CN109213234B - Temperature prediction control method for gas phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces - Google Patents

Temperature prediction control method for gas phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces Download PDF

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CN109213234B
CN109213234B CN201811081711.0A CN201811081711A CN109213234B CN 109213234 B CN109213234 B CN 109213234B CN 201811081711 A CN201811081711 A CN 201811081711A CN 109213234 B CN109213234 B CN 109213234B
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temperature
chamber
moistening
demulcent
traditional chinese
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何德峰
彭彬彬
余世明
郑雅羽
朱威
杨永祥
李行诺
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Zhejiang University of Technology ZJUT
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D23/00—Control of temperature
    • G05D23/19—Control of temperature characterised by the use of electric means
    • G05D23/30—Automatic controllers with an auxiliary heating device affecting the sensing element, e.g. for anticipating change of temperature
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Abstract

A prediction control method for the temperature of a herbal piece vapor phase replacement demulcent process is characterized in that according to a temperature control structure of the herbal piece vapor phase replacement demulcent process, a unit step response model of the temperature of a demulcent chamber and the opening of a steam valve of a herbal piece is adopted as a dynamic prediction model, and the size of the opening variation of the steam valve in the herbal piece vapor phase replacement demulcent process is calculated in real time by minimizing a quadratic performance index function of the temperature tracking deviation of the demulcent chamber and the opening variation of the steam valve in a future period of time, so that the optimal automatic control of the demulcent temperature tracking set value in the herbal piece vapor phase replacement demulcent process is realized. The invention solves the problem that the temperature is difficult to control in the process of vapor phase replacement and medicine moistening of the traditional Chinese medicine decoction pieces, can better control the softening process of the traditional Chinese medicine decoction pieces, retains the active ingredients to the maximum extent, improves the clinical curative effect and reduces the product loss rate.

Description

Temperature prediction control method for gas phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces
Technical Field
The invention belongs to the field of automatic control of a production process of traditional Chinese medicine decoction pieces, and relates to a temperature prediction control method for a vapor phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces.
Background
The traditional Chinese medicine decoction pieces are finished products after special processing of traditional Chinese medicines, are the material basis for treatment based on syndrome differentiation of traditional Chinese medicine, and the quality of the traditional Chinese medicine decoction pieces is mainly processed. In the field of processing of traditional Chinese medicine decoction pieces, the process of moistening traditional Chinese medicine materials is a very key process link in the production of traditional Chinese medicine decoction pieces. The process of moistening the traditional Chinese medicine can directly influence the quality of the processing process, and further influence the quality of the traditional Chinese medicine decoction pieces. The gas phase displacement method is one of the most common methods in the herbal pieces moistening process, and the basic principle of the method is that a closed box body filled with herbal pieces is vacuumized, so that the inner gaps of the herbal pieces are also in a vacuum state, when high-temperature steam is injected, the steam enters the gaps in the herbal pieces, hydrophilic substances of the herbal pieces absorb water and soften, and the herbal pieces moistening operation is completed. The search of the existing traditional Chinese medicine decoction piece gas phase replacement demulcent process temperature control method finds that the traditional Chinese medicine decoction piece gas phase replacement demulcent process temperature control method mainly comprises a manual control method, a switch timing control method and a PID (proportion integration differentiation) control method, but the manual control and switch timing control method cannot automatically adjust the temperature in a demulcent box along with the change of the type and the quantity of the traditional Chinese medicine decoction pieces, so that the waste of heat, the waste of steam resources and the poor demulcent effect are caused; the PID control method can not accurately control the temperature in the herbal pieces decoction moistening process, thereby causing some heat-sensitive herbal pieces decoction to generate chemical component changes, which do not meet the requirement of the herbal piece processing standard. In the process of vapor-phase replacement and moistening of the traditional Chinese medicine decoction pieces, the number and the types of the traditional Chinese medicine decoction pieces are not constant, so that the temperature prediction control method in the process of vapor-phase replacement and moistening of the traditional Chinese medicine decoction pieces is a new control method provided for the process of vapor-phase replacement and moistening of the traditional Chinese medicine decoction pieces, and the requirements of energy conservation and efficiency improvement can be met on the premise of ensuring the quality of moistening of the traditional Chinese medicine decoction pieces.
Disclosure of Invention
The invention provides a dynamic matrix temperature prediction control method with good dynamic performance and strong robustness, aiming at the problem that the temperature is difficult to control in the vapor phase replacement and demulcent process of traditional Chinese medicine decoction pieces.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a temperature prediction control method for a vapor phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces comprises the following steps:
1) giving a temperature value r which is required to be reached by the gas phase replacement of the traditional Chinese medicine decoction pieces in the medicine moistening chamber, and recording a unit step response sequence { a) of the temperature in the medicine moistening chamber by increasing the opening degree of a steam valve by one degree1,a2,...,an}；
2) Establishing a prediction model, wherein the prediction model adopts a step response model and refers to the formula (1):
Figure GDA0002717069290000021
wherein y (k) is the temperature output value of the moistening chamber at the moment k, delta u (k-i) is the opening variation of the steam valve at the moment k-i, and aiThe temperature step response value of the moistening chamber at the moment i and n is the length of the step response model;
3) predicting the output value of the moistening chamber temperature at the future time P, and referring to the formulas (2) to (5):
Figure GDA0002717069290000022
where M is the control time domain, equations (2) to (5) are written in matrix form, see equation (6):
Figure GDA0002717069290000023
wherein, the control increment vector delta U (k) ═ delta u (k) … delta u (k + M-1)]TIs the opening variation of the steam valve, wherein the superscript T represents the transposition of the vector
Figure GDA0002717069290000024
The output vector of the temperature of the moistening chamber at P moments in time of k with delta U (k) acting
Figure GDA0002717069290000025
Vector Y0(k +1) is the output initial vector of the temperature of the moistening chamber at P future moments when no delta U (k) acts at k moment, namely Y0(k+1)＝[y0(k+1) … y0(k+P)]TGenerated by the amount of control applied to the vapor valve of the moistening chamber before time k, said amount of control being the amount of opening of the vapor valve, and the dynamic matrix A being
Figure GDA0002717069290000031
Further calculating Y0(k +1) in formula (7):
Y0(k+1)＝A0U(k-1) (7)
wherein, the matrix
Figure GDA0002717069290000032
And column vector U (k-1) ═ U (k-n +1) … U (k-1)]TWherein u (k-1), … and u (k-n +1) are the opening amount of the steam valve of the medicine moistening chamber at the time of k-1, … and k-n +1 respectively;
4) measuring the temperature value y (k) of the herbal piece medicine moistening chamber at the current k moment, feeding back and correcting the output predicted values of the medicine moistening chamber at the next P moments, and correcting by adopting the actual medicine moistening chamber temperature output error, see formula (8):
Figure GDA0002717069290000033
wherein, Yc(k+1)＝[yc(k+1) … yc(k+P)]TOutputs a prediction vector for the feedback corrected temperature of the moistening chamber,
Figure GDA0002717069290000034
outputs y (k) and predicted chamber temperature value for actual chamber at time k
Figure GDA0002717069290000035
Deviation of (1), H is a correction matrix
Figure GDA0002717069290000036
5) Selecting a temperature control reference curve of the moistening chamber, and referring to a formula (9):
yr(k+j)＝cjy(k)+(1-cj)r,j＝1,2,...,P (9)
wherein the coefficients
Figure GDA0002717069290000037
T1Time constant of the course of temperature change of the demulcent, T2Is the sampling period of the variation process of the temperature of the demulcent, Y (k) is the actual measured value of the temperature of the demulcent chamber at the current moment, r is the set value of the temperature of the demulcent chamber of the Chinese medicinal decoction pieces, Yr(k+1)＝[yr(k+1) … yr(k+P)]T；
6) And (3) rolling optimization: using a quadratic performance index function, see formula (10):
J(k)＝[Yc(k+1)-Yr(k+1)]TQ[Yc(k+1)-Yr(k+1)]+ΔU(k)TRΔU(k) (10)
wherein the content of the first and second substances,
Figure GDA0002717069290000041
in order to be the error weight matrix,
Figure GDA0002717069290000042
q and R are selected off-line in advance for controlling the incremental weight matrix; in order to minimize the performance index function (10), the equation (8) is substituted into the equation (10), and the partial differential equation is solved by the least square method
Figure GDA0002717069290000043
And (3) obtaining an optimal control increment vector, and referring to an equation (11):
ΔU*(k)＝(ATQA+R)-1ATQ[Yr(k+1)-A0U(k-1)-He(k)] (11)
the opening change amount of the steam valve at the present time is measured as
Figure GDA0002717069290000044
Wherein
Figure GDA0002717069290000045
Is a matrix (A)TQA+R)-1ATThe first row of Q, therefore, consists of u (k) ═ u (k-1) + Δ u*(k) Obtaining the traditional Chinese medicine decoction pieces at the current k momentThe input value u (k) of the opening of the steam valve of the medicine moistening chamber; and during the next sampling control period, re-measuring the temperature value of the traditional Chinese medicine decoction piece moistening chamber at the moment, and repeating the steps until the temperature of the traditional Chinese medicine decoction piece moistening process reaches a given value.
The technical conception of the invention is as follows: the method is characterized in that according to a temperature control structure of the vapor phase replacement and demulcent process of the traditional Chinese medicine decoction pieces, a unit step response model of the temperature of a demulcent chamber of the traditional Chinese medicine decoction pieces and the opening of a steam valve is adopted as a dynamic prediction model, and the size of the variation of the opening of the steam valve in the vapor phase replacement and demulcent process of the traditional Chinese medicine decoction pieces is calculated in real time by minimizing a quadratic performance index function of the tracking deviation of the temperature of the demulcent chamber and the variation of the opening of the steam valve in a future period of time, so that the optimized automatic control of the demulcent temperature tracking set value in the vapor phase replacement and demulcent process of the traditional Chinese medicine decoction pieces is realized.
The main execution part of the invention is operated and implemented on a control computer in the production process of the traditional Chinese medicine decoction pieces. The application process of the method can be roughly divided into three stages:
1. parameter settings, including model parameters and predictive controller parameters: inputting the sampling sequence { a ] in the model formula (1) in the control computer model import interface1，a2，…，anAnd a set temperature value r of the moistening chamber; in the prediction controller parameter setting interface, the values of the error weight matrix Q and the control increment weight matrix R, the prediction time domain P and the control time domain M, and the time constant T in the input formula (10)1And a sampling period T2(ii) a After the input parameters are confirmed, the control computer sends the setting data into a computer storage unit RAM for storage;
2. off-line debugging: clicking a 'debugging' button in a configuration king interface, enabling a control system to enter a debugging stage of an adjusting controller, taking 1 unit of temperature change of a moistening chamber as a test quantity, adjusting matrixes Q and R in prediction controller parameters in the configuration interface, and observing the control effect of the temperature of the moistening chamber and the opening degree of a steam valve, so as to determine a controller parameter capable of well realizing optimal adjustment of the temperature of the moistening chamber; the value rules of the parameter matrixes Q and R are as follows: the matrixes Q and R are diagonal matrixes; adjustment rules for the parameter matrices Q and R: keeping one matrix unchanged, adjusting the multiple of the other matrix and the unit diagonal matrix, and increasing the matrix Q shortens the adjustment time of the temperature of the moistening chamber, but increases the opening variation of the steam valve; conversely, increasing the matrix R will extend the conditioning time of the conditioning chamber temperature, but will decrease the amount of change in the opening of the steam valve. Therefore, when two matrixes are actually debugged, the comprehensive performance among overshoot of temperature response of the moistening chamber, adjusting time, damping effect and steam valve opening variation is balanced;
3. and (3) online operation: clicking a 'operation' button on a configuration interface, starting a CPU (central processing unit) of a traditional Chinese medicine decoction piece moistening control computer to read parameters of a traditional Chinese medicine decoction piece moistening process temperature model, a temperature set value and an optimal predictive controller parameter, executing a 'traditional Chinese medicine decoction piece moistening process predictive control program', calculating the variation of the opening of a steam valve in real time by measuring an actual value of the traditional Chinese medicine decoction piece moistening process temperature on line, adjusting the opening of the steam valve in real time by a traditional Chinese medicine decoction piece moistening process optimization control system according to the calculation result of the variation of the opening of the steam valve, and repeating the steps in this way to realize the optimized automatic control of the temperature tracking set value of a moistening chamber in the traditional Chinese medicine decoction piece.
The invention has the following beneficial effects: the problem that the temperature is difficult to control in the process of vapor phase replacement and medicine moistening of the traditional Chinese medicine decoction pieces is solved, the softening process of the traditional Chinese medicine decoction pieces can be better controlled, the active ingredients are retained to the maximum extent, the clinical curative effect is improved, and the product loss rate is reduced.
Drawings
FIG. 1 is a schematic diagram of a vapor-phase replacement herbal medicine infiltrating machine.
FIG. 2 is a structural diagram of temperature control in the process of vapor phase replacement and moistening of herbal pieces, in which the dotted line with arrows indicates the flow of electrical signals and the solid line with arrows indicates the flow of gas.
FIG. 3 is a diagram of the temperature prediction control in the process of vapor phase replacement and moistening of herbal pieces.
FIG. 4 is a flow chart of the temperature prediction control method in the vapor phase replacement herbal decoction piece moistening process.
Detailed Description
The method of the present invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 to 4, a method for predictive control of temperature during a vapor phase replacement and herbal medicine moistening process of herbal pieces, the method comprises the following steps:
1) giving a temperature value r which is required to be reached by the gas phase replacement of the traditional Chinese medicine decoction pieces in the medicine moistening chamber, and recording a unit step response sequence { a) of the temperature in the medicine moistening chamber by increasing the opening degree of a steam valve by one degree1,a2,...,an}；
2) Establishing a prediction model, wherein the prediction model adopts a step response model and refers to the formula (1):
Figure GDA0002717069290000061
wherein y (k) is the temperature output value of the moistening chamber at the moment k, delta u (k-i) is the opening variation of the steam valve at the moment k-i, and aiThe temperature step response value of the moistening chamber at the moment i and n is the length of the step response model;
3) predicting the output value of the moistening chamber temperature at the future time P, and referring to the formulas (2) to (5):
Figure GDA0002717069290000062
where M is the control time domain, equations (2) to (5) are written in matrix form, see equation (6):
Figure GDA0002717069290000063
wherein, the control increment vector delta U (k) ═ delta u (k) … delta u (k + M-1)]TIs the opening variation of the steam valve, wherein the superscript T represents the transposition of the vector
Figure GDA0002717069290000064
The temperature of the moistening chamber at the future P moments when the k moment has delta U (k) effectOutput vector, i.e.
Figure GDA0002717069290000065
Vector Y0(k +1) is the output initial vector of the temperature of the moistening chamber at P future moments when no delta U (k) acts at k moment, namely Y0(k+1)＝[y0(k+1) … y0(k+P)]TGenerated by the amount of control applied to the vapor valve of the moistening chamber before time k, said amount of control being the amount of opening of the vapor valve, and the dynamic matrix A being
Figure GDA0002717069290000066
Further calculating Y0(k +1) in formula (7):
Y0(k+1)＝A0U(k-1) (7)
wherein, the matrix
Figure GDA0002717069290000071
And column vector U (k-1) ═ U (k-n +1) … U (k-1)]TWherein u (k-1), … and u (k-n +1) are the opening amount of the steam valve of the medicine moistening chamber at the time of k-1, … and k-n +1 respectively;
4) measuring the temperature value y (k) of the herbal piece medicine moistening chamber at the current k moment, feeding back and correcting the output predicted values of the medicine moistening chamber at the next P moments, and correcting by adopting the actual medicine moistening chamber temperature output error, see formula (8):
Figure GDA0002717069290000072
wherein, Yc(k+1)＝[yc(k+1) … yc(k+P)]TOutputs a prediction vector for the feedback corrected temperature of the moistening chamber,
Figure GDA0002717069290000077
outputs y (k) and predicted chamber temperature value for actual chamber at time k
Figure GDA0002717069290000078
Deviation of (1), H is a correction matrix
Figure GDA0002717069290000073
5) Selecting a temperature control reference curve of the moistening chamber, and referring to a formula (9):
yr(k+j)＝cjy(k)+(1-cj)r,j＝1,2,...,P (9)
wherein the coefficients
Figure GDA0002717069290000079
T1Time constant of the course of temperature change of the demulcent, T2Is the sampling period of the variation process of the temperature of the demulcent, Y (k) is the actual measured value of the temperature of the demulcent chamber at the current moment, r is the set value of the temperature of the demulcent chamber of the Chinese medicinal decoction pieces, Yr(k+1)＝[yr(k+1) … yr(k+P)]T；
6) And (3) rolling optimization: using a quadratic performance index function, see formula (10):
J(k)＝[Yc(k+1)-Yr(k+1)]TQ[Yc(k+1)-Yr(k+1)]+ΔU(k)TRΔU(k) (10)
wherein the content of the first and second substances,
Figure GDA0002717069290000074
in order to be the error weight matrix,
Figure GDA0002717069290000075
q and R are selected off-line in advance for controlling the incremental weight matrix; in order to minimize the performance index function (10), the equation (8) is substituted into the equation (10), and the partial differential equation is solved by the least square method
Figure GDA0002717069290000076
And (3) obtaining an optimal control increment vector, and referring to an equation (11):
ΔU*(k)＝(ATQA+R)-1ATQ[Yr(k+1)-A0U(k-1)-He(k)] (11)
the opening change amount of the steam valve at the present time is measured as
Figure GDA0002717069290000081
Wherein
Figure GDA0002717069290000082
Is a matrix (A)TQA+R)-1ATThe first row of Q, therefore, consists of u (k) ═ u (k-1) + Δ u*(k) Obtaining an input value u (k) of the opening of a steam valve of the traditional Chinese medicine decoction piece moistening chamber at the current k moment; and during the next sampling control period, re-measuring the temperature value of the traditional Chinese medicine decoction piece moistening chamber at the moment, and repeating the steps until the temperature of the traditional Chinese medicine decoction piece moistening process reaches a given value.
Fig. 1 is a schematic diagram of a vapor-phase replacement herbal medicine infiltrating machine, as shown in the figure: the process of gas phase replacement and moistening of the traditional Chinese medicine decoction pieces can be briefly described as that firstly, an air compression pump is opened, and a charging and discharging electromagnetic valve is opened; vacuumizing: a steam valve is closed, a blowdown valve is closed, a vacuum valve is opened, and a vacuum pump is opened; steam filling: and (5) closing the vacuum pump, closing the vacuum valve and opening the steam valve to start infiltration.
FIG. 2 is a diagram of the structure of temperature control in the process of vapor phase replacement and moistening of herbal pieces, as shown in the figure: the drug moistening controller is connected with a thermometer, a pressure gauge, a steam valve, a vacuum valve and a vacuum pump, the vacuum valve is controlled to be opened by the drug moistening controller, the drug moistening chamber is vacuumized, and then the drug moistening controller controls the opening degree of the steam valve through a drug moistening chamber temperature value fed back by the thermometer, so that the temperature of the drug moistening chamber reaches a set value.
FIG. 3 is a diagram of the temperature predictive control of the vapor phase replacement demulcent process of herbal pieces, as shown in the figure: and giving a temperature value of the drug moistening chamber, and controlling the temperature of the drug moistening chamber to reach the set temperature value through operations such as feedback correction, online optimization and the like by establishing a dynamic prediction model.
FIG. 4 is a flow chart of the temperature prediction control method in the vapor phase replacement herbal decoction piece infiltrating process, as shown in the figure: firstly initializing P, Q, R, M parameter value, obtaining the temperature value in the drug moistening chamber through a thermometer disk, calculating the deviation of the temperature value from the set temperature value of the drug moistening chamber, predicting and correcting the temperature value, minimizing a quadratic objective function and the like, thereby calculating the variation of the opening of the steam valve, applying the opening of the steam valve to a drug moistening process temperature control system, re-measuring the temperature in the drug moistening chamber at the moment in the next control period, and repeating the steps until the temperature in the drug moistening chamber reaches the set value.

Claims (1)

1. A temperature prediction control method in a vapor phase replacement and medicine moistening process of traditional Chinese medicine decoction pieces is characterized by comprising the following steps:
1) giving a temperature value r which is required to be reached by the gas phase replacement of the traditional Chinese medicine decoction pieces in the medicine moistening chamber, and recording a unit step response sequence { a) of the temperature in the medicine moistening chamber by increasing the opening degree of a steam valve by one degree1,a2,...,an}；
2) Establishing a prediction model, wherein the prediction model adopts a step response model and refers to the formula (1):
Figure FDA0001802131870000011
wherein y (k) is the temperature output value of the moistening chamber at the moment k, delta u (k-i) is the opening variation of the steam valve at the moment k-i, and aiThe temperature step response value of the moistening chamber at the moment i and n is the length of the step response model;
3) predicting the output value of the moistening chamber temperature at the future time P, and referring to the formulas (2) to (5):
Figure FDA0001802131870000012
Figure FDA0001802131870000013
Figure FDA0001802131870000019
Figure FDA0001802131870000014
Figure FDA00018021318700000110
Figure FDA0001802131870000015
where M is the control time domain, equations (2) to (5) are written in matrix form, see equation (6):
Figure FDA0001802131870000016
wherein, the control increment vector delta U (k) ═ delta u (k) … delta u (k + M-1)]TIs the opening variation of the steam valve, wherein the superscript T represents the transposition of the vector
Figure FDA0001802131870000017
The output vector of the temperature of the moistening chamber at P moments in time of k with delta U (k) acting
Figure FDA0001802131870000018
Vector Y0(k +1) is the output initial vector of the temperature of the moistening chamber at P future moments when no delta U (k) acts at k moment, namely Y0(k+1)＝[y0(k+1) … y0(k+P)]TGenerated by the amount of control applied to the vapor valve of the moistening chamber before time k, said amount of control being the amount of opening of the vapor valve, and the dynamic matrix A being
Figure FDA0001802131870000021
Further calculating Y0(k +1) in formula (7):
Y0(k+1)＝A0U(k-1) (7)
wherein, the matrix
Figure FDA0001802131870000022
And column vector U (k-1) ═ U (k-n +1) … U (k-1)]TWherein u (k-1), … and u (k-n +1) are the opening amount of the steam valve of the medicine moistening chamber at the time of k-1, … and k-n +1 respectively;
4) measuring the temperature value y (k) of the herbal piece medicine moistening chamber at the current k moment, feeding back and correcting the output predicted values of the medicine moistening chamber at the next P moments, and correcting by adopting the actual medicine moistening chamber temperature output error, see formula (8):
Figure FDA0001802131870000023
wherein, Yc(k+1)＝[yc(k+1) … yc(k+P)]TOutputs a prediction vector for the feedback corrected temperature of the moistening chamber,
Figure FDA0001802131870000024
outputs y (k) and predicted chamber temperature value for actual chamber at time k
Figure FDA0001802131870000027
Deviation of (1), H is a correction matrix
Figure FDA0001802131870000025
5) Selecting a temperature control reference curve of the moistening chamber, and referring to a formula (9):
yr(k+j)＝cjy(k)+(1-cj)r,j＝1,2,...,P (9)
wherein the coefficients
Figure FDA0001802131870000026
T1Time constant of the course of temperature change of the demulcent, T2Is the sampling period of the variation process of the temperature of the demulcent, Y (k) is the actual measured value of the temperature of the demulcent chamber at the current moment, r is the set value of the temperature of the demulcent chamber of the Chinese medicinal decoction pieces, Yr(k+1)＝[yr(k+1) … yr(k+P)]T；
6) And (3) rolling optimization: using a quadratic performance index function, see formula (10):
J(k)＝[Yc(k+1)-Yr(k+1)]TQ[Yc(k+1)-Yr(k+1)]+ΔU(k)TRΔU(k) (10)
wherein the content of the first and second substances,
Figure FDA0001802131870000031
in order to be the error weight matrix,
Figure FDA0001802131870000032
q and R are selected off-line in advance for controlling the incremental weight matrix; in order to minimize the performance index function (10), the equation (8) is substituted into the equation (10), and the partial differential equation is solved by the least square method
Figure FDA0001802131870000033
And (3) obtaining an optimal control increment vector, and referring to an equation (11):
ΔU*(k)＝(ATQA+R)-1ATQ[Yr(k+1)-A0U(k-1)-He(k)] (11)
the opening change amount of the steam valve at the present time is measured as
Figure FDA0001802131870000034
Wherein
Figure FDA0001802131870000035
Is a matrix (A)TQA+R)-1ATThe first row of Q, therefore, consists of u (k) ═ u (k-1) + Δ u*(k) Obtaining an input value u (k) of the opening of a steam valve of the traditional Chinese medicine decoction piece moistening chamber at the current k moment; and during the next sampling control period, re-measuring the temperature value of the traditional Chinese medicine decoction piece moistening chamber at the moment, and repeating the steps until the temperature of the traditional Chinese medicine decoction piece moistening process reaches a given value.
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