CN112539427B

CN112539427B - Cooking control method for stewing food by gas stove and gas cooking system

Info

Publication number: CN112539427B
Application number: CN202011256148.3A
Authority: CN
Inventors: 钱意; 万晨
Original assignee: Shenzhen Huowang Intelligent Kitchen Electric Co ltd
Current assignee: Shenzhen Huowang Intelligent Kitchen Electric Co ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2023-06-09
Anticipated expiration: 2040-11-11
Also published as: CN112539427A

Abstract

The invention provides a cooking control method for stewing food by a gas stove and a gas cooking system. The control method comprises the following steps: the controller receives a control instruction of stewing dishes, controls a cooking range to fire, and acquires navigation menu data corresponding to the stewing dishes; the controller sequentially executes a plurality of cooking sub-steps according to the navigation menu data; the controller controls the cooking range to turn off fire; the controller performs the step of closing the cover including: the controller sends out a cover closing action reminding signal, judges that the cover closing action is executed, and prepares to execute the braising step; the controller performs the braising step including: the controller performs tracking curve control on the electromagnetic proportional valve so as to enable the actual temperature change curve of the current cooking pot to track the curve section corresponding to the stewing step, so that the thermal power control of micro-fire heating can be reproduced in a curve tracking mode, and the temperature change condition during stewing at normal temperature can be reproduced, and a common user can also make the taste and the taste of a large kitchen grade.

Description

Cooking control method for stewing food by gas stove and gas cooking system

Technical Field

The invention relates to the technical field of gas cooking, in particular to a cooking control method for stewing food by a gas stove, a computer readable storage medium and a gas cooking system.

Background

The common method for stewing food is that the raw materials are processed and then put into a pot, soup and seasonings are added into the pot, then the pot cover is covered and boiled, and then the pot cover is heated by slow fire for a long time, and the stewing food is continuously stewed for a certain time at normal temperature after the stewing food is cooked. The whole cooking process after the pot cover is covered comprises a stewing process which is a key step for stewing food, the firepower adjustment of the part is complex, and the whole cooking process also comprises the stewing process, so that the ordinary user is difficult to master.

Although some automatic cooking methods are proposed in the industry, the method is usually simple in changing a few fixed firepower, and the firepower is controlled too roughly, so that the accurate control of the temperature of food materials, the firepower of fuel gas and the feeding time of the vegetable materials in a kitchen can not be realized at all, and the cooked dishes are difficult to achieve the taste of the kitchen.

Disclosure of Invention

Based on the above-mentioned current situation, the main objective of the present invention is to provide a cooking control method, a computer readable storage medium and a gas cooking system for stewing food in a gas stove, so as to solve the problems of too rough fire control and difficult reproduction of stewing process in big kitchen in the prior art.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

the cooking control method of a gas-cooker braised food, is used for braising food through the gas-cooker and at least one intelligent pot that cooperates and uses, the said gas-cooker includes the controller, weight sensor and at least one kitchen range, the said intelligent pot can be connected with said controller communication, the said controller is connected with weight sensor signal, the said gas-cooker has electromagnetic proportional valve connected with said controller communication, control the firepower that the said kitchen range exports through adjusting the aperture of the said electromagnetic proportional valve, the said intelligent pot includes pot body, pot cover and temperature sensor, the said temperature sensor is used for detecting the temperature of the said pot body, the said control method includes the step:

s100, receiving a control instruction of braised dishes by the controller, controlling a cooking range to fire, and acquiring navigation menu data corresponding to the braised dishes, wherein the navigation menu data comprises a temperature time curve and a plurality of cooking substeps, the temperature time curve comprises a plurality of curve sections corresponding to the cooking substeps respectively, and the cooking substeps comprise a main material adding step, a soup adding step, a seasoning adding step, a cover closing step and a braising step;

S200, the controller sequentially executes a plurality of cooking sub-steps according to the navigation menu data;

s300, controlling the cooking range to be turned off by the controller;

wherein the controller executing the closing step includes: the controller sends out a cover closing action reminding signal, acquires weight information detected by the weight sensor, judges that the cover closing action is executed when the weight information rises suddenly equal to or higher than a preset weight difference value, and prepares to execute the braising step;

the controller performing the braising step includes: and the controller performs tracking curve control on the electromagnetic proportional valve so as to enable the actual temperature change curve of the current cooking pot to track the curve segment corresponding to the stewing step.

Preferably, the step of closing the cover specifically includes the following steps:

s201, the controller sends out a cover closing action reminding signal;

s202, the controller acquires weight information detected by the weight sensor;

s203, judging whether the weight information is suddenly raised equal to or higher than a preset weight difference value, if so, judging that the cover closing action is executed, preparing to execute the braising step, otherwise, executing S204;

S204, judging whether the duration of the cover closing step is greater than or equal to a first preset duration or whether the reminding times are greater than or equal to preset times, if so, exiting the cover closing step, otherwise, executing S205;

and S205, taking the end temperature of the previous cooking substep as a target temperature, adjusting the opening of the electromagnetic proportional valve so that the actual temperature detected by the temperature sensor of the current cooking pot is maintained at the target temperature, and returning to S201.

Preferably, after exiting the step of closing the cover because the duration is greater than or equal to the first predetermined duration or the number of reminders is greater than or equal to the predetermined number, the controller sends out an alarm signal and executes step S300; alternatively, the controller controls the replacement of navigation menu data.

Preferably, after the closing step is exited due to the duration being greater than or equal to the first predetermined duration or the number of reminders being greater than or equal to the predetermined number of times, the controller acquires navigation menu data of stewed dishes identical to the main ingredients of the stewed dishes, and performs a stewing step in the stewed dishes, the controller performing the stewing step includes: and the controller executes tracking curve control on the electromagnetic proportional valve so that the change curve of the actual temperature of the current cooking pot along with the time tracks the curve segment corresponding to the stewing step.

Preferably, the braising step includes a plurality of steps executed in sequence, a cover opening stirring step is arranged between adjacent braising steps, and the cover opening stirring step includes:

s211, the controller sends out an action reminding signal of uncovering;

s212, the controller acquires weight information detected by the weight sensor, judges whether the weight information is equal to or higher than the preset weight difference value suddenly drops, if so, judges that the uncovering action is executed, jumps to S214, otherwise, executes S213;

s213, judging whether the duration of the uncovering and stirring step is greater than or equal to a second preset duration or whether the number of reminding times of uncovering actions is greater than or equal to a preset number, if so, alarming and executing S300, otherwise, returning to S211;

s214, the controller sends out a stirring action reminding signal;

s215, judging whether stirring action occurs according to the weight information detected by the weight sensor, if so, starting timing and executing S216, otherwise, continuing judging;

s216, judging whether the stirring duration is greater than or equal to a third preset duration, if so, executing S217, otherwise, continuing to judge;

s217, the controller sends out a cover closing action reminding signal;

S218, the controller acquires weight information detected by the weight sensor, judges whether the weight information is equal to or higher than the preset weight difference value sudden rise, if so, judges that the cover closing action is executed, and prepares to execute the next cooking substep, and if not, continues to judge.

Preferably, the plurality of cooking sub-steps further includes a juice collecting step performed after the stewing step, and the controller performs the stewing step including:

the controller sends out an action reminding signal of uncovering and controls the electromagnetic proportional valve to be at the maximum opening, so that the cooking range heats the current cooking pot with the maximum firepower until the actual temperature detected by the temperature sensor of the current cooking pot is greater than or equal to the juice collecting temperature threshold value, and the next cooking sub-step is ready to be executed or the step S300 is skipped.

Preferably, when the controller performs tracking curve control on the electromagnetic proportional valve, the controller takes the target temperature as an input of a corresponding moment of a nonlinear tracking differentiator in an ADRC model, takes an actual temperature at the corresponding moment as a controlled object, takes the actual temperature as a feedback input of an extended state observer in the ADRC model, and utilizes the ADRC model to output a current value of the electromagnetic proportional valve, and the controller controls the electromagnetic proportional valve to work according to the current value so as to adjust the opening degree of the electromagnetic proportional valve.

Preferably, the controller stores a plurality of step units and identifiers corresponding to the step units, and the method for acquiring a plurality of cooking sub-steps in the navigation menu data corresponding to the braised dishes comprises the following steps:

acquiring an identifier corresponding to the stewed dishes;

searching a step unit corresponding to the obtained identifier according to the obtained identifier;

and taking the searched step unit as the cooking substep.

Preferably, between the steps S100 and S200, the method further includes a step of determining a current cooking pot:

the controller obtains the actual temperature detected by a temperature sensor of the intelligent pot in communication connection with the controller, determines the intelligent pot in a heating state according to the obtained actual temperature information, and takes the intelligent pot as the current cooking pot.

A computer readable storage medium storing a computer program which when executed implements a cooking control method as described above.

A gas cooking system, the gas cooking system includes controller, gas-cooker and at least one intelligent pot, intelligent pot can with the controller communication is connected, the gas-cooker includes at least one kitchen range, the gas-cooker have with the electromagnetic proportional valve of controller communication connection, through adjusting electromagnetic proportional valve's aperture comes control the firepower of kitchen range output, intelligent pot includes the pot body and temperature sensor, temperature sensor is used for detecting the temperature of the pot body, wherein, the controller can realize cooking control method as described above.

In the control method for stewing food, the whole stewing process is divided into different cooking sub-steps according to the characteristic of fire control, meanwhile, a temperature time curve serving as a reference is divided into a plurality of curve sections corresponding to each cooking sub-step, and a corresponding fire control mode is selected according to the cooking characteristic of each cooking sub-step, so that the accurate control of the temperature of food materials and the fire of fuel gas at each moment in the cooking process is realized. The sectional control mode has more flexibility and is convenient for adjustment when the follow-up steps change.

When the cover closing action is detected and the stewing step is executed, the electromagnetic proportional valve is subjected to tracking curve control, so that the curve section corresponding to the stewing step is tracked by the change curve of the actual temperature of the current cooking pot along with time, and therefore, the firepower control of micro-fire heating can be reproduced in a curve tracking mode, and the temperature change condition during stewing at normal temperature can be reproduced, and therefore, a common user can also make the taste and the taste of a large kitchen grade.

Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.

Drawings

Hereinafter, preferred embodiments according to the present invention will be described with reference to the accompanying drawings. In the figure:

fig. 1 is a system diagram of a gas cooking system according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method for braising food in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram of an ADRC model in a method for stewing food according to an embodiment of the present invention;

FIG. 4 is a schematic diagram showing the time sequence of the change of the physical quantities at one stage in a preferred embodiment of the method for stewing food according to the present invention;

fig. 5 is a flow chart of a method of stirring a cover in a method of stewing food according to the present invention.

In the figure:

100. a gas range; 110. a controller; 111. a control unit; 112. a storage unit; 113. a wireless communication unit; 120. an electromagnetic proportional valve; 130. a weight sensor;

200. an intelligent pot; 210. a temperature sensor; 220. and a wireless transmission module.

Detailed Description

The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the present invention, and in order to avoid obscuring the present invention, well-known methods, procedures, flows, and components are not presented in detail.

Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

To the problem that fire control is too rough, be difficult to reproduce the stew process of big kitchen that exists among the prior art, this application provides a gas cooking system, as shown in fig. 1, it includes controller 110, gas-cooker 100 and at least one intelligent pot 200, intelligent pot 200 can be connected with the controller 110 communication, specifically, intelligent pot 200 includes the pot body, temperature sensor 210 and wireless communication module 220, intelligent pot 200 is connected with the controller 110 communication through wireless communication module 220, temperature sensor 210 sets up on the pot body for detect the actual temperature of the pot body, the actual temperature of the pot body can pass through wireless communication module 220 and transmit to controller 110. The gas range 100 includes at least one burner having a flame path communicating with a gas supply end through the electromagnetic proportional valve 120 and an electromagnetic proportional valve 120 communicatively connected to the controller 110, and the controller 110 can control an opening degree of the electromagnetic proportional valve 120 to thereby adjust a fire power output from the burner. Preferably, the cooking range comprises an inner ring flame path and an outer ring flame path, the electromagnetic proportional valve 120 comprises a first electromagnetic proportional valve and a second electromagnetic proportional valve, the inner ring flame path is communicated with the air supply end through the first electromagnetic proportional valve, the outer ring flame path is communicated with the air supply end through the second electromagnetic proportional valve, and the controller 110 can realize comprehensive regulation of firepower through independent control of the first electromagnetic proportional valve and the second electromagnetic proportional valve respectively, so that more accurate regulation of firepower is realized. The gas cooker 100 further includes a weight sensor 130 for reflecting a weight change of the smart pot, and the weight sensor 130 may be provided at a cooking range of the gas cooker 100. The controller 110 may be integrated on the gas stove, for example, below a middle transparent panel of the gas stove, or may be an independent device, for example, a device integrated with functions of display, control, voice, etc., and may be installed on a wall by a user, etc., which is particularly suitable for retrofitting an existing common gas stove.

The controller 110 includes a control unit 111, a storage unit 112 and a wireless communication unit 113, and the controller 110 is communicatively connected with the wireless communication module 220 of the intelligent pot 200 through the wireless communication unit 113, so as to realize data transmission between the controller 110 and the intelligent pot 200. The storage unit 112 stores temperature time curves corresponding to different braised dishes, namely, the corresponding relation between the temperature of the pot body and time in the whole braising process of the braised dishes, and the storage unit 112 also stores different control programs of the electromagnetic proportional valve 120 for the control unit 111 to call.

It will be appreciated that the gas range further comprises an ignition mechanism disposed at the burner, typically between the inner and outer annular flame paths. The ignition mechanism is connected with the control unit 111, so as to control the operation of the ignition unit through the control unit 111, and further control the ignition mechanism to perform ignition. When the gas stove is provided with a plurality of stoves, each stove is provided with an inner ring flame path, an outer ring flame path, a first electromagnetic proportional valve, a second electromagnetic proportional valve and an ignition mechanism.

As shown in fig. 2, the method of stewing food comprises the steps of:

s100, a controller 110 receives a control instruction of braised dishes, controls a cooking range to fire, and acquires navigation menu data corresponding to the braised dishes, wherein the navigation menu data comprises a temperature time curve and a plurality of cooking substeps, the temperature time curve comprises a plurality of curve sections corresponding to the cooking substeps respectively, and the cooking substeps comprise a main material adding step, a soup adding step, a seasoning adding step, a cover closing step and a braising step;

S200, the controller 110 sequentially executes a plurality of cooking sub-steps according to the navigation menu data;

s300, the controller 110 controls the cooking range to be turned off.

The navigation menu data may be intrinsic data stored in the storage unit 112 of the controller 110, or may be data acquired from a cloud communicatively connected to the controller 110, or data acquired from a mobile terminal such as a mobile phone or a tablet computer communicatively connected to the controller 110.

In the method for stewing food, the whole stewing process is divided into different cooking sub-steps according to the characteristic of fire control, and the temperature time curve used as a reference is divided into a plurality of curve sections corresponding to each cooking sub-step, so that a corresponding fire control mode can be selected according to the cooking characteristic of each cooking sub-step, the accurate control of the temperature of food materials and the fire of fuel gas at each moment in the cooking process can be realized, the control logic can be simplified, and the response speed can be improved.

Wherein, the controller 110 performs the closing step including: the controller 110 sends out a cover closing action reminding signal, acquires weight information detected by a weight sensor 130 arranged at the cooking range, judges that the cover closing action is executed when the weight information rises suddenly equal to or higher than a preset weight difference value, and prepares for executing the stewing step;

The controller 110 performs the braising step including: the controller 110 performs a trace curve control on the electromagnetic proportional valve 120 so that the actual temperature of the current cooking pot varies with time to trace the curve segment corresponding to the stewing step.

The closing step is a key step of the cooking control method, when closing the lid is the first key factor of successful cooking of the braised dishes, and the following braising step is performed after the closing action is detected.

If the cover closing step is not detected, the following stewing step is forced to be carried out, so that the cooking failure of dishes is caused, the following stewing step is required to be carried out after the cover closing action is confirmed, when the cover closing action is not detected, constant-temperature waiting is carried out, and the end point temperature of the previous cooking sub-step is taken as the target temperature for constant-temperature waiting, so that the state before charging is kept at the end point of the previous sub-step as much as possible, and the influence of the time waiting for charging on the whole cooking process is reduced. It will be appreciated that the end point temperature may be the actual temperature detected by the temperature sensor 210 at the end point of the previous cooking sub-step, or may be the temperature corresponding to the time end point of the curve segment corresponding to the previous cooking sub-step.

If the previous cooking substep adopts tracking curve control, certain hysteresis can be necessarily existed in tracking, if the previous cooking substep adopts constant firepower or constant temperature control, certain deviation can exist between the actual temperature time curve and the pre-stored temperature time curve, preferably, the temperature corresponding to the time end point of the curve section corresponding to the previous cooking substep is used as the end point temperature for constant temperature waiting, thus, the time before charging can be utilized to form good temperature compensation, thereby better reproducing the fire control of the kitchen and further optimizing the taste of dishes. Specifically, the step of closing the cover specifically includes the steps of:

s201, the controller 110 sends out a cover closing action reminding signal;

s202, the controller 110 acquires weight information detected by the weight sensor 130;

s203, judging whether the weight information has suddenly risen equal to or higher than a preset weight difference value, if so, judging that the cover closing action is executed, preparing for executing the stewing step, otherwise, executing S204;

S205, the opening degree of the electromagnetic proportional valve 120 is adjusted so that the actual temperature detected by the temperature sensor of the current cooking pot is maintained at the target temperature with the end point temperature of the previous cooking sub-step as the target temperature, and S201 is returned.

Further, after exiting the capping step due to the duration being greater than or equal to the first predetermined duration or the number of reminders being greater than or equal to the predetermined number, the controller 110 may directly issue an alarm signal and perform step S300, i.e. turn off the fire, so as not to affect the subsequent braising step.

In further embodiments, after exiting the lid closing step, the controller 110 controls the replacement of the navigational recipe data, i.e., invokes a recipe more suitable for the non-lid closing condition to control the subsequent cooking process. Because the stewed dishes and the stewed dishes are relatively similar in the earlier cooking step, in a preferred embodiment, after exiting the closing step due to the duration being greater than or equal to the first predetermined duration or the number of reminders being greater than or equal to the predetermined number of times, the controller 110 obtains the navigation menu data of the stewed dishes that are the same as the main ingredients of the stewed dishes and performs the stewing step in the stewed dishes, the controller 110 performs the stewing step comprising: the controller 110 performs a trace curve control on the solenoid proportional valve 120 so that the actual temperature profile of the current cooking pot follows the curve segment corresponding to the stewing step over time. For example, when the braised dishes are braised chickens, if the cover closing step is not detected for a long time, the navigation menu data of the braised chickens with potatoes is obtained, and then the cooking process is controlled according to the navigation menu data of the braised chickens with potatoes. Therefore, the cooking process is not interrupted, the waste of food materials is avoided, and the user experience is optimized.

In the stewing step, the fire is controlled in a mode of tracking a temperature time curve in the whole process, so that the heating degree of food affected by factors such as gas pressure fluctuation is greatly reduced, the change relation of the actual temperature of the food along with time is enabled to follow the temperature time curve, the fire control process of a kitchen is imitated as much as possible, the reproduction of the fire at each moment is realized, and the taste of the kitchen level are obtained through accurate fire control. The thermal power control of micro-fire heating can be reproduced through a curve tracking mode, and the temperature change condition during stewing at normal temperature can be reproduced, so that a common user can also make kitchen-level mouthfeel and taste. Namely, the curve section corresponding to the stewing step not only comprises the temperature-time corresponding relation of small fire cooking, but also comprises the temperature-time corresponding relation of stewing and releasing processes, when a common user uses the existing mode to stew food, the stewing and releasing processes after fire closing are completely uncontrollable, and parameters such as ambient temperature, air pressure and the like are different, so that the stewing and releasing processes are influenced, and the stewing process in the application strictly executes the temperature-time curve comprising the stewing and releasing processes, namely, the temperature can be regulated by utilizing firepower participation in the stewing and releasing processes, so that the accurate reproduction of the temperature-time corresponding relation is realized.

The opening degree of the electromagnetic proportional valve 120 may be controlled by a current applied to a control terminal thereof, and if a maximum current is input to the control terminal of the electromagnetic proportional valve 120, the opening degree thereof is the maximum opening degree, and a minimum current is input to the control terminal, and the opening degree thereof is the minimum, and the corresponding current may be applied corresponding to other opening degrees. When the controller 110 performs tracking curve control on the electromagnetic proportional valve 120, specifically, a PID model and a fuzzy control algorithm may be used, and in a preferred embodiment of the present invention, an ADRC (Active Disturbance Rejection Control, active disturbance rejection control technique) model is used to adjust the electromagnetic proportional valve 120, which specifically includes:

extracting the temperature at each moment in the temperature time curve as a target temperature, taking the target temperature as the input of the corresponding moment of the nonlinear tracking differentiator in the ADRC model, taking the actual temperature at the corresponding moment as a controlled object, taking the actual temperature as the feedback input of the extended state observer in the ADRC model, and outputting the current value of the electromagnetic proportional valve 120 by using the ADRC model;

the input current of the electromagnetic proportional valve 120 is adjusted according to the current value output by the ADRC model, so that the opening degree of the electromagnetic proportional valve 120 is controlled, and the firepower control is realized, so that the change of the actual temperature along with the time of the temperature is along with the time curve of the temperature.

The ADRC model in the present invention is shown in fig. 3, and includes a nonlinear tracking differentiator TD, a nonlinear state error feedback control law NLSEF, and an extended state observer ESO. The target temperature v (t) is taken as an input signal of the whole model and is input into a nonlinear tracking differentiator TD; the difference en between the output Z1n of the nonlinear tracking differentiator TD and the feedback Z2n of the extended state observer ESO is used as input to the nonlinear state error feedback control law NLSEF; the difference value between the output u0 (t) of the nonlinear state error feedback control law NLSEF and the feedback of the extended state observer ESO is recorded as an output difference value, and the quotient of the output difference value and the gain b and the change rate d (t) of the controlled object act on the controlled object together to obtain an output y (t); the product of the output difference and the gain b acts together with the controlled object on the extended state observer ESO. In the invention, the target temperature is taken as an input signal v (t), the controlled object is the actual temperature of the cooking pot, and the output y (t) is the current of the electromagnetic proportional valve 120. So, firstly, the nonlinear tracking differentiator TD is used for realizing the rapid overshoot-free tracking of the target temperature of the system and can give a good differential signal to the system; secondly, the ADRC model regards the uncertainty of the system as the internal disturbance of the system, the system and the external disturbance of the system are regarded as the disturbance of the whole system, the comprehensive effects of the internal disturbance and the external disturbance are directly monitored without distinguishing the comprehensive effects, namely, the total disturbance of the system, the state and the disturbance of the system are respectively estimated through an extended state observer ESO, the extended state observer ESO converts a nonlinear uncertain object with unknown external disturbance (such as external environment temperature and air flow) into an 'integrator series type' by using a nonlinear state error feedback control law NLSEF, and the structure for realizing feedback linearization on the nonlinear uncertain object is realized; and finally, ADRC obtains the compensation effect of the disturbance component by using a nonlinear state error feedback control law NLSEF, and obtains the output of the whole model.

Further preferably, two electromagnetic proportional valves 120 and corresponding outer ring flame paths and inner ring flame paths are arranged, and the first electromagnetic proportional valve and the second electromagnetic proportional valve are independently controlled, so that the inner ring flame and the outer ring flame can be independently regulated, that is, the inner ring flame and the outer ring flame are not affected by each other, and can be combined according to the needs, so that the accurate control of the flame is realized through the combination of the inner ring flame and the outer ring flame, the optimal flame configuration at each moment is achieved, the change relation of the actual temperature along with time is better tracked by accurate regulation of the flame, the accurate control of the heating process at each moment of food is improved, and the taste of the food is improved.

The number of cooking ranges can be one or two or more, the number of the intelligent cookers 200 can be equal to that of the cooking ranges, can be smaller than that of the cooking ranges, or can be larger than that of the cooking ranges, namely, two cooking ranges can be matched with one intelligent cooker 200, can be matched with two intelligent cookers 200, can be matched with one intelligent cooker 200, and can be matched with two intelligent cookers 200. In step S20, when the number of cooking ranges and intelligent cookers 200 is only one, the intelligent cookers 200 are directly determined to be the current cooking pot, and when a plurality of cooking ranges are provided, if each cooking range is provided with the intelligent cookers 200, or only one cooking range is provided, but a plurality of intelligent cookers 200 are configured, at this time, the intelligent cookers 200 which are used on the cooking range need to be determined, and the operation can display the matched intelligent cookers 200 on the touch display screen, and then the corresponding intelligent cookers 200 are input through the touch instruction, so that the intelligent cookers 200 corresponding to the cooking ranges which are fired are determined. In a preferred embodiment of the present invention, the intelligent kitchen ranges automatically perform the matching of the kitchen range and the intelligent pot 200, specifically, the plurality of cooking sub-steps further include a current cooking pot confirmation step, specifically including: the controller obtains the actual temperature detected by the temperature sensor of the intelligent pot in a communication mode, determines the intelligent pot in a heating state according to the obtained actual temperature information, and takes the intelligent pot as the current cooking pot.

Taking two cooking ranges and two intelligent cookers 200 as examples, the two cooking ranges are respectively marked as a first cooking range and a second cooking range, the two intelligent cookers 200 are respectively marked as a first pot and a second pot, if the first cooking range is a precooking cooking range, the control unit 111 firstly controls the ignition mechanism corresponding to the first cooking range to ignite, and then judges which pot is in a heating state through temperature information sent by the first pot and the second pot, if the first pot reaches, the first pot is placed on the first cooking range, and the first pot is determined to be the current cooking pot.

The above-mentioned confirmation process can also avoid the misplacement of the intelligent pot 200, if the intelligent pot 200 in the heating state is not found after the ignition, the misplacement of the intelligent pot 200 is illustrated, the control unit 111 of the controller 110 can send an error signal to remind the user to replace the placement of the intelligent pot 200.

Further, the step of adding the main material performed by the controller 110 specifically includes: the controller 110 sends out a main material adding action reminding signal, and prepares to execute the next cooking substep after detecting the main material adding action; the controller 110 performs the steps of adding soup specifically including: the controller 110 issues a soup-adding action alert signal and prepares to perform the next cooking sub-step upon detecting that a soup-adding action is performed.

The main material adding step and the soup adding step can be executed before the current cooking pot confirming step, and in order to facilitate the judgment of whether the subsequent actions are executed, the main material adding step and the soup adding step are preferably executed after the current cooking pot confirming step, and when the two steps are executed, the cooking range is preferably controlled to output constant minimum firepower, so that the temperature of the pot body is prevented from being excessively raised during the two charging steps.

In addition, the sequence of the soup adding step and the main adding step is not limited, only one main adding step can be arranged, in the stewing process of various food materials, the maturation speed of different food materials is usually different, in order to ensure the consistency of the maturity of the food materials, different main adding steps are required to be executed at different moments, a plurality of stewing steps are correspondingly arranged at the moment, and different main adding steps are arranged between the stewing steps in a penetrating way.

When the electromagnetic proportional valve 120 is controlled by tracking the curve, if the main material feeding operation is performed according to time, since the temperature information of the temperature sensor 210 is received from the acquisition control unit 111, there is a delay, the actual temperature at the time point corresponding to the main material feeding operation may not reach the target temperature in the temperature time curve corresponding to the time point, at this time, the actual temperature in the pot may be insufficient due to the main material feeding operation performed, and the follow-up actual temperature tracks the temperature time curve, for example, in the embodiment shown in fig. 4, the solid line ABCD represents the temperature time curve, the dotted line represents the ideal actual temperature time curve, the two-dot chain line represents the possible actual temperature time curve, the main material feeding is performed at the point B, and if the main material feeding is performed with time as a reference, the actual temperature at the point corresponding to the point B may be B1, and if the main material is fed at this time, the target temperature in the follow-up temperature time curve suddenly drops, at this time, the actual temperature in the pot has not reached the target temperature B, and the actual temperature BC is lower due to the fact, the actual temperature BC is fed, but the actual temperature BC is lower, at this time, and the thermal power is excessively reduced in the time, and the following time is reduced, and the temperature is reduced. In order to solve the problem, the main material throwing action is executed by taking the target temperature as a basis while the firepower is regulated according to the temperature time curve, namely, when the main material throwing action is executed, the main material throwing action is executed only when the actual temperature reaches the target temperature, so that the problem that the temperature in the pot is increased and weakened due to the fact that the main material is thrown when the temperature in the pot does not reach the target temperature, namely, the heating degree of the food material at each moment is influenced due to the fact that the temperature in the pot is continuously heated along with the temperature time corresponding relation can be avoided. And the next cooking sub-step with independent time is directly carried out when the previous cooking sub-step is finished, namely as shown in fig. 4, after the main material is put in the point B, the BCD section is refreshed, namely the time of the BCD section does not extend the time of the AB section, but takes the moment after the main material is put in as the starting point of the time, so that the temperature of the point B can be ensured to be reached, the subsequent BCD section can not be influenced to regulate the fire according to the temperature time curve, the actual temperature is better close to the ideal actual temperature time curve, and the food taste is improved.

Specifically, when the braising step includes a plurality of steps sequentially executed, and a main material adding step is provided between adjacent braising steps, a time delay heating step is executed before the main material adding step is executed, and the time delay heating step specifically includes the following steps:

acquiring an end point temperature value of a curve segment corresponding to the previous cooking substep;

and taking the end point temperature value as a target temperature to adjust the opening degree of the electromagnetic proportional valve 120, and executing the main material adding step until the actual temperature is greater than or equal to the end point temperature value.

Of course, in some cases, the actual temperature may be equal to or higher than the end temperature value of the curve segment corresponding to the previous cooking sub-step, and the main material adding step may be directly performed without performing subsequent control, and further preferably, before the time-lapse heating step, further performed to avoid unnecessary control: judging whether the actual temperature detected by the temperature sensor 210 is greater than or equal to the end temperature value, if so, executing the main material adding step, otherwise, executing the time delay heating step. Thus, if the actual temperature detected by the temperature sensor 210 is lower than the end temperature value of the curve segment corresponding to the previous cooking sub-step, the temperature raising control is performed, and if the actual temperature meets the requirement, the next cooking sub-step can be directly performed.

Since the temperature of the pot body changes accordingly after the feeding, the main feeding action detection and the soup feeding action detection can determine whether the corresponding actions are performed through the actual temperature detected by the temperature sensor 210, specifically, after the action reminding of feeding the food is performed, the controller 110 obtains the actual temperature detected by the temperature sensor 210 and determines whether the obvious cooling occurs within a predetermined period of time, if so, the corresponding actions are determined to be performed, otherwise, the corresponding actions are determined not to be performed.

Since the change of the pot body temperature is greatly affected by other factors such as fire and environment in the actual cooking process, in order to improve the accuracy of the action execution judgment, preferably, the range of the gas stove is provided with the weight sensor 130, and the controller 110 judges whether the corresponding action is executed according to the weight information detected by the weight sensor 130. Specifically, after the food adding action reminding is performed, the controller 110 obtains the weight detected by the weight sensor 130, and determines whether the weight is increased within a predetermined period of time (the determination criterion of the increase is different according to the difference of the added materials), if so, it is determined that the corresponding action is performed, otherwise, it is determined that the corresponding action is not performed, and the food adding action reminding is continued.

The action reminding can be performed in the form of one or a combination of at least two of voice, text, images and animation, for example, a loudspeaker and a display screen are arranged in the gas stove, when the spareribs adding step is performed, the controller 110 controls the loudspeaker to send out voice reminding of 'please add spareribs', and meanwhile, the display screen displays corresponding pictures, and gif animation can be displayed on the display screen, so that the user operation is guided more vividly. Further preferably, the display screen can also display in a size window, the large window displays action reminding which needs to be executed currently, and the small window displays action reminding which needs to be executed next so as to remind a user to prepare in advance, and the action is executed as soon as possible when the user reminds next, so that the accuracy of the blanking time is better ensured, and the cooking process of the kitchen is more accurately reproduced.

The action reminding can be executed once or more times, in order to avoid the situation that the fire adjustment is started before the user feeds, the temperature time curve is pursued, the matching of the feeding and the fire is ignored (the temperature time curve is started under the condition that the feeding is not carried out, although the fire is satisfactory, the fire is not actually used for heating the material at the correct time because the feeding point is not matched with the temperature time curve), a certain time is reserved after the action reminding (the time is reserved for feeding the material to the user), and in order to realize more accurate control, the method also preferably comprises the step of judging whether the corresponding action is executed or not, and then carrying out subsequent fire control after judging the action, thereby enabling the feeding action to be matched with the fire change more accurately.

Specifically, the step of adding the main material by the controller comprises the following steps:

s210, the controller 110 sends out an action reminding signal for throwing in the main material;

s220, the controller 110 judges whether the action of feeding the main material is executed, if yes, the next cooking sub-step is ready to be executed, otherwise, S230 is executed;

s230, judging whether the duration of the main material adding step is greater than or equal to the preset duration, if so, exiting the main material adding step, otherwise, executing S240;

s240, the opening degree of the electromagnetic proportional valve 120 is adjusted so that the actual temperature detected by the temperature sensor 210 of the current cooking pot is maintained at the target temperature with the end point temperature of the previous cooking sub-step as the target temperature, and S210 is returned.

In step S230, it may also be determined whether the main material adding step needs to be exited according to the number of reminding times, specifically, whether the number of reminding times is greater than or equal to a predetermined number of times, if yes, the main material adding step is exited, otherwise, S240 is executed.

After the action reminding signal is sent out, the judgment is started to see whether the user has executed the action, and if the action is executed, the next cooking sub-step can be directly executed. And when the action execution is not detected, constant-temperature waiting is performed, and the end point temperature of the previous cooking sub-step is taken as a target temperature for constant-temperature waiting, so that the state before charging is kept at the end point of the previous sub-step as much as possible, and the influence of the time for waiting for charging on the whole cooking process is reduced. It will be appreciated that the end point temperature may be the actual temperature detected by the temperature sensor 210 at the end point of the previous cooking sub-step, or may be the temperature corresponding to the time end point of the curve segment corresponding to the previous cooking sub-step.

If the previous cooking substep adopts tracking curve control, certain hysteresis can be necessarily existed in tracking, if the previous cooking substep adopts constant firepower or constant temperature control, certain deviation can exist between the actual temperature time curve and the pre-stored temperature time curve, preferably, the temperature corresponding to the time end point of the curve section corresponding to the previous cooking substep is used as the end point temperature for constant temperature waiting, thus, the time before charging can be utilized to form good temperature compensation, thereby better reproducing the fire control of the kitchen and further optimizing the taste of dishes.

Further, since the step of adding soup is a step that must be performed when stewing dishes, after the controller 110 sends out the action reminding signal of adding soup, if the corresponding action is not performed for the second predetermined time, the controller alarms and directly jumps to the step S300. Namely, when no soup base is added, the fire is directly turned off, and an alarm is given to remind the user that the soup base is not added. When the cooking is stopped, the current temperature can be recorded, if the user wants to continue the cooking process, the cooking state is restored to the state when the cooking is stopped as soon as possible by heating to the recorded temperature value with the maximum fire after restarting, so that the influence of the stopping on the food (in the case of adding the food for many times) is reduced as much as possible. Wherein the second predetermined time period may be set according to the specific situation, for example, 10-20 seconds.

When the braised food is only one, the control method is similar to the control method after adding soup, and is not repeated, and when the braised food is multiple, some food users do not want to add, if the normal braising process of the dishes is still affected by alarming and controlling the fire-off condition, the main materials are preferably divided into necessary main materials and unnecessary main materials, for the necessary main materials, if the corresponding action is not executed for a first preset time, the alarm is given and the step is directly skipped to the step S70, and for the unnecessary main materials, if the corresponding action is not executed for the first preset time, the next cooking sub-step is directly executed. The first predetermined time period may be set according to the specific situation, for example, 10-20 seconds.

It was mentioned before that some major users are actually not wanted, at which point the user can also control to skip the cooking sub-step by the controller 110 to directly enter the next cooking sub-step. The controller 110 may also memorize these operations by the user and may actively prompt the user whether the cooking sub-step is still skipped the next time the same dish is made.

After the main materials are put into the oven, the weight of the main materials is possibly inconsistent with the standard weight in the step, if only the cooking action is concerned, curve tracking is still carried out or constant fire power is controlled to be carried out, however, when the weight difference is large, if the weight difference is too large, the heating is still carried out according to the original fire power, the fire power is obviously insufficient, and the heating is slower; if the weight is too small, the pan may be burned, and the dish may be made with a high probability unsatisfactory. The manual participation is still needed when the dish is cooked, the firepower is manually adjusted, the consistency of dishes cannot be ensured by the manual adjustment, and in fact, the problems cannot be avoided even if the dish is manually participated.

Based on this, in a further preferred embodiment, after the action of feeding the main material is judged to have been performed according to the weight information detected by the weight sensor 130, it is judged whether the difference between the weight of the fed main material and the standard weight in the main material feeding step is less than or equal to a predetermined weight difference, if so, the electromagnetic proportional valve 120 is controlled to be at the maximum opening or the tracking curve control is performed on the electromagnetic proportional valve 120, otherwise, the navigation menu data is replaced.

According to the control method, not only the difference of the weight of the main materials after being put in is considered, but also the fact that the user can put in the main materials and the navigation menu possibly have certain difference is considered, so that when the weight of the main materials put in the main materials is within the preset difference range, the control method is still carried out according to each procedure after the main materials are put in the current cooking stage, only when the difference is large, the navigation menu is replaced, and then whether the weight of the main materials is consistent with that of the new navigation menu is judged again, and therefore, the cooking mode is timely adjusted according to the weight of the main materials put in, and the success rate of dishes is further improved. It should be noted that, for the same dish in different weight ranges, a plurality of navigation menus may be stored in advance in the storage unit 112 of the controller 110.

It should be noted that, neither the temperature sensor 210 nor the weight sensor 130 is generally continuously collected, but is sampled once every period of time (i.e., a sampling period such as 200 ms), and accordingly, is sent to the controller 110.

In actual operation, the weight sensor 130 may actively send weight information to the control unit 111 of the controller 110, and if the control unit 111 does not need weight information at this time, the control unit 111 may close the port for receiving weight information; or the control unit 111 continuously receives the weight information but does not process it; in the former method, if the control unit 111 needs weight information, a port for receiving weight information is opened, and in the latter method, the control unit 111 processes the received weight information only when the weight information is needed. The control unit 111 may send the weight enabling signal to the weight sensor 130 when the weight information needs to be acquired, and the weight sensor 130 may send the weight information to the control unit 111 when the weight enabling signal is received, and of course, the weight sensor 130 may perform weight acquisition only when the weight enabling signal is received.

Of course, the execution or non-execution of the cooking action may be detected by other sensors, such as a camera. The detection to the kind of main material can adopt the camera, specifically, the camera is installed in gas-cooker, lampblack absorber or kitchen wall isotructure, and the camera gathers the main material picture of throwing in, sends the control monocular with the picture information, and the kind of main material is judged according to main material picture to the control unit.

Wherein, different navigation menu data corresponding to different braised dishes may be stored in the storage unit 112 in the form of data packets, and when the control unit 111 of the controller 110 receives a control instruction of braising a dish, the corresponding data packets may be directly read in the storage unit 112. As the number of stewed dishes stored in the storage unit 112 increases, the storage space occupied by the stewed dishes increases, and the manner of the data packet affects the number of stewed dishes stored. The applicant found that many cooking sub-steps in the braised dishes are the same, and repeated storage obviously causes waste of storage space, and based on this feature, in a preferred embodiment, all cooking sub-steps that can be used in the braised dishes are stored as step units in the storage unit 112, each step unit corresponds to an identifier, identifiers corresponding to the braised dishes are also stored in the storage unit 112, and when the navigation menu data is read, the identifiers corresponding to the braised dishes to be cooked are first obtained, the step units corresponding to the braised dishes are searched according to the identifiers, and the searched step units are used as cooking sub-steps. For example, the plurality of step units stored in the storage unit 112 include a current cooking pot confirmation step, a soup adding step, a main material adding 1 step, a main material adding 2 step, a main material adding 3 step, a seasoning adding 1 step, a seasoning adding 2 step, a seasoning adding 3 step, a braising step i, a braising step ii, and a braising step iii, and the corresponding marks 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11 are respectively required, and when braising a dish, only the current cooking pot confirmation step, the soup adding step, the main material adding 1 step, the main material adding 2 step, the seasoning adding 1 step, the seasoning adding 2 step, the braising step i, and the braising step ii are required to store the braised dish, which is a braised chicken, in the storage unit 112, with the corresponding temperature time curves and the marks 1, 2, 3, 4, 6, 7, 9, and 10. The number of stewed dishes that can be stored by the storage unit 112 is greatly increased because the storage space occupied by the identifier is small.

Further, some braised dishes still need to be subjected to uncapping and stirring in the braising process, based on which, the plurality of cooking substeps further comprise an uncapping and stirring step for reminding a user of uncapping and stirring, specifically, the braising step comprises a plurality of steps which are sequentially executed, and an uncapping and stirring step is arranged between every two adjacent braising steps, as shown in fig. 5, and the uncapping and stirring step comprises:

s211, the controller 110 sends out an action reminding signal of uncovering;

s212, the controller 110 acquires weight information detected by the weight sensor 130, judges whether the weight information is suddenly lowered equal to or higher than a preset weight difference value, if so, judges that the uncovering action is executed, jumps to S214, otherwise, executes S213;

s213, judging whether the duration of the uncapping stirring step is greater than or equal to a second preset duration, if so, alarming and executing S300, otherwise, returning to S211;

s214, the controller 110 sends out a stirring action reminding signal;

s215, judging whether stirring action occurs according to the weight information detected by the weight sensor 130, if so, starting timing and executing S216, otherwise, continuing judging;

S217, the controller 110 sends out a cover closing action reminding signal;

s218, the controller 110 acquires weight information detected by the weight sensor 130, judges whether the weight information is equal to or higher than a preset weight difference value sudden rise, if so, judges that the cover closing action is executed, and prepares to execute the next cooking substep, otherwise, continues judging.

In step S213, whether to continue execution may be determined based on the counted number of alarms. In general, in one action group, the first action is executed, and the subsequent actions are not omitted, so that in the above steps, only an alarm is given when the uncovering action is not detected, and in other steps, if the execution of the action is not detected, the default action is executed.

Further, some stewed dishes do not need too much soup, and the big fire juice collection is needed before the stewed dishes are taken out of the pot, and for the stewed dishes, the plurality of cooking substeps further comprise a juice collection step, and the judging condition for the end of the juice collection step can be passing time or tracking a temperature time curve. For the cooking step of juice collection, the applicant finds that after the soup amount in the pot body is reduced to a certain extent, the soup amount in the pot body and the pot body temperature have a corresponding relation, that is, the pot body temperature can reflect the soup amount in the pot body, the higher the pot body temperature is, the lower the soup amount in the pot body is, based on the soup amount, the controller 110 sends out an action reminding signal of opening the cover, and controls the electromagnetic proportional valve 120 to be at the maximum opening degree, so that the cooking range heats the current cooking pot with the maximum firepower, and the next cooking sub-step is ready to be executed or the next cooking sub-step is jumped to step S300 when the actual temperature detected by the temperature sensor 210 of the current cooking pot is greater than or equal to the juice collection temperature threshold. The juice collecting temperature threshold is directly used for judging whether the juice collecting temperature reaches the requirement, the judgment logic is simple, and the operation amount is reduced. The juice collecting temperature threshold can be specifically set according to different juice collecting requirements, for example, 105-115 ℃.

It will be appreciated that the temperature-time curve described in this application refers to an abstract temperature-time correspondence, rather than a curve that exists in reality. In practical application, the corresponding relation between the temperature and the time can be expressed by a real curve, a table or a functional form, wherein the real curve is formed by the change of the temperature along with the time, the real table is formed by each moment and the corresponding temperature, and the real functional form is a function of the change of the temperature along with the time. Of course, the temperature-time correspondence relationship may also take other forms.

The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements a method of controlling braising food as described above. The computer readable storage medium according to the embodiments of the present disclosure may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict. In which the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. The numbering of the steps herein is for convenience of description and reference only and is not intended to limit the order in which the steps are performed simultaneously or in any order without conflict.

It will be understood that the above-described embodiments are merely illustrative and not restrictive, and that all obvious or equivalent modifications and substitutions to the details given above may be made by those skilled in the art without departing from the underlying principles of the invention, are intended to be included within the scope of the appended claims.

Claims

1. The cooking control method for stewing food by a gas stove and at least one intelligent pot matched with the gas stove is used for stewing food, the gas stove comprises a controller, a weight sensor and at least one cooking stove head, the intelligent pot can be in communication connection with the controller, the controller is in signal connection with the weight sensor, the gas stove is provided with an electromagnetic proportional valve in communication connection with the controller, the firepower output by the cooking stove head is controlled by adjusting the opening of the electromagnetic proportional valve, the intelligent pot comprises a pot body, a pot cover and a temperature sensor, and the temperature sensor is used for detecting the temperature of the pot body, and the cooking control method is characterized by comprising the following steps:

s300, controlling the cooking range to be turned off by the controller;

wherein the controller executing the closing step includes: the controller sends out a cover closing action reminding signal, acquires weight information detected by the weight sensor, judges that the cover closing action is executed when the weight information rises suddenly equal to or higher than a preset weight difference value, and prepares to execute the braising step; after confirming that the cover closing action is detected, executing the subsequent braising step, and when the cover closing action is not detected, taking the temperature corresponding to the time end of the curve section corresponding to the previous cooking substep as the end temperature to wait at constant temperature;

the main material adding step combines the corresponding relation between the action and the target temperature, executes the main material throwing action when the actual temperature reaches the target temperature, and directly shifts to the next cooking sub-step with independent time when the previous cooking sub-step is completed;

the curve section corresponding to the stewing step not only comprises a temperature time corresponding relation of small fire cooking, but also comprises a temperature time corresponding relation of stewing and releasing process, the stewing step is carried out by utilizing fire to participate in temperature regulation in the stewing and releasing process, and the controller executes the stewing step and comprises the following steps: the controller performs tracking curve control on the electromagnetic proportional valve so as to enable the actual temperature change curve of the current cooking pot to track the curve segment corresponding to the stewing step; when the controller performs tracking curve control on the electromagnetic proportional valve, an ADRC model is adopted, specifically, the temperature at each moment in a temperature time curve is extracted as a target temperature, the target temperature is used as the input of the corresponding moment of a nonlinear tracking differentiator in the ADRC model, and the difference value between the output of the nonlinear tracking differentiator and the feedback of an extended state observer is used as the input of a nonlinear state error feedback control law; and taking the actual temperature at the corresponding moment as a controlled object, recording the difference between the output of the nonlinear state error feedback control law and the feedback of the extended state observer as an output difference, jointly acting the quotient of the output difference and the gain and the change rate of the controlled object on the controlled object, taking the actual temperature as the feedback input of the extended state observer in an ADRC model, outputting the current value of the electromagnetic proportional valve by using the ADRC model, and controlling the electromagnetic proportional valve to work according to the current value by the controller so as to adjust the opening degree of the electromagnetic proportional valve.

2. The cooking control method of braised food in accordance with claim 1, wherein the step of closing the cover specifically comprises the steps of:

s201, the controller sends out a cover closing action reminding signal;

s202, the controller acquires weight information detected by the weight sensor;

3. The cooking control method of braised food in accordance with claim 2, wherein the controller issues an alarm signal and performs step S300 after exiting the closing step due to a duration greater than or equal to a first predetermined duration or a number of reminders greater than or equal to a predetermined number of times; alternatively, the controller controls the replacement of navigation menu data.

4. The cooking control method of braised food in accordance with claim 3, wherein after exiting the closing step due to a duration of time greater than or equal to a first predetermined time period or a reminder number of time greater than or equal to a predetermined number of times, the controller acquires navigation menu data of braised dishes identical to the braised dishes main material and performs a stewing step in the braised dishes, the controller performing the stewing step comprising: and the controller executes tracking curve control on the electromagnetic proportional valve so that the change curve of the actual temperature of the current cooking pot along with the time tracks the curve segment corresponding to the stewing step.

5. The cooking control method of braised food in accordance with claim 1, wherein the braising step includes a plurality of steps performed in sequence, an open cover stirring step is provided between adjacent braising steps, the open cover stirring step includes:

s211, the controller sends out an action reminding signal of uncovering;

s214, the controller sends out a stirring action reminding signal;

s217, the controller sends out a cover closing action reminding signal;

6. The cooking control method of braised food in accordance with any one of claims 1 to 5, wherein the plurality of cooking sub-steps further includes a juice collecting step performed after the braising step, and wherein the controller performs the braising step including:

7. The cooking control method for braised foods according to any one of claims 1 to 5, wherein the controller stores a plurality of step units and identifiers corresponding to the plurality of step units, and the method for acquiring a plurality of cooking sub-steps in navigation menu data corresponding to the braised dishes comprises the steps of:

acquiring an identifier corresponding to the stewed dishes;

and taking the searched step unit as the cooking substep.

8. The cooking control method of braised food according to any one of claims 1 to 5, wherein between the steps S100 and S200, further comprising the step of determining a current cooking pot:

9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed, implements the cooking control method according to any one of claims 1 to 8.

10. A gas cooking system, characterized in that the gas cooking system comprises a controller, a gas cooker and at least one intelligent pot, the intelligent pot can be in communication connection with the controller, the gas cooker comprises at least one cooker head, the gas cooker is provided with an electromagnetic proportional valve in communication connection with the controller, the firepower output by the cooker head is controlled by adjusting the opening degree of the electromagnetic proportional valve, the intelligent pot comprises a pot body and a temperature sensor, the temperature sensor is used for detecting the temperature of the pot body, and the controller can realize the cooking control method according to any one of claims 1 to 8.