A kind of disc control method, fly control, disc spreader and aircraft

Abstract

The application provides a disc throwing control method, a flight control, a disc throwing spreader and an aircraft, and relates to the technical field of the aircraft. The disc throwing control method comprises the following steps: acquiring rotation information of the disc; calling a control instruction of the disc according to the rotation information, wherein the control instruction is used for controlling the forward speed of the disc to be equal to the return speed; and controlling a power source according to the control instruction. Therefore, the rotation information of the disc is acquired to obtain the corresponding control instruction, the power source is controlled according to the control instruction, and finally the rotation of the disc is controlled by the power source, so as to form a control closed loop, achieve the control effect of the stable rotation speed of the disc, realize the speed swing of the disc with the equal forward speed and return speed, ensure the uniform spreading of the material, and improve the spreading quality.

Description

Technical Field

[0001] This invention relates to the field of aircraft technology, and more specifically, to a disc-spinning control method, a flight controller, a disc-spinning seeder, and an aircraft. Background Technology

[0002] Aircraft-based seeding devices typically employ an electric motor-driven throwing mechanism to throw materials out, thereby achieving the seeding operation.

[0003] Current spreading systems use a rotating disc in a throwing mechanism to propel materials downwards using centrifugal force and blade impact, thus achieving the spreading operation. However, the rotating disc solution suffers from problems such as asymmetrical and uneven spreading. Summary of the Invention

[0004] This invention provides a method for controlling a swaying disc, a flight controller, a swaying disc spreader, and an aircraft. It can solve the problem of the rapid return characteristic of swaying discs, control the swaying disc to swing left and right at a uniform speed, ensure uniform material spreading, and improve spreading quality.

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

[0006] In a first aspect, the present invention provides a disc-spinning control method applied to a disc-spinning seeder, the disc-spinning seeder comprising a power source and a disc, the power source being used to drive the disc to swing back and forth; the disc-spinning control method comprising:

[0007] Obtain the rotation information of the spinning disc;

[0008] The control command for the spinning disc is retrieved based on the rotation information. The control command is used to control the forward speed and return speed of the spinning disc to be equal.

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

[0010] In an optional embodiment, the swivel spreader further includes a swing drive mechanism for converting the rotational motion of the power source into the reciprocating swing motion of the swivel disc.

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

[0012] The control disc is made to swing back and forth during the flight of the aircraft to spread materials.

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

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

[0015] The rotation information is calculated based on the motion state information.

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

[0017] Obtain the first angle information of the motor rocker arm, the first angle information including the angle between the straight line where the motor rocker arm is located and the line connecting the output end of the motor and the swivel disc.

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

[0019] Calculate the distance between the swing disc and the motor rocker arm based on the first angle information;

[0020] The second angle information of the spinning disc is calculated based on the distance information. The second angle information includes the angle between the straight line where the spinning disc rocker arm is located and the line connecting the output end of the motor and the spinning disc.

[0021] In an optional implementation, the formula for calculating the distance information is:

[0022]

[0023] Where L1 is the distance from the output end of the motor to the swivel disc, L2 is the length of the motor rocker arm, and θ2 is the angle between the straight line containing the motor rocker arm and the line connecting the output end of the motor and the swivel disc.

[0024] In an optional implementation, the formula for calculating 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 rocker arm.

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

[0029] The rotational speed of the spinning disc is calculated based on the second angle information.

[0030] In an optional embodiment, the spinning disc spreader further includes a sensor for detecting the rotation angle of the spinning disc; the step of acquiring the rotation information of the spinning disc includes:

[0031] Obtain the third angle information of the spinning disc output from the sensor.

[0032] Secondly, the present invention provides a flight control system, comprising:

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

[0034] The determining module is used to retrieve the control command of the spinning disc based on the rotation information, and the control command is used to control the forward speed and return speed of the spinning disc to be equal.

[0035] A control module, which controls the power source according to the control command.

[0036] Thirdly, the present invention provides a swivel disc spreader, including a swivel disc, a power source, and a flight controller. The swivel disc is connected to the power source, which drives the swivel disc to swing back and forth. The swivel disc is used to contact the material during the swinging process to spread the material outward. Both the swivel disc and the power source are connected to the flight controller, which is used to implement the swivel disc control method as described in any of the foregoing embodiments.

[0037] Fourthly, the present invention provides an aircraft including a disc-splitter as described in the foregoing embodiments.

[0038] The beneficial effects of the disc-spinning control method, flight controller, disc-spinning spreader, and aircraft provided in this invention embodiment include: obtaining the corresponding control command by acquiring the rotation information of the disc-spinning device, controlling the power source according to the control command, and finally controlling the rotation of the disc-spinning device by the power source, thereby forming a control closed loop, thereby achieving a stable control effect of disc-spinning speed, and finally realizing the speed swing of the disc-spinning device with equal forward and reverse speeds, ensuring uniform material spreading and improving spreading quality. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

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

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

[0043] Figure 4 This is a schematic diagram of the disc-swing control method provided in an embodiment of the present invention;

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

[0045] Figure 6 This is a schematic diagram of the control logic provided in an embodiment of the present invention.

[0046] Icons: 10-Disc spreader; 100-Disc; 200-Power source; 300-Oscillating drive mechanism; 310-Motor rocker arm; 320-Intermediate connecting rod; 330-Disc rocker arm; 400-Mounting housing; 500-Material conveying device. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0053] Aircraft-based seeding devices typically employ a motor-driven throwing mechanism to throw materials out for seeding. Current seeding systems use a rotating throwing disc within the throwing mechanism, utilizing centrifugal force and blade impact to throw materials downwards. However, the rotating throwing disc approach suffers from asymmetrical and uneven seeding. To achieve symmetry and uniformity, two rotating throwing discs are often needed to compensate for each other, but this increases costs.

[0054] This application provides a gyratory material spreading disc, which can spread materials to both sides, achieving uniform material spreading at a lower cost. Please refer to... Figure 1 and Figure 2 This invention provides a disc-splitter 10, which can be applied to aircraft, especially drones. The drone can be a rotary-wing drone, specifically a quadcopter, but it can also be a single-rotor, dual-rotor, hexacopter, or octacopter drone, etc. The flight module can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. No specific limitations are made here.

[0055] In detail, the disc spreader 10 includes a disc 100, a power source 200, a swing drive mechanism 300, a mounting housing 400, a material conveying device 500, and a flight controller. The material conveying device 500 is connected to the mounting housing 400 and is used to convey materials to it. The disc 100 is disposed inside the mounting housing 400. The disc 100 is connected to the swing drive mechanism 300, which is used to convert the rotational motion of the power source 200 into the reciprocating swing motion of the disc 100. The disc 100 is used to contact the material during the swinging process to spread the material outward.

[0056] In this embodiment, the power source 200 can be an electric motor, and the swing drive mechanism 300 can be a linkage mechanism or a crank mechanism (e.g., Figure 3 As shown in the figure, as long as the rotational motion can be converted into the reciprocating swing motion of the swivel disc 100, no specific limitation is made here.

[0057] Furthermore, the mounting housing 400 is provided with a feed inlet and a discharge outlet, and the swivel disc 100 is rotatably mounted inside the mounting housing 400.

[0058] In this embodiment, the mounting housing 400 includes a first housing and a second housing, which are fastened together to form a receiving space for accommodating the slinger 100; wherein, the first housing is provided with a feed port, the slinger 100 is mounted on the second housing, and a linkage mechanism is mounted on the outside of the second housing opposite to the slinger 100.

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

[0060] The motor rocker arm 310 is configured to rotate around the drive shaft under the drive of the motor. The swivel rocker arm 330 is connected to the swivel disc 100 and is limited relative to the swivel disc 100 in the circumferential direction. One end of the intermediate connecting rod 320 is rotatably connected to the motor rocker arm 310, and the other end is rotatably connected to the swivel rocker arm 330. During the rotation of the motor rocker arm 310, the intermediate connecting rod 320 can drive the swivel rocker arm 330 to swing, thereby causing the swivel rocker arm 330 to drive the swivel disc 100 to swing back and forth.

[0061] The oscillating drive mechanism 300 has a quick-return characteristic problem. Taking the crank mechanism as an example, when the crank is the driving member and rotates at a constant speed, the reciprocating speed of the driven member rocker arm is often different. Under the influence of this characteristic, the speed of the swivel disc swinging from left to right is different from that from right to left, resulting in different left and right swivel ranges. That is, the swivel range is asymmetrical with respect to the center line, and the uniformity is also affected.

[0062] To address the aforementioned issues, this application provides a method that controls the spinning disc 100 to swing at a speed equal to its forward and reverse speeds, thereby preventing uneven seeding due to uneven swing speeds and improving seeding quality.

[0063] The above methods can be executed by the flight controller, or the flight control system, or by other control modules with processing capabilities.

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

[0065] In one feasible implementation, the aircraft may further include a memory for storing program instructions executable by the flight control system. For example, the flight control system provided in this application embodiment includes at least one programmable instruction stored in the memory, either as software or firmware. The memory may be a separate external memory, including but not limited to Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory may also be integrated with the flight control system; for example, the memory may be integrated with the flight control system within the same chip.

[0066] Further, please refer to Figure 4 The present invention also provides a control method for a spinning disc 100, applied to a spinning disc spreader 10, which can solve the problem of uneven spinning disc oscillation speed caused by the rapid return characteristic by controlling the motor. The control method for the spinning disc 100 includes the following steps:

[0067] Step S100: Obtain the rotation information of the swivel plate 100;

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

[0069] It is understandable that the rotation information of the spinning disc 100 can be the instantaneous rotation speed of the spinning disc 100, the rotation angle of the spinning disc 100, or other information, without being specifically limited here.

[0070] Step S200: Retrieve the control command of the sling plate 100 based on the rotation information. The control command is used to control the forward speed and return speed of the sling plate 100 to be equal.

[0071] In this embodiment, after obtaining the rotation information of the spinning disc 100, the control command for controlling the power source 200 can be retrieved through the rotation information. By inputting the control command to the power source 200, the forward speed and return speed of the spinning disc 100 are finally equal.

[0072] The swing plate 100 is in a back-and-forth swinging motion. The speed at which it swings from the first side to the second side can be defined as the forward speed, and the speed at which it swings from the second side to the first side can be defined as the return speed.

[0073] It should be noted that the retrieval described in this embodiment can refer to directly calling a pre-set control command that matches the rotation speed after obtaining the rotation information of the sling plate 100, such as the rotation speed; it can also refer to obtaining the rotation information of the sling plate 100 in real time, performing calculations based on the rotation information, and obtaining control commands based on the calculation results; of course, other acquisition methods are also possible, which are not specifically limited here.

[0074] Step S300: Control the power source 200 according to the control command.

[0075] In this embodiment, the rotation information of the sling plate 100 is obtained to acquire the corresponding control command, and the power source 200 is controlled according to the control command. Finally, the power source 200 controls the rotation of the sling plate 100, thereby forming a control closed loop, thereby achieving a stable control effect of the sling plate 100 speed. Ultimately, the sling plate 100 swings at the same speed as the previous speed and the return speed, ensuring uniform material spreading and improving spreading quality.

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

[0077] Sub-step S110: Obtain motion state information of the swing drive mechanism 300;

[0078] In this embodiment, the motion state information of the swing drive mechanism 300 refers to the positional or angular relationship of the motor rocker arm 310, the intermediate connecting rod 320, and the swivel rocker arm 330 when they are in a certain state.

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

[0080] Sub-step S111: Obtain the output speed of the motor and the first angle information of the motor rocker arm 310.

[0081] In this embodiment, the first angle information includes the angle between the straight line where the motor rocker arm 310 is located and the line connecting the output end of the motor and the rotation center of the swivel disc 100 (e.g., ...). Figure 5 As shown in θ2), the output speed of the motor is obtained to facilitate the monitoring of the motor speed; while the first angle information of the motor rocker arm 310 can be obtained through the sensor.

[0082] Sub-step S120: Calculate rotation information based on motion state information.

[0083] In this embodiment, since the motor drives the swing drive mechanism 300 to move, and the swing drive mechanism 300 drives the swivel disc 100 to move, the rotation information of the swivel disc 100 can be obtained through the motion state of the swing drive mechanism 300.

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

[0085] Sub-step S121: Calculate the distance information between the swivel disc 100 and the motor rocker arm 310 based on the first angle information;

[0086] In this embodiment, the distance between the swivel disc 100 and the end of the motor rocker 310 away from the motor can be calculated based on the first angle information and the dimensions of the motor rocker 310 and the intermediate connecting rod 320.

[0087] The detailed formula for calculating distance information is as follows:

[0088]

[0089] Where L1 is the distance from the output end of the motor to the swivel disc 100, L2 is the length of the motor rocker arm 310, and θ2 is the angle between the straight line containing the motor rocker arm 310 and the line connecting the output end of the motor and the swivel disc 100.

[0090] Sub-step S122: Calculate the second angle information of the throwing disc 100 based on the distance information.

[0091] In this embodiment, the second angle information includes the angle between the straight line where the swivel rocker arm 330 is located and the line connecting the output end of the motor and the rotation center of the swivel 100 (e.g., ...). Figure 5 As shown in θ4); therefore, based on the distance information and the dimensions of the intermediate connecting rod 320 and the rocker arm 330, the state of the rocker arm 330 in this state can be calculated.

[0092] In detail, the formula for calculating 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 rocker arm 330.

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

[0097] Sub-step S123: Calculate the rotational speed information of the spinning disc 100 based on the second angle information.

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

[0099] In this embodiment, after obtaining the rotation angle of the spinning disc 100, the rotational speed of the spinning disc 100 can be obtained by differentiating it over time. After obtaining the spinning disc rotational speed, angle closed-loop control is established, and the input of the control command is the desired spinning disc angle θ. 4ref The feedback angle is the throwing angle θ derived from the above equation. 4fdb Therefore, by controlling the motor speed according to this rotational speed, the swing speed of the swivel disc 100 can be made uniform. This means that the rotation of the motor output end is no longer a uniform rotation, but a regular acceleration and deceleration motion, so that the swivel disc 100 can swing back and forth at a uniform speed. Thus, by controlling the motor, the problem of uneven swing speed of the swivel disc 100 caused by the quick return characteristic is solved.

[0100] It should be noted that in practical applications, such as Figure 6 As shown, the angle solver typically calculates or processes the actual angle or speed of the swivel to transmit the calculated angle to the controller, which can be a flight controller.

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

[0102] Sub-step S120: Obtain the third angle information of the swivel disc 100 output from the sensor.

[0103] It should be noted that sub-steps S110 and S120 are parallel embodiments, which can be implemented sequentially, selectively, or simultaneously, without specific limitations.

[0104] In this embodiment, a sensor can be directly installed at the spinning disc 100 to obtain the third angle information of the spinning disc 100's rotation. This third angle information has the same meaning as the second angle information. Therefore, the rotational speed of the spinning disc 100 can be obtained by differentiating it with respect to time.

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

[0106] Furthermore, the 100-degree control method for the swivel disc also includes the following steps:

[0107] Material is fed into the inlet; the swivel disc 100 is controlled to swing back and forth so that the material entering the housing 400 from the inlet is spread outward from the outlet through the swing of the swivel disc 100.

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

[0109] Furthermore, the present invention also provides a flight controller, 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 disc 100;

[0111] In this embodiment, the acquisition module can be a sensor, which can directly acquire the rotational position or rotational speed of the swivel disc 100, or it can acquire the rotational speed of the swivel disc 100 by calculating the state information of the swing drive mechanism 300 at intervals.

[0112] The determination module is used to retrieve the control command of the sling plate 100 based on the rotation information. The control command is used to control the forward speed and return speed of the sling plate 100 to be equal.

[0113] In this embodiment, after obtaining the rotational speed of the spinning disc 100, the control command corresponding to the rotational speed can be retrieved, or the corresponding control command can be obtained by calculation based on the rotational speed.

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

[0115] In this embodiment, the rotational speed of the power source 200 is controlled by obtaining the corresponding control command, and then the power source 200 controls the rotating disc 100 to rotate at a constant speed.

[0116] In summary, the embodiments of the present invention provide a control method for a spinning disc 100, a flight controller, a spinning disc spreader 10, and an aircraft. By acquiring the rotation information of the spinning disc 100, corresponding control commands are obtained, and the power source 200 is controlled according to the control commands. Finally, the power source 200 controls the rotation of the spinning disc 100. No additional position sensors are required. By solving the kinematic equations, the actual motion angle and speed of the spinning disc 100 can be obtained, completing the angle closed-loop control, thereby achieving a stable control effect of the spinning disc 100's rotation speed. Ultimately, the spinning disc 100 achieves a speed swing where the forward speed and return speed are equal, ensuring uniform material spreading and improving spreading quality.

[0117] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection described in the claims.

Claims

1. A method for controlling a spinning disc, applied to a spinning disc seeder (10), the spinning disc seeder (10) comprising a power source (200) and a spinning disc (100), the power source (200) being a motor for driving the spinning disc (100) to swing back and forth; characterized in that, The disc-swing control method includes: Obtain the rotation information of the swivel disc (100); The control command of the swivel disc (100) is retrieved based on the rotation information. The control command is used to control the forward speed and return speed of the swivel disc (100) to be equal. The forward speed is the speed at which the swivel disc swings from the first side to the second side, and the return speed is the speed at which it swings from the second side to the first side. The power source (200) is controlled according to the control command, so that the rotation of the output end of the motor is regularly accelerated or decelerated. The swivel spreader (10) further includes a swing drive mechanism (300), which is used to convert the rotational motion of the power source (200) into the reciprocating swing motion of the swivel disc (100); The step of obtaining the rotation information of the swaying disc (100) includes: obtaining the motion state information of the swaying drive mechanism (300); and calculating the rotation information based on the motion state information. The swing drive mechanism (300) includes a motor rocker arm (310), an intermediate connecting rod (320), and a swivel rocker arm (330) connected in sequence. The step of obtaining the motion state information of the swing drive mechanism (300) includes: obtaining the first angle information of the motor rocker arm (310), wherein the first angle information includes the angle between the straight line where the motor rocker arm (310) is located and the line connecting the output end of the motor and the swivel disc (100); The step of calculating the rotation information based on the motion state information includes: calculating the distance information between the swivel disc (100) and the motor rocker arm (310) based on the first angle information; and calculating the second angle information of the swivel disc (100) based on the distance information, wherein the second angle information includes the angle between the straight line where the swivel disc rocker arm (330) is located and the line connecting the output end of the motor and the swivel disc (100). The step of calculating the rotation information based on the motion state information further includes: calculating the rotational speed information of the swivel disc (100) based on the second angle information.

2. The disc-swing control method according to claim 1, characterized in that, The disc-spinning spreader is applied to an aircraft, and the disc-spinning control method further includes: The control disc is made to swing back and forth during the flight of the aircraft to spread materials.

3. The disc-swing control method according to claim 1, characterized in that, The formula for calculating the distance information is: ； in, It is the distance from the output end of the motor to the swivel disc (100). It is the length of the motor rocker arm (310). The angle between the straight line containing the motor rocker arm (310) and the line connecting the output end of the motor and the swivel disc (100).

4. The disc-swing control method according to claim 3, characterized in that, The formula for calculating the second angle information is: ； ； in, It is the length of the intermediate connecting rod (320). It is the length of the rocker arm (330).

5. The disc-swing control method according to claim 1, characterized in that, The swivel spreader (10) further includes a sensor for detecting the rotation angle of the swivel disc (100); the step of acquiring the rotation information of the swivel disc (100) includes: Obtain the third angle information of the swivel disc (100) output from the sensor.

6. A flight controller for implementing the disc-throwing control method as described in claim 1, characterized in that, The flight control system includes: The acquisition module is used to acquire the rotation information of the swivel disc (100); The determining module is used to retrieve the control command of the sling plate (100) based on the rotation information. The control command is used to control the forward speed and return speed of the sling plate (100) to be equal. A control module, which controls the power source (200) according to the control command.

7. A disc seeder (10), characterized in that, The device includes a slinger (100), a power source (200), and a flight controller. The slinger (100) is connected to the power source (200), which drives the slinger (100) to swing back and forth. The slinger (100) contacts the material during the swinging process to spread the material outward. Both the slinger (100) and the power source (200) are connected to the flight controller, which is used to implement the slinger control method as described in any one of claims 1-5.

8. An aircraft, characterized in that, Includes the disc spreader (10) as described in claim 7.

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