Vibration reduction optimization control method, device and equipment for jet printing equipment and storage medium

Abstract

The invention belongs to the technical field of vibration reduction control of jet printing equipment, and discloses a vibration reduction optimization control method, device and equipment for the jet printing equipment and a storage medium, and the method comprises the steps: obtaining the dynamic data of the OLED jet printing equipment, building a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method, and carrying out the vibration reduction optimization control of the OLED jet printing equipment based on the vibration dynamic model. A state space model is constructed, and a designed system excitation signal is respectively input into a discretization equation corresponding to the state space model and a disturbance calculation model corresponding to the state space model so as to calculate the predicted acceleration and the feed-forward compensation amount of the OLED jet printing equipment after active vibration reduction in combination with dynamic data. Establishing a model prediction algorithm cost function and a state parameter constraint condition corresponding to the predicted acceleration to perform vibration reduction optimization control on the OLED jet printing equipment in combination with the feed-forward compensation amount; by means of the method, damping optimization control over the OLED jet printing equipment can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration reduction control of a jet printing device, in particular to a jet printing device vibration reduction optimization control method and device, equipment and a storage medium. BACKGROUND

[0002] Large high-resolution OLED (Organic Light-Emitting Diode) jet printing equipment has very high requirements for the scanning positioning accuracy of its mechanical motion subsystem. Whether the multi-axis high-precision jet printing motion platform, as the core component of the motion subsystem of the equipment, can maintain control performance and run smoothly under multiple external disturbances directly determines whether the final printed product quality meets the standard. The above external disturbances are mainly from low-frequency vibrations conducted from the ground and load disturbances introduced by the scanning operation of the nozzle module. Low-frequency ground vibrations may cause the entire jet printing equipment to resonate, damaging the precision instruments installed thereon, while load disturbances will reduce the stiffness of the motion platform, resulting in a decrease in positioning accuracy during jet printing. Therefore, adding a vibration reduction function to the high-resolution OLED jet printing equipment is a necessary means to further improve the jet printing accuracy.

[0003] Currently, large motion platforms mostly use passive vibration reduction mechanisms to achieve vibration reduction. By selecting steel springs with appropriate stiffness, the influence of fixed-frequency ground vibrations can be offset, and the overall stiffness of the motion platform can be improved, thereby improving the jet printing positioning accuracy. For some high-precision motion platforms, active vibration reduction methods can also be used to eliminate external disturbances. The active vibration reduction scheme uses a basic PI algorithm combined with a filter design. By adjusting the output change of the vibration reduction link motor, multiple resonance points in the frequency spectrum are dynamically compensated, the stability margin of the system is improved, and the stability of the motion platform is ensured.

[0004] However, the passive vibration reduction method can only offset the influence of fixed low-frequency vibrations. If other instruments are additionally installed on the large equipment, the resonance points may shift, resulting in poor passive vibration reduction effect and greater limitations. The control parameters of the existing active vibration reduction method usually need to be repeatedly adjusted manually, and there is no collaborative allocation optimization function. Due to the influence of dynamic coupling, parameter joint debugging is relatively complex under multi-axis vibration reduction conditions. Moreover, it only focuses on frequency domain performance and does not combine time domain performance for comprehensive analysis.

[0005] In view of the above problems, the existing technology needs to be improved. SUMMARY

[0006] The application aims to provide a printing equipment vibration reduction optimization control method, device, equipment and storage medium, which realizes vibration reduction optimization control of the printing equipment by accurately modeling and predicting the vibration of the OLED printing equipment and combining feedforward compensation and model prediction control, solves the problem that the existing active vibration reduction control method of the OLED printing equipment usually needs to repeatedly manually adjust control parameters, resulting in poor vibration reduction effect, can simultaneously consider the influence of the dynamic response and external disturbance, realizes collaborative distribution optimization control of the vibration reduction motor, and improves the printing precision and printing efficiency of the OLED printing equipment.

[0007] In a first aspect, the application provides a printing equipment vibration reduction optimization control method, comprising: obtaining the kinetic data of the OLED printing equipment; establishing a vibration dynamic model of the OLED printing equipment by a frequency domain identification method; constructing a state space model based on the vibration dynamic model; inputting a designed system excitation signal into a discrete equation corresponding to the state space model and a disturbance calculation model corresponding to the state space model, to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data; establishing a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition, to perform vibration reduction optimization control on the OLED printing equipment in combination with the feedforward compensation amount.

[0008] The printing equipment vibration reduction optimization control method provided by the application can realize vibration reduction optimization control of the OLED printing equipment, accurately model and predict the vibration of the OLED printing equipment, realize vibration reduction optimization control of the printing equipment by combining feedforward compensation and model prediction control, solve the problem that the existing active vibration reduction control method of the OLED printing equipment usually needs to repeatedly manually adjust control parameters, resulting in poor vibration reduction effect, can simultaneously consider the influence of the dynamic response and external disturbance, realize collaborative distribution optimization control of the vibration reduction motor, and improve the printing precision and printing efficiency of the OLED printing equipment.

[0009] Optionally, the state space model is constructed based on the vibration dynamic model, comprising: an initial vibration dynamic model of single degree of freedom is established by a frequency domain identification method, with disturbance force as input and vibration speed as output; the initial vibration dynamic model is converted into a multi-degree-of-freedom vibration dynamic model of the OLED printing equipment according to the multi-degree-of-freedom motion of the OLED printing equipment.

[0010] The vibration reduction optimization control method of the inkjet printing equipment provided in the application can realize vibration reduction optimization control of the OLED inkjet printing equipment, and through a frequency domain identification method, the vibration characteristics of the OLED inkjet printing equipment under complex motion can be more accurately captured by extending from a single degree of freedom model to a multi-degree of freedom model, so as to provide a more accurate dynamic model basis for subsequent vibration reduction control.

[0011] Optionally, the designed system excitation signal is respectively input to the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, so as to calculate the predicted acceleration of the OLED inkjet printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data, including: The control voltage of the vibration reduction motor in the OLED inkjet printing equipment is designed as a system excitation signal, and the control voltage of the vibration reduction motor in the OLED inkjet printing equipment is designed as a system excitation signal. The kinetic data and the system excitation signal are input to the discrete equation corresponding to the state space model, so as to calculate the predicted acceleration of the OLED inkjet printing equipment after active vibration reduction. The kinetic data and the system excitation signal are input to the disturbance calculation model corresponding to the state space model, so as to calculate the feedforward compensation amount of the OLED inkjet printing equipment after active vibration reduction.

[0012] Optionally, the kinetic data and the system excitation signal are input to the discrete equation corresponding to the state space model, so as to calculate the predicted acceleration of the OLED inkjet printing equipment after active vibration reduction, including: The state space model is converted into a corresponding discrete equation. The kinetic data and the system excitation signal are input to the discrete equation, so as to calculate the predicted acceleration of the OLED inkjet printing equipment after active vibration reduction.

[0013] Optionally, the kinetic data and the system excitation signal are input to the disturbance calculation model corresponding to the state space model, so as to calculate the feedforward compensation amount of the OLED inkjet printing equipment after active vibration reduction, including: The state space model is converted into a corresponding disturbance calculation model based on a preset extended observer. The kinetic data and the system excitation signal are input to the disturbance calculation model, so as to calculate the feedforward compensation amount of the OLED inkjet printing equipment after active vibration reduction.

[0014] Optionally, a model prediction algorithm cost function and a state parameter constraint condition corresponding to the predicted acceleration are established, so as to perform vibration reduction optimization control on the OLED inkjet printing equipment in combination with the feedforward compensation amount, including: determine a model predictive algorithm cost function according to a difference between the predicted acceleration and a preset expected acceleration; establish a constraint condition according to a running range of a control voltage of a damping motor in the OLED jet printing equipment and a running range of a control voltage variation rate of the damping motor, and establish a constraint condition according to a running range of the predicted acceleration, to obtain the state parameter constraint condition; According to the model predictive algorithm cost function and the state parameter constraint condition, a target function for calculating the optimal control voltage of the damping motor is constructed, the control voltage of the damping motor of the OLED jet printing equipment is real-time regulated, the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the damping motor corresponding to the minimum value of the target function, so that the OLED jet printing equipment is optimally controlled.

[0015] The jet printing equipment damping optimization control method provided in the application can realize optimal damping control of the OLED jet printing equipment, the model predictive algorithm cost function and the state parameter constraint condition are constructed, and the optimal control voltage of the damping motor is real-time regulated in combination with the feedforward compensation amount, so that the vibration is maximally reduced while the system operation limit is met, and optimal damping control is realized.

[0016] Optionally, according to the model predictive algorithm cost function and the state parameter constraint condition, a target function for calculating the optimal control voltage of the damping motor is constructed, the control voltage of the damping motor of the OLED jet printing equipment is real-time regulated, the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the damping motor corresponding to the minimum value of the target function, including: According to the model predictive algorithm cost function and the state parameter constraint condition, a target function for calculating the optimal control voltage of the damping motor is constructed; Taking the minimum value as a target, the target function is iterated to calculate the optimal control voltage of the damping motor; The control voltage of the damping motor of the OLED jet printing equipment is real-time regulated, so that the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the damping motor.

[0017] In a second aspect, the application provides a jet printing equipment damping optimization control device, including: An acquisition module is configured to acquire the kinetic data of the OLED jet printing equipment; An establishment module is configured to establish a vibration dynamic model of the OLED jet printing equipment by a frequency domain identification method. a construction module configured to construct a state space model based on the vibration dynamic model; a calculation module configured to input the designed system excitation signal into the discretization equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data; a control module configured to establish a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition to perform vibration reduction optimization control on the OLED jet printing equipment in combination with the feedforward compensation amount.

[0018] The jet printing equipment vibration reduction optimization control device provided by the application can accurately model and predict the vibration of the OLED jet printing equipment, and realizes vibration reduction optimization control of the jet printing equipment in combination with feedforward compensation and model prediction control, solves the problem that the existing active vibration reduction control method of the OLED jet printing equipment usually needs to repeatedly perform manual control parameter adjustment, and can simultaneously consider the influence of the dynamic response and external disturbance, realizes collaborative distribution optimization control of the vibration reduction motor, and improves the printing precision and printing efficiency of the OLED jet printing equipment.

[0019] In a third aspect, the application provides an electronic device including a processor and a memory, the memory storing a computer program executable by the processor, and when the processor executes the computer program, the steps in the jet printing equipment vibration reduction optimization control method described above are executed.

[0020] In a fourth aspect, the application provides a computer readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the jet printing equipment vibration reduction optimization control method described above are executed.

[0021] The jet printing equipment vibration reduction optimization control method, device, equipment and storage medium provided by the application can accurately model and predict the vibration of the OLED jet printing equipment, and realize vibration reduction optimization control of the jet printing equipment in combination with feedforward compensation and model prediction control, solve the problem that the existing active vibration reduction control method of the OLED jet printing equipment usually needs to repeatedly perform manual control parameter adjustment, and can simultaneously consider the influence of the dynamic response and external disturbance, realize collaborative distribution optimization control of the vibration reduction motor, and improve the printing precision and printing efficiency of the OLED jet printing equipment. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The flowchart of the jet printing equipment vibration reduction optimization control method provided by the embodiment of the application.

[0023] Figure 2 A structure schematic diagram of a vibration reduction optimization control device of a printing equipment is provided in the embodiments of the present application.

[0024] Figure 3 A structure schematic diagram of an electronic device is provided in the embodiments of the present application.

[0025] Figure 4 A structure schematic diagram of an active vibration reduction device of an OLED printing equipment.

[0026] Label description: 1, acquisition module; 2, establishment module; 3, construction module; 4, calculation module; 5, control module; 301, processor; 302, memory; 303, communication bus. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0028] It should be noted that: similar labels and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] Please refer to Figure 1 , Figure 1 The printing equipment vibration reduction optimization control method in some embodiments of the present application is a vibration reduction optimization control method for an OLED printing equipment, comprising the following steps: Step S101, acquiring the dynamic data of the OLED printing equipment; Step S102, establishing a vibration dynamic model of the OLED printing equipment by a frequency domain identification method; Step S103, constructing a state space model based on the vibration dynamic model; Step S104, the designed system excitation signal is input into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model respectively, to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data; Step S105, a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition are established to perform vibration reduction optimization control on the OLED jet printing equipment in combination with the feedforward compensation amount.

[0030] The vibration reduction optimization control method of the jet printing equipment accurately models and predicts the vibration of the OLED jet printing equipment, and realizes vibration reduction optimization control of the jet printing equipment by combining feedforward compensation and model prediction control. The method solves the problem that the existing active vibration reduction control method of the OLED jet printing equipment usually needs to repeatedly adjust the control parameters manually, resulting in poor vibration reduction effect. The method can consider the influence of the dynamic response and external disturbance at the same time, realizes collaborative distribution optimization control of the vibration reduction motor, and improves the printing precision and printing efficiency of the OLED jet printing equipment.

[0031] Specifically, in step S101, kinetic data of the OLED jet printing equipment is obtained, wherein the kinetic data refers to data describing the motion state, force condition and vibration characteristics of each component of the OLED jet printing equipment during operation, such as acceleration, speed, displacement, force and the like.

[0032] Specifically, in step S102, a vibration dynamic model of the OLED jet printing equipment is established by a frequency domain identification method, including: An initial vibration dynamic model of single degree of freedom is established by the frequency domain identification method, with disturbance force as input and vibration speed as output; According to the multi-degree-of-freedom motion of the OLED jet printing equipment, the initial vibration dynamic model is converted into a multi-degree-of-freedom vibration dynamic model of the OLED jet printing equipment.

[0033] In step S102, an initial vibration dynamic model of single degree of freedom is established by the frequency domain identification method, with disturbance force as input and vibration speed as output. The initial vibration dynamic model is specifically as follows: ; Wherein, is a Laplace operator; is a disturbance force generated by inputting a white noise signal to the motion platform of the OLED jet printing equipment, represents the vibration speed of the motion platform; is the equivalent mass of the motion platform when considering single degree of freedom vibration reduction only; is the equivalent damping coefficient of the vibration reduction link, The equivalent stiffness coefficient of the vibration reduction element is determined by the selected steel spring structure and material; all of the above parameters can be estimated through frequency domain tests.

[0034] Because each support leg of the motion platform in the OLED printing equipment is equipped with active vibration damping devices (consisting of vibration damping motors and steel springs, specifically as follows) Figure 4 As shown, a is the motion platform, b is the vibration damping motor, e is the base plate, d is the steel spring, x is the displacement of the motion platform in the horizontal direction (i.e., the direction parallel to the horizontal plane), y is the displacement of the motion platform in the vertical direction (i.e., the direction perpendicular to the horizontal plane), θ is the angle of rotation of the motion platform about the axis, and f is the displacement of the motion platform in the vertical direction (i.e., the displacement of the motion platform in the vertical direction). c1 f is the vertical component of the active vibration damping control force. c2 f is the vertical component of the active vibration damping control force. c3 The active vibration control force is the horizontal component, which makes the motion platform exhibit three degrees of freedom motion (i.e., horizontal translation, vertical translation, and rotation around the axis). Therefore, by performing multi-degree-of-freedom transformation on the initial vibration dynamic model, the complex multi-degree-of-freedom motion characteristics of the OLED printing equipment in actual operation can be fully considered, thereby constructing a more comprehensive and accurate vibration dynamic model.

[0035] The vibration dynamic model is specifically as follows: ; in, The equivalent mass matrix of the motion platform in OLED inkjet printing equipment; This represents the damping coefficient matrix of the entire motion platform. This represents the overall stiffness coefficient matrix of the motion platform; This refers to the displacement of the moving platform along the horizontal direction (i.e., the direction parallel to the horizontal plane); This refers to the displacement of the moving platform along the vertical direction (i.e., the direction perpendicular to the horizontal plane); The angle of rotation of the motion platform around its axis; Represents the ground vibration term. This indicates the load disturbance term. This indicates the active vibration reduction control force term; This represents the horizontal component of the ground vibration. This is the vertical component of the ground vibration force. This is the load disturbance transfer matrix for load motion conditions. This represents the horizontal component of the load disturbance. Let be the vertical component of the load disturbance. The component of the load disturbance rotating around the axis; As one of the vertical components of the active vibration damping control force, One of the components of the active vibration control force in the vertical direction, One of the components of the active vibration control force in the horizontal direction.

[0036] Specifically, in step S103, a state space model is constructed based on the vibration dynamic model, i.e., the vibration dynamic model is in a standard state space representation form. The state space model is specifically: ; ; Wherein, is the input state variable (the state variable includes the displacement of the moving platform in the horizontal direction , the acceleration in the horizontal direction , the displacement in the vertical direction , the acceleration in the vertical direction , and the angle of rotation around the shaft , i.e. , the superscript T is the transpose symbol); is the predicted state variable; is the control input, i.e., the control voltage of the vibration motor of each support shaft considering the compensation of ground vibration and load disturbance, i.e., the control voltage corresponding to the three terms on the right side of the equation in the vibration dynamic model; is the output signal, i.e., the output of the acceleration of the moving platform in the horizontal direction, the acceleration in the vertical direction, and the angle of rotation around the shaft in the future period; is the system state matrix; is the input matrix; is the output matrix.

[0037] Specifically, in step S104, the designed system excitation signal is input into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data, including: The control voltage of the vibration motor in the OLED jet printing equipment containing the active vibration reduction force is designed as the system excitation signal; The kinetic data and the system excitation signal are input into the discrete equation corresponding to the state space model to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction; The kinetic data and the system excitation signal are input into the disturbance calculation model corresponding to the state space model to calculate the feedforward compensation amount of the OLED jet printing equipment after active vibration reduction.

[0038] In step S104, the control voltage of the vibration motor in the OLED jet printing equipment containing the active vibration reduction force is designed as the system excitation signal, i.e., the control input The system excitation signal is set. By taking the control voltage as the system excitation signal, the influence of the active damping force (the active damping force considering the ground vibration and load disturbance compensation) on the OLED jet printing equipment can be directly reflected, the control voltage of the damping motor is controlled to generate the active damping force, and direct and effective input is provided for subsequent predicted acceleration and feedforward compensation calculation, thereby ensuring the close association between the excitation signal and the actual damping control.

[0039] Specifically, in step S104, the kinetic data and the system excitation signal are input into the discrete equation corresponding to the state space model, and the predicted acceleration of the OLED jet printing equipment after active damping is calculated, including: The state space model is converted into a corresponding discrete equation; The kinetic data and the system excitation signal are input into the discrete equation, and the predicted acceleration of the OLED jet printing equipment after active damping is calculated.

[0040] In step S104, the continuous-time domain state space model describing the dynamic behavior of the OLED jet printing equipment is converted into a discrete-time domain model suitable for processing by a digital controller through a specific discretization method. This conversion process aims to make the model match the actual sampling data and the operation mechanism of the digital control system, so as to enable effective prediction and control at discrete time steps. The discrete equation is specifically: wherein, is the state variable at time k (i.e. , is the displacement of the motion platform in the horizontal direction at time k, is the acceleration of the motion platform in the horizontal direction at time k, is the displacement of the motion platform in the vertical direction at time k, is the acceleration of the motion platform in the vertical direction at time k, is the angle of rotation of the motion platform around the axis at time k); is the predicted state variable at time k+1 at time k; is the control input at time k, i.e. the control voltage of the damping motor of each support shaft at time k considering the ground vibration and load disturbance compensation; is the discrete form of the system state matrix, determined by the equivalent mass and distribution, equivalent damping coefficient and equivalent stiffness coefficient of the motion platform as a whole relative to its center of mass; is the discrete form of the input matrix, determined by the mechanical structure of the ground vibration and load disturbance transmission channel; ​is the output signal at time k, i.e., the output of the motion platform at time k in the future period in the horizontal direction, the acceleration in the vertical direction, and the angle of rotation around the axis; is the discrete form of the output matrix, .

[0041] The kinetic data and the system excitation signal are input into the discrete equation, and the motion process state quantity X of the motion platform in the future N periods can be iteratively predicted and calculated: ; wherein X is the motion process state quantity of the motion platform, is the prediction time domain, is the control time domain, , in the time domain, , i.e., in the time period from the end of the control time domain to the end of the prediction time domain, the input control input (control voltage of the damping motor) is considered to be 0.

[0042] Accordingly, the predicted accelerations of the motion platform in the horizontal direction and the vertical direction in the future N periods are calculated: ; wherein Y is the predicted acceleration of the motion platform in the future N periods, ; is the system state matrix in the future N periods, ; is the influence matrix in the future N periods, ; is the control input at the initial time, i.e., the input initial value of the motion process state quantity, ; is the optimized predicted control input sequence in the future N periods, i.e., the predicted control voltage of the damping motor (active damping motor control voltage to be optimized), .

[0043] In summary, after obtaining the discrete equation, the real-time kinetic data of the OLED jet printing equipment and the real-time control voltage of the damping motor are input into the discrete equation, and through the iterative calculation of the discrete equation, the acceleration response of the OLED jet printing equipment under the action of active damping control in the next or future time steps can be predicted, and the predicted acceleration of the OLED jet printing equipment after active damping is obtained.

[0044] Specifically, in step S104, the kinetic data and the system excitation signal are input into the disturbance calculation model corresponding to the state space model, and the feedforward compensation quantity of the OLED jet printing equipment after active damping is calculated, including: The state space model is converted into a corresponding disturbance calculation model based on a preset extended observer; The kinetic data and the system excitation signal are input into the disturbance calculation model, and a feedforward compensation amount of the OLED jet printing equipment after active vibration reduction is calculated.

[0045] In step S104, the original state space model can be effectively converted into a disturbance calculation model for calculating disturbance by introducing a preset extended observer and combining the extended observer with the state space model. The disturbance observer is an algorithm or model for estimating unknown disturbance of a system in real time. The observer can accurately identify and quantify external interference or internal uncertainty acting on the OLED jet printing equipment by analyzing input and output data of the vibration reduction system of the OLED jet printing equipment.

[0046] The disturbance calculation model is specifically as follows: ; The disturbance calculation model is specifically as follows: is a comprehensive disturbance value w at k+1 time point predicted based on data at k time point k displacement and acceleration of the motion platform in the horizontal direction and the vertical direction, and an angle of rotation of the motion platform around an axis; is a comprehensive disturbance w at k time point predicted based on data at k time point k displacement and acceleration of the motion platform in the horizontal direction and the vertical direction, and an angle of rotation of the motion platform around an axis; is an actual control input (actual control voltage of the vibration reduction motor) at k time point; is an actual output signal at k time point; is an output signal at k time point predicted based on data at k-1 time point; is an output signal at k time point predicted based on data at k time point; is an extended matrix of a system state matrix; is an extended matrix of an input matrix; is an extended matrix of an output matrix; is an extended observer gain matrix. The calculated comprehensive disturbance value w k is a required feedforward compensation amount. In the vibration reduction process, the feedforward compensation amount is superimposed with the predicted control voltage of the vibration reduction motor to control the control voltage of the vibration reduction motor, so as to realize vibration reduction optimization control of the jet printing of the OLED jet printing equipment.

[0047] The kinetic data and the system excitation signal are input into the disturbance calculation model, and a feedforward compensation amount of the OLED jet printing equipment after active vibration reduction is calculated to generate a compensation signal in advance, so that the disturbance is actively cancelled, and the influence of the disturbance on the vibration of the jet printing equipment is avoided or significantly reduced.

[0048] Specifically, in step S105, a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition are established to combine the feedforward compensation amount and perform vibration reduction optimization control on the OLED jet printing equipment, including: The model prediction algorithm cost function is determined according to the difference between the predicted acceleration and the preset expected acceleration; The state parameter constraint condition is obtained by constructing a constraint condition based on the operating range of the control voltage of the vibration reduction motor in the OLED jet printing equipment and the operating range of the control voltage change rate, and constructing a constraint condition based on the operating range of the predicted acceleration; According to the objective function for calculating the optimal control voltage of the vibration reduction motor constructed based on the model prediction algorithm cost function and the state parameter constraint condition, the control voltage of the vibration reduction motor of the OLED jet printing equipment is real-time regulated, so that the sum of the first vibration reduction motor control voltage corresponding to the predicted acceleration and the second vibration reduction motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration reduction motor corresponding to the minimum value of the objective function, thereby performing vibration reduction optimization control on the OLED jet printing equipment.

[0049] In step S105, the model prediction algorithm cost function is determined according to the difference between the predicted acceleration and the preset expected acceleration, and the model prediction algorithm cost function is specifically: ; Wherein, J is the model prediction algorithm cost function value; H is a first constant matrix, , R is a diagonal matrix of the input matrix, and the dimension is , Q is a diagonal matrix of the system state matrix, and the dimension is N; G is a second constant matrix, , , is an error matrix, is a preset expected acceleration; P is a third constant matrix, ; wherein, Q, R and can be set according to actual needs; Q and R determine the feasibility and final vibration suppression precision of the model prediction algorithm cost function.

[0050] The constraint condition is constructed based on the operating range of the control voltage of the vibration reduction motor in the OLED jet printing equipment and the operating range of the control voltage change rate, i.e. the control voltage and control voltage change rate of the vibration reduction motor are limited within the corresponding operating range to ensure the normal operation of the vibration reduction motor, i.e. , , A constraint condition is constructed for controlling the rate of change of the voltage to predict the operating range of the acceleration, that is, the predicted acceleration is constrained according to the mechanical structure of the motion platform, , The maximum value of the acceleration can be obtained according to the specification or experiment. Thus, the state parameter constraint condition is constructed.

[0051] Specifically, in step S105, the control voltage of the vibration reduction motor of the OLED jet printing equipment is real-time regulated according to the objective function for calculating the optimal control voltage of the vibration reduction motor constructed according to the model prediction algorithm cost function and the state parameter constraint condition, so that the sum of the first vibration reduction motor control voltage corresponding to the predicted acceleration and the second vibration reduction motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the vibration reduction motor corresponding to the minimum value of the objective function, thereby the vibration reduction optimization control of the OLED jet printing equipment is performed, including: The objective function for calculating the optimal control voltage of the vibration reduction motor is constructed according to the model prediction algorithm cost function and the state parameter constraint condition; The objective function is iterated with the minimum value as the target, and the optimal control voltage of the vibration reduction motor is calculated; The control voltage of the vibration reduction motor of the OLED jet printing equipment is real-time regulated so that the sum of the first vibration reduction motor control voltage corresponding to the predicted acceleration and the second vibration reduction motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the vibration reduction motor.

[0052] In step S105, the objective function for calculating the optimal control voltage of the vibration reduction motor is constructed according to the model prediction algorithm cost function and the state parameter constraint condition, and the objective function is specifically: ; ; Wherein, is the value of the objective function; is the constraint condition; is a multi-axis disturbance observation matrix; is a weight matrix of the multi-axis disturbance observation matrix; the predicted control voltage of the vibration reduction motor , is the first vibration reduction motor control voltage corresponding to the predicted acceleration, is the second vibration reduction motor control voltage corresponding to the feedforward compensation (the second vibration reduction motor control voltage is a fixed value).

[0053] While the control voltage of the vibration reduction motor is real-time regulated, the objective function is iterated through the regulated control voltage of the vibration reduction motor, so that the objective function tends to the minimum value while the real-time control voltage tends to the optimal value.

[0054] In the regulation process, the target function is iteratively calculated to obtain the target function value The control input (control voltage of the damping motor) when the target function value is at a minimum value (i.e., the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation). When the target function value is at a minimum value When the predicted acceleration corresponding to the minimum value reaches the expected acceleration, the damping effect is optimal, and the control input at this time is the optimal control voltage of the damping motor.

[0055] In summary, the control voltage of the damping motor is adjusted to the optimal control voltage of the damping motor, so that the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the damping motor, thereby effectively offsetting or suppressing the vibration generated by the OLED jet printing equipment during operation. By combining the core idea of model predictive control with the feedforward compensation mechanism, fine damping optimization control of the OLED jet printing equipment is achieved.

[0056] As can be seen from the above, the jet printing equipment damping optimization control method, by obtaining the dynamic data of the OLED jet printing equipment, establishing a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method, based on the vibration dynamic model, a state space model is constructed, the designed system excitation signal is input into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, to calculate the predicted acceleration and the feedforward compensation of the OLED jet printing equipment after active damping, and to establish a model predictive algorithm cost function corresponding to the predicted acceleration and state parameter constraints, to combine the feedforward compensation to perform damping optimization control on the OLED jet printing equipment; thereby, by accurately modeling and predicting the vibration of the OLED jet printing equipment, and combining feedforward compensation and model predictive control, damping optimization control of the jet printing equipment is achieved, solving the problem that the existing active damping control method of the OLED jet printing equipment usually needs to repeatedly manually adjust the control parameters, resulting in poor damping effect, and being able to consider the influence of its own dynamic response and external disturbance, realizing collaborative allocation and optimization control of the damping motor, and improving the printing precision and efficiency of the OLED jet printing equipment.

[0057] Reference Figure 2 The present application provides a jet printing equipment damping optimization control device for damping optimization control of an OLED jet printing equipment, comprising: An acquisition module 1 for acquiring dynamic data of an OLED jet printing equipment; An establishment module 2 for establishing a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method; The constructing module 3 is configured to construct a state space model based on the vibration dynamic model; The calculating module 4 is configured to input the designed system excitation signal into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model respectively, so as to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction and the feedforward compensation amount in combination with the kinetic data; The control module 5 is configured to establish a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition, so as to perform vibration reduction optimization control on the OLED jet printing equipment in combination with the feedforward compensation amount.

[0058] The vibration reduction optimization control device of the jet printing equipment realizes the vibration reduction optimization control on the jet printing equipment by accurately modeling and predicting the vibration of the OLED jet printing equipment and combining the feedforward compensation and the model prediction control, solves the problem that the existing active vibration reduction control method of the OLED jet printing equipment usually needs to repeatedly perform manual control parameter adjustment, and can simultaneously consider the influence of the dynamic response and the external disturbance, realizes the collaborative distribution optimization control on the vibration reduction motor, and improves the printing precision and the printing efficiency of the OLED jet printing equipment.

[0059] Specifically, the acquiring module 1 acquires kinetic data of the OLED jet printing equipment when executed, wherein the kinetic data refers to data describing the motion state, force condition and vibration characteristics of each component of the OLED jet printing equipment in the running process, such as acceleration, speed, displacement, force and the like.

[0060] Specifically, when the establishing module 2 establishes the vibration dynamic model of the OLED jet printing equipment by the frequency domain identification method, the following is executed: An initial vibration dynamic model of single degree of freedom is established by the frequency domain identification method, with disturbance force as input and vibration speed as output; According to the multi-degree-of-freedom motion of the OLED jet printing equipment, the initial vibration dynamic model is converted into a multi-degree-of-freedom vibration dynamic model of the OLED jet printing equipment.

[0061] When the establishing module 2 is executed, an initial vibration dynamic model of single degree of freedom is established by the frequency domain identification method, with disturbance force as input and vibration speed as output. The initial vibration dynamic model is specifically as follows: ; Wherein, is a Laplace operator; is a disturbance force generated by inputting a white noise signal to the motion platform of the OLED jet printing equipment, represents the vibration speed of the motion platform; is the equivalent mass of the motion platform when only considering single-degree-of-freedom vibration reduction. is the equivalent damping coefficient of the damping link, is the equivalent stiffness coefficient of the damping link, which is determined by the structure and material of the steel spring selected; the above parameters can be estimated by frequency domain test.

[0062] Since the active damping device (composed of a damping motor and a steel spring, as shown in Figure 4 , is installed on each support leg of the motion platform in the OLED jet printing equipment, where a is the motion platform, b is the damping motor, e is the bottom plate, d is the steel spring, x is the displacement of the motion platform in the horizontal direction (i.e., the direction parallel to the horizontal plane), y is the displacement of the motion platform in the vertical direction (i.e., the direction perpendicular to the horizontal plane), θ is the angle of rotation of the motion platform around the shaft, f c1 is the component of the active damping control force in the vertical direction, f c2 is the component of the active damping control force in the vertical direction, f c3 is the component of the active damping control force in the horizontal direction), the motion platform as a whole exhibits three degrees of freedom motion (i.e., horizontal translation, vertical translation, and rotation around the shaft), therefore, by converting the initial vibration dynamic model to multiple degrees of freedom, the complex multi-degree of freedom motion characteristics of the OLED jet printing equipment in actual operation can be fully considered, and a more comprehensive and accurate vibration dynamic model can be constructed.

[0063] , the vibration dynamic model is specifically: ; , where is the equivalent mass matrix of the motion platform as a whole in the OLED jet printing equipment; is the damping coefficient matrix of the motion platform as a whole; is the stiffness coefficient matrix of the motion platform as a whole; is the displacement of the motion platform in the horizontal direction (i.e., the direction parallel to the horizontal plane); is the displacement of the motion platform in the vertical direction (i.e., the direction perpendicular to the horizontal plane); is the angle of rotation of the motion platform around the shaft; represents the ground vibration term, represents the load disturbance term, represents the active damping control force term; is the component of the ground vibration in the horizontal direction, is the component of the ground vibration in the vertical direction; is the load disturbance transfer matrix of the load motion condition, is the component of the load disturbance in the horizontal direction, is the component of the load disturbance in the vertical direction, is the component of the load disturbance around the shaft; One of the components of the active vibration control force in the vertical direction, One of the components of the active vibration control force in the vertical direction, One of the components of the active vibration control force in the horizontal direction.

[0064] Specifically, the construction module 3, when executed, constructs a state space model based on the vibration dynamic model in a standard state space representation form. The state space model is specifically: ; ; Wherein, is the input state variable (the state variable includes the displacement of the motion platform in the horizontal direction , the acceleration in the horizontal direction , the displacement in the vertical direction , the acceleration in the vertical direction , and the angle of rotation around the shaft , i.e. , the superscript T is the transpose symbol); is the predicted state variable; is the control input, i.e. the control voltage of the vibration motor of each support shaft considering the compensation of ground vibration and load disturbance, i.e. the control voltage corresponding to the three terms on the right side of the equation in the vibration dynamic model; is the output signal, i.e. the output of the acceleration of the motion platform in the horizontal direction, the acceleration in the vertical direction and the angle of rotation around the shaft in the future period; is the system state matrix; is the input matrix; is the output matrix.

[0065] Specifically, the calculation module 4, when calculating the predicted acceleration of the OLED jet printing equipment after active vibration reduction and the feedforward compensation amount by inputting the designed system excitation signal into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model respectively, executes: Designing the control voltage of the vibration motor in the OLED jet printing equipment containing the active vibration control force as the system excitation signal Inputting the kinetic data and the system excitation signal into the discrete equation corresponding to the state space model to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction; Inputting the kinetic data and the system excitation signal into the disturbance calculation model corresponding to the state space model to calculate the feedforward compensation amount of the OLED jet printing equipment after active vibration reduction.

[0066] The computing module 4, in execution, designs the control voltage of the vibration reduction motor in the OLED jet printing equipment containing the active vibration reduction force as a system excitation signal, that is, sets the control input as the system excitation signal. By taking the control voltage as the system excitation signal, the influence of the active vibration reduction force (the active vibration reduction force considering the ground vibration and load disturbance compensation) on the OLED jet printing equipment can be directly reflected, the control voltage of the vibration reduction motor is controlled to generate the active vibration reduction force, a direct and effective input is provided for subsequent prediction of acceleration and feedforward compensation amount calculation, and the close association of the excitation signal with the actual vibration reduction control is ensured.

[0067] Specifically, when the computing module 4 inputs the kinetic data and the system excitation signal into the discrete equation corresponding to the state space model to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction, the following is performed: convert the state space model into a corresponding discrete equation; input the kinetic data and the system excitation signal into the discrete equation to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction.

[0068] The computing module 4, in execution, converts the continuous-time domain state space model describing the dynamic behavior of the OLED jet printing equipment into a discrete-time domain model suitable for processing by a digital controller through a specific discretization method. This conversion process aims to make the model compatible with actual sampling data and the operation mechanism of the digital control system, so that effective prediction and control can be performed at discrete time steps. The discrete equation is specifically: ; wherein, is the state variable at time k (i.e. , is the displacement of the motion platform in the horizontal direction at time k, is the acceleration of the motion platform in the horizontal direction at time k, is the displacement of the motion platform in the vertical direction at time k, is the acceleration of the motion platform in the vertical direction at time k, is the angle of rotation of the motion platform around the axis at time k); is the predicted state variable at time k+1 at time k; is the control input at time k, that is, the control voltage of the vibration reduction motor of each support shaft at time k considering the ground vibration and load disturbance compensation; is the discrete form of the system state matrix, determined by the equivalent mass and distribution, equivalent damping coefficient and equivalent stiffness coefficient of the motion platform as a whole relative to its center of mass; is the discrete form of the input matrix, The mechanical structure of the transmission path of ground vibration and load disturbance determines; is the output signal at time k, i.e., the output of the motion platform at time k in the future period in the horizontal direction, in the vertical direction and the angle of rotation around the axis; is the discrete form of the output matrix, .

[0069] The dynamic data and the system excitation signal are input into the discrete equation, and the motion process state quantity X of the motion platform in the future N periods can be iteratively predicted and calculated: ; wherein X is the motion process state quantity of the motion platform, is the prediction time domain, is the control time domain, , in the time domain, , i.e., in the time period from the end of the control time domain to the end of the prediction time domain, the input control input (control voltage of the damping motor) is considered to be 0. From the above, the predicted acceleration of the motion platform in the horizontal direction and the vertical direction in the future N periods is calculated:

[0070] ; wherein Y is the predicted acceleration of the motion platform in the future N periods, ; is the system state matrix in the future N periods, ; is the influence matrix in the future N periods, ; is the initial control input at time k, i.e., the input initial value of the motion process state quantity, ; is the optimized prediction control input sequence in the future N periods, i.e., the predicted control voltage of the damping motor (active damping motor control voltage to be optimized), .

[0071] In summary, after obtaining the discrete equation, the real-time dynamic data of the OLED jet printing equipment and the real-time control voltage of the damping motor are input into the discrete equation, and through the iterative calculation of the discrete equation, the acceleration response of the OLED jet printing equipment under the action of active damping control in the next or future multiple time steps can be predicted, and the predicted acceleration of the OLED jet printing equipment after active damping is obtained.

[0072] ​Specifically, the calculation module 4 executes the following when calculating the feedforward compensation quantity of the OLED jet printing equipment after active vibration reduction by inputting the kinetic data and the system excitation signal into the disturbance calculation model corresponding to the state space model: The state space model is converted into a corresponding disturbance calculation model based on a preset extended observer; The kinetic data and the system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation quantity of the OLED jet printing equipment after active vibration reduction.

[0073] When the calculation module 4 is executed, the original state space model can be effectively converted into a disturbance calculation model for calculating disturbance by introducing a preset extended observer and combining it with the state space model. The disturbance observer is an algorithm or model for real-time estimation of unknown disturbance of a system. The observer can accurately identify and quantify external interference or internal uncertainty acting on the OLED jet printing equipment by analyzing the input and output data of the vibration reduction system of the OLED jet printing equipment.

[0074] The disturbance calculation model is specifically as follows: ; Wherein, is the comprehensive disturbance value w at the k+1 moment predicted based on the data at the k moment k , displacement and acceleration of the motion platform in the horizontal direction and the vertical direction, and the angle of rotation of the motion platform around the shaft; is the comprehensive disturbance w at the k moment predicted based on the data at the k moment k , displacement and acceleration of the motion platform in the horizontal direction and the vertical direction, and the angle of rotation of the motion platform around the shaft; is the actual control input (actual control voltage of the vibration reduction motor) at the k moment; is the actual output signal at the k moment; is the output signal at the k moment predicted based on the data at the k-1 moment; is the output signal at the k moment predicted based on the data at the k moment; is the extended matrix of the system state matrix; is the extended matrix of the input matrix; is the extended matrix of the output matrix; is the extended observer gain matrix. The calculated comprehensive disturbance value w k is the required feedforward compensation quantity. In the vibration reduction process, the feedforward compensation quantity is superimposed with the predicted control voltage of the vibration reduction motor to control the control voltage of the vibration reduction motor, thereby realizing vibration reduction optimization control of the jet printing of the OLED jet printing equipment.

[0075] The kinetic data and the system excitation signal are input into the disturbance calculation model, and a feedforward compensation amount of the OLED jet printing equipment after active vibration reduction is calculated to generate a compensation signal in advance, so that the disturbance is actively cancelled, and the influence of the disturbance on the vibration of the jet printing equipment is avoided or significantly reduced.

[0076] Specifically, the control module 5 executes the following when establishing a model prediction algorithm cost function corresponding to the predicted acceleration and state parameter constraints to perform vibration reduction optimization control on the OLED jet printing equipment in combination with the feedforward compensation amount: determining the model prediction algorithm cost function according to the difference between the predicted acceleration and the preset expected acceleration; constructing constraints with the operating range of the control voltage of the vibration reduction motor and the operating range of the control voltage rate in the OLED jet printing equipment to construct constraints with the operating range of the predicted acceleration to obtain the state parameter constraints; controlling the control voltage of the vibration reduction motor of the OLED jet printing equipment in real time according to the objective function for calculating the optimal control voltage of the vibration reduction motor constructed according to the model prediction algorithm cost function and the state parameter constraints, so that the sum of the first vibration reduction motor control voltage corresponding to the predicted acceleration and the second vibration reduction motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration reduction motor corresponding to the minimum value of the objective function, thereby performing vibration reduction optimization control on the OLED jet printing equipment.

[0077] When the control module 5 executes, the difference between the predicted acceleration and the preset expected acceleration is determined to obtain the model prediction algorithm cost function, and the model prediction algorithm cost function is specifically: ; wherein J is the model prediction algorithm cost function value; H is a first constant matrix, , R is a diagonal matrix of the input matrix, and the dimension is , Q is a diagonal matrix of the system state matrix, and the dimension is N; G is a second constant matrix, , , is an error matrix, is a preset expected acceleration; P is a third constant matrix, ; wherein Q, R and can be set according to actual needs; Q and R determine the feasibility and final vibration suppression precision of the model prediction algorithm cost function.

[0078] The constraints are constructed with the operating range of the control voltage of the vibration reduction motor and the operating range of the control voltage rate in the OLED jet printing equipment, i.e., the control voltage and the control voltage rate of the vibration reduction motor are limited within the corresponding operating range to ensure the normal operation of the vibration reduction motor, i.e. , , A constraint condition is constructed for controlling the rate of change of the voltage to predict the operating range of the acceleration, i.e., the predicted acceleration is constrained according to the mechanical structure of the motion platform, , The maximum value of the acceleration can be obtained according to the specification or experiment. Thus, the state parameter constraint condition is constructed.

[0079] Specifically, the control module 5 performs real-time regulation and control on the control voltage of the vibration motor of the OLED jet printing equipment according to the target function for calculating the optimal control voltage of the vibration motor constructed according to the model predictive algorithm cost function and the state parameter constraint condition, so that the sum of the first vibration motor control voltage corresponding to the predicted acceleration and the second vibration motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the vibration motor corresponding to the minimum value of the target function, thereby performing, when the vibration optimization control of the OLED jet printing equipment is performed: A target function for calculating the optimal control voltage of the vibration motor is constructed according to the model predictive algorithm cost function and the state parameter constraint condition; The target function is iterated with the minimum value as the target, and the optimal control voltage of the vibration motor is calculated; The control voltage of the vibration motor of the OLED jet printing equipment is regulated and controlled in real time so that the sum of the first vibration motor control voltage corresponding to the predicted acceleration and the second vibration motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the vibration motor.

[0080] When the control module 5 is executed, a target function for calculating the optimal control voltage of the vibration motor is constructed according to the model predictive algorithm cost function and the state parameter constraint condition, and the target function is specifically: ; ; Wherein, is the value of the target function; is the constraint condition; is a multi-axis disturbance observation matrix; is a weight matrix of the multi-axis disturbance observation matrix; the predicted control voltage of the vibration motor , is the first vibration motor control voltage corresponding to the predicted acceleration, is the second vibration motor control voltage corresponding to the feedforward compensation (the second vibration motor control voltage is a fixed value).

[0081] While the control voltage of the vibration motor is regulated and controlled in real time, the target function is iterated through the regulated and controlled control voltage of the vibration motor, so that the target function tends to the minimum value while the real-time control voltage tends to the optimal value.

[0082] In the regulation process, the target function is iteratively calculated to obtain the target function value The control input (control voltage of the damping motor) when the target function value is at a minimum value (the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation). When the target function value When the minimum value is reached, the corresponding predicted acceleration has reached the expected acceleration, at which time the damping effect is best, and the control input at this time is the optimal control voltage of the damping motor.

[0083] In summary, the control voltage of the damping motor is adjusted to the optimal control voltage of the damping motor, so that the sum of the first damping motor control voltage corresponding to the predicted acceleration and the second damping motor control voltage corresponding to the feedforward compensation tends to the optimal control voltage of the damping motor, thereby effectively counteracting or suppressing the vibration generated by the OLED jet printing equipment during operation. By combining the core idea of model predictive control with the feedforward compensation mechanism, fine vibration reduction optimization control of the OLED jet printing equipment is achieved.

[0084] As can be seen from the above, the vibration reduction optimization control device of the jet printing equipment obtains the dynamic data of the OLED jet printing equipment, establishes a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method, constructs a state space model based on the vibration dynamic model, inputs the designed system excitation signal into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, to calculate the predicted acceleration and the feedforward compensation of the OLED jet printing equipment after active damping, establish a model predictive algorithm cost function corresponding to the predicted acceleration and state parameter constraints, and perform vibration reduction optimization control of the OLED jet printing equipment in combination with the feedforward compensation; thereby, through accurate modeling and prediction of the vibration of the OLED jet printing equipment, and in combination with feedforward compensation and model predictive control, vibration reduction optimization control of the jet printing equipment is achieved, solving the problem that the existing active damping control method of the OLED jet printing equipment usually needs to repeatedly manually adjust the control parameters, resulting in poor damping effect, and being able to consider the influence of the dynamic response and external disturbance at the same time, realizing collaborative allocation optimization control of the damping motor, and improving the printing precision and printing efficiency of the OLED jet printing equipment.

[0085] Please refer to Figure 3 , Figure 3A structural schematic diagram of an electronic device provided for an embodiment of the present application, the present application provides an electronic device, comprising: a processor 301 and a memory 302, the processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not marked), the memory 302 stores a computer program executable by the processor 301, when the electronic device runs, the processor 301 executes the computer program to execute the vibration optimization control method of the printing equipment in any optional implementation manner of the above-mentioned embodiment, to realize the following functions: obtaining the dynamic data of the OLED printing equipment, establishing the vibration dynamic model of the OLED printing equipment through the frequency domain identification method, constructing the state space model based on the vibration dynamic model, inputting the designed system excitation signal into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model respectively, to calculate the predicted acceleration and the feedforward compensation of the OLED printing equipment after active vibration reduction in combination with the dynamic data, establishing the model prediction algorithm cost function corresponding to the predicted acceleration and the state parameter constraint condition, to carry out vibration optimization control on the OLED printing equipment in combination with the feedforward compensation.

[0086] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to execute the vibration reduction optimization control method of the jet printing equipment in any optional implementation manner of the above embodiment, so as to realize the following functions: obtaining dynamic data of OLED jet printing equipment, establishing a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method, constructing a state space model based on the vibration dynamic model, inputting a designed system excitation signal into a discretization equation corresponding to the state space model and a disturbance calculation model corresponding to the state space model, and combining the dynamic data to calculate a predicted acceleration and a feedforward compensation of the OLED jet printing equipment after active vibration reduction, establishing a model prediction algorithm cost function corresponding to the predicted acceleration and a state parameter constraint condition, and combining the feedforward compensation to perform vibration reduction optimization control on the OLED jet printing equipment. The storage medium can be realized by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk or an optical disk.

[0087] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and another division mode can be used in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0088] In addition, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, and can be located in one place, or can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment.

[0089] Furthermore, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0090] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

[0091] The above description is merely illustrative of the application, and not in limitation of the principles thereof; rather, various modifications and changes can be made by those skilled in the art which will fall within the scope and spirit of the application, with the only limitation being imposed by the appended claims.

Claims

1. A method for vibration reduction optimization control of a jet printing equipment, used for vibration reduction optimization control of an OLED jet printing equipment, characterized in that, The method comprises the steps of: acquiring kinetic data of an OLED jet printing equipment; establishing a vibration dynamic model of the OLED jet printing equipment by a frequency domain identification method; constructing a state space model based on the vibration dynamic model; inputting a designed system excitation signal into a discrete equation corresponding to the state space model and a disturbance calculation model corresponding to the state space model, so as to calculate a predicted acceleration and a feedforward compensation of the OLED jet printing equipment after active vibration reduction by combining the kinetic data; establishing a model prediction algorithm cost function and a state parameter constraint condition corresponding to the predicted acceleration, so as to perform vibration reduction optimization control on the OLED jet printing equipment by combining the feedforward compensation.

2. The method of claim 1, wherein, The method for establishing the vibration dynamic model of the OLED jet printing equipment by the frequency domain identification method comprises the steps of: establishing an initial vibration dynamic model of a single degree of freedom by taking a disturbance force as input and a vibration speed as output; performing multi-degree-of-freedom conversion on the initial vibration dynamic model according to multi-degree-of-freedom motion of the OLED jet printing equipment, so as to obtain the vibration dynamic model of the OLED jet printing equipment.

3. The method of claim 1, wherein, The method for inputting the designed system excitation signal into the discrete equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, so as to calculate the predicted acceleration and the feedforward compensation of the OLED jet printing equipment after active vibration reduction by combining the kinetic data, comprises the steps of: designing a control voltage of a vibration reduction motor in the OLED jet printing equipment as the system excitation signal, the control voltage containing an active vibration reduction force; inputting the kinetic data and the system excitation signal into the discrete equation corresponding to the state space model, so as to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction; inputting the kinetic data and the system excitation signal into the disturbance calculation model corresponding to the state space model, so as to calculate the feedforward compensation of the OLED jet printing equipment after active vibration reduction.

4. The method of claim 3, wherein, The method for inputting the kinetic data and the system excitation signal into the discrete equation corresponding to the state space model, so as to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction, comprises the steps of: converting the state space model into a corresponding discrete equation; inputting the kinetic data and the system excitation signal into the discrete equation, so as to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction.

5. The method of claim 3, wherein, The method for inputting the kinetic data and the system excitation signal into the disturbance calculation model corresponding to the state space model, so as to calculate the feedforward compensation of the OLED jet printing equipment after active vibration reduction, comprises the steps of: converting the state space model into a corresponding disturbance calculation model based on a preset extended observer; inputting the kinetic data and the system excitation signal into the disturbance calculation model, so as to calculate the feedforward compensation of the OLED jet printing equipment after active vibration reduction.

6. The method of claim 1, wherein, establish a model predictive algorithm cost function and a state parameter constraint condition corresponding to the predicted acceleration, to combine the feedforward compensation amount, and perform vibration reduction optimization control on the OLED jet printing equipment, including: determining a model predictive algorithm cost function according to a difference between the predicted acceleration and a preset expected acceleration; establishing a constraint condition with a running range of a control voltage of a vibration reduction motor in the OLED jet printing equipment and a running range of a control voltage change rate, and establishing a constraint condition with a running range of the predicted acceleration, to obtain the state parameter constraint condition; according to the model predictive algorithm cost function and the state parameter constraint condition, establishing a target function for calculating an optimal control voltage of the vibration reduction motor, to perform real-time regulation and control on the control voltage of the vibration reduction motor of the OLED jet printing equipment, so that a sum of a first vibration reduction motor control voltage corresponding to the predicted acceleration and a second vibration reduction motor control voltage corresponding to the feedforward compensation amount tends to an optimal control voltage of the vibration reduction motor corresponding to a minimum value of the target function, thereby performing vibration reduction optimization control on the OLED jet printing equipment.

7. The method of claim 6, wherein, according to the model predictive algorithm cost function and the state parameter constraint condition, establishing a target function for calculating an optimal control voltage of the vibration reduction motor, to perform real-time regulation and control on the control voltage of the vibration reduction motor of the OLED jet printing equipment, so that a sum of a first vibration reduction motor control voltage corresponding to the predicted acceleration and a second vibration reduction motor control voltage corresponding to the feedforward compensation amount tends to an optimal control voltage of the vibration reduction motor corresponding to a minimum value of the target function, including: according to the model predictive algorithm cost function and the state parameter constraint condition, establishing a target function for calculating an optimal control voltage of the vibration reduction motor; iterating the target function with a minimum value as a target, to calculate the optimal control voltage of the vibration reduction motor; performing real-time regulation and control on the control voltage of the vibration reduction motor of the OLED jet printing equipment, so that a sum of a first vibration reduction motor control voltage corresponding to the predicted acceleration and a second vibration reduction motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration reduction motor.

8. A vibration reduction optimization control device for OLED jet printing equipment, used for vibration reduction optimization control of OLED jet printing equipment, characterized in that, including: an acquisition module, configured to acquire dynamic data of an OLED jet printing equipment; an establishment module, configured to establish a vibration dynamic model of the OLED jet printing equipment through a frequency domain identification method; a construction module, configured to construct a state space model based on the vibration dynamic model; a calculation module, configured to input a designed system excitation signal into a discretization equation corresponding to the state space model and a disturbance calculation model corresponding to the state space model, to combine the dynamic data, and calculate a predicted acceleration and a feedforward compensation amount of the OLED jet printing equipment after active vibration reduction; a control module, configured to establish a model predictive algorithm cost function and a state parameter constraint condition corresponding to the predicted acceleration, to combine the feedforward compensation amount, and perform vibration reduction optimization control on the OLED jet printing equipment.

9. An electronic device, comprising: A computer program product comprising a computer readable medium having stored thereon computer program means which, when executed by a processor, cause the processor to carry out the steps of the method of vibration reduction optimization control of a jet printing apparatus according to any one of claims 1-7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to run the steps of the method of vibration reduction optimization control of a jet printing apparatus according to any one of claims 1-7.

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