Cruise control

I use the device in a small winch to pull back a rope. When the drum rotates outwards, I disable the output and brake the drum slightly. Then when the rotation stops, it automatically turns on the output and asks the motor for the value set by the cruise control. Then the ramping time does not work. The drum accelerates very suddenly. I would like it to reach max. power slowly here too. I configured it in Lisp.
Is there a simple solution for this?