Inkjet control method of printing apparatus, printing apparatus, and storage medium

Abstract

The embodiment of the invention provides an ink-jet control method of a printing device, the printing device and a storage medium, and belongs to the technical field of ink-jet printing. The method comprises the steps that PID processing is conducted according to the inlet and outlet actual pressure difference and the inlet and outlet target pressure difference of a nozzle, and target inlet pressure and target outlet pressure are determined; pID processing is carried out according to the target inlet pressure, the target outlet pressure, the first inlet detection pressure of the positive pressure ink box and the first outlet detection pressure of the negative pressure ink box, and first target positive pressure and first target negative pressure are obtained; performing PID processing according to the target positive pressure and a second inlet detection pressure of the positive pressure bottle to obtain a second target positive pressure, and controlling the pressure in the positive pressure bottle according to the second target positive pressure; and performing PID processing according to the target negative pressure and the second outlet detection pressure of the negative pressure bottle to obtain a second target negative pressure, and controlling the pressure in the negative pressure bottle according to the second target negative pressure. According to the embodiment of the invention, the nozzle pressure difference of the nozzle can be more constant.

Description

Technical Field

[0001] This application relates to the field of inkjet printing technology, and in particular to an inkjet control method for a printing device, a printing device, and a storage medium. Background Technology

[0002] Inkjet printers, especially piezoelectric inkjet printers, utilize a circulating ink path to supply ink to the printhead. The pressure difference (ΔP) between the printhead inlet and outlet directly determines the meniscus state of the ink at the nozzle, a key parameter affecting droplet ejection accuracy, consistency, and reliability. Therefore, controlling the stability of the circulating ink path to ensure the printhead inlet and outlet pressure difference meets expectations is crucial. Existing ink path pressure control schemes often employ independent single-loop PID control, such as separately controlling the printhead inlet and outlet pressures. However, these methods lack sufficient control precision and cannot accurately maintain a constant printhead pressure difference (ΔP), which is critical to print quality, resulting in poor inkjet performance. Therefore, maintaining a constant printhead pressure difference is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] The main objective of this application is to provide an inkjet control method, printing device, and storage medium for a printing apparatus, which can further increase the probability of a constant printhead pressure difference.

[0004] To achieve the above objectives, a first aspect of this application provides an inkjet control method for a printing apparatus, which includes a printhead, a positive pressure ink cartridge, a negative pressure ink cartridge, a positive pressure bottle, and a negative pressure bottle. The method includes: PID processing is performed based on the actual pressure difference between the nozzle inlet and outlet and the target pressure difference between the inlet and outlet to determine the target inlet pressure and the target outlet pressure; PID processing is performed based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge to obtain the first target positive pressure. PID processing is performed based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge to obtain the first target negative pressure. PID processing is performed based on the target positive pressure and the second inlet detection pressure of the positive pressure bottle to obtain the second target positive pressure, so as to control the pressure inside the positive pressure bottle according to the second target positive pressure; PID processing is performed based on the target negative pressure and the second outlet detection pressure of the negative pressure bottle to obtain the second target negative pressure, so as to control the pressure inside the negative pressure bottle according to the second target negative pressure.

[0005] To achieve the above objectives, a second aspect of this application provides a printing apparatus, the printing apparatus comprising: A printhead, which is used for inkjet printing, is provided with an ink inlet and an ink recovery port; A positive pressure ink cartridge, wherein the outlet of the positive pressure ink cartridge is connected to the ink inlet; A negative pressure ink cartridge, wherein the inlet of the negative pressure ink cartridge is connected to the ink recovery port; A positive pressure bottle, wherein the first air pressure supply port of the positive pressure bottle is connected to the air pressure port of the positive pressure ink cartridge; A negative pressure bottle, wherein the second air pressure supply port of the negative pressure bottle is connected to the air pressure port of the negative pressure ink cartridge; A control component includes a first pressure detection element, a second pressure detection element, a third pressure detection element, a fourth pressure detection element, a first control element, a second control element, and a control chip. The first pressure detection element is located on a pipeline between the ink inlet and the outlet of the positive pressure ink cartridge. The second pressure detection element is located on a pipeline between the ink recovery port and the inlet of the negative pressure ink cartridge. The third pressure detection element is used to detect the pressure inside the positive pressure bottle to obtain a second inlet detection pressure. The fourth pressure detection element is used to detect the pressure inside the negative pressure bottle to obtain a second outlet detection pressure. The control chip is communicatively connected to the first pressure detection element, the second pressure detection element, the third pressure detection element, the fourth pressure detection element, the first control element, and the second control element. The control chip executes the method described in any of the first aspects to obtain a second target positive pressure and a second target negative pressure. The control chip is used to control the pressure inside the positive pressure bottle according to the second target positive pressure and to control the pressure inside the negative pressure bottle according to the second target negative pressure.

[0006] To achieve the above objectives, a third aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the inkjet control method of the printing apparatus described in any of the first aspects.

[0007] The inkjet control method, printing device, and storage medium for the printing apparatus proposed in this application embodiment utilize PID processing based on the actual inlet / outlet pressure difference and the target inlet / outlet pressure difference to determine the target inlet pressure and target outlet pressure. A first target positive pressure and a first target negative pressure are then determined based on these target inlet and outlet pressures, respectively. Finally, a second target positive pressure and a second target negative pressure are determined based on the first target positive pressure and the first target negative pressure, respectively. This achieves precise control of the outer loop based on the actual pressure feedback in the liquid path loop formed by the positive and negative pressure ink cartridges, and precise control of the inner loop based on the actual pressure feedback values ​​in the gas path loop formed by the positive and negative pressure bottles. Therefore, compared with related technologies, this application embodiment can achieve coordinated control of positive and negative pressures through three-level PID, thereby further improving the probability of maintaining a constant printhead pressure difference. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the framework of one embodiment of the printing apparatus provided in this application; Figure 2 This is a schematic flowchart of an embodiment of the inkjet control method for the printing apparatus provided in this application; Figure 3 This is a flowchart illustrating multi-level PID control in one embodiment of the inkjet control method for the printing device provided in this application. Figure 4 This is an application diagram illustrating an embodiment of the inkjet control method for the printing apparatus provided in this application; Figure 5 This is a schematic diagram of the hardware structure of the controller corresponding to the inkjet control method of the printing device provided in this application.

[0009] Figure label: Main ink tank 101, ink supply pump 102, first filter 103, first one-way valve 104, positive pressure bottle 105, negative pressure bottle 106, positive pressure ink cartridge 107, printhead 108, negative pressure ink cartridge 109, first pressure detection element 110, second pressure detection element 111, circulation pump 112, recovery pump 113. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0011] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0012] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0013] The following is a description of the terminology used in the embodiments of this application: PID control stands for Proportional-Integral-Derivative Control. By combining feedback adjustment of the three components "proportional (P), integral (I), and derivative (D)," PID control dynamically calculates the control quantity based on the deviation between the "target value (Setpoint, SP)" and the "actual output value (Process Variable, PV)" (Error = SP - PV), so that the output of the controlled object quickly and stably approaches the target value, while suppressing overshoot and reducing steady-state error.

[0014] Inkjet printing devices, especially piezoelectric inkjet printers, utilize a circulating ink path to supply ink to the printhead. The pressure difference (ΔP) between the printhead inlet and outlet directly determines the meniscus state of the ink at the nozzle, a key parameter affecting droplet ejection accuracy, consistency, and reliability. Therefore, controlling the stability of the circulating ink path to ensure the printhead inlet and outlet pressure difference meets the expected pressure difference is crucial. Existing ink path pressure control schemes often employ independent single-loop PID control, such as separately controlling the printhead inlet and outlet pressures. However, these methods lack sufficient control precision and cannot accurately maintain a constant printhead pressure difference (ΔP), which is critical to print quality, resulting in poor inkjet performance. Therefore, maintaining a constant printhead pressure difference is a pressing technical problem. Based on this, embodiments of this application provide an inkjet control method, a printing device, and a storage medium that can further improve the probability of maintaining a constant printhead pressure difference.

[0015] Reference Figure 1 As shown, the printing apparatus provided according to an embodiment of this application includes: Printhead 108 is used for inkjet printing. Printhead 108 is provided with an ink inlet and an ink recovery port. Positive pressure ink cartridge 107, the outlet and ink inlet of positive pressure ink cartridge 107 are connected; Negative pressure ink cartridge 109, the inlet of negative pressure ink cartridge 109 is connected to the ink recovery port; Positive pressure bottle 105, the first air pressure supply port of positive pressure bottle 105 is connected to the air pressure port of positive pressure ink cartridge 107; The negative pressure bottle 106 has a second air pressure supply port that is connected to the air pressure port of the negative pressure ink cartridge 109. The control component includes a first pressure detector 110, a second pressure detector 111, a third pressure detector, a fourth pressure detector, a first controller, a second controller, and a control chip. The first pressure detector 110 is located on the pipeline between the ink inlet and the outlet of the positive pressure ink cartridge 107. The second pressure detector 111 is located on the pipeline between the ink recovery port and the inlet of the negative pressure ink cartridge 109. The third pressure detector is used to detect the pressure inside the positive pressure bottle 105 to obtain the second inlet detection pressure. The fourth pressure detector is used to detect the pressure inside the negative pressure bottle 106 to obtain the second outlet detection pressure. The control chip is communicatively connected to the first pressure detector 110, the second pressure detector 111, the third pressure detector, the fourth pressure detector, the first controller, and the second controller. The control chip performs the following steps: Based on the actual pressure difference between the inlet and outlet of nozzle 108 and the target pressure difference between the inlet and outlet, PID processing is performed to determine the target inlet pressure and the target outlet pressure. PID processing is performed based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge 107 to obtain the first target positive pressure. PID processing is performed based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge 109 to obtain the first target negative pressure. PID processing is performed based on the target positive pressure and the second inlet detection pressure of the positive pressure bottle 105 to obtain the second target positive pressure, and the pressure inside the positive pressure bottle 105 is controlled based on the second target positive pressure. PID processing is performed based on the target negative pressure and the second outlet detection pressure of the negative pressure bottle 106 to obtain the second target negative pressure, and the pressure inside the negative pressure bottle 106 is controlled based on the second target negative pressure.

[0016] By performing PID processing on the actual inlet / outlet pressure difference and the target inlet / outlet pressure difference, the target inlet pressure and target outlet pressure are determined. Based on these target inlet and outlet pressures, a first target positive pressure and a first target negative pressure are determined, respectively. Then, based on the first target positive and negative pressures, a second target positive pressure and a second target negative pressure are determined, respectively. This achieves precise control of the outer loop based on the actual pressure feedback in the liquid path loop formed by the positive pressure cartridge 107 and the negative pressure cartridge 109, with the pressure difference of the printhead 108 as the target. Then, precise control of the inner loop is achieved based on the actual pressure feedback value in the gas path loop formed by the positive pressure bottle 105 and the negative pressure bottle 106. Therefore, this embodiment of the application can achieve coordinated control of positive and negative pressures through three-level PID, thereby further increasing the probability of maintaining a constant pressure difference at the printhead 108.

[0017] The positive pressure ink cartridge 107 is connected to the main ink tank 101. The ink from the main ink tank 101 enters the positive pressure ink cartridge 107 to supply ink to the printhead 108. The negative pressure ink cartridge 109 recycles ink from the printhead 108 to ensure that the ink volume of the printhead 108 meets the quality requirements of inkjet printing. Excess ink in the negative pressure ink cartridge 109 is recycled back to the main ink tank 101.

[0018] This application embodiment does not limit the number of printheads 108. A first pressure detection element 110 is provided between each printhead 108 and the positive pressure ink cartridge 107, and a second pressure detection element 111 is provided between each printhead 108 and the negative pressure ink cartridge 109. In the execution method of the control chip described above in this application embodiment, the printhead 108 can be the printhead 108 involved in the current printing task in the printing device, or it can be the printhead 108 that needs to be controlled at the current moment. When there are multiple printheads 108 about to print ink, the second target positive pressure and the second target negative pressure corresponding to each printhead 108 can be calculated separately. Then, the positive pressure bottle 105 is controlled based on the average value of the second target positive pressure corresponding to each printhead 108, and the negative pressure bottle 106 is controlled based on the average value of the second target negative pressure corresponding to each printhead 108. In other embodiments, the average value of the inlet detection pressure of each printhead 108 can also be used as the first inlet detection pressure, and the average value of the calculated outlet detection pressure of each printhead 108 can be used as the first outlet detection pressure. Then, based on the first inlet detection pressure and the first outlet detection pressure, the first target positive pressure and the first target negative pressure are obtained respectively. This embodiment of the application will not elaborate on these details; those skilled in the art can select specific calculation methods according to actual circumstances to ensure, as far as possible, that the inlet and outlet pressure difference of the printhead 108 that needs to be inkjeted meets the inlet and outlet target pressure difference.

[0019] The first pressure detection element 110, the second pressure detection element 111, the third pressure detection element, and the fourth pressure detection element can all be sensors. In this embodiment, there is no restriction on the type of each pressure detection element; different models or the same model can be selected.

[0020] Both the first and second control components can include a pump and a pressure vessel to control the pressure in the corresponding pressure bottle, thereby controlling the pressure supply to the corresponding ink cartridge.

[0021] The first inlet detection pressure represents the pressure on the pipe through which the positive pressure ink cartridge 107 actually supplies ink to the printhead 108, and is used to indicate the inlet pressure of the printhead 108. The first inlet detection pressure is detected by the first pressure detection element 110. The first outlet detection pressure represents the pressure on the pipe through which the positive pressure ink cartridge 107 actually recovers ink from the printhead 108, and is used to indicate the outlet pressure of the printhead 108. The first outlet detection pressure is detected by the second pressure detection element 111.

[0022] The actual pressure difference between the inlet and outlet represents the difference between the outlet pressure and the inlet pressure of the nozzle 108, and can be detected in real time. For example, a subtractor can be used between the first pressure sensor 110 and the second pressure sensor 111; sampling the subtractor will yield the actual pressure difference. Alternatively, it can be determined directly through software logic calculations based on the detection results of the first and second pressure sensors 110 and 111. This application does not limit the specific implementation of this method. Those skilled in the art can selectively configure the method according to actual conditions.

[0023] Understandably, the control chip includes a first control chip, a second control chip, and a third control chip. The second control chip is communicatively connected to the first pressure detection element 110 and the second pressure detection element 111. The third control chip is communicatively connected to the third pressure detection element, the fourth pressure detection element, the first control element, and the second control element. The first control chip and the second control chip are communicatively connected to output target inlet pressure and target outlet pressure to the second control chip according to the actual pressure difference between the inlet and outlet. The second control chip is used to output a first target positive pressure and a first target negative pressure to the third control chip. The third control chip is used to output a second target positive pressure and a second target negative pressure.

[0024] The first, second, and third control chips all have PID controllers to achieve PID sampling and processing. Therefore, by using these three control chips, the PID processing on each chip can run asynchronously, improving control efficiency. Furthermore, distributing the entire control process across different control chips shortens the communication distance between the control chips and the corresponding pressure sensors and control components, simplifying installation and wiring.

[0025] For example, taking the first pressure detection element 110 as the first pressure sensor and the second pressure detection element 111 as the second pressure sensor, the following refers to... Figure 1 The printing apparatus described in this application is as follows: Figure 1 As shown, the main ink tank 101 supplies ink to the positive pressure ink cartridge 107 through the first one-way valve 104, the ink supply pump 102, and the first filter 103 (wherein, the order of the first one-way valve 104, the ink supply pump 102, and the first filter 103 can be as follows). Figure 1 As shown (and can also be adjusted), the first one-way valve 104 controls the opening and closing of the pipeline between the main ink tank 101 and the positive pressure ink cartridge 107. The ink supply pump 102 adjusts the ink volume in the pipeline between the main ink tank 101 and the positive pressure ink cartridge 107. When the ink volume in the positive pressure ink cartridge 107 is lower than the first ink volume threshold, the first one-way valve 104 and the ink supply pump 102 are adjusted to meet the ink volume requirement. The ink flowing out of the outlet of the positive pressure ink cartridge 107 passes through the third filter and the first pressure sensor before entering the printhead 108. Figure 1As shown, the positive pressure pump controls the amount of air drawn into the positive pressure bottle 105 and adjusts the pressure in the positive pressure bottle 105 through the first pressure relief valve. At this time, the positive pressure pump and the first pressure relief valve combine to form a first control element, which can adjust the pressure between the positive pressure ink cartridge and the printhead 108 by controlling the pressure inside the positive pressure bottle 105. Similarly, the negative pressure pump controls the amount of air drawn into the negative pressure ink cartridge 109 by the negative pressure bottle 106 and adjusts the pressure in the negative pressure bottle 106 through the second pressure relief valve. At this time, the negative pressure pump and the second pressure relief valve combine to form a second control element, which can adjust the pressure between the negative pressure ink cartridge 109 and the printhead 108 by controlling the pressure inside the negative pressure bottle 106. In some embodiments, a third filter is provided in the pipeline between the positive pressure ink cartridge 107 and the printhead 108. The third filter can be located between the first pressure detection element 110 and the positive pressure ink cartridge 107. In some embodiments, a fourth filter is further provided in the pipeline between the negative pressure ink cartridge 109 and the printhead 108. The fourth filter may be located between the second pressure detection element 111 and the negative pressure ink cartridge 109. In some embodiments, a circulation pump 112 is further provided between the negative pressure ink cartridge 109 and the positive pressure ink cartridge 107. The circulation pump 112 can supply ink directly from the negative pressure ink cartridge 109 to the positive pressure ink cartridge 107 when the ink level in the positive pressure ink cartridge 107 is insufficient. When the ink level in the negative pressure ink cartridge 109 is lower than a preset second module threshold, ink is supplied to the positive pressure ink cartridge 107 through the main ink tank 101. In some embodiments, a damper is further provided between the circulation pump 112 and the positive pressure ink cartridge 107. In some embodiments, the negative pressure ink cartridge 109 also recovers excess ink from the negative pressure ink cartridge 109 to the main ink tank 101 via a recovery pump 113. In some embodiments, a third one-way valve and a second filter are also provided between the main ink cartridge and the recovery pump 113 to enable the ink path from the negative pressure ink cartridge 109 to the main ink tank 101 via the third one-way valve, and to control the speed at which ink from the negative pressure ink cartridge 109 flows to the main ink tank 101 via the recovery pump 113. In some embodiments, such as Figure 1 As shown, the ink flowing out of the first filter 103 can also pass through a degassing membrane, a degassing pump, and a second one-way valve into the positive pressure ink cartridge 107. The degassing membrane and degassing pump are used to degas the ink, improving its stability and durability. The second one-way valve controls the opening and closing of the ink inlet path formed by the degassing membrane and degassing pump. This embodiment does not involve the control of ink volume or quality; therefore, the control timing of the first one-way valve 104, the second one-way valve, and the third one-way valve will not be described in detail. Those skilled in the art can selectively set these parameters according to actual needs. In some embodiments, the circulation pump 112 can be an adjustable-speed peristaltic pump, thereby further improving the response rate of the circulation pump 112.

[0026] Understandably, referring to Figure 2As shown, the inkjet control method for a printing device according to an embodiment of this application is applied to a printing device, which includes a printhead 108, a positive pressure ink cartridge 107, a negative pressure ink cartridge 109, a positive pressure bottle 105, and a negative pressure bottle 106. The method includes: Step S100: Perform PID processing based on the actual pressure difference between the inlet and outlet of the nozzle 108 and the target pressure difference between the inlet and outlet to determine the target inlet pressure and the target outlet pressure; Step S200: Perform PID processing based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge 107 to obtain the first target positive pressure; Step S300: Perform PID processing based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge 109 to obtain the first target negative pressure; Step S400: Perform PID processing based on the target positive pressure and the first inlet detection pressure of the positive pressure bottle 105 to obtain the second target positive pressure, so as to control the pressure inside the positive pressure bottle 105 according to the second target positive pressure. Step S500: Perform PID processing based on the target negative pressure and the second outlet detection pressure of the negative pressure bottle 106 to obtain the second target negative pressure, so as to control the pressure inside the negative pressure bottle 106 according to the second target negative pressure.

[0027] By performing PID processing on the actual inlet / outlet pressure difference and the target inlet / outlet pressure difference, the target inlet pressure and target outlet pressure are determined. Based on these target inlet and outlet pressures, a first target positive pressure and a first target negative pressure are determined, respectively. Then, based on the first target positive and negative pressures, a second target positive pressure and a second target negative pressure are determined, respectively. This achieves precise control of the outer loop based on the actual pressure feedback in the liquid path loop formed by the positive pressure cartridge 107 and the negative pressure cartridge 109, with the pressure difference of the printhead 108 as the target. Then, precise control of the inner loop is achieved based on the actual pressure feedback value in the gas path loop formed by the positive pressure bottle 105 and the negative pressure bottle 106. Therefore, this embodiment of the application can achieve coordinated control of positive and negative pressures through three-level PID, thereby further increasing the probability of maintaining a constant pressure difference at the printhead 108.

[0028] In step S100, the printhead 108 can be the printhead 108 that needs to spray ink in the current printing task, or it can be the printhead 108 that needs to spray ink within a preset time period (the preset time period can be set according to actual needs). This application embodiment does not limit this, and those skilled in the art can selectively set it according to actual conditions. In some embodiments, this application embodiment can execute steps S100 to S500 individually for each printhead 108, thereby obtaining the second target positive pressure that the positive pressure bottle 105 is expected to reach when each printhead 108 reaches the target inlet-outlet pressure difference, and the second target negative pressure that the negative pressure bottle 106 is expected to reach when each printhead 108 reaches the target inlet-outlet pressure difference. At this time, when there are multiple printheads 108, the pressure in the positive pressure bottle 105 can be adjusted to the average of the second target positive pressures of each printhead 108, and the pressure in the negative pressure bottle 106 can be adjusted to the average of the second target negative pressures of each printhead 108, thereby achieving one PID closed-loop control. In other embodiments, the present application embodiments may first calculate the actual inlet and outlet pressure difference of each nozzle 108, and perform PID processing based on the average of the actual inlet and outlet pressure differences of each nozzle 108 and the target inlet and outlet pressure difference. At this time, the target inlet pressure and target outlet pressure in step S100 take into account the situation of each nozzle 108, so that the pressure inside the positive pressure bottle 105 and the negative pressure bottle 106 can make the actual inlet and outlet pressure difference of each nozzle 108 as consistent as possible with the target inlet and outlet pressure difference.

[0029] Because actuators (such as pumps and valves) have physical limitations, when errors persist (e.g., the difference between the actual inlet / outlet pressure difference and the target inlet / outlet pressure difference is always greater than a preset threshold), the integral term accumulates significantly, leading to PID overshoot. Therefore, in some embodiments, this application can introduce integral anti-saturation technology into the PID processing in steps S100 to S500 to limit the accumulation of the integral term. In some embodiments, other methods can also be used to optimize PID processing. This application does not impose many restrictions on this; those skilled in the art can choose conventional PID algorithms for PID processing, or combine them with optimization algorithms, or optimize only part of the PID processing, etc. This application will not elaborate on each of these options.

[0030] The actual pressure difference between the ink inlet and outlet of printhead 108 represents the pressure difference between the ink inlet and ink return port of printhead 108. It can be calculated in real time using the pressure between the positive pressure ink cartridge 107 and printhead 108, and the pressure between the negative pressure ink cartridge 109 and printhead 108. In practical applications, the pressure at the ink inlet and ink return port of printhead 108 will affect each other; adjusting one will inevitably cause a change in the other. For example... Figure 3As shown, this embodiment of the application constructs a third-level control loop based on the target pressure difference between the inlet and outlet, a second-level control loop based on the positive pressure cartridge and the negative pressure cartridge, and a first-level control loop based on the positive pressure bottle 105 and the negative pressure bottle 106. The output of the third-level control loop is used as the input of the second-level control loop, and the output of the second-level control loop is used as the input of the third-level control loop, thereby achieving the purpose of precise control at each level.

[0031] The pressure difference control quantity for each step can be obtained by performing PID processing on the actual pressure difference between the inlet and outlet of the nozzle 108 and the target pressure difference between the inlet and outlet. This application embodiment does not limit how to determine the target inlet pressure and target outlet pressure based on the pressure difference control quantity. Those skilled in the art can use methods such as looking up tables or setting correlation functions, etc., which will not be described in detail in this application embodiment.

[0032] This application embodiment does not restrict how the PID processing is triggered in steps S100 to S500. A timer or an interrupt can be set. The processing cycles of steps S100 to S500 can be different. For example, in some embodiments, the PID processing of steps S100 to S300 can be triggered every first duration, and the PID processing of steps S400 and S500 can be triggered every second duration. The first duration is longer than the second duration. Taking a first duration of 10ms and a second duration of 1ms as an example, the actual pressure difference between the inlet and outlet and the target pressure difference between the inlet and outlet are detected every 10ms. If the error is greater than the set first error threshold, the PID processing of step S100 is triggered. Similarly, the difference between the target outlet pressure and the first inlet detected pressure is judged every 10ms. If it is greater than the second error threshold, the PID processing of step S200 is triggered. Similarly, the difference between the target inlet pressure and the first outlet detected pressure is judged every 10ms. If it is greater than the third error threshold, the PID processing of step S300 is triggered. Every 1 ms, the difference between the target positive pressure and the first inlet detection pressure of the positive pressure bottle 105 is judged. If the difference is greater than the fourth error threshold, the PID processing in step S400 is triggered. Every 1 ms, the difference between the target negative pressure and the second outlet detection pressure of the positive pressure bottle 105 is judged. If the difference is greater than the fifth error threshold, the PID processing in step S500 is triggered. This allows for further precise control.

[0033] Understandably, based on the actual pressure difference between the inlet and outlet of nozzle 108 and the target pressure difference between the inlet and outlet, PID processing is performed to determine the target inlet pressure and the target outlet pressure, including: The target pressure difference control quantity is determined by PID processing based on the actual pressure difference between the inlet and outlet of nozzle 108 and the target pressure difference between the inlet and outlet. Obtain the first pressure supply coefficient corresponding to the positive pressure ink cartridge 107 and the second pressure supply coefficient corresponding to the negative pressure ink cartridge 109. The target inlet pressure is obtained based on the first pressure supply coefficient, the target differential pressure control amount, and the first basic pressure value of the positive pressure ink cartridge 107; The target outlet pressure is obtained based on the second pressure supply coefficient, the target differential pressure control amount, and the second basic pressure value of the negative pressure ink cartridge 109.

[0034] The target differential pressure control quantity is the differential pressure that needs to be adjusted for each PID control cycle.

[0035] This application does not restrict how the first pressure supply coefficient and the second pressure supply coefficient are set, and the sum of the first pressure supply coefficient and the second pressure supply coefficient is 1.

[0036] For example, assume the target differential pressure control value is The first pressure supply coefficient is Second pressure supply coefficient Then the target inlet pressure Target export pressure ;in, The first baseline pressure value is [value], and the second baseline pressure value is [value]. ; and The pressure difference between them meets the target pressure difference between the inlet and outlet. The embodiments of this application are as follows: and There are no restrictions on how to set it up; those skilled in the art can verify it under standard operating conditions.

[0037] Understandably, the first target positive pressure is obtained by performing PID processing based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge 107, including: obtaining the positive pressure coupling coefficient of the printhead 108; obtaining the target compensation inlet pressure based on the positive pressure coupling coefficient of the printhead 108 and the target inlet pressure; and obtaining the first target positive pressure by performing PID processing based on the target compensation inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge 107. The first target negative pressure is obtained by performing PID processing based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge 109, including: obtaining the negative pressure coupling coefficient of the printhead 108; obtaining the target compensation outlet pressure based on the negative pressure coupling coefficient of the printhead 108 and the target outlet pressure; and obtaining the first target negative pressure by performing PID processing based on the target compensation outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge 109.

[0038] By setting the positive pressure coupling coefficient and the negative pressure coupling coefficient of the printhead 108, the positive pressure adjustment circuits corresponding to the two positive pressure bottles 105 and the negative pressure adjustment circuits corresponding to the negative pressure bottle 106 can be controlled independently. That is, adjusting the pressure setting value of the ink inlet of the printhead 108 will not affect the actual pressure of the ink recovery port of the printhead 108, and adjusting the pressure setting value of the ink recovery port will not affect the actual pressure of the ink inlet.

[0039] For example, a decoupling matrix can be set. ;in, The positive pressure coupling coefficient of printhead 108 represents the coupling effect of pressure adjustment at the ink recovery port of printhead 108 on the actual pressure value at the ink inlet of printhead 108. The negative pressure coupling coefficient of printhead 108 represents the influence of pressure adjustment at the ink inlet of printhead 108 on the actual pressure value at the ink return port. This can be obtained through matrix operations. ; At this point, first adjust the pressure at the ink recovery port to... Then adjust the ink inlet pressure to... At that time, the pressure at the ink inlet This will counteract the effect of the ink return port; therefore, the pressure after adjusting the ink inlet can be adjusted to... Similarly, since adjusting the ink inlet will affect the ink return port, the actual pressure after adjusting the ink return port will be... .

[0040] In some embodiments, the negative pressure bottle 106 circuit can be controlled separately to produce a step response to the positive pressure bottle 105 circuit, and then the positive pressure bottle 105 circuit can be controlled separately to produce a step response to the negative pressure bottle 106 circuit. This allows the coupling amount under different conditions to be observed, and then the coupling amount can be fitted to obtain the result.

[0041] Understandably, the method also includes: In response to the detection of the solenoid valve of nozzle 108 performing an opening and closing operation, the positive pressure bottle 105 and / or negative pressure bottle 106 are controlled to increase the feedforward compensation pressure.

[0042] When the solenoid valve of printhead 108 opens or closes, it causes a sudden change in ink pressure. By sending a compensation signal to the first-stage control circuit (pressure control of positive pressure bottle 105 and negative pressure bottle 106) in advance when the solenoid valve action signal (about to be activated) is detected, the pressure disturbance caused by the solenoid valve action is counteracted.

[0043] This application does not limit how the feedforward compensation pressure is set. For example, it can continuously compensate based on a step signal or transfer function for a period of time. In other embodiments, a fixed value can also be set directly.

[0044] The feedforward compensation pressure can be superimposed at a preset time, either at the same time the control chip issues the solenoid valve action command or before the control chip issues the solenoid valve action command. For example, when a branch solenoid valve of nozzle 108 is opened, the feedforward compensation signal will simultaneously increase the control amount of positive pressure bottle 105 (such as increasing the speed of positive pressure pump) and decrease the control amount of negative pressure bottle 106 (such as decreasing the speed of negative pressure pump) to offset the pressure change.

[0045] Understandably, in response to the detection of the solenoid valve of nozzle 108 performing an opening and closing operation, the positive pressure bottle 105 and / or negative pressure bottle 106 are controlled to increase the feedforward compensation pressure, including: In response to the detection of nozzle 108, the solenoid valve performs an opening and closing operation to obtain the pressure compensation difference; Based on the pressure compensation difference, update the actual pressure difference at the inlet and outlet to control the positive pressure bottle 105 and the negative pressure bottle 106 according to the updated actual pressure difference at the inlet and outlet.

[0046] The detection of the solenoid valve of nozzle 108 performing opening and closing operations can be determined by sending a feedforward signal from the solenoid valve, or it can be determined by setting other methods. This application embodiment does not limit this.

[0047] Understandably, in response to the detection of the solenoid valve of nozzle 108 performing an opening and closing operation, the positive pressure bottle 105 and / or negative pressure bottle 106 are controlled to increase the feedforward compensation pressure, including: In response to the detection of the solenoid valve of nozzle 108, the first feedforward compensation pressure for positive pressure bottle 105 and the second feedforward compensation pressure for negative pressure bottle 106 are obtained. The first feedforward compensation pressure is superimposed on the second target positive pressure, so as to control the positive pressure bottle 105 according to the superimposed second target positive pressure; The second feedforward compensation pressure is superimposed on the second target negative pressure to control the negative pressure bottle 106 according to the superimposed second target negative pressure.

[0048] For example, suppose the output of the pressure control circuit of the positive pressure bottle 105 is... (That is, the positive pressure of the second target is) The output of the pressure control circuit of the negative pressure bottle 106 is u2 (that is...) When the solenoid valve opening signal is detected, the feedforward compensation pressure is as follows: ; ; in, For the first feedforward compensation pressure; This is for the second feedforward compensation pressure; This represents the feedforward gain corresponding to the positive pressure bottle 105. The feedforward gain corresponding to the negative pressure bottle 106 can be determined through experimental data. It is a step signal. The value is 0 when the solenoid valve is not operated, and becomes 1 after the solenoid valve is operated.

[0049] At this time, the second target positive pressure issued to positive pressure bottle 105 is The second target negative pressure issued for negative pressure bottle 106 is... At this time, when the solenoid valve actuates, the feedforward compensation pressure has already been compensated in advance (or simultaneously), thus reducing the disturbance generated when the solenoid valve opens / closes.

[0050] Understandably, the method also includes: Acquire temperature change data for positive pressure ink cartridge 107 and negative pressure ink cartridge 109; The first inlet and outlet pressure difference compensation value is determined based on the preset temperature and pressure compensation table and temperature change data. Update the target pressure difference at the inlet and outlet based on the first inlet and outlet pressure difference compensation value.

[0051] Ink viscosity changes at different temperatures, leading to variations in flow resistance. Consequently, under the same gas back pressure, the actual pressure change in printhead 108 will also differ. Therefore, updating the inlet and outlet target pressure difference based on temperature change data can further improve control accuracy.

[0052] In some embodiments, considering that the ink flow resistance and power characteristics of various devices such as filters and pump tubes change over time, in some embodiments, an operating pressure differential compensation table is also constructed based on the running time and the error between the set pressure value and the actual issued pressure value, so that the second inlet and outlet pressure differential compensation value can be determined by looking up the table.

[0053] In some embodiments, when both a first inlet / outlet differential pressure compensation value and a second inlet / outlet differential pressure compensation value exist simultaneously, the final differential pressure compensation value can be determined by weighted calculation to update the inlet / outlet target differential pressure.

[0054] For example, refer to Figure 1 and Figure 4 The inkjet control method according to embodiments of this application includes the following specific steps: S1. Configure the first interrupt, the second interrupt, and the third interrupt. The period intervals of the first interrupt and the second interrupt are both greater than the period interval of the third interrupt. S2. Upon receiving the first interrupt, the first control chip performs PID sampling on the subtractor to obtain the actual pressure difference between the inlet and outlet. Based on the actual pressure difference between the inlet and outlet and the target pressure difference between the inlet and outlet, the target inlet pressure and the target outlet pressure are determined. The subtractor is located between the first pressure detection element 110 and the second pressure detection element 111. The two input terminals of the subtractor are connected to the output terminals of the first pressure detection element 110 and the second pressure detection element 111, respectively. The output terminal of the subtractor is connected to the first control chip, thereby enabling the first control chip to directly obtain the actual pressure difference between the inlet and outlet in real time. S3. In response to receiving the second interrupt, the second control chip performs PID sampling on the first pressure detection element 110 and the second pressure detection element 111 to obtain the first inlet detection pressure and the first outlet detection pressure; based on the first inlet detection pressure and the target inlet pressure, it obtains the first target positive pressure; based on the first outlet detection pressure and the target outlet pressure, it obtains the first target negative pressure. S4. In response to receiving the third interrupt, the third control chip performs PID sampling on the third and fourth pressure sensors respectively to obtain the second inlet detection pressure and the second outlet detection pressure; based on the target positive pressure and the second inlet detection pressure, the second target positive pressure is obtained; based on the target negative pressure and the second outlet detection pressure, the second target negative pressure is obtained; in some embodiments, the first target positive pressure and the first target negative pressure output in S3 are also decoupled based on the positive pressure coupling coefficient and the negative pressure coupling coefficient of the nozzle 108 respectively, so that S4 is based on the decoupled target outlet pressure and target inlet pressure for PID control; S5. In response to receiving the feedforward compensation signal, the third control chip superimposes the first feedforward compensation pressure and the second feedforward compensation pressure onto the second target positive pressure and the second target negative pressure, respectively, so as to adjust the first control element and the second control element based on the superimposed second target positive pressure and the second target negative pressure, respectively. S6. The first control chip responds to changes in the temperature range by updating the inlet and outlet target pressure difference and jumping to S1.

[0055] This application does not limit whether steps S1 to S6 must be processed by three control chips respectively. In some embodiments, one chip or two chips may be used for processing. Those skilled in the art can make selective settings according to the actual situation.

[0056] Please see Figure 5 , Figure 5 The hardware structure of a controller according to another embodiment is illustrated. The controller includes: The processor 601 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 602 can be a NAND flash memory. The relevant program code is stored in the memory 602 and is called by the processor 601 to execute the methods described in the embodiments of this application. The input / output interface 603 is used to implement information input and output; The communication interface 604 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 605 transmits information between various components of the device (e.g., processor 601, memory 602, input / output interface 603, and communication interface 604); The processor 601, memory 602, input / output interface 603, and communication interface 604 are connected to each other within the device via bus 605.

[0057] This application also provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the above-described method.

[0058] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0059] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0060] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0061] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0062] The terms “comprising” and “having”, and any variations thereof, in the specification and accompanying drawings of this application are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or apparatus.

[0063] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0064] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0065] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, 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 according to actual needs.

[0066] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0067] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0068] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. An inkjet control method for a printing device, characterized in that, Applied to a printing apparatus, the printing apparatus including a printhead, a positive pressure ink cartridge, a negative pressure ink cartridge, a positive pressure bottle, and a negative pressure bottle, the method includes: PID processing is performed based on the actual pressure difference between the nozzle inlet and outlet and the target pressure difference between the inlet and outlet to determine the target inlet pressure and the target outlet pressure; PID processing is performed based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge to obtain the first target positive pressure. PID processing is performed based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge to obtain the first target negative pressure. PID processing is performed based on the target positive pressure and the second inlet detection pressure of the positive pressure bottle to obtain the second target positive pressure, so as to control the pressure inside the positive pressure bottle according to the second target positive pressure; PID processing is performed based on the target negative pressure and the second outlet detection pressure of the negative pressure bottle to obtain the second target negative pressure, so as to control the pressure inside the negative pressure bottle according to the second target negative pressure.

2. The inkjet control method for the printing device according to claim 1, characterized in that, The step of determining the target inlet pressure and target outlet pressure by performing PID processing based on the actual pressure difference between the nozzle inlet and outlet and the target pressure difference between the inlet and outlet includes: The target pressure difference control quantity is determined by performing PID processing based on the actual pressure difference between the nozzle inlet and outlet and the target pressure difference between the inlet and outlet. Obtain the first pressure supply coefficient corresponding to the positive pressure ink cartridge and the second pressure supply coefficient corresponding to the negative pressure ink cartridge; The target inlet pressure is obtained based on the first pressure supply coefficient, the target differential pressure control amount, and the first basic pressure value of the positive pressure ink cartridge; The target outlet pressure is obtained based on the second pressure supply coefficient, the target differential pressure control amount, and the second basic pressure value of the negative pressure ink cartridge.

3. The inkjet control method for the printing device according to claim 1, characterized in that, The step of performing PID processing based on the target inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge to obtain the first target positive pressure includes: obtaining the printhead positive pressure coupling coefficient; obtaining the target compensation inlet pressure based on the printhead positive pressure coupling coefficient and the target inlet pressure; and performing PID processing based on the target compensation inlet pressure and the first inlet detection pressure of the positive pressure ink cartridge to obtain the first target positive pressure. The step of performing PID processing based on the target outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge to obtain the first target negative pressure includes: obtaining the printhead negative pressure coupling coefficient; obtaining the target compensation outlet pressure based on the printhead negative pressure coupling coefficient and the target outlet pressure; and performing PID processing based on the target compensation outlet pressure and the first outlet detection pressure of the negative pressure ink cartridge to obtain the first target negative pressure.

4. The inkjet control method for the printing device according to claim 1, characterized in that, The method further includes: In response to the detection of the nozzle, the solenoid valve performs an opening and closing operation, controlling the positive pressure bottle and / or the negative pressure bottle to increase the feedforward compensation pressure.

5. The inkjet control method for the printing device according to claim 4, characterized in that, The solenoid valve, in response to detecting the nozzle, performs an opening and closing operation to control the positive pressure bottle and / or the negative pressure bottle to increase the feedforward compensation pressure, including: In response to the detection of the nozzle, the solenoid valve performs an opening and closing operation to obtain the pressure compensation difference; The actual pressure difference between the inlet and outlet is updated based on the pressure compensation difference, so as to control the positive pressure bottle and the negative pressure bottle according to the updated actual pressure difference between the inlet and outlet.

6. The inkjet control method for the printing apparatus according to claim 4, characterized in that, The solenoid valve, in response to detecting the nozzle, performs an opening and closing operation to control the positive pressure bottle and / or the negative pressure bottle to increase the feedforward compensation pressure, including: In response to the detection of the nozzle, the solenoid valve performs an opening and closing operation to obtain a first feedforward compensation pressure to compensate the positive pressure bottle and a second feedforward compensation pressure to compensate the negative pressure bottle; The first feedforward compensation pressure is superimposed on the second target positive pressure to control the positive pressure bottle according to the superimposed second target positive pressure; The second feedforward compensation pressure is superimposed on the second target negative pressure to control the negative pressure bottle based on the superimposed second target negative pressure.

7. The inkjet control method for a printing device according to claim 1, characterized in that, The method further includes: Acquire temperature change data for the positive pressure ink cartridge and the negative pressure ink cartridge; The first inlet and outlet pressure difference compensation value is determined based on the preset temperature and pressure compensation table and the temperature change data. The inlet and outlet target pressure difference is updated based on the first inlet and outlet pressure difference compensation value.

8. A printing apparatus, characterized in that, The printing device includes: A printhead, which is used for inkjet printing, is provided with an ink inlet and an ink recovery port; A positive pressure ink cartridge, wherein the outlet of the positive pressure ink cartridge is connected to the ink inlet; A negative pressure ink cartridge, wherein the inlet of the negative pressure ink cartridge is connected to the ink recovery port; A positive pressure bottle, wherein the first air pressure supply port of the positive pressure bottle is connected to the air pressure port of the positive pressure ink cartridge; A negative pressure bottle, wherein the second air pressure supply port of the negative pressure bottle is connected to the air pressure port of the negative pressure ink cartridge; A control component includes a first pressure detection element, a second pressure detection element, a third pressure detection element, a fourth pressure detection element, a first control element, a second control element, and a control chip. The first pressure detection element is located on a pipeline between the ink inlet and the outlet of the positive pressure ink cartridge. The second pressure detection element is located on a pipeline between the ink recovery port and the inlet of the negative pressure ink cartridge. The third pressure detection element is used to detect the pressure inside the positive pressure bottle to obtain a second inlet detection pressure. The fourth pressure detection element is used to detect the pressure inside the negative pressure bottle to obtain a second outlet detection pressure. The control chip is communicatively connected to the first pressure detection element, the second pressure detection element, the third pressure detection element, the fourth pressure detection element, the first control element, and the second control element. The control chip executes the method described in any one of claims 1 to 7 to obtain a second target positive pressure and a second target negative pressure. The control chip is used to control the pressure inside the positive pressure bottle according to the second target positive pressure and to control the pressure inside the negative pressure bottle according to the second target negative pressure.

9. The printing apparatus according to claim 8, characterized in that, The control chip includes a first control chip, a second control chip, and a third control chip. The second control chip is communicatively connected to the first pressure detection element and the second pressure detection element. The third control chip is communicatively connected to the third pressure detection element, the fourth pressure detection element, the first control element, and the second control element. The first control chip and the second control chip are communicatively connected to output target inlet pressure and target outlet pressure to the second control chip according to the actual pressure difference between the inlet and outlet. The second control chip is used to output a first target positive pressure and a first target negative pressure to the third control chip. The third control chip is used to output a second target positive pressure and a second target negative pressure.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the inkjet control method of the printing apparatus according to any one of claims 1 to 7.

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