阅读说明：本技术 一种热熔电流体动力学高均匀性喷印三维微结构控制方法 (Control method for hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure ) 是由 张礼兵 吴婷 黄风立 汤成莉 宋海军 邢博 左春柽 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种热熔电流体动力学高均匀性喷印三维微结构控制方法,其包括以下步骤：1、确定热熔电流体动力学喷印期望射流直径和实际射流直径之间误差和误差变化；2、模糊化处理；3、计算输入模糊变量论域变化因子；4、确定输入模糊变量新论域；5、计算在新论域中的模糊变量；6、非线性变论域模糊控制规则自适应调整；7、热熔电流体动力学喷印射流多物理场工艺参数控制量去模糊化处理；8、三维微结构喷印。通过实时检测射流直径大小,采用非线性变论域模糊控制的自适应控制方法,自适应调控多物理场工艺参数,有效控制热熔电流体动力学喷印射流形态的稳定性,实现三维微结构高均匀性喷印,从而提高制备质量。(The invention discloses a hot-melt electrohydrodynamic high-uniformity spray printing three-dimensional microstructure control method, which comprises the following steps of: 1. determining errors and error changes between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter; 2. fuzzification processing; 3. calculating input fuzzy variable domain change factors; 4. determining a new domain of input fuzzy variables; 5. calculating fuzzy variables in the new theoretical domain; 6. the nonlinear variable domain fuzzy control rule is adjusted in a self-adaptive manner; 7. defuzzification processing is carried out on technological parameter control quantity of hot-melt electrohydrodynamic jet printing multi-physical field; 8. and (4) carrying out jet printing on the three-dimensional microstructure. The diameter of the jet flow is detected in real time, a self-adaptive control method of nonlinear variable universe fuzzy control is adopted, the technological parameters of multiple physical fields are self-adaptively controlled, the stability of the jet flow form of the hot-melt electrohydrodynamic jet printing is effectively controlled, the high-uniformity jet printing of the three-dimensional microstructure is realized, and the preparation quality is improved.)

1. A hot-melt electrohydrodynamic high-uniformity spray printing three-dimensional microstructure control method is characterized by comprising the following steps: which comprises the following steps:

1) determining errors and error changes between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter;

2) fuzzification processing is carried out on errors and error changes between the determined hot-melt electrohydrodynamic spray printing expected jet diameter and the actual jet diameter, and error fuzzy variables and error change fuzzy variables are obtained;

3) respectively obtaining an error fuzzy variable domain change factor and an error variable domain change factor;

4) respectively determining error fuzzy variables and new domains of the error change fuzzy variables between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter;

5) calculating fuzzy variables of errors and error changes in a new theoretical domain;

6) self-adaptive adjustment is carried out based on a nonlinear variable theory domain fuzzy control rule to obtain fuzzy control quantity of hot-melt electrohydrodynamic jet flow multi-physical field process parameters;

7) defuzzification processing is carried out on the fuzzy control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field process parameter to obtain the hot-melting electrohydrodynamic jet flow multi-physical field process parameter control quantity;

8) sending the technological parameter control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field to a hot-melting electrohydrodynamic jet printing controller, adjusting the technological parameter by the controller according to the technological parameter control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field, and carrying out hot-melting electrohydrodynamic three-dimensional microstructure jet printing;

9) and (3) judging whether the hot-melt electrohydrodynamic three-dimensional microstructure spray printing is finished or not, if so, finishing the spray printing, otherwise, jumping to the step 1), and continuing to circularly spray printing.

2. The method for controlling the hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure according to claim 1, wherein the method comprises the following steps: determining the error and error variation between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing according to the actual jet diameter detected by the hot-melt electrohydrodynamics jet printing in the step 2), and performing fuzzification processing to obtain error fuzzy variables and error variation fuzzy variables

E (k) the moment k is the fuzzy variable of the error between the diameter of the hot-melt electrohydrodynamic jet printing expected jet and the diameter of the actual jet, E_C(k) For the jet printing of the error variation fuzzy variable between the desired jet diameter and the actual jet diameter at the kth moment in the thermoelectrohydrodynamic_eFor the error quantization factor, k is satisfied_e＝E_max/e_max，E_maxMaximum value of the error ambiguity variable between the desired jet diameter and the actual jet diameter, e, for hot-melt electrohydrodynamic jet printing_maxFor hot-melt electrohydrodynamic spraying the maximum value of the error between the desired jet diameter and the actual jet diameter, ke_cFor error variation quantization factor, satisfy ke_c＝E_Cmax/e_cmax，E_CmaxMaximum value of the ambiguity of the error variation between the desired jet diameter and the actual jet diameter, e, for thermohydrodynamic jet printing_cmaxAnd e (k) is the maximum value of the error variation between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing, e (k) is the error between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing at the kth moment, and delta e (k) is the error variation between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing at the kth moment.

3. The method for controlling the hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure according to claim 1, wherein the method comprises the following steps: in step 3) byRespectively obtaining an error fuzzy variable range change factor and an error change fuzzy variable range change factor, theta (k) is the error fuzzy variable range change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing at the kth moment, alpha is an index parameter of the error fuzzy variable range change factor, and alpha is an element (0, 1)]Tau (k) is an error change fuzzy variable range change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing at the kth moment, beta is an index parameter of the error change fuzzy variable range change factor, and the condition that beta belongs to (0, 1) is met]，E_maxPrinting the maximum value of the fuzzy variable of the error between the expected jet diameter and the actual jet diameter for the hot-melting electrohydrodynamic spray printing, wherein the k (th) time is the fuzzy variable of the error between the expected jet diameter and the actual jet diameter for the hot-melting electrohydrodynamic spray printing, and E_C(k) For the jet printing of the error-variable fuzzy variable between the desired jet diameter and the actual jet diameter at the time k, E_CmaxAnd printing the maximum value of the error change fuzzy quantity between the expected jet diameter and the actual jet diameter for the hot-melt electrohydrodynamic jet printing.

4. The method for controlling the hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure according to claim 1, wherein the method comprises the following steps: in step 5), according to the definition of the quantization factor, the quantization factor in the new theoretical domain is calculated asRespectively calculating the error between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing and the fuzzy variable of the error change in a new theoretical domain

Wherein k is_e' is the error quantization factor in the new theoretical domain,theta (k) is an error fuzzy variable theory domain change factor between the hot melt electrohydrodynamics spray printing expected jet diameter and the actual jet diameter at the kth moment, and E is an error change quantization factor in a new theory domain_maxMaximum value of the error ambiguity variable between the desired jet diameter and the actual jet diameter, e, for hot-melt electrohydrodynamic jet printing_maxThe maximum value of the error between the expected jet diameter and the actual jet diameter is printed by the hot melt electrohydrodynamic spray printing, tau (k) is the variable factor of the error change fuzzy variable universe between the expected jet diameter and the actual jet diameter of the hot melt electrohydrodynamic spray printing at the kth moment, E_CmaxMaximum value of the ambiguity of the error variation between the desired jet diameter and the actual jet diameter, e, for thermohydrodynamic jet printing_cmaxThe maximum amount of error variation between the desired jet diameter and the actual jet diameter is printed for hot melt electrohydrodynamic printing.

5. The method for controlling the hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure according to claim 1, wherein the method comprises the following steps: in step 6), the adaptive adjustment of the nonlinear discourse domain fuzzy control rule is carried out according to the comprehensive consideration of the relation between the error fuzzy variable and the error change fuzzy variable, when the error is larger, the control weight is increased for the error control, the larger the error is, the larger the weight is, when the error change is larger, the control weight is increased for the error change control, the larger the error change is, the larger the weight is, and then the nonlinear discourse domain adaptive fuzzy control rule is obtained as

In the formula, U (k) is fuzzy control quantity of multi-physical-field process parameters of jet flow of hot-melting electrohydrodynamics jet printing at the k moment, theta (k) is an error fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, E (k) is an error fuzzy variable between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, tau (k) is an error fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, E (k) is a fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrodynamics jet flow diameter_C(k) And (4) printing an error change fuzzy variable between the expected jet diameter and the actual jet diameter for the hot melt electrohydrodynamic spray printing at the k-th moment.

6. The method for controlling the hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure according to claim 1, wherein the method comprises the following steps: step 7), defuzzification processing is carried out on the fuzzy control quantity of the hot-melt electrohydrodynamic jet flow multi-physical field process parameters to obtain the hot-melt electrohydrodynamic jet flow multi-physical field process parameter control quantity: u (k) ═ n_u(k) X U (k), wherein u (k) is the technological parameter control quantity of the hot melt electrohydrodynamic jet printing jet flow multi-physical field at the k moment, n_u(k) Is a scale factor for the time of the k-th time,in the formula u_maxIs the maximum value of the technological parameter control of the hot-melting electrohydrodynamic jet printing multi-physical field, U_maxJet printing for hot melt electrohydrodynamic jet printingThe maximum value of fuzzy control quantity of physical field technological parameters, theta (k) is an error fuzzy variable domain change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, E (k) is an error fuzzy variable domain change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, tau (k) is an error fuzzy variable domain change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, E (k) is a fuzzy variable domain change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, and_C(k) and (4) printing an error change fuzzy variable between the expected jet diameter and the actual jet diameter for the hot melt electrohydrodynamic spray printing at the k-th moment.

Technical Field

The invention belongs to the technical field of electrohydrodynamics jet printing, and particularly relates to a control method for hot-melt electrohydrodynamics high-uniformity jet printing of a three-dimensional microstructure.

Background

With the fields of biomedical treatment, tissue engineering, new materials, microelectronic manufacturing, micro-electro-mechanical systems, micro-nano sensors, biochips, flexible electronics and the like, great industrial demands are made on microstructures. The traditional micro/nano manufacturing technology, such as the photoetching technology, the micro laser sintering, the electron beam induced deposition, the two-photon polymerization laser direct writing and other technologies, still has the problems that the high efficiency, low cost and mass manufacturing industrialized application requirements are difficult to meet in the aspects of productivity, manufacturing cost, material generalization and the like, and the equipment is expensive, the manufacturing cost is high, the period is long, the available materials are few and the like.

The hot-melting electrohydrodynamic jet printing technology has the advantages of high resolution, no need of a template, simple process, non-contact, environmental protection and the like, and has wide application prospect in the aspect of three-dimensional microstructure preparation. The phase-change ink material is used as a hot-melt material to prepare a three-dimensional microstructure by adopting a hot-melt electrohydrodynamic jet printing technology, the hot-melt electrohydrodynamic jet printing technology is used for preparing a heart tissue engineering of a polycaprolactone support, and the hot-melt electrohydrodynamic jet printing technology is used for preparing a bone tissue engineering of a polycaprolactone/polyethylene glycol/copolymer support. However, the traditional process of jet printing the three-dimensional microstructure by hot-melt electrohydrodynamics is an open-loop control mode, and the jet form of the jet printing by the hot-melt electrohydrodynamics is not effectively controlled, so that the jet printing uniformity of the three-dimensional microstructure is influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a control method for a hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure.

In order to achieve the purpose, the invention provides a control method of a hot-melt electrohydrodynamic high-uniformity jet printing three-dimensional microstructure, which comprises the following steps:

1) determining errors and error changes between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter;

2) fuzzification processing is carried out on errors and error changes between the determined hot-melt electrohydrodynamic spray printing expected jet diameter and the actual jet diameter, and error fuzzy variables and error change fuzzy variables are obtained;

3) respectively obtaining an error fuzzy variable domain change factor and an error variable domain change factor;

4) respectively determining error fuzzy variables and new domains of the error change fuzzy variables between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter;

5) calculating fuzzy variables of errors and error changes in a new theoretical domain;

6) self-adaptive adjustment is carried out based on a nonlinear variable theory domain fuzzy control rule to obtain fuzzy control quantity of hot-melt electrohydrodynamic jet flow multi-physical field process parameters;

7) defuzzification processing is carried out on the fuzzy control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field process parameter to obtain the hot-melting electrohydrodynamic jet flow multi-physical field process parameter control quantity;

8) sending the technological parameter control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field to a hot-melting electrohydrodynamic jet printing controller, adjusting the technological parameter by the controller according to the technological parameter control quantity of the hot-melting electrohydrodynamic jet flow multi-physical field, and carrying out hot-melting electrohydrodynamic three-dimensional microstructure jet printing;

9) and (3) judging whether the hot-melt electrohydrodynamic three-dimensional microstructure spray printing is finished or not, if so, finishing the spray printing, otherwise, jumping to the step 1), and continuing to circularly spray printing.

Determining the error and error variation between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing according to the actual jet diameter detected by the hot-melt electrohydrodynamics jet printing in the step 2), and performing fuzzification processing to obtain error fuzzy variables and error variation fuzzy variables

E (k) the moment k is the fuzzy variable of the error between the diameter of the hot-melt electrohydrodynamic jet printing expected jet and the diameter of the actual jet, E_C(k) For the jet printing of the error variation fuzzy variable between the desired jet diameter and the actual jet diameter at the kth moment in the thermoelectrohydrodynamic_eFor the error quantization factor, k is satisfied_e＝E_max/e_max，E_maxMaximum value of the error ambiguity variable between the desired jet diameter and the actual jet diameter, e, for hot-melt electrohydrodynamic jet printing_maxFor hot-melt electrohydrodynamic spraying the maximum value of the error between the desired jet diameter and the actual jet diameter, ke_cFor error variation quantization factor, satisfy ke_c＝E_Cmax/e_cmax，E_CmaxMaximum value of the ambiguity of the error variation between the desired jet diameter and the actual jet diameter, e, for thermohydrodynamic jet printing_cmaxAnd e (k) is the maximum value of the error variation between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing, e (k) is the error between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing at the kth moment, and delta e (k) is the error variation between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing at the kth moment.

In step 3) byRespectively acquiring error fuzzy variable domain changeFactor and error change fuzzy variable domain change factor, theta (k) is the error fuzzy variable domain change factor between the expected jet diameter and the actual jet diameter of the hot melt electrohydrodynamic jet printing at the kth moment, alpha is an index parameter of the error fuzzy variable domain change factor, and alpha is satisfied with the content of alpha (0, 1)]Tau (k) is an error change fuzzy variable range change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing at the kth moment, beta is an index parameter of the error change fuzzy variable range change factor, and the condition that beta belongs to (0, 1) is met]，E_maxPrinting the maximum value of the fuzzy variable of the error between the expected jet diameter and the actual jet diameter for the hot-melting electrohydrodynamic spray printing, wherein the k (th) time is the fuzzy variable of the error between the expected jet diameter and the actual jet diameter for the hot-melting electrohydrodynamic spray printing, and E_C(k) For the jet printing of the error-variable fuzzy variable between the desired jet diameter and the actual jet diameter at the time k, E_CmaxAnd printing the maximum value of the error change fuzzy quantity between the expected jet diameter and the actual jet diameter for the hot-melt electrohydrodynamic jet printing.

In step 5), according to the definition of the quantization factor, the quantization factor in the new theoretical domain is calculated asRespectively calculating the error between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing and the fuzzy variable of the error change in a new theoretical domain

Wherein k'_eFor the error quantization factor in the new theoretical domain,theta (k) is an error fuzzy variable theory domain change factor between the hot melt electrohydrodynamics spray printing expected jet diameter and the actual jet diameter at the kth moment, and E is an error change quantization factor in a new theory domain_maxJet diameter desired and actual for hot melt electrohydrodynamic jet printingMaximum value of the error ambiguity variable between jet diameters, e_maxThe maximum value of the error between the expected jet diameter and the actual jet diameter is printed by the hot melt electrohydrodynamic spray printing, tau (k) is the variable factor of the error change fuzzy variable universe between the expected jet diameter and the actual jet diameter of the hot melt electrohydrodynamic spray printing at the kth moment, E_CmaxMaximum value of the ambiguity of the error variation between the desired jet diameter and the actual jet diameter, e, for thermohydrodynamic jet printing_cmaxThe maximum amount of error variation between the desired jet diameter and the actual jet diameter is printed for hot melt electrohydrodynamic printing.

In step 6), the adaptive adjustment of the nonlinear discourse domain fuzzy control rule is carried out according to the comprehensive consideration of the relation between the error fuzzy variable and the error change fuzzy variable, when the error is larger, the control weight is increased for the error control, the larger the error is, the larger the weight is, when the error change is larger, the control weight is increased for the error change control, the larger the error change is, the larger the weight is, and then the nonlinear discourse domain adaptive fuzzy control rule is obtained as

In the formula, U (k) is fuzzy control quantity of multi-physical-field process parameters of jet flow of hot-melting electrohydrodynamics jet printing at the k moment, theta (k) is an error fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, E (k) is an error fuzzy variable between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, tau (k) is an error fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrohydrodynamics jet printing at the k moment, E (k) is a fuzzy variable universe change factor between the expected jet flow diameter and the actual jet flow diameter of hot-melting electrodynamics jet flow diameter_C(k) And (4) printing an error change fuzzy variable between the expected jet diameter and the actual jet diameter for the hot melt electrohydrodynamic spray printing at the k-th moment.

Step 7), defuzzification processing is carried out on the fuzzy control quantity of the hot-melt electrohydrodynamic jet flow multi-physical field process parameters to obtain the hot-melt electrohydrodynamic jet flow multi-physical field process parameter control quantity: u. of(k)＝n_u(k) X U (k), wherein u (k) is the technological parameter control quantity of the hot melt electrohydrodynamic jet printing jet flow multi-physical field at the k moment, n_u(k) Is a scale factor for the time of the k-th time,in the formula u_maxIs the maximum value of the technological parameter control of the hot-melting electrohydrodynamic jet printing multi-physical field, U_maxFor the maximum value of fuzzy control quantity of multi-physical-field process parameters of hot-melt electrohydrodynamics jet printing, theta (k) is an error fuzzy variable universe change factor between the expected jet diameter and the actual jet diameter of hot-melt electrohydrodynamics jet printing at the kth moment, E (k) is an error fuzzy variable between the expected jet diameter and the actual jet diameter of hot-melt electrohydrodynamics jet printing at the kth moment, tau (k) is an error fuzzy variable universe change factor between the expected jet diameter and the actual jet diameter of hot-melt electrohydrodynamics jet printing at the kth moment, E (k) is a fuzzy variable universe change factor between the expected jet diameter and the actual jet diameter of hot-melt electrohydrodynamics jet printing at the kth moment, and E (k) is a fuzzy variable universe change factor between the expected jet diameter and the actual jet diameter of hot-melt electrohydrodynamics jet diameter_C(k) And (4) printing an error change fuzzy variable between the expected jet diameter and the actual jet diameter for the hot melt electrohydrodynamic spray printing at the k-th moment.

The invention has the beneficial effects that: the method has the advantages that the diameter of the jet flow is detected in real time, the multi-physical-field process parameters of the jet flow of the hot-melting electrohydrodynamics jet printing are adaptively controlled by adopting a nonlinear variable-theory-domain fuzzy control adaptive control method, the stability of the jet flow form of the hot-melting electrohydrodynamics jet printing is effectively controlled, the high-uniformity jet printing of the three-dimensional microstructure is realized, and the preparation quality of the three-dimensional microstructure of the hot-melting electrohydrodynamics jet printing is improved.

Drawings

FIG. 1 is a flow chart of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically connected or connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

In order to realize the uniformity jet printing of the three-dimensional microstructure of the hot-melting electrohydrodynamics, a non-linear variable theory domain fuzzy control self-adaptive control method is adopted according to the jet diameter detected in real time, the technological parameters of the jet flow multi-physical field of the hot-melting electrohydrodynamics jet printing are self-adaptively controlled, and the stability of the jet flow form of the hot-melting electrohydrodynamics jet printing is effectively controlled, so that the uniformity jet printing of the three-dimensional microstructure is realized, and the specific realization steps are as follows:

(1) determining the error and the error change between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing, wherein the expression is as follows:

wherein e (k) is the error between the desired jet diameter and the actual jet diameter at the k-th instant of the thermoelectrohydrodynamic jet printing, r_e(k) Jet diameter r desired for the thermoelectrohydrodynamic jet printing at the k-th point in time_a(k) And e (k-1) is the error between the expected jet diameter and the actual jet diameter of the hot-melting electrohydrodynamic jet printing at the k-th moment.

(2) And (3) fuzzifying errors and error changes between the expected jet diameter and the actual jet diameter by hot-melt electrohydrodynamic jet printing. According to the actual jet diameter detected by hot-melt electrohydrodynamics jet printing, determining the error and the error variation between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing, and performing fuzzification processing to obtain error fuzzy variables and error variation fuzzy variables as follows:

wherein, the k time of E (k) is an error fuzzy variable between the expected jet diameter and the actual jet diameter of the hot melt electrohydrodynamic jet printing, and E_C(k) For the jet printing of the error variation fuzzy variable between the desired jet diameter and the actual jet diameter at the kth moment in the thermoelectrohydrodynamic_eFor the error quantization factor, k is satisfied_e＝E_max/e_max，E_maxMaximum value of the error ambiguity variable between the desired jet diameter and the actual jet diameter, e, for hot-melt electrohydrodynamic jet printing_maxThe maximum value of the error between the desired jet diameter and the actual jet diameter is printed for hot melt electrohydrodynamic jet printing,ke_cfor error variation quantization factor, satisfy ke_c＝E_Cmax/e_cmax，E_CmaxMaximum value of the ambiguity of the error variation between the desired jet diameter and the actual jet diameter, e, for thermohydrodynamic jet printing_cmaxThe maximum amount of error variation between the desired jet diameter and the actual jet diameter is printed for hot melt electrohydrodynamic printing.

(3) And calculating the input fuzzy variable domain change factor. Respectively calculating an error fuzzy variable domain change factor and an error fuzzy variable domain change factor between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter as follows:

in the formula, theta (k) is an error fuzzy variable range change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, alpha is an index parameter of the error fuzzy variable range change factor and meets the requirement of alpha (0, 1), tau (k) is an error variable fuzzy variable range change factor between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamics jet printing at the kth moment, and beta is an index parameter of the error variable fuzzy variable range change factor and meets the requirement of beta (0, 1).

(4) And determining a new domain of the input fuzzy variable. The new domain for determining the fuzzy error variable between the expected jet diameter and the actual jet diameter of the hot-melt electrohydrodynamic jet printing is [ -theta E_max,θE_max]Determining a new argument of a fuzzy variable of error variation between a desired jet diameter and an actual jet diameter of a hot-melt electrohydrodynamic jet printing_Cmax,τE_Cmax]。

(5) The fuzzy variables of the error and the error variation in the new theoretical domain are calculated. According to the definition of the quantization factor, the quantization factor in the new theoretical domain is calculated as:

fuzzy variables of errors and error changes between the hot-melt electrohydrodynamic jet printing expected jet diameter and the actual jet diameter in a new theoretical domain are respectively calculated as follows:

(6) and the nonlinear variable domain fuzzy control rule is adaptively adjusted. And comprehensively considering the relationship between the error fuzzy variable and the error change fuzzy variable to perform self-adaptive adjustment of the nonlinear variable domain fuzzy control rule, when the error is larger, increasing the control weight for the error control, wherein the larger the error is, the larger the weight is, and when the error is larger, the larger the error is, the larger the weight is. The obtained nonlinear variable domain adaptive fuzzy control rule is as follows:

in the formula, U (k) is the fuzzy control quantity of the multi-physical-field process parameters of the hot-melt electrohydrodynamic jet printing jet at the k moment.

(7) And (3) defuzzifying the technological parameter control quantity of the hot-melt electrohydrodynamic jet printing multi-physical field. Defuzzification processing is carried out on fuzzy control quantity of the hot-melt electrohydrodynamic jet flow multi-physical field process parameters to obtain the hot-melt electrohydrodynamic jet flow multi-physical field process parameter control quantity as follows:

u(k)＝n_u(k)×U(k) (7)

wherein u (k) is the control quantity of the multi-physical-field technological parameters of the jet flow of the hot-melt electrohydrodynamics jet printing at the k moment, n_u(k) Is a time k scale factor, which is expressed as:

in the formula u_maxIs the maximum value of the technological parameter control of the hot-melting electrohydrodynamic jet printing multi-physical field, U_maxThe maximum value of the fuzzy control quantity of the multi-physical field process parameters of the hot-melt electrohydrodynamic jet printing jet flow.

(8) And sending the technological parameter control quantity of the hot-melting electrohydrodynamics spray printing multiple physical fields to a hot-melting electrohydrodynamics spray printing controller, adjusting the technological parameters by the controller according to the technological parameter control quantity of the hot-melting electrohydrodynamics spray printing multiple physical fields, and carrying out hot-melting electrohydrodynamics three-dimensional microstructure spray printing.

(9) And (3) judging whether the hot-melt electrohydrodynamic three-dimensional microstructure spray printing is finished or not, if so, finishing the spray printing, otherwise, jumping to the step (1), and continuing to circularly spray printing.

The examples should not be construed as limiting the present invention, but any modifications made based on the spirit of the present invention should be within the scope of protection of the present invention.