Vibration reduction and time delay control methods, devices, equipment and storage media for inkjet printing equipment

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 vibration reduction time-delay control of inkjet printing equipment. The method includes: acquiring dynamic data of OLED inkjet printing equipment; establishing a vibration dynamic model of the motion platform in the OLED inkjet printing equipment through a frequency domain identification method; selecting key state variables of the vibration dynamic model based on the dynamic data, and combining them with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation; using the LKF function to perform stability analysis on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation; converting the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED inkjet printing equipment; through the above method, vibration reduction time-delay 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, device, and storage medium for vibration reduction time delay control of inkjet printing equipment. Background Technology

[0002] OLED (Organic Light-Emitting Diode) inkjet printing technology, especially in the manufacture of high-resolution displays, demands extremely high printing precision, typically requiring micron or even sub-micron levels. The gap between the printhead and the substrate, as well as the accuracy of ink droplet placement, directly determine the yield of the final product. However, in actual production, the large OLED inkjet printing motion platform, weighing several tons, generates significant inertial forces and mechanical vibrations during scanning motion. Furthermore, various vibration sources in the environment, such as vibrations from personnel movement, vehicle travel, and other equipment operation, also contribute to the motion platform. These combined vibrations can cause relative displacement between the printhead and the substrate, leading to ink droplet misalignment and ultimately resulting in product defects such as blurred images, color fringes, and short lines. Therefore, equipping the large OLED inkjet printing motion platform with effective vibration damping mechanisms to ensure the core printing module operates continuously under stable and quiet conditions is essential for improving printing accuracy.

[0003] Currently, most general-purpose motion platforms employ passive vibration damping mechanisms, typically using steel springs or rubber dampers to absorb vibration energy. However, for large-scale inkjet printing motion platforms, their own movements (such as starting, stopping, acceleration, and deceleration) and most interference from the ground are low-frequency vibrations (usually below 12Hz). These low-frequency vibrations have high energy and are the most difficult to isolate effectively, significantly impacting printing accuracy. Traditional steel springs or rubber dampers are insufficient for effective isolation of low-frequency vibrations in passive damping. To address these issues, for the vibration damping requirements of large, high-precision OLED inkjet printing motion platforms, the actuators of their damping mechanisms should be replaced with air spring actuators. Air spring actuators actively and in real-time adjust the pressure changes within the air chamber, bringing its natural frequency to an extremely low 1-3Hz, thereby effectively covering and isolating the range of low-frequency vibration interference affecting large OLED inkjet printing motion platforms. However, active vibration damping systems based on air spring actuators inevitably have inherent time-delay characteristics. If only the common basic PI algorithm combined with filtering and notch filtering methods is used to design a vibration damping controller, it will be difficult to achieve accurate compensation for vibration reaction force, thus affecting the vibration reduction effect.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] The purpose of this application is to provide a vibration reduction time-delay control method, device, equipment, and storage medium for inkjet printing equipment. By using the LKF function and time-delay characteristic parameters, the stability of the vibration dynamic model obtained through precise modeling of the vibration of OLED inkjet printing equipment is analyzed to calculate the optimal vibration reduction control voltage. This achieves vibration reduction time-delay control of the inkjet printing equipment, solving the problem that the existing active vibration reduction control methods for OLED inkjet printing equipment inevitably produce time-delay characteristics that affect the vibration reduction effect due to the use of air spring actuators. This ensures that the OLED inkjet printing equipment can work continuously under stable operating conditions, achieving precise time-delay control of the OLED inkjet printing equipment and improving the printing accuracy and efficiency of the OLED inkjet printing equipment.

[0006] In a first aspect, this application provides a vibration reduction time-delay control method for inkjet printing equipment, including:

[0007] Acquire dynamic data of OLED printing equipment;

[0008] A vibration dynamic model of the motion platform in the OLED printing equipment is established using a frequency domain identification method.

[0009] Based on the dynamic data, the key state variables of the vibration dynamic model are selected and combined with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation.

[0010] The stability analysis of the time-delay state equation is performed using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation.

[0011] The stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment.

[0012] The vibration reduction time-delay control method for OLED printing equipment provided in this application can achieve vibration reduction time-delay control for OLED printing equipment. By using the LKF function and time-delay characteristic parameters, the stability analysis is performed on the vibration dynamic model obtained by accurately modeling the vibration of the OLED printing equipment to calculate the optimal vibration reduction control voltage, thereby realizing vibration reduction time-delay control of the printing equipment. This solves the problem that the existing active vibration reduction control method for OLED printing equipment inevitably produces time-delay characteristics due to the use of air spring actuators for vibration reduction, which affects the vibration reduction effect. It ensures that the OLED printing equipment can work continuously under stable operating conditions, achieves precise time-delay control of the OLED printing equipment, and improves the printing accuracy and printing efficiency of the OLED printing equipment.

[0013] Optionally, a vibration dynamic model of the motion platform in the OLED printing equipment is established using a frequency domain identification method, including:

[0014] Using frequency domain identification methods, with platform loading force as input and vibration displacement as output, an initial vibration dynamic model of a single degree of freedom of the motion platform in the OLED printing equipment is established.

[0015] Based on the multi-degree-of-freedom motion of the motion platform, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the motion platform.

[0016] Optionally, based on the dynamic data, key state variables of the vibration dynamic model are selected to combine with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation, including:

[0017] Based on the dynamic data, select the corresponding key state variables for the vibration dynamic model;

[0018] Based on the key state variables and combined with the control voltage of the air spring actuator in the motion platform, a vibration reduction state space model corresponding to the vibration dynamic model is constructed.

[0019] The time-delay characteristic parameters of the air spring actuator are introduced into the vibration reduction state space model.

[0020] The uncertain time delay term corresponding to the time delay characteristic parameter is determined in the vibration reduction state space model, and the time delay state equation is obtained.

[0021] Optionally, the LKF function is used to perform stability analysis on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation, including:

[0022] Based on the aforementioned time-delay state equation, an LFK function containing time-delay information is designed using the LFK function.

[0023] The stability of the LFK function containing time delay information is analyzed using a stability analysis method to determine the stability discrimination matrix.

[0024] The vibration reduction time delay control method for inkjet printing equipment provided in this application can realize vibration reduction time delay control for OLED inkjet printing equipment. By using the LKF function and stability analysis method, the stability analysis of the time delay state equation can be performed, which can avoid the decrease in control performance or even system instability caused by time delay, thereby ensuring the effectiveness and stability of vibration reduction control.

[0025] Optionally, stability analysis is performed on the LFK function containing time delay information using a stability analysis method to determine the stability discrimination matrix, including:

[0026] Differentiating the LFK function containing time delay information yields the corresponding derivative equation;

[0027] Using Jensen's inequality, the upper bound of the derivative equation is determined;

[0028] Based on the upper bound, the stability discrimination matrix is ​​determined.

[0029] Optionally, the stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment, including:

[0030] The stability discrimination matrix is ​​transformed into the corresponding linear matrix inequality;

[0031] Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment.

[0032] The vibration reduction time-delay control method for inkjet printing equipment provided in this application can realize vibration reduction time-delay control for OLED inkjet printing equipment. By transforming the stability discrimination matrix into a linear matrix inequality, the complex nonlinear stability problem is transformed into a solvable convex optimization problem, thereby enabling efficient and accurate calculation of the optimal control voltage, providing a reliable mathematical tool for achieving precise vibration reduction.

[0033] Optionally, based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment, including:

[0034] The conditional parameters are extracted from the linear matrix inequalities.

[0035] When the condition parameters satisfy the preset optimal vibration isolation effect condition, the optimal state feedback gain matrix of the uncertain time delay term in the time delay state equation is determined.

[0036] Based on the optimal state feedback gain matrix, the key state variables obtained are input into the time-delay state equation to calculate the optimal vibration reduction control voltage of the air spring actuator.

[0037] The air spring actuator is controlled according to the optimal vibration reduction control voltage to achieve time delay control of the OLED printing equipment.

[0038] Secondly, this application provides a vibration damping time-delay control device for inkjet printing equipment, comprising:

[0039] The acquisition module is used to acquire dynamic data of the OLED printing equipment;

[0040] A module is established to establish a vibration dynamic model of the motion platform in the OLED printing equipment using a frequency domain identification method.

[0041] The construction module is used to select key state variables of the vibration dynamic model based on the dynamic data, and combine them with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation.

[0042] The analysis module is used to perform stability analysis on the time-delay state equation using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation.

[0043] The control module is used to transform the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment.

[0044] This vibration damping time-delay control device for inkjet printing equipment uses the LKF function and time-delay characteristic parameters to perform stability analysis on the vibration dynamic model obtained by accurately modeling the vibration of OLED inkjet printing equipment. This allows for the calculation of the optimal vibration damping control voltage, enabling vibration damping time-delay control of the inkjet printing equipment. This solves the problem that the existing active vibration damping control methods for OLED inkjet printing equipment inevitably produce time-delay characteristics that affect the vibration damping effect due to the use of air spring actuators for vibration damping. It ensures that the OLED inkjet printing equipment can work continuously under stable operating conditions, achieving precise time-delay control of the OLED inkjet printing equipment and improving the printing accuracy and printing efficiency of the OLED inkjet printing equipment.

[0045] Thirdly, this application provides an electronic device including a processor and a memory, the memory storing a computer program executable by the processor, wherein when the processor executes the computer program, it performs the steps in the inkjet printing equipment vibration reduction time delay control method described above.

[0046] 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 and time delay control method for inkjet printing equipment described above.

[0047] Beneficial effects: The vibration reduction time-delay control method, device, equipment, and storage medium provided in this application analyze the stability of the vibration dynamic model obtained by accurately modeling the vibration of OLED printing equipment through the LKF function and time-delay characteristic parameters, so as to calculate the optimal vibration reduction control voltage and realize the vibration reduction time-delay control of the printing equipment. This solves the problem that the existing active vibration reduction control method for OLED printing equipment inevitably produces time-delay characteristics due to the use of air spring actuators for vibration reduction, which affects the vibration reduction effect. It ensures that the OLED printing equipment can work continuously under a stable working condition, realizes precise time-delay control of the OLED printing equipment, and improves the printing accuracy and printing efficiency of the OLED printing equipment. Attached Figure Description

[0048] Figure 1 A flowchart of a vibration reduction time-delay control method for inkjet printing equipment provided in an embodiment of this application.

[0049] Figure 2 This is a schematic diagram of the structure of the vibration reduction and time delay control device for inkjet printing equipment provided in the embodiments of this application.

[0050] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0051] Figure 4 A schematic diagram of the air spring actuator for OLED printing equipment.

[0052] Labeling Explanation: 1. Acquisition Module; 2. Establishment Module; 3. Construction Module; 4. Analysis Module; 5. Control Module; 301. Processor; 302. Memory; 303. Communication Bus. Detailed Implementation

[0053] 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.

[0054] 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.

[0055] Please refer to Figure 1 , Figure 1 This application discloses a vibration reduction and time-delay control method for inkjet printing equipment, used for vibration reduction and time-delay control of OLED inkjet printing equipment, comprising the following steps:

[0056] Step S101: Obtain the dynamic data of the OLED printing equipment;

[0057] Step S102: Establish a vibration dynamic model of the motion platform in the OLED inkjet printing equipment using the frequency domain identification method.

[0058] Step S103: Based on the dynamic data, select the key state variables of the vibration dynamic model, and combine them with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation.

[0059] Step S104: Use the LKF function to perform stability analysis on the time-delay state equation and obtain the stability discrimination matrix corresponding to the time-delay state equation.

[0060] Step S105: The stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment.

[0061] This vibration reduction time-delay control method for inkjet printing equipment uses the LKF function and time-delay characteristic parameters to perform stability analysis on the vibration dynamic model obtained by accurately modeling the vibration of OLED inkjet printing equipment. This allows for the calculation of the optimal vibration reduction control voltage, achieving vibration reduction time-delay control of the printing equipment. This solves the problem of existing active vibration reduction control methods for OLED inkjet printing equipment, which inevitably produce time-delay characteristics that affect the vibration reduction effect due to the use of air spring actuators. It ensures that the OLED inkjet printing equipment can operate continuously under stable conditions, achieving precise time-delay control of the OLED inkjet printing equipment and improving its printing accuracy and efficiency.

[0062] 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.

[0063] Specifically, in step S102, a vibration dynamic model of the motion platform in the OLED printing equipment is established using a frequency domain identification method, including:

[0064] Using frequency domain identification methods, with platform loading force as input and vibration displacement as output, an initial vibration dynamic model of a single degree of freedom of the motion platform in OLED printing equipment is established.

[0065] Based on the multi-degree-of-freedom motion of the motion platform, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the motion platform.

[0066] In step S102, a single-degree-of-freedom initial vibration dynamic model is established using a frequency domain identification method, with the platform loading force as input and vibration displacement as output. Specifically, the initial vibration dynamic model is as follows:

[0067] ;

[0068] in, For the Laplace operator; The force applied to the moving platform is generated by the white noise signal. This represents the vibration displacement of the moving 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 static stiffness coefficient of the air spring actuator is determined by the structure of the selected air spring actuator; all of the above parameters can be estimated through frequency domain tests.

[0069] Because each support leg of the motion platform in the OLED printing equipment is equipped with an air spring actuator (specifically, as shown in the image) Figure 4 As shown, a is the motion platform, b is the air spring actuator, c is the air valve, d is the ground, and e is the load on the motion platform. This represents the displacement of the moving platform along the horizontal direction (i.e., the direction parallel to the horizontal plane). Let f be the displacement of the motion platform along the vertical direction (i.e., perpendicular to the horizontal plane), and f be the scanning motion direction. This 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.

[0070] The vibration dynamic model is specifically as follows:

[0071] ;

[0072] in, The angle of rotation of the motion platform around the axis; Represents the ground vibration term. This indicates the load disturbance term. This indicates the control force term of the air spring actuator; This represents the horizontal displacement of the ground vibration. This represents the vertical displacement of the ground vibration. This is the disturbance transfer matrix of the motion platform load. The horizontal vibration displacement caused by the load movement of the motion platform. The vertical vibration displacement caused by the load movement of the motion platform. The vibration displacement around the axis caused by the load movement of the motion platform; The resultant of the active reaction force in the horizontal direction generated by the air spring actuator. The resultant of the active reaction force in the vertical direction generated by the air spring actuator.

[0073] Specifically, in step S103, based on the dynamic data, key state variables of the vibration dynamic model are selected to combine with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct the time-delay state equation, including:

[0074] Based on dynamic data, select the corresponding key state variables for the vibration dynamic model;

[0075] Based on key state variables and combined with the control voltage of the air spring actuator in the motion platform, a vibration reduction state space model corresponding to the vibration dynamic model is constructed.

[0076] The time-delay characteristic parameters of the air spring actuator are introduced into the vibration reduction state space model to determine the uncertain time-delay terms corresponding to the time-delay characteristic parameters in the vibration reduction state space model, and thus obtain the time-delay state equation.

[0077] In step S103, based on the vibration characteristics and control requirements of the motion platform in the OLED printing equipment, physical quantities that can comprehensively reflect the dynamic behavior of the motion platform are selected from the dynamic data as key state variables, specifically including the horizontal displacement of the motion platform. acceleration in the horizontal direction Displacement in the vertical direction and acceleration in the vertical direction By precisely defining and measuring these variables, we can provide fundamental data for the subsequent construction of a vibration reduction state-space model.

[0078] The control voltage of the air spring actuator enables it to generate a damping reaction force to suppress the motion of the platform. Therefore, using the control voltage of the air spring actuator as the control input, the selected key state variables are integrated with the control input and external disturbances to form a mathematical model that describes the dynamic behavior of the platform, resulting in the damping state-space model. Specifically, the damping state-space model is as follows:

[0079] ;

[0080] ;

[0081] in, Let be the state variables at time t (the state variables include the horizontal displacement of the motion platform). acceleration in the horizontal direction Displacement in the vertical direction And acceleration in the vertical direction ,Right now (The superscript T is the transpose symbol). Let be the rate of change of the state variable at time t; This is the control input at time t, i.e., the control voltage of the air spring actuator; The output signal at time t represents the horizontal and vertical accelerations of the motion platform during future periods. This is the system state matrix; The input matrix; F is the output matrix; F is the perturbation matrix; External disturbances include ground vibration and load disturbance terms.

[0082] Since air spring actuators use gas to transmit force, due to the inherent properties of gas, there is inevitably a time delay (i.e., a time difference) between the time the air valve receives the control signal and initiates its action, and the time the actuator outputs the vibration reaction force. Therefore, the time delay characteristic parameters of the air spring actuator can be determined experimentally. The specific steps are as follows: A small-amplitude step signal is used as the excitation signal, and the input control voltage signal and the output signal of the air spring actuator displacement / force sensor are continuously acquired. Due to initial deviations between different sensor channels, the input and output data need to be aligned and corrected along the time axis first. After time alignment, the time delay characteristic parameters... This is the time difference between the input and output signals reaching 90% of their final stable value (the final stable value can be set according to actual needs).

[0083] The acquired time-delay characteristic parameters are mathematically embedded into the control input of the original vibration reduction state-space model to adjust the control input terms to include uncertain time-delay terms with time-delay characteristic parameters, even if... Control input items Replace with uncertain time delay term ,in, Let be the state feedback gain matrix, which is the target matrix to be solved subsequently. This leads to the dynamic equations containing uncertain time delay terms, i.e., the time-delay state equations:

[0084] ;

[0085] ;

[0086] Uncertain time delay terms typically represent the influence of the control input's value at a past moment on the current state, thus incorporating historical information of the system into the model description.

[0087] Specifically, in step S104, the LKF function is used to perform stability analysis on the time-delay state equation, obtaining the stability discrimination matrix corresponding to the time-delay state equation, including:

[0088] Based on the time-delay state equation, an LFK function containing time-delay information is designed using the LFK function.

[0089] Stability analysis was performed on the LFK function containing time delay information using stability analysis methods, and the stability discrimination matrix was determined.

[0090] In step S104, the LKF function (Lyapunov-Krasovskii Functional) is an important tool for analyzing the stability of time-delay systems. For stability analysis of time-delay systems, the designed LKF function needs to include both the current and historical states of the system. By constructing a suitable LKF function and combining it with Lyapunov stability theory, stability analysis and controller design can be performed on the state equations containing time-delay terms. In this process, the LKF function is used to derive the conditions satisfying system stability, and based on this, the time-delay state equations are adjusted or reconstructed to ensure that the system maintains good vibration reduction performance and stability even with time delays. Therefore, using the LKF function and designing based on the time-delay state equations, the resulting LKF function containing time-delay information is as follows:

[0091] ;

[0092] in, For LKF functions that include time delay information; The first component of the LKF function, which contains time delay information. , This is the first positive definite weight matrix. , Let be the transpose matrix of the state variables at time t; The second component of the LKF function, which includes time delay information. , This is the second positive definite weight matrix. , Within time s (instantaneous delay interval) The state variable (within) is s, and the time variable is s; The third component of the LKF function, which includes time delay information. , This is the third positive definite weight matrix. , For time s (i.e. or The rate of change of the state variable (within) It is a negative number. In summary, the LKF function, which incorporates time delay information, takes into account the current state of the system. Time delay interval Internal state and rate of change of state .

[0093] Specifically, in step S104, a stability analysis is performed on the LFK function containing time delay information using a stability analysis method to determine the stability discrimination matrix, including:

[0094] By differentiating the LFK function containing time delay information, the corresponding derivative equation is obtained;

[0095] Using Jensen's inequality, the upper bound of the derivative equation is determined;

[0096] Based on the upper bound, the stability discrimination matrix is ​​determined.

[0097] In step S105, differentiating the LFK function containing time-delay information involves performing a mathematical differentiation operation on the LFK function, which describes the dynamic behavior of the system, along the state trajectory of the time-delay state equation. This analysis aims to examine the system's changing trends and stability characteristics over time. Differentiation yields a derivative equation reflecting the rate of change of the system's state variables. This equation forms the basis for subsequent stability analysis.

[0098] Among them, due to the differentiation equation The third term of the function The second term is a negative definite term, that is... This might lead to a conservative control law design. Therefore, Jensen's inequality is used to scale it to determine the derivative equation. The upper limit boundary is as follows:

[0099] ;

[0100] in, upper limit boundary ， , for The transpose matrix (when performing stability analysis, external disturbances do not need to be considered) (as an augmented state); It is a nonlinear matrix. .

[0101] To ensure the stability of the vibration reduction system, the following must be met: ,Right now Therefore, This is determined to be the stability discrimination matrix. Simultaneously, the stability discrimination matrix... This is also the basis for subsequent optimization and solving of the state feedback gain matrix. The constraint condition is that the state feedback gain matrix at time t is... This allows the stability discrimination matrix to be made If this condition is always true, then the vibration reduction system will inevitably remain in a stable operating state.

[0102] Specifically, in step S105, the stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment, including:

[0103] Transform the stability criterion matrix into the corresponding linear matrix inequality;

[0104] Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment.

[0105] In step S105, due to the inequality This is a nonlinear matrix inequality concerning matrices P, Q, R, and K. To numerically solve this optimization problem, the stability criterion matrix needs to be... This is transformed into a linear matrix inequality form. Therefore, a new variable is defined. , , ,in, The first positive definite weight matrix The derivative matrix, i.e. , As the first new variable, As the second new variable, As a third new variable, the stability discrimination matrix is ​​determined through the aforementioned new variables. Transforming this into linear matrix inequality form, we obtain the linear matrix inequality, which is as follows:

[0106] ;

[0107] in, , , and These are the first, second, third, and fourth intermediate parameters of the linear matrix inequality, respectively. , , ; For performance indicators, Performance indicators Indicates the output signal The upper bound of the gain (i.e., the vibration acceleration of the motion platform). The smaller this value, the more stable the vibration reduction system is and the stronger its vibration isolation capability. It is an identity matrix.

[0108] Specifically, in step S105, based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment, including:

[0109] Conditional parameters are extracted from linear matrix inequalities;

[0110] When the condition parameters meet the preset optimal vibration isolation effect conditions, the optimal state feedback gain matrix of the uncertain time delay term in the time delay state equation is determined.

[0111] Based on the optimal state feedback gain matrix, the key state variables are input into the time-delay state equation to calculate the optimal vibration reduction control voltage of the air spring actuator.

[0112] Based on the optimal vibration reduction control voltage, the air spring actuator is controlled to achieve time delay control of the OLED printing equipment.

[0113] In step S105, condition parameters are extracted from the above linear matrix inequalities. These condition parameters include matrix elements or variables related to system stability and performance indicators. They are key inputs in the solution process of linear matrix inequalities, specifically including the first positive definite weight matrix. The derivative matrix Second new variable and the third new variable and performance indicators .

[0114] For the above linear matrix inequality to hold, it is necessary to determine that the conditional parameters satisfy the preset optimal vibration isolation effect condition, i.e. , , and When the above conditions are met, the performance metric needs to be minimized. When the conditional parameters satisfy the preset optimal vibration isolation effect condition to make the inequality hold, if the performance index If the value is the minimum, it indicates that the vibration acceleration in all directions of the motion platform is at its minimum, and the vibration isolation effect is optimal. The corresponding solution is the state feedback gain matrix. The optimal state feedback gain matrix ensures both the stability of the vibration reduction system and maximizes its vibration isolation capability. To achieve the preset optimal vibration isolation effect, the first positive definite weight matrix needs to be adjusted. Second positive definite weight matrix and the third positive definite weight matrix So that the corresponding derivative matrix Second new variable and the third new variable All are greater than 0.

[0115] Based on the determined optimal state feedback gain matrix, the key state variables acquired in real time are input into the above time-delay state equation, thereby calculating the optimal vibration reduction control voltage of the air spring actuator.

[0116] Based on the calculated optimal vibration reduction control voltage, the air spring actuator is precisely controlled, thereby achieving effective time delay control of the OLED printing equipment and ensuring high precision and stability during the printing process.

[0117] As shown above, the vibration reduction time-delay control method for this printing equipment acquires the dynamic data of the OLED printing equipment, establishes a vibration dynamic model of the motion platform in the OLED printing equipment through frequency domain identification, selects key state variables of the vibration dynamic model based on the dynamic data, and combines them with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation. Using the LKF function, stability analysis is performed on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation. The stability discrimination matrix is ​​then transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby controlling the vibration of the OLED printing equipment. Time-delay control is implemented; therefore, by using the LKF function and time-delay characteristic parameters, the stability analysis of the vibration dynamic model obtained by accurately modeling the vibration of the OLED printing equipment is performed to calculate the optimal vibration reduction control voltage, thereby realizing the vibration reduction time-delay control of the printing equipment. This solves the problem that the existing active vibration reduction control method for OLED printing equipment inevitably produces time-delay characteristics due to the use of air spring actuators for vibration reduction, which affects the vibration reduction effect. This ensures that the OLED printing equipment can work continuously under stable operating conditions, achieving precise time-delay control of the OLED printing equipment and improving the printing accuracy and printing efficiency of the OLED printing equipment.

[0118] refer to Figure 2 This application provides a vibration reduction time delay control device for inkjet printing equipment, used for vibration reduction time delay control of OLED inkjet printing equipment, including:

[0119] Acquisition module 1 is used to acquire dynamic data of the OLED printing equipment;

[0120] Module 2 is established to create a vibration dynamic model of the motion platform in the OLED printing equipment using frequency domain identification methods.

[0121] Module 3 is used to select key state variables of the vibration dynamic model based on dynamic data, and combine them with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation.

[0122] Analysis module 4 is used to perform stability analysis on the time-delay state equation using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation;

[0123] Control module 5 is used to transform the stability discrimination matrix into a linear matrix inequality, which is used to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment.

[0124] This vibration damping time-delay control device for inkjet printing equipment uses the LKF function and time-delay characteristic parameters to perform stability analysis on the vibration dynamic model obtained by accurately modeling the vibration of OLED inkjet printing equipment. This allows for the calculation of the optimal vibration damping control voltage, enabling vibration damping time-delay control of the inkjet printing equipment. This solves the problem that the existing active vibration damping control methods for OLED inkjet printing equipment inevitably produce time-delay characteristics that affect the vibration damping effect due to the use of air spring actuators for vibration damping. It ensures that the OLED inkjet printing equipment can work continuously under stable operating conditions, achieving precise time-delay control of the OLED inkjet printing equipment and improving the printing accuracy and printing efficiency of the OLED inkjet printing equipment.

[0125] 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.

[0126] Specifically, when module 2 establishes the vibration dynamic model of the motion platform in the OLED printing equipment using the frequency domain identification method, it executes the following:

[0127] Using frequency domain identification methods, with platform loading force as input and vibration displacement as output, an initial vibration dynamic model of a single degree of freedom of the motion platform in OLED printing equipment is established.

[0128] Based on the multi-degree-of-freedom motion of the motion platform, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the motion platform.

[0129] When module 2 is executed, it establishes a single-degree-of-freedom initial vibration dynamic model using a frequency domain identification method, with the platform loading force as input and vibration displacement as output. Specifically, the initial vibration dynamic model is as follows:

[0130] ;

[0131] in, For the Laplace operator; The force applied to the moving platform is generated by the white noise signal. This represents the vibration displacement of the moving 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 static stiffness coefficient of the air spring actuator is determined by the structure of the selected air spring actuator; all of the above parameters can be estimated through frequency domain tests.

[0132] Because each support leg of the motion platform in the OLED printing equipment is equipped with an air spring actuator (specifically, as shown in the image) Figure 4 As shown, a is the motion platform, b is the air spring actuator, c is the air valve, d is the ground, and e is the load on the motion platform. This represents the displacement of the moving platform along the horizontal direction (i.e., the direction parallel to the horizontal plane). Let f be the displacement of the motion platform along the vertical direction (i.e., perpendicular to the horizontal plane), and f be the scanning motion direction. This 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.

[0133] The vibration dynamic model is specifically as follows:

[0134] ;

[0135] in, The angle of rotation of the motion platform around the axis; Represents the ground vibration term. This indicates the load disturbance term. This indicates the control force term of the air spring actuator; This represents the horizontal displacement of the ground vibration. This represents the vertical displacement of the ground vibration. This is the disturbance transfer matrix of the motion platform load. The horizontal vibration displacement caused by the load movement of the motion platform. The vertical vibration displacement caused by the load movement of the motion platform. The vibration displacement around the axis caused by the load movement of the motion platform; The resultant of the active reaction force in the horizontal direction generated by the air spring actuator. The resultant of the active reaction force in the vertical direction generated by the air spring actuator.

[0136] Specifically, when module 3 selects key state variables from the vibration dynamic model based on dynamic data and combines them with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct the time-delay state equation, it executes the following:

[0137] Based on dynamic data, select the corresponding key state variables for the vibration dynamic model;

[0138] Based on key state variables and combined with the control voltage of the air spring actuator in the motion platform, a vibration reduction state space model corresponding to the vibration dynamic model is constructed.

[0139] The time-delay characteristic parameters of the air spring actuator are introduced into the vibration reduction state space model to determine the uncertain time-delay terms corresponding to the time-delay characteristic parameters in the vibration reduction state space model, and thus obtain the time-delay state equation.

[0140] When module 3 is executed, based on the vibration characteristics and control requirements of the motion platform in the OLED printing equipment, it selects physical quantities from the dynamic data that can comprehensively reflect the dynamic behavior of the motion platform as key state variables, specifically including the horizontal displacement of the motion platform. acceleration in the horizontal direction Displacement in the vertical direction and acceleration in the vertical direction By precisely defining and measuring these variables, we can provide fundamental data for the subsequent construction of a vibration reduction state-space model.

[0141] The control voltage of the air spring actuator enables it to generate a damping reaction force to suppress the motion of the platform. Therefore, using the control voltage of the air spring actuator as the control input, the selected key state variables are integrated with the control input and external disturbances to form a mathematical model that describes the dynamic behavior of the platform, resulting in the damping state-space model. Specifically, the damping state-space model is as follows:

[0142] ;

[0143] ;

[0144] in, Let be the state variables at time t (the state variables include the horizontal displacement of the motion platform). acceleration in the horizontal direction Displacement in the vertical direction And acceleration in the vertical direction ,Right now (The superscript T is the transpose symbol). Let be the rate of change of the state variable at time t; This is the control input at time t, i.e., the control voltage of the air spring actuator; The output signal at time t represents the horizontal and vertical accelerations of the motion platform during future periods. This is the system state matrix; The input matrix; F is the output matrix; F is the perturbation matrix; External disturbances include ground vibration and load disturbance terms.

[0145] Since air spring actuators use gas to transmit force, due to the inherent properties of gas, there is inevitably a time delay (i.e., a time difference) between the time the air valve receives the control signal and initiates its action, and the time the actuator outputs the vibration reaction force. Therefore, the time delay characteristic parameters of the air spring actuator can be determined experimentally. The specific steps are as follows: A small-amplitude step signal is used as the excitation signal, and the input control voltage signal and the output signal of the air spring actuator displacement / force sensor are continuously acquired. Due to initial deviations between different sensor channels, the input and output data need to be aligned and corrected along the time axis first. After time alignment, the time delay characteristic parameters... This is the time difference between the input and output signals reaching 90% of their final stable value (the final stable value can be set according to actual needs).

[0146] The acquired time-delay characteristic parameters are mathematically embedded into the control input of the original vibration reduction state-space model to adjust the control input terms to include uncertain time-delay terms with time-delay characteristic parameters, even if... Control input items Replace with uncertain time delay term ,in, Let be the state feedback gain matrix, which is the target matrix to be solved subsequently. This leads to the dynamic equations containing uncertain time delay terms, i.e., the time-delay state equations:

[0147] ;

[0148] ;

[0149] Uncertain time delay terms typically represent the influence of the control input's value at a past moment on the current state, thus incorporating historical information of the system into the model description.

[0150] Specifically, when analysis module 4 uses the LKF function to perform stability analysis on the time-delay state equation and obtains the stability discrimination matrix corresponding to the time-delay state equation, it executes:

[0151] Based on the time-delay state equation, an LFK function containing time-delay information is designed using the LFK function.

[0152] Stability analysis was performed on the LFK function containing time delay information using stability analysis methods, and the stability discrimination matrix was determined.

[0153] During the execution of Analysis Module 4, the LKF function (Lyapunov-Krasovskii Functional) is an important tool for analyzing the stability of time-delay systems. For stability analysis of time-delay systems, the designed LKF function needs to include both the current and historical states of the system. By constructing a suitable LKF function and combining it with Lyapunov stability theory, stability analysis and controller design can be performed on the state equations containing time-delay terms. In this process, the LKF function is used to derive the conditions satisfying system stability, and based on this, the time-delay state equations are adjusted or reconstructed to ensure that the system maintains good vibration reduction performance and stability even with time delays. Therefore, using the LKF function and designing based on the time-delay state equations, the resulting LKF function containing time-delay information is as follows:

[0154] ;

[0155] in, For LKF functions that include time delay information; The first component of the LKF function, which contains time delay information. , This is the first positive definite weight matrix. , Let be the transpose matrix of the state variables at time t; The second component of the LKF function, which includes time delay information. , This is the second positive definite weight matrix. , Within time s (instantaneous delay interval) The state variable (within) is s, and the time variable is s; The third component of the LKF function, which includes time delay information. , This is the third positive definite weight matrix. , For time s (i.e. or The rate of change of the state variable (within) It is a negative number. In summary, the LKF function, which incorporates time delay information, takes into account the current state of the system. Time delay interval Internal state and rate of change of state .

[0156] Specifically, when analysis module 4 performs stability analysis on the LFK function containing time delay information using stability analysis methods and determines the stability discrimination matrix, it executes the following:

[0157] By differentiating the LFK function containing time delay information, the corresponding derivative equation is obtained;

[0158] Using Jensen's inequality, the upper bound of the derivative equation is determined;

[0159] Based on the upper bound, the stability discrimination matrix is ​​determined.

[0160] During execution, analysis module 4 differentiates the LFK function containing time-delay information. This involves performing mathematical differentiation on the LFK function, which describes the dynamic behavior of the system and incorporates time-delay information, along the state trajectory of the time-delay state equation. This analysis analyzes the system's changing trends and stability characteristics over time. By differentiating, a derivative equation reflecting the rate of change of the system's state variables can be obtained. This equation forms the basis for subsequent stability analysis.

[0161] Among them, due to the differentiation equation The third term of the function The second term is a negative definite term, that is... This might lead to a conservative control law design. Therefore, Jensen's inequality is used to scale it to determine the derivative equation. The upper limit boundary is as follows:

[0162] ;

[0163] in, upper limit boundary ， , for The transpose matrix (when performing stability analysis, external disturbances do not need to be considered) (as an augmented state); It is a nonlinear matrix. .

[0164] To ensure the stability of the vibration reduction system, the following must be met: ,Right now Therefore, This is determined to be the stability discrimination matrix. Simultaneously, the stability discrimination matrix... This is also the basis for subsequent optimization and solving of the state feedback gain matrix. The constraint condition is that the state feedback gain matrix at time t is... This allows the stability discrimination matrix to be made If this condition is always true, then the vibration reduction system will inevitably remain in a stable operating state.

[0165] Specifically, when control module 5 transforms the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment, it executes:

[0166] Transform the stability criterion matrix into the corresponding linear matrix inequality;

[0167] Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment.

[0168] When control module 5 is executed, due to inequalities... This is a nonlinear matrix inequality concerning matrices P, Q, R, and K. To numerically solve this optimization problem, the stability criterion matrix needs to be... This is transformed into a linear matrix inequality form. Therefore, a new variable is defined. , , ,in, The first positive definite weight matrix The derivative matrix, i.e. , As the first new variable, As the second new variable, As a third new variable, the stability discrimination matrix is ​​determined through the aforementioned new variables. Transforming this into linear matrix inequality form, we obtain the linear matrix inequality, which is as follows:

[0169] ;

[0170] in, , , and These are the first, second, third, and fourth intermediate parameters of the linear matrix inequality, respectively. , , ; For performance indicators, Performance indicators Indicates the output signal The upper bound of the gain (i.e., the vibration acceleration of the motion platform). The smaller this value, the more stable the vibration reduction system is and the stronger its vibration isolation capability. It is an identity matrix.

[0171] Specifically, when control module 5 calculates the optimal vibration reduction control voltage of the air spring actuator based on linear matrix inequalities to perform time-delay control on the OLED printing equipment, it executes:

[0172] Conditional parameters are extracted from linear matrix inequalities;

[0173] When the condition parameters meet the preset optimal vibration isolation effect conditions, the optimal state feedback gain matrix of the uncertain time delay term in the time delay state equation is determined.

[0174] Based on the optimal state feedback gain matrix, the key state variables are input into the time-delay state equation to calculate the optimal vibration reduction control voltage of the air spring actuator.

[0175] Based on the optimal vibration reduction control voltage, the air spring actuator is controlled to achieve time delay control of the OLED printing equipment.

[0176] During execution, control module 5 extracts condition parameters from the aforementioned linear matrix inequalities. These condition parameters include matrix elements or variables related to system stability and performance indicators; they are key inputs in the solution process of linear matrix inequalities, specifically including the first positive definite weight matrix. The derivative matrix Second new variable and the third new variable and performance indicators .

[0177] For the above linear matrix inequality to hold, it is necessary to determine that the conditional parameters satisfy the preset optimal vibration isolation effect condition, i.e. , , and When the above conditions are met, the performance metric needs to be minimized. When the conditional parameters satisfy the preset optimal vibration isolation effect condition to make the inequality hold, if the performance index If the value is the minimum, it indicates that the vibration acceleration in all directions of the motion platform is at its minimum, and the vibration isolation effect is optimal. The corresponding solution is the state feedback gain matrix. The optimal state feedback gain matrix ensures both the stability of the vibration reduction system and maximizes its vibration isolation capability. To achieve the preset optimal vibration isolation effect, the first positive definite weight matrix needs to be adjusted. Second positive definite weight matrix and the third positive definite weight matrix So that the corresponding derivative matrix Second new variable and the third new variable All are greater than 0.

[0178] Based on the determined optimal state feedback gain matrix, the key state variables acquired in real time are input into the above time-delay state equation, thereby calculating the optimal vibration reduction control voltage of the air spring actuator.

[0179] Based on the calculated optimal vibration reduction control voltage, the air spring actuator is precisely controlled, thereby achieving effective time delay control of the OLED printing equipment and ensuring high precision and stability during the printing process.

[0180] As shown above, the vibration reduction time-delay control device for this printing equipment acquires the dynamic data of the OLED printing equipment, establishes a vibration dynamic model of the motion platform in the OLED printing equipment using frequency domain identification methods, selects key state variables of the vibration dynamic model based on the dynamic data, and combines them with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation. Using the LKF function, stability analysis is performed on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation. The stability discrimination matrix is ​​then transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby controlling the vibration of the OLED printing equipment. Time-delay control is implemented; therefore, by using the LKF function and time-delay characteristic parameters, the stability analysis of the vibration dynamic model obtained by accurately modeling the vibration of the OLED printing equipment is performed to calculate the optimal vibration reduction control voltage, thereby realizing the vibration reduction time-delay control of the printing equipment. This solves the problem that the existing active vibration reduction control method for OLED printing equipment inevitably produces time-delay characteristics due to the use of air spring actuators for vibration reduction, which affects the vibration reduction effect. This ensures that the OLED printing equipment can work continuously under stable operating conditions, achieving precise time-delay control of the OLED printing equipment and improving the printing accuracy and printing efficiency of the OLED printing equipment.

[0181] 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 time-delay 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 the motion platform in the OLED printing equipment through a frequency domain identification method; selecting key state variables of the vibration dynamic model based on the dynamic data, combining them with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation; performing stability analysis on the time-delay state equation using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation; converting the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment.

[0182] 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 time-delay 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 the motion platform in the OLED printing equipment through a frequency domain identification method; selecting key state variables of the vibration dynamic model based on the dynamic data; combining the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation; using the LKF function to perform stability analysis on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation; converting the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment. 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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 vibration reduction time-delay control method for inkjet printing equipment, used for vibration reduction time-delay control of OLED inkjet printing equipment, characterized in that, Including the following steps: Acquire dynamic data of OLED printing equipment; A vibration dynamic model of the motion platform in the OLED printing equipment is established using a frequency domain identification method. Based on the dynamic data, the key state variables of the vibration dynamic model are selected and combined with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation. The stability analysis of the time-delay state equation is performed using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation. The stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment. Based on the dynamic data, key state variables of the vibration dynamic model are selected and combined with the time-delay characteristic parameters of the air spring actuator in the motion platform to construct a time-delay state equation, including: Based on the dynamic data, select the corresponding key state variables for the vibration dynamic model; Based on the key state variables and combined with the control voltage of the air spring actuator in the motion platform, a vibration reduction state space model corresponding to the vibration dynamic model is constructed. The time delay characteristic parameter of the air spring actuator is introduced into the vibration reduction state space model to determine the uncertain time delay term corresponding to the time delay characteristic parameter in the vibration reduction state space model, and thus obtain the time delay state equation. Using the LKF function, stability analysis is performed on the time-delay state equation to obtain the stability discrimination matrix corresponding to the time-delay state equation, including: Based on the aforementioned time-delay state equation, an LFK function containing time-delay information is designed using the LFK function. The stability of the LFK function containing time delay information is analyzed using a stability analysis method to determine the stability discrimination matrix. The stability of the LFK function containing time delay information is analyzed using a stability analysis method to determine the stability discrimination matrix, including: Differentiating the LFK function containing time delay information yields the corresponding derivative equation; Using Jensen's inequality, the upper bound of the derivative equation is determined; Based on the aforementioned upper bound, the stability discrimination matrix is ​​determined. The stability discrimination matrix is ​​transformed into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment, including: The stability discrimination matrix is ​​transformed into the corresponding linear matrix inequality; Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment. Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment, including: The conditional parameters are extracted from the linear matrix inequalities. When the condition parameters satisfy the preset optimal vibration isolation effect condition, the optimal state feedback gain matrix of the uncertain time delay term in the time delay state equation is determined. Based on the optimal state feedback gain matrix, the key state variables obtained are input into the time-delay state equation to calculate the optimal vibration reduction control voltage of the air spring actuator. The air spring actuator is controlled according to the optimal vibration reduction control voltage to achieve time delay control of the OLED printing equipment.

2. The vibration reduction and time delay control method for inkjet printing equipment according to claim 1, characterized in that, A vibration dynamic model of the motion platform in the OLED printing equipment is established using a frequency domain identification method, including: Using frequency domain identification methods, with platform loading force as input and vibration displacement as output, an initial vibration dynamic model of a single degree of freedom of the motion platform in the OLED printing equipment is established. Based on the multi-degree-of-freedom motion of the motion platform, the initial vibration dynamic model is transformed into a multi-degree-of-freedom model to obtain the vibration dynamic model of the motion platform.

3. A vibration reduction time-delay control device for inkjet printing equipment, used for vibration reduction time-delay control of OLED inkjet printing equipment, characterized in that, include: The acquisition module is used to acquire dynamic data of the OLED printing equipment; A module is established to establish a vibration dynamic model of the motion platform in the OLED printing equipment using a frequency domain identification method. The construction module is used to select key state variables of the vibration dynamic model based on the dynamic data, and combine them with the time delay characteristic parameters of the air spring actuator in the motion platform to construct the time delay state equation. The analysis module is used to perform stability analysis on the time-delay state equation using the LKF function to obtain the stability discrimination matrix corresponding to the time-delay state equation. The control module is used to transform the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment. The construction module is used to select key state variables of the vibration dynamic model based on the dynamic data, and to construct a time-delay state equation by combining the time-delay characteristic parameters of the air spring actuator in the motion platform, including: Based on the dynamic data, select the corresponding key state variables for the vibration dynamic model; Based on the key state variables and combined with the control voltage of the air spring actuator in the motion platform, a vibration reduction state space model corresponding to the vibration dynamic model is constructed. The time delay characteristic parameter of the air spring actuator is introduced into the vibration reduction state space model to determine the uncertain time delay term corresponding to the time delay characteristic parameter in the vibration reduction state space model, and thus obtain the time delay state equation. The analysis module is used to perform stability analysis on the time-delay state equation using the LKF function, and obtain the stability discrimination matrix corresponding to the time-delay state equation, including: Based on the aforementioned time-delay state equation, an LFK function containing time-delay information is designed using the LFK function. The stability of the LFK function containing time delay information is analyzed using a stability analysis method to determine the stability discrimination matrix. The stability of the LFK function containing time delay information is analyzed using a stability analysis method to determine the stability discrimination matrix, including: Differentiating the LFK function containing time delay information yields the corresponding derivative equation; Using Jensen's inequality, the upper bound of the derivative equation is determined; Based on the aforementioned upper bound, the stability discrimination matrix is ​​determined. The control module is used to transform the stability discrimination matrix into a linear matrix inequality to calculate the optimal vibration reduction control voltage, thereby performing time-delay control on the OLED printing equipment, including: The stability discrimination matrix is ​​transformed into the corresponding linear matrix inequality; Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment. Based on the linear matrix inequality, the optimal vibration reduction control voltage of the air spring actuator is calculated to perform time-delay control on the OLED printing equipment, including: The conditional parameters are extracted from the linear matrix inequalities. When the condition parameters satisfy the preset optimal vibration isolation effect condition, the optimal state feedback gain matrix of the uncertain time delay term in the time delay state equation is determined. Based on the optimal state feedback gain matrix, the key state variables obtained are input into the time-delay state equation to calculate the optimal vibration reduction control voltage of the air spring actuator. The air spring actuator is controlled according to the optimal vibration reduction control voltage to achieve time delay control of the OLED printing equipment.

4. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program executable by the processor, and when the processor executes the computer program, it performs the steps in the vibration reduction time delay control method for inkjet printing equipment as described in any one of claims 1-2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the steps in the vibration reduction and time delay control method for printing equipment as described in any one of claims 1-2.

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