US Patent 10519013 Winch system for an airborne payload control system

A method for a winch system includes receiving, from a controller, instructions to spool a payload line, the payload line comprising a first end and a second end, the first end coupled to a main reel of the winch system and the second end configured to couple to a payload. The method further includes operating, based on the instructions, one or more of a first motor of the winch system and a second motor of the winch system, wherein the one or more of the first motor and the second motor are operated in order to control a position of the second end of the payload line.