A pulse density modulation method includes the following steps: S01, obtaining a number of bits n of a binary density value d, setting a number of bits of a counter as n, an initial value of the counter is 0 or 1; S02, searching for a rightmost 1: obtaining a number of bits j of the rightmost 1 of a current value i of the counter counted from right to left; a number in the counter is a binary number; a minimum value of j is 1; S03, determining whether corresponding bits are equal; S04, adding the value i of the counter by 1, proceeding to a next period, and turning to the step S02.