Inkjet printing equipment damping optimization control method, device, equipment and storage medium

Abstract

This application belongs to the technical field of vibration reduction control for inkjet printing equipment, and discloses a method, device, equipment, and storage medium for optimized vibration reduction control of inkjet printing equipment. The method includes: acquiring dynamic data of OLED inkjet printing equipment; establishing a vibration dynamic model of OLED inkjet printing equipment through a frequency domain identification method; constructing a state space model based on the vibration dynamic model; inputting the designed system excitation signal into the discretized equations and disturbance calculation models corresponding to the state space model, respectively, to calculate the predicted acceleration and feedforward compensation amount of the OLED inkjet printing equipment after active vibration reduction in combination with the dynamic data; establishing the model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration, to perform optimized vibration reduction control of the OLED inkjet printing equipment in combination with the feedforward compensation amount; through the above method, optimized vibration reduction control of OLED inkjet printing equipment can be achieved.

Description

Technical Field

[0001] This application relates to the technical field of vibration reduction control for inkjet printing equipment, and more specifically, to a method, apparatus, equipment, and storage medium for optimized vibration reduction control of inkjet printing equipment. Background Technology

[0002] Large-scale, high-resolution OLED (Organic Light-Emitting Diode) inkjet printing equipment requires extremely high scanning and positioning accuracy for its mechanical motion subsystem. The submicron-level multi-axis high-precision inkjet printing motion platform, as the core component of this subsystem, directly determines the final printed product quality based on its ability to maintain control performance and operate smoothly under multiple external disturbances. These external disturbances originate from low-frequency vibrations transmitted from the ground and load disturbances introduced by the printhead module's scanning operation. Low-frequency ground vibrations can cause resonance in the entire inkjet printing equipment, damaging the precision instruments mounted on it, while load disturbances reduce the rigidity of the motion platform, leading to a decrease in positioning accuracy during printing. Therefore, incorporating vibration damping functions into high-resolution OLED inkjet printing equipment is a necessary means to further improve printing accuracy.

[0003] Currently, most large motion platforms employ passive vibration damping mechanisms. By selecting steel springs with appropriate stiffness, the effects of ground vibrations at fixed frequencies can be offset, while simultaneously improving the overall stiffness of the motion platform and enhancing printing positioning accuracy. For some high-precision motion platforms, active vibration damping methods can also be applied to eliminate external interference. Active vibration damping schemes all employ a basic PI algorithm combined with filter design. By adjusting the output of the motor in the vibration damping stage, multiple resonant points in the frequency spectrum are dynamically compensated, improving the system's stability margin and ensuring the stability of the motion platform.

[0004] However, passive vibration reduction methods can only counteract the effects of fixed low-frequency vibrations. If other instruments are added to large equipment, it may cause a shift in the resonant point, resulting in a deterioration in the passive vibration reduction effect, which has significant limitations. Furthermore, the control parameters of existing active vibration reduction methods typically require repeated manual trial and error, lacking collaborative allocation and optimization functions. In multi-axis vibration reduction conditions, the influence of dynamic coupling leads to complex parameter tuning. Additionally, these methods only focus on frequency domain performance and do not incorporate time domain performance for comprehensive analysis.

[0005] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0006] The purpose of this application is to provide a vibration reduction optimization control method, device, equipment, and storage medium for printing equipment. By accurately modeling and predicting the vibration of OLED printing equipment, and combining feedforward compensation and model predictive control, vibration reduction optimization control of the printing equipment is achieved. This solves the problem that existing active vibration reduction control methods for OLED printing equipment usually require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, and realizes the coordinated allocation optimization control of vibration reduction motors, thereby improving the printing accuracy and printing efficiency of OLED printing equipment.

[0007] Firstly, this application provides a vibration reduction and optimization control method for inkjet printing equipment, including:

[0008] Acquire dynamic data of OLED printing equipment;

[0009] A vibration dynamic model of the OLED printing equipment is established using a frequency domain identification method.

[0010] Based on the aforementioned vibration dynamic model, a state-space model is constructed.

[0011] The designed system excitation signal is input to the discretized equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, in order to combine the dynamic data to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0012] Establish a model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration, and combine them with the feedforward compensation amount to perform vibration reduction optimization control on the OLED printing equipment.

[0013] The vibration reduction optimization control method for printing equipment provided in this application can achieve vibration reduction optimization control for OLED printing equipment. By accurately modeling and predicting the vibration of OLED printing equipment, and combining feedforward compensation and model predictive control, the vibration reduction optimization control of the printing equipment is achieved. This solves the problem that existing active vibration reduction control methods for OLED printing equipment usually require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, and realize the coordinated allocation optimization control of vibration reduction motors, thereby improving the printing accuracy and printing efficiency of OLED printing equipment.

[0014] Optionally, based on the vibration dynamic model, a state-space model is constructed, including:

[0015] Using frequency domain identification methods, a single-degree-of-freedom initial vibration dynamic model is established with perturbation force as input and vibration velocity as output.

[0016] Based on the multi-degree-of-freedom motion of the OLED printing equipment, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the OLED printing equipment.

[0017] The vibration reduction optimization control method for printing equipment provided in this application can realize vibration reduction optimization control of OLED printing equipment. By using frequency domain identification method, it extends from a single-degree-of-freedom model to a multi-degree-of-freedom model, more accurately capturing the vibration characteristics of OLED printing equipment under complex motion, and providing a more accurate dynamic model basis for subsequent vibration reduction control.

[0018] Optionally, the designed system excitation signal is input to the discretized equations corresponding to the state-space model and the disturbance calculation model corresponding to the state-space model, respectively, to calculate the predicted acceleration and feedforward compensation of the OLED printing equipment after active vibration reduction, in combination with the dynamic data, including:

[0019] The control voltage of the vibration damping motor in the OLED printing equipment, which includes active vibration damping force, is designed as the system excitation signal.

[0020] The dynamic data and the system excitation signal are input into the discretized equation corresponding to the state space model to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction.

[0021] The dynamic 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 printing equipment after active vibration reduction.

[0022] Optionally, the dynamic data and the system excitation signal are input into the discretized equation corresponding to the state-space model to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction, including:

[0023] The state-space model is transformed into the corresponding discretized equations;

[0024] The dynamic data and the system excitation signal are input into the discretized equation to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction.

[0025] Optionally, the dynamic 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 printing equipment after active vibration reduction, including:

[0026] Based on a preset extended observer, the state space model is transformed into a corresponding perturbation calculation model;

[0027] The dynamic data and the system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0028] Optionally, a model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration are established to combine with the feedforward compensation amount for vibration reduction optimization control of the OLED printing equipment, including:

[0029] The cost function of the model prediction algorithm is determined based on the difference between the predicted acceleration and the preset expected acceleration.

[0030] The state parameter constraints are obtained by constructing constraints based on the operating range of the control voltage and the operating range of the control voltage change rate of the vibration damping motor in the OLED printing equipment, and by constructing constraints based on the operating range of the predicted acceleration.

[0031] Based on the cost function of the model prediction algorithm and the state parameter constraints, an objective function is constructed to calculate the optimal control voltage of the vibration damping motor. The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the first vibration damping motor control voltage corresponding to the predicted acceleration and the second vibration damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor corresponding to the minimum value of the objective function, thereby performing vibration damping optimization control of the OLED printing equipment.

[0032] The vibration reduction optimization control method for printing equipment provided in this application can realize vibration reduction optimization control of OLED printing equipment. By constructing a model prediction algorithm cost function and state parameter constraints, and combining feedforward compensation, the optimal control voltage of the vibration reduction motor can be adjusted in real time, thereby minimizing vibration while meeting system operating constraints and achieving vibration reduction optimization control.

[0033] Optionally, based on the objective function constructed from the cost function of the model prediction algorithm and the state parameter constraints for calculating the optimal control voltage of the vibration damping motor, the control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time, so that the sum of the first vibration damping motor control voltage corresponding to the predicted acceleration and the second vibration damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor corresponding to the minimum value of the objective function, including:

[0034] Based on the cost function of the model prediction algorithm and the state parameter constraints, an objective function for calculating the optimal control voltage of the vibration damping motor is constructed.

[0035] The objective function is iterated with the goal of minimizing the value, and the optimal control voltage of the vibration damping motor is calculated.

[0036] The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the first vibration damping motor control voltage corresponding to the predicted acceleration and the second vibration damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor.

[0037] Secondly, this application provides a vibration reduction and optimization control device for inkjet printing equipment, comprising:

[0038] The acquisition module is used to acquire dynamic data of the OLED printing equipment;

[0039] A module is established to build a vibration dynamic model of the OLED printing equipment using a frequency domain identification method.

[0040] A construction module is used to construct a state-space model based on the vibration dynamic model;

[0041] The calculation module is used to input the designed system excitation signal into the discretized equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, so as to combine the dynamic data to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0042] The control module is used to establish the model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration, in order to combine the feedforward compensation amount to perform vibration reduction optimization control on the OLED printing equipment.

[0043] This vibration reduction optimization control device for OLED printing equipment accurately models and predicts the vibration of the equipment, and combines feedforward compensation and model predictive control to achieve optimized vibration reduction control. It solves the problem that existing active vibration reduction control methods for OLED printing equipment often require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, and realizes coordinated allocation optimization control of vibration reduction motors, thereby improving the printing accuracy and printing efficiency of OLED printing equipment.

[0044] Thirdly, this application provides an electronic device, including a processor and a memory, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, it performs the steps in the vibration reduction optimization control method for inkjet printing equipment described above.

[0045] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the vibration reduction optimization control method for inkjet printing equipment described above.

[0046] Beneficial effects: The vibration reduction optimization control method, device, equipment and storage medium for printing equipment provided in this application achieve vibration reduction optimization control of printing equipment by accurately modeling and predicting the vibration of OLED printing equipment and combining feedforward compensation and model predictive control. This solves the problem that existing active vibration reduction control methods for OLED printing equipment usually require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, realize the coordinated allocation optimization control of vibration reduction motors, and improve the printing accuracy and printing efficiency of OLED printing equipment. Attached Figure Description

[0047] Figure 1 A flowchart of the vibration reduction and optimization control method for inkjet printing equipment provided in the embodiments of this application.

[0048] Figure 2 This is a schematic diagram of the structure of the vibration reduction and optimization control device for inkjet printing equipment provided in the embodiments of this application.

[0049] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0050] Figure 4 This is a schematic diagram of the active vibration damping device for OLED inkjet printing equipment.

[0051] Labeling Explanation: 1. Acquisition Module; 2. Establishment Module; 3. Construction Module; 4. Calculation Module; 5. Control Module; 301. Processor; 302. Memory; 303. Communication Bus. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0053] It should be noted that similar reference numerals 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. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Please refer to Figure 1 , Figure 1 This application discloses a vibration reduction and optimization control method for inkjet printing equipment, used for vibration reduction and optimization control of OLED inkjet printing equipment, comprising the following steps:

[0055] Step S101: Obtain the dynamic data of the OLED printing equipment;

[0056] Step S102: Establish a vibration dynamic model of the OLED printing equipment using a frequency domain identification method.

[0057] Step S103: Based on the vibration dynamic model, a state-space model is constructed;

[0058] Step S104: Input the designed system excitation signal into the discretized equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model respectively, so as to combine the dynamic data to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0059] Step S105: Establish the cost function of the model prediction algorithm and the state parameter constraints corresponding to the predicted acceleration, in order to combine the feedforward compensation amount to perform vibration reduction optimization control on the OLED printing equipment.

[0060] This vibration reduction optimization control method for OLED printing equipment achieves optimized vibration reduction control by accurately modeling and predicting the vibration of the OLED printing equipment and combining feedforward compensation and model predictive control. It solves the problem that existing active vibration reduction control methods for OLED printing equipment usually require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, and realizes the coordinated allocation optimization control of vibration reduction motors, thereby improving the printing accuracy and printing efficiency of OLED printing equipment.

[0061] Specifically, in step S101, dynamic data of the OLED printing equipment is acquired. The dynamic data refers to data describing the motion state, force conditions and vibration characteristics of each component of the OLED printing equipment during operation, such as parameters such as acceleration, velocity, displacement and force.

[0062] Specifically, in step S102, a vibration dynamic model of the OLED printing equipment is established using a frequency domain identification method, including:

[0063] Using frequency domain identification methods, a single-degree-of-freedom initial vibration dynamic model is established with perturbation force as input and vibration velocity as output.

[0064] Based on the multi-degree-of-freedom motion of the OLED printing equipment, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the OLED printing equipment.

[0065] In step S102, a single-degree-of-freedom initial vibration dynamic model is established using a frequency domain identification method, with the disturbance force as input and the vibration velocity as output. Specifically, the initial vibration dynamic model is as follows:

[0066] ;

[0067] in, For the Laplace operator; To provide the disturbance force generated by inputting powder noise signals into the motion platform of the OLED printing equipment, Indicates the vibration velocity of the motion platform; The equivalent mass of the motion platform considering only single-degree-of-freedom vibration reduction; The equivalent damping coefficient of the vibration reduction system is... 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.

[0068] 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.

[0069] The vibration dynamic model is specifically as follows:

[0070] ;

[0071] in, The equivalent mass matrix of the motion platform in OLED inkjet printing equipment; This represents the damping coefficient matrix for 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, As one of the vertical components of the active vibration damping control force, This refers to the horizontal component of the active vibration reduction control force.

[0072] Specifically, in step S103, based on the vibration dynamic model, a state-space model is constructed using the standard state-space representation of the vibration dynamic model. The state-space model is as follows:

[0073] ;

[0074] ;

[0075] in, The input state variables (including the horizontal displacement of the motion platform) acceleration in the horizontal direction Displacement in the vertical direction Acceleration in the vertical direction and the angle of rotation about the axis ,Right now (The superscript T is the transpose symbol). For the predicted state variables; The control input is the control voltage of the vibration damping motor of each support shaft when ground vibration and load disturbance compensation are taken into account, which is the control voltage corresponding to the three terms on the right side of the equation in the vibration dynamic model. The output signal is the horizontal acceleration, vertical acceleration, and angle of rotation about the axis of the motion platform in the future period. This is the system state matrix; The input matrix; This is the output matrix.

[0076] Specifically, in step S104, the designed system excitation signal is input to the discretized equations corresponding to the state-space model and the disturbance calculation model corresponding to the state-space model, respectively, in order to combine with the dynamic data to calculate the predicted acceleration and feedforward compensation of the OLED printing equipment after active vibration reduction, including:

[0077] The control voltage of the vibration damping motor in the OLED printing equipment, which includes active vibration damping force, is designed as the system excitation signal.

[0078] By inputting the dynamic data and system excitation signal into the discretized equations corresponding to the state-space model, the predicted acceleration of the OLED printing equipment after active vibration reduction is calculated.

[0079] The dynamic data and 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 printing equipment after active vibration reduction.

[0080] In step S104, the control voltage of the vibration damping motor in the OLED printing equipment, which includes active vibration damping force, is designed as the system excitation signal, that is, the control input. The control voltage is set as the system excitation signal. By using the control voltage as the system excitation signal, the influence of the active damping force (which takes into account ground vibration and load disturbance compensation) on the OLED printing equipment can be directly reflected. The control voltage of the damping motor is used to generate the active damping force, providing a direct and effective input for subsequent calculation of predicted acceleration and feedforward compensation, ensuring a close correlation between the excitation signal and the actual vibration control.

[0081] Specifically, in step S104, the dynamic data and system excitation signal are input into the discretized equation corresponding to the state-space model to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction, including:

[0082] The state-space model is transformed into the corresponding discretized equations;

[0083] By inputting the dynamic data and system excitation signal into the discretized equation, the predicted acceleration of the OLED printing equipment after active vibration reduction is calculated.

[0084] In step S104, the continuous-time-domain state-space model describing the dynamic behavior of the OLED 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 match the model with actual sampled data and the operating mechanism of the digital control system, thereby enabling effective prediction and control at discrete time steps. The discretization equations are specifically as follows:

[0085] ;

[0086] in, The state variable at time k (i.e. , Let be the horizontal displacement of the moving platform at time k. Let be the acceleration of the moving platform in the horizontal direction at time k. Let be the vertical displacement of the moving platform at time k. Let be the acceleration of the moving platform in the vertical direction at time k. (where k is the angle of rotation of the motion platform about the axis). The state variables at time k+1 are predicted from time k. This is the control input at time k, which is the control voltage of the vibration damping motor of each support shaft when ground vibration and load disturbance compensation are considered at time k. This is the discrete form of the system state matrix. It is determined by the equivalent mass and distribution of the motion platform relative to its center of mass, the equivalent damping coefficient, and the equivalent stiffness coefficient; Given the discrete form of the input matrix, Determined by the mechanical structure of the transmission channel for ground vibration and load disturbance; The output signal at time k is the horizontal acceleration, vertical acceleration, and angle of rotation about the axis of the motion platform in the future period. This is the discrete form of the output matrix. .

[0087] By inputting dynamic data and system excitation signals into the discretized equations, iterative prediction calculations can be performed on the motion process state variables X of the motion platform over the next N cycles.

[0088] ;

[0089] Where X represents the motion state variable of the motion platform. To predict the time domain, To control the time domain, ,exist Within the time domain, That is, during the time from the end of the control time domain to the end of the prediction time domain, the input control input (control voltage of the vibration damping motor) is considered to be 0.

[0090] Based on the above, the predicted accelerations of the motion platform in the horizontal and vertical directions for the next N cycles are calculated:

[0091] ;

[0092] Where Y is the predicted acceleration of the motion platform over the next N periods. ; The system state matrix for the next N periods. ; This is the influence matrix over the next N periods. ; This refers to the initial control input, i.e., the initial values ​​of the state variables during the motion process. ; The predictive control input sequence to be optimized over the next N periods is the predicted control voltage of the vibration damping motor (the control voltage of the active vibration damping motor to be optimized). .

[0093] In summary, after obtaining the discretized equation, the real-time dynamic data of the OLED printing equipment and the real-time control voltage of the vibration damping motor are used as inputs and substituted into the discretized equation. Through iterative calculation of the discretized equation, the acceleration response of the OLED printing equipment under active vibration damping control in the next or future multiple time steps can be predicted, and the predicted acceleration of the OLED printing equipment after active vibration damping can be obtained.

[0094] Specifically, in step S104, the dynamic data and 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 printing equipment after active vibration reduction, including:

[0095] Based on the pre-defined extended observer, the state space model is transformed into the corresponding perturbation calculation model;

[0096] The dynamic data and system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0097] In step S104, by introducing a pre-defined extended observer and combining it with the state-space model, the original state-space model can be effectively transformed into a disturbance calculation model specifically for calculating disturbances. The disturbance observer is an algorithm or model used to estimate unknown disturbances experienced by the system in real time. By analyzing the input and output data of the vibration reduction system of the OLED printing equipment, the observer can accurately identify and quantify the external disturbances or internal uncertainties acting on the OLED printing equipment.

[0098] The perturbation calculation model is as follows:

[0099] ;

[0100] in, The combined disturbance value w at time k+1 is predicted based on the data at time k. k The displacement and acceleration of the motion platform in the horizontal and vertical directions, as well as the angle of rotation of the motion platform around the axis; The comprehensive disturbance w at time k is predicted based on the data at time k. k The displacement and acceleration of the motion platform in the horizontal and vertical directions, as well as the angle of rotation of the motion platform around the axis; The actual control input at time k (the actual control voltage of the vibration damping motor). This is the actual output signal at time k; The output signal at time k is predicted based on the data at time k-1. The output signal at time k is predicted based on the data at time k. This is an extended matrix of the system state matrix; This is an extended matrix of the input matrix; This is the extended matrix of the output matrix; To expand the observer gain matrix. The calculated comprehensive disturbance value w k This is the required feedforward compensation amount. During the vibration reduction process, the feedforward compensation amount is superimposed on the predicted control voltage of the vibration reduction motor to control the control voltage of the vibration reduction motor, thereby achieving optimized vibration reduction control of the OLED printing equipment.

[0101] The dynamic data and system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction, so as to generate the compensation signal in advance, thereby achieving active cancellation of the disturbance and avoiding or significantly reducing the impact of the disturbance on the vibration of the printing equipment.

[0102] Specifically, in step S105, a model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration are established to combine with feedforward compensation to perform vibration reduction optimization control on the OLED printing equipment, including:

[0103] The cost function of the model prediction algorithm is determined based on the difference between the predicted acceleration and the preset expected acceleration.

[0104] Constraints are constructed by using the operating range of the control voltage and the operating range of the control voltage change rate of the vibration damping motor in the OLED printing equipment, and constraints are constructed by using the operating range of the predicted acceleration, thus obtaining the state parameter constraints.

[0105] Based on the cost function of the model prediction algorithm and the state parameter constraints, an objective function is constructed to calculate the optimal control voltage of the vibration damping motor. The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor when the objective function is at its minimum value, thereby performing vibration damping optimization control of the OLED printing equipment.

[0106] In step S105, the difference between the predicted acceleration and the preset expected acceleration is used to determine the cost function of the model prediction algorithm. The specific cost function of the model prediction algorithm is as follows:

[0107] ;

[0108] Where J is the cost function value of the model prediction algorithm; H is the first constant matrix. R is a diagonal matrix of the input matrix with dimension O(n). Q is the diagonal matrix of the system state matrix with dimension N; G is the second constant matrix. , , Here is the error matrix. P is the preset desired acceleration; P is the third constant matrix. Among them, Q, R and It can be set according to actual needs; Q and R determine the feasibility of the cost function of the model prediction algorithm and the final vibration suppression accuracy.

[0109] Constraints are constructed based on the operating range of the control voltage and the operating range of the control voltage change rate of the vibration damping motor in the OLED printing equipment. These constraints limit the control voltage and control voltage change rate of the vibration damping motor to their corresponding operating ranges to ensure the normal operation of the motor. , , To control the rate of voltage change, constraints are constructed based on the predicted acceleration's operating range; 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 from the instruction manual or experiments. From this, the state parameter constraints are constructed.

[0110] Specifically, in step S105, based on the objective function constructed using the cost function of the model prediction algorithm and the state parameter constraints to calculate the optimal control voltage of the vibration damping motor, the control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time. This ensures that the sum of the first vibration damping motor control voltage corresponding to the predicted acceleration and the second vibration damping motor control voltage corresponding to the feedforward compensation amount approaches the optimal control voltage of the vibration damping motor corresponding to the minimum value of the objective function. This achieves vibration damping optimization control of the OLED printing equipment, including:

[0111] Based on the cost function of the model prediction algorithm and the constraints of the state parameters, an objective function for calculating the optimal control voltage of the vibration damping motor is constructed.

[0112] The optimal control voltage for the vibration damping motor is calculated by iterating the objective function with the minimum value as the objective.

[0113] The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor.

[0114] In step S105, based on the cost function of the model prediction algorithm and the state parameter constraints, an objective function is constructed to calculate the optimal control voltage of the vibration damping motor. The objective function is as follows:

[0115] ;

[0116] ;

[0117] in, The objective function value; These are constraints; This is a multi-axis perturbation observation matrix; The weight matrix of the multi-axis disturbance observation matrix; the predicted control voltage of the vibration damping motor. , To predict the control voltage of the first vibration damping motor corresponding to the acceleration, The control voltage of the second vibration damping motor is the corresponding value of the feedforward compensation (the control voltage of the second vibration damping motor is a fixed value).

[0118] While adjusting the control voltage of the vibration damping motor in real time, the objective function is iterated through the adjusted control voltage of the vibration damping motor to minimize the objective function and optimize the real-time control voltage.

[0119] During the regulation process, the objective function is iteratively calculated to obtain the objective function value. The control input at the minimum value (the control voltage of the damping motor, i.e., the sum of the control voltage of the first damping motor corresponding to the predicted acceleration and the control voltage of the second damping motor corresponding to the feedforward compensation). When the objective function value When the vibration is at its minimum, the corresponding predicted acceleration has reached the desired acceleration, and the vibration reduction effect is optimal. The control input at this point is the optimal control voltage for the vibration reduction motor.

[0120] In summary, by adjusting the control voltage of the vibration damping motor to its optimal level, the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount approaches the optimal control voltage. This effectively counteracts or suppresses the vibration generated by the OLED printing equipment during operation. By combining the core concept of model predictive control with a feedforward compensation mechanism, refined vibration damping optimization control of the OLED printing equipment is achieved.

[0121] As shown above, the vibration reduction optimization control method for this printing equipment acquires the dynamic data of the OLED printing equipment, establishes a vibration dynamic model of the OLED printing equipment through frequency domain identification, and constructs a state space model based on the vibration dynamic model. The designed system excitation signal is input into the discretized equations and disturbance calculation models corresponding to the state space model, respectively, to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction, combined with the dynamic data. A model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration are established, which are then combined with the feedforward compensation amount to optimize the vibration reduction control of the OLED printing equipment. Thus, by accurately modeling and predicting the vibration of the OLED printing equipment, and combining feedforward compensation and model predictive control, the vibration reduction optimization control of the printing equipment is achieved. This solves the problem that existing active vibration reduction control methods for OLED printing equipment often require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, realize the coordinated allocation optimization control of the vibration reduction motor, and improve the printing accuracy and printing efficiency of the OLED printing equipment.

[0122] refer to Figure 2 This application provides a vibration reduction and optimization control device for inkjet printing equipment, used for vibration reduction and optimization control of OLED inkjet printing equipment, including:

[0123] Acquisition module 1 is used to acquire dynamic data of the OLED printing equipment;

[0124] Module 2 is established to create a vibration dynamic model of the OLED printing equipment using frequency domain identification methods.

[0125] Module 3 is used to construct a state-space model based on the vibration dynamic model;

[0126] Calculation module 4 is used to input the designed system excitation signal into the discretized equation corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, in order to combine the dynamic data to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0127] Control module 5 is used to establish the cost function of the model prediction algorithm and the state parameter constraints corresponding to the predicted acceleration, in order to combine the feedforward compensation amount to perform vibration reduction optimization control on the OLED printing equipment.

[0128] This vibration reduction optimization control device for OLED printing equipment accurately models and predicts the vibration of the equipment, and combines feedforward compensation and model predictive control to achieve optimized vibration reduction control. It solves the problem that existing active vibration reduction control methods for OLED printing equipment often require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, and realizes coordinated allocation optimization control of vibration reduction motors, thereby improving the printing accuracy and printing efficiency of OLED printing equipment.

[0129] Specifically, when module 1 is executed, it acquires the dynamic data of the OLED printing equipment. The dynamic data refers to the data describing the motion state, force conditions and vibration characteristics of each component of the OLED printing equipment during operation, such as parameters such as acceleration, velocity, displacement and force.

[0130] Specifically, when module 2 establishes the vibration dynamic model of the OLED printing equipment using the frequency domain identification method, the following steps are executed:

[0131] Using frequency domain identification methods, a single-degree-of-freedom initial vibration dynamic model is established with perturbation force as input and vibration velocity as output.

[0132] Based on the multi-degree-of-freedom motion of the OLED printing equipment, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the OLED printing equipment.

[0133] When module 2 is executed, a single-degree-of-freedom initial vibration dynamic model is established using a frequency domain identification method, with the disturbance force as input and the vibration velocity as output. Specifically, the initial vibration dynamic model is as follows:

[0134] ;

[0135] in, For the Laplace operator; To provide the disturbance force generated by inputting powder noise signals into the motion platform of the OLED printing equipment, Indicates the vibration velocity of the motion platform; The equivalent mass of the motion platform considering only single-degree-of-freedom vibration reduction; The equivalent damping coefficient of the vibration reduction system is... 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.

[0136] 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.

[0137] The vibration dynamic model is specifically as follows:

[0138] ;

[0139] in, The equivalent mass matrix of the motion platform in OLED inkjet printing equipment; This represents the damping coefficient matrix for 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, As one of the vertical components of the active vibration damping control force, This refers to the horizontal component of the active vibration reduction control force.

[0140] Specifically, during execution, module 3 constructs a state-space model based on the vibration dynamic model, using the standard state-space representation of the vibration dynamic model. The state-space model is as follows:

[0141] ;

[0142] ;

[0143] in, The input state variables (including the horizontal displacement of the motion platform) acceleration in the horizontal direction Displacement in the vertical direction Acceleration in the vertical direction and the angle of rotation about the axis ,Right now (The superscript T is the transpose symbol). For the predicted state variables; The control input is the control voltage of the vibration damping motor of each support shaft when ground vibration and load disturbance compensation are taken into account, which is the control voltage corresponding to the three terms on the right side of the equation in the vibration dynamic model. The output signal is the horizontal acceleration, vertical acceleration, and angle of rotation about the axis of the motion platform in the future period. This is the system state matrix; The input matrix; This is the output matrix.

[0144] Specifically, when the calculation module 4 inputs the designed system excitation signal into the discretized equations corresponding to the state-space model and the disturbance calculation model corresponding to the state-space model, respectively, to combine the dynamic data and calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction, it executes:

[0145] The control voltage containing active damping force of the vibration damping motor in the OLED printing equipment is designed as the system excitation signal.

[0146] By inputting the dynamic data and system excitation signal into the discretized equations corresponding to the state-space model, the predicted acceleration of the OLED printing equipment after active vibration reduction is calculated.

[0147] The dynamic data and 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 printing equipment after active vibration reduction.

[0148] When the calculation module 4 executes, it designs the control voltage of the vibration damping motor in the OLED printing equipment, which contains active damping force, as the system excitation signal, that is, it sets the control input as the system excitation signal. By using the control voltage as the system excitation signal, the influence of the active damping force (which takes into account ground vibration and load disturbance compensation) on the OLED printing equipment can be directly reflected. The control voltage of the vibration damping motor is used to generate the active damping force, providing a direct and effective input for subsequent calculation of predicted acceleration and feedforward compensation, ensuring a close correlation between the excitation signal and the actual vibration damping control.

[0149] Specifically, when the calculation module 4 inputs the dynamic data and system excitation signal into the discretized equations corresponding to the state-space model to calculate the predicted acceleration of the OLED printing equipment after active vibration reduction, it executes:

[0150] The state-space model is transformed into the corresponding discretized equations;

[0151] By inputting the dynamic data and system excitation signal into the discretized equation, the predicted acceleration of the OLED printing equipment after active vibration reduction is calculated.

[0152] During execution, computation module 4 transforms the continuous-time-domain state-space model describing the dynamic behavior of the OLED printing equipment into a discrete-time-domain model suitable for processing by a digital controller through a specific discretization method. This transformation aims to match the model with actual sampled data and the operating mechanism of the digital control system, thereby enabling effective prediction and control at discrete time steps. The specific discretization equations are as follows:

[0153] ;

[0154] in, The state variable at time k (i.e. , Let be the horizontal displacement of the moving platform at time k. Let be the acceleration of the moving platform in the horizontal direction at time k. Let be the vertical displacement of the moving platform at time k. Let be the acceleration of the moving platform in the vertical direction at time k. (where k is the angle of rotation of the motion platform about the axis). The state variables at time k+1 are predicted from time k. This is the control input at time k, which is the control voltage of the vibration damping motor of each support shaft when ground vibration and load disturbance compensation are considered at time k. This is the discrete form of the system state matrix. It is determined by the equivalent mass and distribution of the motion platform relative to its center of mass, the equivalent damping coefficient, and the equivalent stiffness coefficient; Given the discrete form of the input matrix, Determined by the mechanical structure of the transmission channel for ground vibration and load disturbance; The output signal at time k is the horizontal acceleration, vertical acceleration, and angle of rotation about the axis of the motion platform in the future period. This is the discrete form of the output matrix. .

[0155] By inputting dynamic data and system excitation signals into the discretized equations, iterative prediction calculations can be performed on the motion process state variables X of the motion platform over the next N cycles.

[0156] ;

[0157] Where X represents the motion state variable of the motion platform. To predict the time domain, To control the time domain, ,exist Within the time domain, That is, during the time from the end of the control time domain to the end of the prediction time domain, the input control input (control voltage of the vibration damping motor) is considered to be 0.

[0158] Based on the above, the predicted accelerations of the motion platform in the horizontal and vertical directions for the next N cycles are calculated:

[0159] ;

[0160] Where Y is the predicted acceleration of the motion platform over the next N periods. ; The system state matrix for the next N periods. ; This is the influence matrix over the next N periods. ; This refers to the initial control input, i.e., the initial values ​​of the state variables during the motion process. ; The predictive control input sequence to be optimized over the next N periods is the predicted control voltage of the vibration damping motor (the control voltage of the active vibration damping motor to be optimized). .

[0161] In summary, after obtaining the discretized equation, the real-time dynamic data of the OLED printing equipment and the real-time control voltage of the vibration damping motor are used as inputs and substituted into the discretized equation. Through iterative calculation of the discretized equation, the acceleration response of the OLED printing equipment under active vibration damping control in the next or future multiple time steps can be predicted, and the predicted acceleration of the OLED printing equipment after active vibration damping can be obtained.

[0162] Specifically, when the calculation module 4 inputs the dynamic data and system excitation signal into the disturbance calculation model corresponding to the state space model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction, it executes:

[0163] Based on the pre-defined extended observer, the state space model is transformed into the corresponding perturbation calculation model;

[0164] The dynamic data and system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction.

[0165] During execution, the calculation module 4, by introducing a pre-defined extended observer and combining it with the state-space model, can effectively transform the original state-space model into a disturbance calculation model specifically for calculating disturbances. The disturbance observer is an algorithm or model used to estimate unknown disturbances experienced by the system in real time. By analyzing the input and output data of the vibration reduction system of the OLED printing equipment, this observer can accurately identify and quantify the external disturbances or internal uncertainties acting on the OLED printing equipment.

[0166] The perturbation calculation model is as follows:

[0167] ;

[0168] in, The combined disturbance value w at time k+1 is predicted based on the data at time k. k The displacement and acceleration of the motion platform in the horizontal and vertical directions, as well as the angle of rotation of the motion platform around the axis; The comprehensive disturbance w at time k is predicted based on the data at time k. k The displacement and acceleration of the motion platform in the horizontal and vertical directions, as well as the angle of rotation of the motion platform around the axis; The actual control input at time k (the actual control voltage of the vibration damping motor). This is the actual output signal at time k; The output signal at time k is predicted based on the data at time k-1. The output signal at time k is predicted based on the data at time k. This is an extended matrix of the system state matrix; This is an extended matrix of the input matrix; This is the extended matrix of the output matrix; To expand the observer gain matrix. The calculated comprehensive disturbance value w k This is the required feedforward compensation amount. During the vibration reduction process, the feedforward compensation amount is superimposed on the predicted control voltage of the vibration reduction motor to control the control voltage of the vibration reduction motor, thereby achieving optimized vibration reduction control of the OLED printing equipment.

[0169] The dynamic data and system excitation signal are input into the disturbance calculation model to calculate the feedforward compensation amount of the OLED printing equipment after active vibration reduction, so as to generate the compensation signal in advance, thereby achieving active cancellation of the disturbance and avoiding or significantly reducing the impact of the disturbance on the vibration of the printing equipment.

[0170] Specifically, when control module 5 establishes the cost function of the model prediction algorithm and the state parameter constraints corresponding to the predicted acceleration, in combination with the feedforward compensation amount, to perform vibration reduction optimization control on the OLED printing equipment, it executes:

[0171] The cost function of the model prediction algorithm is determined based on the difference between the predicted acceleration and the preset expected acceleration.

[0172] Constraints are constructed by using the operating range of the control voltage and the operating range of the control voltage change rate of the vibration damping motor in the OLED printing equipment, and constraints are constructed by using the operating range of the predicted acceleration, thus obtaining the state parameter constraints.

[0173] Based on the cost function of the model prediction algorithm and the state parameter constraints, an objective function is constructed to calculate the optimal control voltage of the vibration damping motor. The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor when the objective function is at its minimum value, thereby performing vibration damping optimization control of the OLED printing equipment.

[0174] When the control module 5 executes, it determines the model prediction algorithm cost function by calculating the difference between the predicted acceleration and the preset expected acceleration. The model prediction algorithm cost function is as follows:

[0175] ;

[0176] Where J is the cost function value of the model prediction algorithm; H is the first constant matrix. R is a diagonal matrix of the input matrix with dimension O(n). Q is the diagonal matrix of the system state matrix with dimension N; G is the second constant matrix. , , Here is the error matrix. P is the preset desired acceleration; P is the third constant matrix. Among them, Q, R and It can be set according to actual needs; Q and R determine the feasibility of the cost function of the model prediction algorithm and the final vibration suppression accuracy.

[0177] Constraints are constructed based on the operating range of the control voltage and the operating range of the control voltage change rate of the vibration damping motor in the OLED printing equipment. These constraints limit the control voltage and control voltage change rate of the vibration damping motor to their corresponding operating ranges to ensure the normal operation of the motor. , , To control the rate of voltage change, constraints are constructed based on the predicted acceleration's operating range; 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 from the instruction manual or experiments. From this, the state parameter constraints are constructed.

[0178] Specifically, when control module 5 adjusts the control voltage of the vibration damping motor of the OLED printing equipment in real time based on the objective function constructed according to the cost function of the model prediction algorithm and the state parameter constraints to calculate the optimal control voltage of the vibration damping motor, so that the sum of the first vibration damping motor control voltage corresponding to the predicted acceleration and the second vibration damping motor control voltage corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor corresponding to the minimum value of the objective function, thereby performing vibration damping optimization control on the OLED printing equipment, it executes:

[0179] Based on the cost function of the model prediction algorithm and the constraints of the state parameters, an objective function for calculating the optimal control voltage of the vibration damping motor is constructed.

[0180] The optimal control voltage for the vibration damping motor is calculated by iterating the objective function with the minimum value as the objective.

[0181] The control voltage of the vibration damping motor of the OLED printing equipment is adjusted in real time so that the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount tends to the optimal control voltage of the vibration damping motor.

[0182] When the control module 5 executes, it constructs an objective function for calculating the optimal control voltage of the vibration damping motor based on the cost function of the model prediction algorithm and the state parameter constraints. The objective function is as follows:

[0183] ;

[0184] ;

[0185] in, The objective function value; These are constraints; This is a multi-axis perturbation observation matrix; The weight matrix of the multi-axis disturbance observation matrix; the predicted control voltage of the vibration damping motor. , To predict the control voltage of the first vibration damping motor corresponding to the acceleration, The control voltage of the second vibration damping motor is the corresponding value of the feedforward compensation (the control voltage of the second vibration damping motor is a fixed value).

[0186] While adjusting the control voltage of the vibration damping motor in real time, the objective function is iterated through the adjusted control voltage of the vibration damping motor to minimize the objective function and optimize the real-time control voltage.

[0187] During the regulation process, the objective function is iteratively calculated to obtain the objective function value. The control input at the minimum value (the control voltage of the damping motor, i.e., the sum of the control voltage of the first damping motor corresponding to the predicted acceleration and the control voltage of the second damping motor corresponding to the feedforward compensation). When the objective function value When the vibration is at its minimum, the corresponding predicted acceleration has reached the desired acceleration, and the vibration reduction effect is optimal. The control input at this point is the optimal control voltage for the vibration reduction motor.

[0188] In summary, by adjusting the control voltage of the vibration damping motor to its optimal level, the sum of the control voltage of the first vibration damping motor corresponding to the predicted acceleration and the control voltage of the second vibration damping motor corresponding to the feedforward compensation amount approaches the optimal control voltage. This effectively counteracts or suppresses the vibration generated by the OLED printing equipment during operation. By combining the core concept of model predictive control with a feedforward compensation mechanism, refined vibration damping optimization control of the OLED printing equipment is achieved.

[0189] As shown above, this vibration reduction optimization control device for OLED printing equipment acquires the dynamic data of the OLED printing equipment, establishes a vibration dynamic model of the OLED printing equipment through frequency domain identification, and constructs a state space model based on the vibration dynamic model. The designed system excitation signal is input into the discretized equations and disturbance calculation models corresponding to the state space model, respectively, to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction, combined with the dynamic data. A model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration are established, which are then combined with the feedforward compensation amount to perform vibration reduction optimization control of the OLED printing equipment. Thus, by accurately modeling and predicting the vibration of the OLED printing equipment, and combining feedforward compensation and model predictive control, vibration reduction optimization control of the printing equipment is achieved. This solves the problem that existing active vibration reduction control methods for OLED printing equipment often require repeated manual adjustment of control parameters, resulting in poor vibration reduction effect. It can simultaneously consider its own dynamic response and the influence of external disturbances, realize the coordinated allocation optimization control of the vibration reduction motor, and improve the printing accuracy and printing efficiency of the OLED printing equipment.

[0190] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other via a communication bus 303 and / or other connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the electronic device is running, the processor 301 executes the computer program to perform the vibration reduction optimization control method for printing equipment in any optional implementation of the above embodiments, to achieve the following functions: acquiring dynamic data of OLED printing equipment; establishing a vibration dynamic model of OLED printing equipment through a frequency domain identification method; constructing a state space model based on the vibration dynamic model; inputting the designed system excitation signal into the discretized equations corresponding to the state space model and the disturbance calculation model corresponding to the state space model, respectively, to calculate the predicted acceleration and feedforward compensation amount of the OLED printing equipment after active vibration reduction in combination with the dynamic data; establishing the model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration, to perform vibration reduction optimization control of the OLED printing equipment in combination with the feedforward compensation amount.

[0191] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it executes the vibration reduction optimization control method for printing equipment in any optional implementation of the above embodiments to achieve the following functions: acquiring dynamic data of OLED printing equipment; establishing a vibration dynamic model of OLED printing equipment through a frequency domain identification method; constructing a state space model based on the vibration dynamic model; inputting the designed system excitation signal into the discretized equations and disturbance calculation models corresponding to the state space model, respectively, to calculate the predicted acceleration and feedforward compensation amount of OLED printing equipment after active vibration reduction in combination with the dynamic data; establishing the model prediction algorithm cost function and state parameter constraints corresponding to the predicted acceleration, to perform vibration reduction optimization control of OLED printing equipment in combination with the feedforward compensation amount. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0192] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0193] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0194] Furthermore, the functional modules in the various embodiments of this 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.

[0195] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0196] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

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; the vibration dynamic model of the OLED jet printing equipment is established by a frequency domain identification method, 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 vibration dynamic model of the OLED jet printing equipment according to multi-degree-of-freedom motion of the OLED jet printing equipment; the system excitation signal is inputted 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, comprising: the control voltage of the vibration reduction 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 inputted 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; the kinetic data and the system excitation signal are inputted 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.

2. The method of claim 1, wherein, the kinetic data and the system excitation signal are inputted 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, comprising: the state space model is converted into a corresponding discrete equation; the kinetic data and the system excitation signal are inputted into the discrete equation, so as to calculate the predicted acceleration of the OLED jet printing equipment after active vibration reduction.

3. The method of claim 1, wherein, the kinetic data and the system excitation signal are inputted 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, comprising: 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 inputted into the disturbance calculation model, so as to calculate the feedforward compensation of the OLED jet printing equipment after active vibration reduction.

4. 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: determine a model predictive algorithm cost function according to a difference between the predicted acceleration and a preset expected acceleration; construct 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 construct 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, construct a target function for calculating an optimal control voltage of the vibration reduction motor, and 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.

5. The method of claim 4, wherein, according to the model predictive algorithm cost function and the state parameter constraint condition, construct a target function for calculating an optimal control voltage of the vibration reduction motor, and 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, construct a target function for calculating an optimal control voltage of the vibration reduction motor; targeting at a minimum value, iteratively process the target function to calculate the optimal control voltage of the vibration reduction motor; 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 the optimal control voltage of the vibration reduction motor.

6. 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 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 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 calculate a predicted acceleration and a feedforward compensation amount of the OLED jet printing equipment after active vibration reduction, in combination with the dynamic data; 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; the establishment module is configured to establish a vibration dynamic model of the OLED jet printing equipment by a frequency domain identification method, including: An initial vibration dynamic model of a single degree of freedom is established by a frequency domain identification method, with a 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; The calculation module is configured to input 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 a predicted acceleration and a feedforward compensation of the OLED jet printing equipment after active vibration reduction by combining the kinetic data, including: The control voltage of the vibration reduction motor in the OLED jet printing equipment, which contains an active vibration reduction force, is designed as a 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 a 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 a feedforward compensation of the OLED jet printing equipment after active vibration reduction.

7. An electronic device, comprising: The computer program is executed by the processor to run the steps in the vibration reduction optimization control method of the jet printing equipment according to any one of claims 1-5.

8. 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 in the vibration reduction optimization control method of the jet printing equipment according to any one of claims 1-5.

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