Disc throwing control method, flight controller, disc throwing dispenser and aircraft

Abstract

The invention provides a throwing disc control method, a flight controller, a throwing disc dispenser and an aircraft, and relates to the technical field of aircrafts. The throwing disc control method comprises the following steps: acquiring rotation information of a throwing disc; calling a control instruction of the throwing disc according to the rotation information, wherein the control instruction is used for controlling the forward speed and the backward speed of the throwing disc to be equal; controlling the power source according to the control instruction. Therefore, the corresponding control instruction is obtained by obtaining the rotation information of the throwing disc, the power source is controlled according to the control instruction, and finally the rotation of the throwing disc is controlled by the power source, so that a control closed loop is formed, the control effect that the rotating speed of the throwing disc is stable is achieved, and finally the throwing disc swings at the speed equal to the returning speed in the past. And uniform material spreading is ensured, and the spreading quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a spinning disc control method, a flight control, a spinning disc spreader and an aircraft. Background Art

[0002] The aircraft spreading device usually adopts a motor to drive the material throwing mechanism to throw out the material to realize the material spreading operation.

[0003] The current spreading system realizes the material spreading operation by rotating the spinning disc in the throwing mechanism and using centrifugal force and blade flapping to throw the material downward. However, the rotating spinning disc solution has problems such as asymmetric and uneven spreading. Summary of the invention

[0004] The present invention provides a spinner control method, a flight control, a spinner spreader and an aircraft, which can solve the problem of the quick return characteristic of a swing spinner, and can control the spinner to swing back and forth at a uniform speed, thereby ensuring uniform spreading of materials and improving spreading quality.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a spinner control method, which is applied to a spinner spreader, wherein the spinner spreader comprises a power source and a spinner, wherein the power source is used to drive the spinner to swing back and forth; the spinner control method comprises:

[0007] Obtaining rotation information of the spinning disk;

[0008] Retrieving a control instruction of the spinning disk according to the rotation information, wherein the control instruction is used to control the forward speed and the reverse speed of the spinning disk to be equal;

[0009] The power source is controlled according to the control instruction.

[0010] In an optional embodiment, the spinning disc spreader further comprises an oscillating drive mechanism, and the oscillating drive mechanism is used to convert the rotational motion of the power source into a reciprocating oscillating motion of the spinning disc.

[0011] The spinning disc spreader is applied to an aircraft, and the spinning disc control method further comprises:

[0012] The spinning disc is controlled to perform a reciprocating swinging motion during the flight of the aircraft to spread materials.

[0013] In an optional embodiment, the step of obtaining the rotation information of the spinning disk includes:

[0014] Acquiring motion state information of the swing drive mechanism;

[0015] The rotation information is calculated according to the motion state information.

[0016] In an optional embodiment, the power source is a motor, the swing drive mechanism includes a motor rocker, an intermediate connecting rod and a swing plate rocker connected in sequence, and the step of obtaining the motion state information of the swing drive mechanism includes:

[0017] The first angle information of the motor rocker is obtained, wherein the first angle information includes the angle between the straight line where the motor rocker is located and the line connecting the output end of the motor and the spinning disk.

[0018] In an optional implementation, the step of calculating the rotation information based on the motion state information includes:

[0019] Calculating the distance information between the spinning disc and the motor rocker according to the first angle information;

[0020] The second angle information of the spinning plate is calculated according to the distance information, wherein the second angle information includes the angle between the straight line where the spinning plate rocker is located and the line connecting the output end of the motor and the spinning plate.

[0021] In an optional implementation, the distance information is calculated as follows:

[0022]

[0023] Wherein, L1 is the distance from the output end of the motor to the spinning disk, L2 is the length of the motor rocker, and θ2 is the angle between the straight line where the motor rocker is located and the line connecting the output end of the motor and the spinning disk.

[0024] In an optional implementation, the calculation formula for the second angle information is:

[0025] θ4=a+b;

[0026]

[0027] Wherein, L3 is the length of the intermediate connecting rod, and L4 is the length of the swing plate rocker.

[0028] In an optional implementation, the step of calculating the rotation information based on the motion state information further includes:

[0029] The rotation speed information of the spinner is calculated according to the second angle information.

[0030] In an optional embodiment, the spinning disc spreader further includes a sensor, and the sensor is used to detect the rotation angle of the spinning disc; the step of obtaining the rotation information of the spinning disc includes:

[0031] The third angle information of the spinner disk outputted from the sensor is obtained.

[0032] In a second aspect, the present invention provides a flight control system, comprising:

[0033] An acquisition module, the acquisition module is used to acquire the rotation information of the spinning disk;

[0034] A determination module, the determination module is used to retrieve a control instruction of the spinning disk according to the rotation information, the control instruction is used to control the forward speed and the reverse speed of the spinning disk to be equal;

[0035] A control module is used to control the power source according to the control instruction.

[0036] In a third aspect, the present invention provides a spinning disc spreader, comprising a spinning disc, a power source and a flight control, wherein the spinning disc is connected to the power source, the power source is used to drive the spinning disc to swing back and forth, the spinning disc is used to contact with the material during the swinging process to spread the material outward, the spinning disc and the power source are both connected to the flight control, and the flight control is used to implement the spinning disc control method as described in any of the aforementioned embodiments.

[0037] In a fourth aspect, the present invention provides an aircraft comprising the spinner spreader as described in the aforementioned embodiment.

[0038] The beneficial effects of the spinner control method, flight control, spinner spreader and aircraft provided by the embodiments of the present invention include: obtaining the corresponding control instructions by acquiring the rotation information of the spinner, and controlling the power source according to the control instructions, and finally controlling the rotation of the spinner by the power source, thereby forming a control closed loop, thereby achieving the control effect of stabilizing the spinner speed, and finally realizing the speed swing of the spinner with equal forward speed and return speed, ensuring uniform spreading of materials and improving spreading quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A partial structural schematic diagram of a disc spreader provided in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the structure of a disc spreader provided in an embodiment of the present invention;

[0042] Figure 3A schematic diagram of a crank structure provided by an embodiment of the present invention;

[0043] Figure 4 A schematic flow chart of a method for controlling a spinning disk provided by an embodiment of the present invention;

[0044] Figure 5 A simplified structural diagram of a swing drive mechanism provided in an embodiment of the present invention;

[0045] Figure 6 A control logic diagram provided for an embodiment of the present invention.

[0046] Icons: 10-disc spreader; 100-disc; 200-power source; 300-swing drive mechanism; 310-motor rocker; 320-middle connecting rod; 330-disc rocker; 400-mounting housing; 500-feeding device. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0050] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0052] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0053] Aircraft spreading devices usually use a motor to drive a material throwing mechanism to throw out the material to achieve the material spreading operation. The current spreading system rotates the throwing disc in the throwing mechanism, and uses centrifugal force and blades to throw the material downward to achieve the material spreading operation. However, the rotating throwing disc solution has problems such as asymmetric and uneven spreading. In order to meet the requirements of symmetry and uniformity, it is often necessary to configure two rotating throwing discs to compensate each other, but this increases the cost.

[0054] The present application provides a swinging spinner, which can spread materials to the left and right sides, and can achieve the problem of uniform material spreading at a lower cost. Figure 1 and Figure 2 The present invention provides a disk spreader 10, which can be applied to an aircraft, in particular to a drone, and the drone can be a rotor drone, specifically a quad-rotor drone, of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The flight module can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. No specific limitation is made here.

[0055] In detail, the disc spreader 10 includes a disc 100, a power source 200, a swinging drive mechanism 300, a mounting shell 400, a feeding device 500 and a flight control, wherein the feeding device 500 is connected to the mounting shell 400 for conveying material thereto, and the disc 100 is disposed in the mounting shell 400; the disc 100 is connected to the swinging drive mechanism 300, and the swinging drive mechanism 300 is used to convert the rotational motion of the power source 200 into a reciprocating swinging motion of the disc 100, and the disc 100 is used to contact with the material during the swinging process to spread the material outward.

[0056] In this embodiment, the power source 200 may be a motor, and the swing drive mechanism 300 may be a connecting rod mechanism or a crank mechanism (such as Figure 3 As long as the rotational motion can be converted into the reciprocating swinging motion of the spinning disc 100, no specific limitation is made herein.

[0057] Furthermore, the mounting shell 400 is provided with a feed port and a discharge port, and the spinner 100 is rotatably mounted in the mounting shell 400 .

[0058] In this embodiment, the mounting shell 400 includes a first shell and a second shell, which are snapped together to form a accommodating space for accommodating the spinner 100; wherein a feed port is provided on the first shell, the spinner 100 is mounted on the second shell, and the connecting rod mechanism is mounted on the outer side of the second shell away from the spinner 100.

[0059] Furthermore, the swing driving mechanism 300 includes a motor rocker 310 , an intermediate connecting rod 320 and a swing plate rocker 330 .

[0060] Among them, the motor rocker 310 is configured to be able to rotate around the driving shaft under the drive of the motor, the spinner plate rocker 330 is connected to the spinner plate 100 and is limited relative to the spinner plate 100 in the circumferential direction, one end of the intermediate connecting rod 320 is rotatably connected to the motor rocker 310, and the other end is rotatably connected to the spinner plate rocker 330. During the rotation of the motor rocker 310, the spinner plate rocker 330 can be driven to swing through the intermediate connecting rod 320, so that the spinner plate rocker 330 drives the spinner plate 100 to swing back and forth.

[0061] The swing drive mechanism 300 has a quick return characteristic problem. Taking the crank mechanism as an example, when the crank is the active part and rotates at a constant speed, the reciprocating speed of the driven part, the rocker, is often different. Under the influence of this characteristic, the swing plate swings from left to right and from right to left at different speeds, resulting in different sowing ranges on the left and right, that is, the sowing range is asymmetric relative to the center line, and the uniformity is also affected.

[0062] To solve the above problems, the present application provides a method for controlling the spinner 100 to swing at a speed equal to the forward speed and the reverse speed, thereby avoiding uneven sowing due to uneven swinging speed of the spinner 100, thereby improving the sowing quality.

[0063] The above method can be executed by a flight control system, that is, a flight control system, and of course can also be executed by other control modules with processing capabilities.

[0064] It is understandable that the flight control can be an integrated circuit chip with signal processing capabilities. The above-mentioned flight control can be a general processor, including a central processing unit (CPU), a single-chip microcomputer, a microcontroller (MCU), a complex programmable logic device (CPLD), a field programmable gate array (FPGA), an application-specific integrated circuit (ASNC), an embedded ARM and other chips. The flight control system can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present invention.

[0065] In a feasible implementation, the aircraft may further include a memory for storing program instructions executable by the flight control. For example, the flight control provided in the embodiment of the present application includes at least one that can be stored in the memory in the form of software or firmware. The memory may be an independent external memory, including but not limited to a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), and an electrically erasable read-only memory (EEPROM). The memory may also be integrated with the flight control, for example, the memory may be integrated with the flight control in the same chip.

[0066] For further information, see Figure 4 The present invention also provides a method for controlling a spinner 100, which is applied to a spinner spreader 10, and can solve the problem of uneven swing speed of the spinner caused by the quick return characteristic by controlling the motor. The method for controlling the spinner 100 includes the following steps:

[0067] Step S100, obtaining the rotation information of the spinning disk 100;

[0068] In this embodiment, since the speed of the spinning tray 100 is inconsistent during operation, the rotation information of the spinning tray 100 can be obtained and the speed of the motor can be controlled according to the rotation information so that the spinning tray 100 rotates at a uniform speed.

[0069] It is understandable that the rotation information of the spinning tray 100 may be the instantaneous rotation speed of the spinning tray 100 , or the rotation angle of the spinning tray 100 , or other information, which is not specifically limited here.

[0070] Step S200, calling the control instruction of the spinning disc 100 according to the rotation information, the control instruction is used to control the forward speed and the reverse speed of the spinning disc 100 to be equal;

[0071] In this embodiment, after the rotation information of the spinning disc 100 is obtained, the control instruction for controlling the power source 200 can be retrieved through the rotation information, and the control instruction is input to the power source 200 to achieve that the forward speed and the return speed of the spinning disc 100 are equal.

[0072] When the spinner 100 performs a reciprocating swinging motion, the speed of the swinging from the first side to the second side can be defined as the forward speed, and the speed of the swinging from the second side to the first side can be defined as the reverse speed.

[0073] It should be noted that the calling described in the present embodiment may refer to directly calling a control instruction that matches the rotation speed and is pre-set after obtaining the rotation information of the spinner 100, such as the rotation speed; it may also refer to obtaining the rotation information of the spinner 100 in real time, performing calculations based on the rotation information, and obtaining the control instruction based on the calculation results; of course, other acquisition methods may also be used, which are not specifically limited here.

[0074] Step S300, controlling the power source 200 according to the control instruction.

[0075] In this embodiment, the corresponding control instructions are obtained by obtaining the rotation information of the spinning disc 100, and the power source 200 is controlled according to the control instructions. Finally, the power source 200 controls the rotation of the spinning disc 100, thereby forming a control closed loop, thereby achieving a stable control effect of the rotation speed of the spinning disc 100, and finally achieving the speed swing of the spinning disc 100 with the previous speed and the return speed being equal, ensuring uniform spreading of materials and improving the spreading quality.

[0076] Furthermore, step S100 also includes sub-steps:

[0077] Sub-step S110, obtaining the motion state information of the swing driving mechanism 300;

[0078] In this embodiment, the motion state information of the swing driving mechanism 300 refers to the positional relationship or angle relationship among the motor rocker 310 , the intermediate connecting rod 320 and the swing plate rocker 330 when they move to a certain state.

[0079] Specifically, sub-step S110 may include sub-step S111:

[0080] Sub-step S111, obtaining the output speed of the motor and the first angle information of the motor rocker 310.

[0081] In this embodiment, the first angle information includes the angle between the straight line where the motor rocker 310 is located and the line connecting the output end of the motor and the rotation center of the spinner 100 (eg Figure 5 As shown in θ2), the output speed of the motor is acquired to monitor the speed of the motor; and the first angle information of the motor rocker 310 can be obtained through the sensor.

[0082] Sub-step S120, calculating rotation information according to the motion state information.

[0083] In this embodiment, since the motor drives the swing driving mechanism 300 to move, and the swing driving mechanism 300 drives the spinner 100 to move, the rotation information of the spinner 100 can be obtained through the movement state of the swing driving mechanism 300.

[0084] Specifically, sub-step S120 may include sub-step S121 and sub-step S122:

[0085] Sub-step S121, calculating the distance information between the spinning plate 100 and the motor rocker 310 according to the first angle information;

[0086] In this embodiment, the distance between the spinning plate 100 and the end of the motor rocker 310 away from the motor can be calculated based on the first angle information and the sizes of the motor rocker 310 and the middle connecting rod 320 .

[0087] In detail, the calculation formula of the distance information is as follows:

[0088]

[0089] Wherein, L1 is the distance from the output end of the motor to the spinning disc 100 , L2 is the length of the motor rocker 310 , and θ2 is the angle between the straight line where the motor rocker 310 is located and the line connecting the output end of the motor and the spinning disc 100 .

[0090] Sub-step S122, calculating the second angle information of the spinner 100 according to the distance information.

[0091] In this embodiment, the second angle information includes the angle between the straight line where the spinner rocker 330 is located and the line connecting the output end of the motor and the rotation center of the spinner 100 (eg Figure 5 therefore, according to the distance information and the size of the intermediate connecting rod 320 and the swing plate rocker 330, the state of the swing plate rocker 330 can be calculated in this state.

[0092] In detail, the calculation formula of the second angle information is as follows:

[0093] θ4=a+b;

[0094]

[0095] Wherein, L3 is the length of the intermediate connecting rod 320 , and L4 is the length of the swing plate rocker 330 .

[0096] Furthermore, step S120 may further include sub-step S123:

[0097] Sub-step S123, calculating the rotation speed information of the spinner 100 according to the second angle information.

[0098] In this embodiment, a control algorithm is introduced to make the speed of the output end of the swing drive mechanism 300 controllable.

[0099] In this embodiment, after obtaining the rotation angle of the spinning disk 100, the rotation speed of the spinning disk 100 can be obtained by taking the derivative of time. After obtaining the rotation speed of the spinning disk, an angle closed-loop control is established, and the input of the control command is the desired spinning disk angle θ 4ref , the feedback angle is the spinner angle θ derived from the above equation 4fdb Therefore, the rotation speed of the motor is controlled according to the rotation speed to achieve the purpose of uniform swing speed of the spinning disc 100, that is, the rotation of the output end of the motor is no longer uniform rotation, but regularly accelerates and decelerates, so that the spinning disc 100 can swing back and forth at a uniform speed, thereby solving the problem of uneven swing speed of the spinning disc 100 caused by the quick return characteristic by controlling the motor.

[0100] It should be noted that in practical applications, Figure 6 As shown, the angle resolver usually performs calculation or processing to transmit the calculated actual angle or speed of the spinning disc to the controller, which may be a flight control system.

[0101] Furthermore, step S100 may further include sub-step S120:

[0102] Sub-step S120: Acquire the third angle information of the spinner 100 outputted from the sensor.

[0103] It should be noted that sub-step S110 and sub-step S120 are parallel embodiments, which can be implemented sequentially, or one of them can be implemented selectively, or they can be implemented simultaneously, and no specific limitation is made here.

[0104] In this embodiment, a sensor can be directly provided at the spinner 100 to obtain third rotation angle information of the spinner 100. The third angle information has the same meaning as the second angle information. Therefore, the rotation speed of the spinner 100 can be obtained by taking the time derivative.

[0105] Of course, the rotation speed of the spinning disc 100 can also be directly obtained by setting a sensor.

[0106] Furthermore, the control method of the spinning tray 100 further includes the following steps:

[0107] The material is input into the feed port; the swinging plate 100 is controlled to swing back and forth, so that the material entering the installation housing 400 from the feed port is spread outward from the discharge port through the swinging plate 100.

[0108] In this embodiment, the disc spreader 10 also includes a feeder, which is connected to the mounting shell 400. The material is input into the feed port by controlling the material feeder, and the disc 100 is controlled to swing so that the material is spread outward from the discharge port during flight, thereby completing the spreading operation.

[0109] Furthermore, the present invention also provides a flight control, including an acquisition module, a determination module and a control module.

[0110] The acquisition module is used to acquire the rotation information of the spinning plate 100;

[0111] In this embodiment, the acquisition module may be a sensor, and the rotation position or rotation speed of the spinner 100 may be directly acquired through the sensor, or the rotation speed of the spinner 100 may be acquired by obtaining the state information of the swing drive mechanism 300 and performing interval calculation.

[0112] The determination module is used to retrieve the control instruction of the spinning disc 100 according to the rotation information, and the control instruction is used to control the forward speed and the reverse speed of the spinning disc 100 to be equal;

[0113] In this embodiment, after the rotation speed of the spinning disc 100 is obtained, the control instruction corresponding to the rotation speed can be retrieved, or calculation can be performed based on the rotation speed to obtain the corresponding control instruction.

[0114] The control module is used to control the power source 200 according to the control instruction.

[0115] In this embodiment, the rotation speed of the power source 200 is controlled by acquiring corresponding control instructions, and then the power source 200 controls the spinner 100 to rotate at a uniform speed.

[0116] In summary, the embodiments of the present invention provide a control method for a spinning disc 100, a flight control, a spinning disc spreader 10 and an aircraft, which obtains the corresponding control instructions by acquiring the rotation information of the spinning disc 100, and controls the power source 200 according to the control instructions, and finally controls the rotation of the spinning disc 100 by the power source 200. No additional position sensor is required. By solving the kinematic equation, the actual movement angle and speed of the spinning disc 100 can be obtained, and the angle closed-loop control is completed, thereby achieving a stable control effect of the rotation speed of the spinning disc 100, and finally achieving a speed swing of the spinning disc 100 with the previous speed and the return speed being equal, ensuring uniform material spreading and improving the spreading quality.

[0117] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope described in the claims.

Claims

1. A spinner control method, applied to a spinner spreader (10), wherein the spinner spreader (10) comprises a power source (200) and a spinner (100), wherein the power source (200) is used to drive the spinner (100) to swing back and forth; characterized in that: The spinning disc control method comprises: Obtaining rotation information of the spinning disc (100); Retrieving a control instruction of the spinning disc (100) according to the rotation information, the control instruction being used to control the forward speed and the reverse speed of the spinning disc (100) to be equal; The power source (200) is controlled according to the control instruction.

2. The method for controlling a spinning disk according to claim 1, characterized in that: The disk spreader (10) further comprises an oscillating drive mechanism (300), wherein the oscillating drive mechanism (300) is used to convert the rotary motion of the power source (200) into a reciprocating oscillating motion of the disk (100).

3. The method for controlling a spinning disk according to claim 1, characterized in that: The spinning disc spreader is applied to an aircraft, and the spinning disc control method further comprises: The spinning disc is controlled to perform a reciprocating swinging motion during the flight of the aircraft to spread materials.

4. The method for controlling a spinning disk according to claim 2, characterized in that: The step of obtaining the rotation information of the spinning disk (100) comprises: Acquiring motion state information of the swing drive mechanism (300); The rotation information is calculated according to the motion state information.

5. The method for controlling a spinning disk according to claim 4, characterized in that: The power source (200) is a motor, the swing drive mechanism (300) comprises a motor rocker (310), an intermediate connecting rod (320) and a swing plate rocker (330) which are connected in sequence, and the step of obtaining the motion state information of the swing drive mechanism (300) comprises: First angle information of the motor rocker (310) is obtained, wherein the first angle information includes the angle between the straight line where the motor rocker (310) is located and the line connecting the output end of the motor and the spinning disc (100).

6. The method for controlling a spinning disk according to claim 5, characterized in that: The step of calculating the rotation information according to the motion state information comprises: Calculating the distance information between the spinning plate (100) and the motor rocker (310) according to the first angle information; The second angle information of the spinning disc (100) is calculated based on the distance information, wherein the second angle information includes the angle between the straight line where the spinning disc rocker (330) is located and the line connecting the output end of the motor and the spinning disc (100).

7. The method for controlling a spinning disk according to claim 6, characterized in that: The calculation formula of the distance information is: Wherein, L1 is the distance from the output end of the motor to the spinning disc (100), L2 is the length of the motor rocker (310), and θ2 is the angle between the straight line where the motor rocker (310) is located and the line connecting the output end of the motor and the spinning disc (100).

8. The method for controlling a spinning disk according to claim 6, characterized in that: The calculation formula of the second angle information is: θ4=a+b; Wherein, L3 is the length of the intermediate connecting rod (320), and L4 is the length of the swing plate rocker (330).

9. The method for controlling a spinning disk according to claim 6, characterized in that: The step of calculating the rotation information according to the motion state information also includes: The rotation speed information of the spinner (100) is calculated according to the second angle information.

10. The method for controlling a spinning disk according to claim 1, characterized in that: The spinning disc spreader (10) further comprises a sensor, the sensor being used to detect the rotation angle of the spinning disc (100); the step of obtaining the rotation information of the spinning disc (100) comprises: The third angle information of the spinner (100) outputted from the sensor is obtained.

11. A flight control system, characterized in that: include: An acquisition module, the acquisition module being used to acquire rotation information of the spinner (100); a determination module, the determination module being used to retrieve a control instruction of the spinning disc (100) according to the rotation information, the control instruction being used to control the forward speed and the reverse speed of the spinning disc (100) to be equal; A control module is used to control the power source (200) according to the control instruction.

12. A disc spreader (10), characterized in that: The invention comprises a spinning disc (100), a power source (200) and a flight control, wherein the spinning disc (100) is connected to the power source (200), the power source (200) is used to drive the spinning disc (100) to swing back and forth, the spinning disc (100) is used to contact with materials during the swinging process to spread the materials outwards, the spinning disc (100) and the power source (200) are both connected to the flight control, and the flight control is used to implement the spinning disc control method according to any one of claims 1 to 10.

13. An aircraft, characterized in that: It comprises the disc spreader (10) as claimed in claim 12.

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