methods mentioned above can also be carried out advantageously in connection with or using the cable winch.

According to one embodiment, the speed measuring device can have a cable entry roller and a speed sensor. Here, the speed sensor can be designed to detect a speed of the cable entry roller. Such an embodiment offers the advantage that the second rotational speed at the cable entrance can be detected in a simple and reliable manner.

In particular, the speed sensor can be designed to detect the speed of the cable entry roller in a non-contact manner. Such an embodiment offers the advantage that the rotational speed can be detected in a low-wear and precise manner.

The capstan drive unit can also have a plurality of rope pulleys for receiving a plurality of windings of the rope. In this case, the plurality of cable pulleys can be arranged in two radially spaced packages with the same number of coaxially lined up, rigidly connected cable pulleys. A first package can be driven by the main drive. A second pack may be mechanically coupled to the first pack by a power transmission. Such an embodiment offers the advantage that high loads can be absorbed by the rope, with slippage of the rope on the capstan drive unit being able to be minimized by its design properties.

Furthermore, the axes of rotation of the capstan drive unit, the cable drum and the speed measuring device can be parallel to one another within manufacturing tolerances. Such an embodiment offers the advantage that a form factor of the cable winch can be reduced, with the cable being or being able to be guided in the cable winch with little wear.

A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory, is also advantageous. If the program product or program is executed on a computer or a device, then the program product or program can be used to carry out, implement and/or control the steps of the method according to one of the embodiments described above.

• Fig. 1 eine schematische Darstellung einer Seilwinde gemäß einem Ausführungsbeispiel;
• Fig. 2 eine perspektivische Darstellung einer Seilwinde gemäß einem Ausführungsbeispiel;
• Fig. 3 ein Ablaufdiagramm eines Verfahrens zum Steuern gemäß einem Ausführungsbeispiel; und
• Fig. 4 ein Ablaufdiagramm eines Verfahrens zum Betreiben gemäß einem Ausführungsbeispiel.

The invention is explained in more detail below by way of example with reference to the attached drawings. Show it:

• 1 a schematic representation of a winch according to an embodiment;
• 2 a perspective view of a winch according to an embodiment;
• 3 a flowchart of a method for controlling according to an embodiment; and
• 4 a flowchart of a method for operating according to an embodiment.

Before the exemplary embodiments are discussed, the basics and background for the present invention will first be presented. In the case of electric cable winches, in particular rescue winches, a capstan drive or a so-called capstan drive and a cable drum for winding and unwinding the winch cable are provided, for example. In this case, for example, the capstan drive transfers the forces generated by a load on the hook, with the cable drum winding or unwinding the cable with a comparatively lower tensile force. In a conventional, hydraulically operated rescue winch, for example, a drum is driven directly by a main drive, with a speed difference resulting from the winding layers of the rope being compensated for by means of a slipping clutch. When unwinding the rope from the rope drum, it must be unwound against the moment of the slipping clutch, which in particular creates a necessary pre-tension of the rope. When winding up, a necessary tensile force arises automatically, for example, this being dependent on an overall situation, for example a weight on the hook, on environmental conditions, for example wetness, or the like. Alternatively, a rigid coupling of the main drive to the cable drum can be provided, in which case a magnetic slipping clutch could be used. In this case, however, a fixed moment must be specified for the moment of the cable drum, which many operating conditions, such as e.g. B. wetness should be taken into account.

In the following description of favorable exemplary embodiments, the same or similar reference symbols are used for the elements which are shown in the various figures and have a similar effect, with a repeated description of these elements being dispensed with.

1 shows a schematic representation of a winch 100 according to an embodiment. The cable winch 100 is merely an example electric rescue winch. Using the cable winch 100, a cable 105 or winch cable 105 can be brought into the cable winch 100 and brought out of the cable winch 100. In this case, the cable 105 is guided in the cable winch 100 .

The cable winch 100 has a capstan drive unit 110 and a main drive 115 . In this case, the capstan drive unit 110 is designed to reel in the cable 105 into the cable winch 110 and to eject the cable 105 from the cable winch 110 . The main drive 115 is designed to drive the capstan drive unit 110 . In this case, the main drive 115 is coupled to the capstan drive unit 110 .

Furthermore, the cable winch 100 has a cable drum 120 and a drum drive 125 . The cable drum 120 is designed here to receive and release the cable 105 by winding and unwinding the cable 105 . The drum drive 125 is designed to drive the cable drum 120 . In this case, the cable drum 120 and the drum drive 125 are coupled to one another.

In the cable winch 100, the main drive 115 and the drum drive 125 can be operated independently or separately from one another. In other words, the main drive 115 and the drum drive 125 of the cable winch 100 can be controlled individually.

The cable winch 100 also has a speed measuring device 130 . In this case, the rotational speed measuring device 130 is arranged in a cable entry section of the cable winch 100 . The speed measuring device 130 is designed to detect a speed of a deflection pulley over which the cable 105 is guided in the cable entry section.

In addition, cable winch 100 has a device 140 or control and/or operating device 140 . The device 140 is connected to the main drive 115, the drum drive 125 and the speed measuring device 130 so that it can transmit signals.

Device 140 is designed to read in a first speed signal 152 from main drive 115 and a second speed signal 154 from speed measuring device 130 . First speed signal 152 represents a speed or first speed of main drive 115. Second speed signal 154 represents a speed measured by speed measuring device 130 or a second speed.

Device 140 is thus designed to read in first speed or first speed signal 152 and second speed or second speed signal 154 .

Device 140 is also designed to determine a torque value for setting a torque of drum drive 125 as a function of the first speed and the second speed. Here, the device 140 according to in 1 The exemplary embodiment shown is also designed to control operation of the cable winch 100 in order to bring the cable 105 into the cable winch 100 or to bring the cable 105 out of the cable winch 100 .

Furthermore, the device 140 is designed to output a control signal 160 to the drum drive 125 . The control signal 160 is suitable to be used to drive the drum drive 125 . In this case, control signal 160 represents the torque value determined in device 140 . A torque of the drum drive 125 can thus be set via the control signal 160 .

The device 140 is designed to read in the first speed or the first speed signal 152 and the second speed or the second speed signal 154 and to generate and output the control signal 160 using the same.

According to the 1 In the exemplary embodiment shown, the device 140 has a reading-in device 142 and a determination device 144 . Reading device 142 is designed to read in first speed or first speed signal 152 and second speed or second speed signal 154 . Determination device 144 is designed to determine the torque value as a function of the first speed or first speed signal 152 and the second speed or second speed signal 154 .

According to one exemplary embodiment, determining device 144 is designed to determine the torque value in a starting state of cable winch 100 as an initial value using at least one default value dependent on the cable load.

According to one exemplary embodiment, the device 140 is also designed to reduce the first speed using the main drive 115 and the second speed under Use of the speed measuring device 130 to detect. In particular, device 140 is also designed to determine a speed difference and/or a speed ratio between the first speed and the second speed. Device 140 is designed to determine the torque value as a function of the speed difference and/or as a function of the speed ratio. Furthermore, according to one exemplary embodiment, device 140 is designed to carry out a comparison of a mathematical relationship between the first rotational speed and the second rotational speed with a threshold value for the mathematical relationship. In this case, device 140 is designed to determine the torque value as a function of a result of the comparison carried out. Device 140 is also designed according to one embodiment to provide control signal 160 . In particular, the device 140 is designed here to provide the control signal 160 for an output to the drum drive 125 .

Thus, according to one embodiment, the device 140 can also have a detection device, a determination device, an implementation device and/or a provision device.

2 shows a perspective view of a winch 100 according to an embodiment. The cable winch 100 is a cable winch from 1 or a similar winch. Deviating from the representation in 1 are from the winch 100 in 2 the cable 105 or winch cable 105, the capstan drive unit 110, the main drive 115 and the cable drum 120 are shown, the drum drive and the device being shown in FIG 2 are hidden or omitted, with a hook 205 for attaching a load to the cable 105 being additionally shown, with a cable entry roller 232 and a speed sensor 234 being shown from the speed measuring device.

The cable 105 is wound or can be wound onto the cable drums 120 at a first end. The hook 205 is attached to the rope 105 at a second end of the rope 105 opposite the first end.

The speed measuring device of the cable winch 100 has according to in 2 illustrated embodiment, the cable entry roller 232 and the speed sensor 234. The cable 105 runs in the cable entry section or cable entry section of the cable winch 100 via the rope entry pulley 232. The speed sensor 234 is located adjacent to the rope entry pulley 232. In this case, the rotational speed sensor 234 is designed to detect a rotational speed of the rope entry roller 232 . The RPM of the rope entry pulley 232 is the second RPM, which can be used in conjunction with the first RPM to determine the torque value. The rotational speed sensor 234 is designed, for example, to provide the detected rotational speed of the cable entry roller 232 as the second rotational speed or the second rotational speed signal.

According to the 2 In the exemplary embodiment shown, the capstan drive unit 110 of the cable winch 100 has a plurality of cable pulleys for receiving a plurality of windings of the cable 105 . The plurality of windings of the rope 105 is four, purely by way of example. In this case, the cable pulleys are arranged in two packages that are radially spaced apart from one another, with in particular the same number of coaxially lined up, rigidly connected cable pulleys. A first set of sheaves is disposed adjacent to main drive 115 and is drivable by main drive 115 . A second pack of pulleys is mechanically coupled to the first pack of pulleys by a power transmission device. Here, the power transmission device is designed as a belt, in particular a V-belt or toothed belt. Thus, each pack of sheaves also includes a pulley. Alternatively, each package may include a one-piece molded pulley having a plurality of axially staggered cable receiving grooves.

Furthermore, according to in 2 illustrated embodiment, the axes of rotation of the capstan drive unit 110, an axis of rotation of the cable drum 120 and an axis of rotation of the cable entry roller 232 are arranged or aligned parallel to one another within manufacturing tolerances.

The cable 105 extends or runs from the hook 205 into the cable entry section of the cable winch 100, over the cable entry roller 232, over the capstan drive unit 110 and into the cable drum 120. Between the cable entry roller 232 and the capstan drive unit 110 and between the capstan drive unit 110 and of the cable drum 120 according to in 2 shown embodiment also arranged means for rope drop safety and / or cable guide.

3 shows a flow chart of a method 300 for controlling according to an embodiment. The method 300 can be implemented to operate a cable winch to control. The method 300 for controlling in connection with or using the cable winch from one of the Figures 1 to 2 or a similar winch executable.

Method 300 for controlling has a step 310 of reading in a first speed from the main drive and a second speed from the speed measuring device. In a determination step 320 that can be executed subsequently with respect to step 310 of reading in, in method 300 a torque value for setting a torque of the drum drive determined.

According to one exemplary embodiment, in method 300 for controlling, in step 320 of determining, the torque value in a starting state of the cable winch is determined as an initial value using at least one default value dependent on the cable load. Here, a look-up table or the like with default values dependent on the rope load can be used to determine the torque value as an initial value.

Optionally, the method 300 for controlling further includes a step 330 of detecting the first speed and the second speed. The step 330 of detecting can be carried out before the step 310 of reading in. In step 330 of detection, the first speed is detected using the main drive, with the second speed being detected using the speed measuring device.

According to one exemplary embodiment, the method 300 for controlling between the step 310 of reading in and the step 320 of determining has a step 340 of determining and additionally or alternatively a step 350 of carrying out a comparison. In step 340 of determining, a speed difference and/or a speed ratio between the first speed and the second speed is determined. In this case, in step 320 of determining, the torque value is then determined as a function of the speed difference and/or the speed ratio. In performing step 350, a comparison of a mathematical relationship between the first speed and the second speed is performed to a threshold value for the mathematical relationship. The mathematical relationship is, for example, the speed difference and/or the speed ratio. In doing so, Step 320 of determining the torque value is determined depending on a result of the comparison.

Furthermore, the method 300 for controlling optionally has a step 360 of providing, wherein the step 360 of providing can be carried out after the step 320 of determining. In step 360 of providing, a control signal for controlling the drum drive is provided. The control signal represents the torque value determined in step 320 of the determination.

4 FIG. 4 shows a flow diagram of a method 400 for operating according to an embodiment. Method 400 is executable to operate a winch. In particular, the method 400 is executable to the cable winch from one of Figures 1 to 2 or to operate a similar cable winch. As such, method 400 is in connection with the method for controlling operation of the winch 3 or a similar control method executable.

The method 400 for operating has a step 410 of controlling an operation of the cable winch in order to bring in a cable into the cable winch or to deploy it from the cable winch. In this case, step 410 of controlling includes the steps of the method for controlling 3 as partial steps. In other words, in step 410 of controlling, the steps of the method for controlling are executed 3 carried out as sub-steps.

According to one embodiment, in step 410 of controlling, the torque of the drum drive is adjusted until a mathematical relationship between the first speed and the second speed meets a threshold or slip limit.

The following is an embodiment with reference to the Figures 1 to 4 in other words and summarized explained. By using two independent drives, the main drive 115 and the drum drive 125, and by recognizing, for example, speed differences between the main drive 115 and the speed measuring device 130 installed in the cable entry, an anti-slip control can be integrated or implemented in the cable winch 100. The torque with which the cable drum 120 is driven, and thus a cable pull through the cable drum 120, are a measure of the force with which the capstan drive unit 110 moves a load on the hook 205. If the cable pull is too low, the cable 105 slip on the capstan drive unit 110, which in turn leads to a speed difference between the first speed on the capstan drive unit 110 and the second speed measured by the speed measuring device 130 at the cable entry. Here, a control process or regulation process using method 300 for controlling and/or method 400 for operation intervenes and the torque on cable drum 120 can be increased until slip in capstan drive unit 110 or the speed difference is eliminated is brought below a threshold. In order to set an advantageous or necessary torque of the cable drum 120 when starting up the cable winch 100 or rescue winch 100, a torque/load table can be stored, from which the starting value can be read. A slip limit can then be determined and then set as already described.

According to one exemplary embodiment, it would also be possible to work with two separate drives without coupling them in terms of control technology. A cable drum drive would simply be torque-controlled, with a fixed moment, and the main drive on the capstan drive would be speed-controlled.

The exemplary embodiments described and shown in the figures are only selected as examples. Different exemplary embodiments can be combined with one another completely or in relation to individual features. An exemplary embodiment can also be supplemented by features of a further exemplary embodiment.

Furthermore, method steps according to the invention can be repeated and carried out in a different order from that described.

If an embodiment includes an "and/or" link between a first feature and a second feature, this should be read in such a way that the embodiment according to one embodiment includes both the first feature and the second feature and according to a further embodiment either only that having the first feature or only the second feature.

reference list

100

winch

105

rope or winch rope

110

capstan drive unit

115

main drive

120

cable drum

125

drum drive

130

speed measuring device

140

Device or control and/or operating device

142

reading device

144

determination device

152

first speed signal

154

second speed signal

160

control signal

205

Hook

232

rope entry pulley

234

speed sensor

300

method of controlling

310

reading step

320

step of determining

330

step of capturing

340

step of discovery

350

step of performing

360

step of providing

400

Procedure for Operating

410

step of control

Claims (12)

1. Method (300) for controlling an operation of a winch (100), the method (300) being executable in conjunction with a winch (100) comprising a capstan drive unit (110) for retrieving a rope (105) into the winch (100) and discharging the rope (105) from the winch (100), a main drive (115) for driving the capstan drive unit (110), a rope drum (120) for receiving the rope (105) by winding and unwinding the rope (105), a drum drive (125) for driving the rope drum (120), the drum drive (125) and the main drive (115) being operable independently of each other, characterized in that the rope winch comprises a rotational speed measuring device (130; 232, 234) disposed in a rope entry portion of the winch (100), the method (300) comprising the steps of:

   reading (310) a first rotational speed (152) representing a rotational speed of the main drive (115) and a second rotational speed (154) representing a rotational speed detected by the rotational speed measuring device (130; 232, 234); and

   determining (320) a torque value for adjusting a torque of the drum drive (125) depending on the first rotational speed (152) and the second rotational speed (154).
2. Method (300) according to claim 1, comprising a step (330) of detecting the first rotational speed (152) and the second rotational speed (154), wherein the first rotational speed (152) is detected using the main drive (115) and the second rotational speed (154) is detected using the rotational speed measuring device (130; 232, 234).
3. Method (300) according to any one of the preceding claims, comprising a step (340) of determining a rotational speed difference and/or a rotational speed ratio between the first rotational speed (152) and the second rotational speed (154), wherein in the step (320) of determining the torque value is determined depending on the rotational speed difference and/or the rotational speed ratio.
4. Method (300) according to any one of the preceding claims, comprising a step (350) of performing a comparison of a mathematical relationship between the first rotational speed (152) and the second rotational speed (154) with a threshold value for the mathematical relationship, wherein in the step (320) of determining, the torque value is determined depending on a result of the comparison.
5. Method (300) according to any one of the preceding claims, wherein in the step (320) of determining, the torque value in a start-up state of the winch (100) is determined as an initial value using at least one rope-load-dependent default value.
6. Method (300) according to any one of the preceding claims, comprising a step (360) of providing a control signal (160) for driving the drum drive (125), the control signal (160) representing the torque value.
7. Apparatus (140) for operating a winch configured to perform, control and/or implement the steps of a method (300), the steps comprising:

   reading (310) a first rotational speed (152) representing a rotational speed of a main drive (115) of a capstan drive unit (110) and a second rotational speed (154) representing a rotational speed detected by the rotational speed measuring device (130; 232, 234) disposed in a rope entry portion of a winch (100); and

   determining (320) a torque value for adjusting a torque of the drum drive (125) in response to the first speed (152) and the second speed (154).
8. Winch (100) comprising:

   a capstan drive unit (110) for hauling a rope (105) into the winch (100) and discharging the rope (105) from the winch (100);

   a main drive (115) for driving the capstan drive unit (110);

   a rope drum (120) for receiving the rope (105) by winding and unwinding the rope (105);

   a drum drive (125) for driving the rope drum (120), the drum drive (125) and the main drive (115) being operable independently of each other;

   a rotational speed measuring device (130; 232, 234) disposed in a rope entry portion of the winch (100); and

   an apparatus (140) according to claim 7, wherein the apparatus (140) is connectable or connected to the main drive (115), the drum drive (125) and the rotational speed measuring device (130; 232, 234) in a signaltransmitting manner.
9. Winch (100) according to claim 8, in which the rotational speed measuring device (130) comprises a rope entry pulley (232) and a rotational speed sensor (234), the rotational speed sensor (234) being configured to detect rotational speed of the rope entry pulley (232).
10. Winch (100) according to claim 9, wherein the rotational speed sensor (234) is configured to detect the rotational speed of the rope entry pulley (232) in a contactless manner.
11. Winch (100) according to any one of claims 8 to 10, wherein the capstan drive unit (110) comprises a plurality of rope pulleys for receiving a plurality of windings of the rope (105), the plurality of rope pulleys being arranged in two radially spaced-apart packages with equal numbers of coaxially lined-up, rigidly connected rope pulleys, a first package being drivable by the main drive (115), a second package being mechanically coupled to the first package by means of a power transmission device.
12. Winch (100) according to any one of claims 8 to 11, wherein axes of rotation of the capstan drive unit (110), the rope drum (120) and the rotational speed measuring device (130; 232) are parallel to each other within manufacturing tolerances.

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