Food processing control method

Abstract

The invention discloses a food processing control method, which belongs to the field of power control, and comprises the following steps of: dividing a dough infrared image into a central area, a middle area and an edge area, and respectively extracting the fermentation activeness of the center, the middle and the edge; and obtaining compensation power based on a third-order feedback control model by combining the differences between the center fermentation activeness, the intermediate fermentation activeness and the edge fermentation activeness and the target activeness, thereby compensating the current heating power and accurately controlling the heating power in the dough fermentation process based on the fermentation conditions of different parts of the dough.

Description

Technical Field

[0001] The invention relates to the technical field of power control, and in particular to a food processing control method. Background Art

[0002] Fermentation is the most critical process in bread production. Traditional dough fermentation process control mainly relies on the operator's experience judgment of sensory indicators such as dough volume expansion, surface texture and elasticity. This method has many uncertainties and limitations. At present, dough fermentation control faces severe challenges: traditional monitoring methods are difficult to accurately quantify the dough fermentation state. They can only observe the changes in the dough surface visually, and cannot fully and real-time reflect the dynamic changes of dough fermentation; there are significant differences in the degree of fermentation activity in different areas (such as the center, middle and edge of the dough), and traditional control methods cannot accurately identify and adjust them in a targeted manner; manual monitoring and control have obvious subjectivity and lag, and it is difficult to respond to changes in the dough fermentation process in a timely manner. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a food processing control method which solves the problem of low control accuracy of heating power in the dough fermentation process in the prior art which adopts empirical fixed parameter control.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: a food processing control method, comprising the following steps:

[0005] S1, collecting infrared images of dough during fermentation, removing background areas from the infrared images, and obtaining infrared images of the dough;

[0006] S2, dividing the infrared image of the dough into a central area, a middle area and an edge area;

[0007] S3, calculating the central fermentation activity, the middle fermentation activity and the edge fermentation activity in the central area, the middle area and the edge area respectively;

[0008] S4, obtaining compensation power based on a third-order feedback control model according to the differences between the target activity and the central fermentation activity, the middle fermentation activity, and the edge fermentation activity;

[0009] S5. Add the compensation power to the current heating power to obtain the heating power required for the fermentation process.

[0010] The beneficial effects of the present invention are as follows: the present invention divides the infrared image of the dough into a central area, a middle area and an edge area, and extracts the fermentation activities of the center, the middle and the edge respectively, and then combines the differences between the central fermentation activity, the middle fermentation activity and the edge fermentation activity and the target activity respectively, and obtains the compensation power based on the third-order feedback control model, thereby compensating the current heating power, thereby realizing precise control of the heating power of the dough fermentation process based on the fermentation conditions of different parts of the dough.

[0011] Further, S2 includes the following sub-steps:

[0012] S21, taking the geometric center point of the dough infrared image as a reference point;

[0013] S22, calculating the average distance according to the distance from the reference point to each edge pixel point in the infrared image of the dough;

[0014] S23, dividing the central area of ​​the dough infrared image with the reference point as the center and 1 / 3 of the average distance as the radius;

[0015] S24, taking the reference point as the center and 2 / 3 of the average distance as the radius, dividing the set of the central area and the middle area;

[0016] S25, removing the central area from the set to obtain the middle area;

[0017] S26. The remaining area on the dough infrared image is used as a marginal area.

[0018] The beneficial effect of the above further scheme is: the present invention divides the infrared image of the dough into three areas, and evaluates each area, thereby obtaining the fermentation activity of each area and improving the control accuracy of the heating power.

[0019] Furthermore, S3 includes the following sub-steps:

[0020] S31, calculating the fermentation variation coefficient of the area to be evaluated according to the average value of the temperature radiation intensity of the area to be evaluated at each time, wherein the area to be evaluated is: a central area, a middle area or an edge area;

[0021] S32, calculating the fermentation activity coefficient of the area to be evaluated according to the temperature radiation intensity value of the area to be evaluated at the current moment;

[0022] S33. Add the fermentation variation coefficient and the fermentation activity coefficient of the same area to be evaluated to obtain the fermentation activity; when the area to be evaluated is the central area, the fermentation activity calculated in step S33 is the central fermentation activity; when the area to be evaluated is the middle area, the fermentation activity calculated in step S33 is the middle fermentation activity; when the area to be evaluated is the edge area, the fermentation activity calculated in step S33 is the edge fermentation activity.

[0023] Furthermore, the formula for calculating the fermentation variation coefficient of the area to be evaluated in S31 is: , , , where x a is the fermentation variation coefficient of the area to be evaluated, θ c is the temperature radiation intensity change value of the area to be evaluated, μ E is the area change value of the area to be evaluated, T c,t is the mean value of the temperature radiation intensity of the area to be evaluated at time t, T c,t-1 is the mean value of the temperature radiation intensity of the area to be evaluated at time t-1, T is the statistical time length, t is the time number, E t is the area of ​​the area to be evaluated at time t, E t-1 is the area of ​​the area to be evaluated at time t-1.

[0024] The beneficial effect of the above further scheme is that when calculating the fermentation variation coefficient, the present invention considers the change of the temperature radiation intensity value of the same area at different times, so as to evaluate the fermentation activity of the area, and then combines the area change of the area. The larger the area change, the more the dough expands during fermentation, and the better the fermentation condition. Therefore, the area change value μ is used. E The change of radiation intensity to temperature θ c Enhancements have been made to improve the accuracy of evaluating fermentation conditions.

[0025] Furthermore, the formula for calculating the fermentation activity coefficient of the area to be evaluated in S32 is: , where x b is the fermentation activity coefficient of the area to be evaluated, T i is the temperature radiation intensity value of the i-th pixel in the area to be evaluated at the current moment, N is the number of pixels in the area to be evaluated, and i is the number of the pixel.

[0026] The beneficial effect of the above further scheme is that during the dough fermentation process, the dough itself can reach a temperature of 30 to 40 degrees. Therefore, the present invention combines the fermentation variation coefficient and the fermentation activity coefficient to obtain the fermentation activity.

[0027] Furthermore, the third-order feedback control model in S4 includes: 3 difference calculation units, 3 feedback control units and adder A1;

[0028] The first difference calculation unit is used to calculate the difference between the target activity and the central fermentation activity to obtain the first difference;

[0029] The second difference calculation unit is used to calculate the difference between the target activity and the intermediate fermentation activity to obtain the second difference;

[0030] The third difference calculation unit is used to calculate the difference between the target activity and the marginal fermentation activity to obtain the third difference;

[0031] The first feedback control unit is used for calculating the increased power of the first part according to the first difference;

[0032] The second feedback control unit is used for calculating the increased power of the second part according to the second difference;

[0033] The third feedback control unit is used for calculating the increased power of the third part according to the third difference;

[0034] Adder A1 is used for adding the increased power of the first part, the increased power of the second part and the increased power of the third part to obtain the compensation power.

[0035] The beneficial effect of the above further scheme is: the present invention calculates the difference between the target activity and each fermentation activity through each difference calculation unit, sets a feedback control unit for each difference, calculates the increased power, thereby realizing partial evaluation of the heating power required for the dough, and then adds the three parts of the increased power through adder A1 to obtain the compensation power.

[0036] Furthermore, the expression of the feedback control unit is: , where P j is the added power of the jth part, γ j is the jth power weight parameter, d j is the jth difference, f(d j ) is a nonlinear gain function, and the value range of j is 1, 2, 3.

[0037] Furthermore, the nonlinear gain function f(d j ) is: , where e is a natural constant, β j is the jth adjustment parameter.

[0038] The beneficial effect of the above further solution is: the present invention has the following advantages: j When the fermentation activity of the center, the middle or the edge is greater than the target activity, the fermentation of this part of the dough meets the requirements. j When greater than 0, set the nonlinear gain function f(d j ), so that the power increases with the difference d j The system can adaptively adjust the changes in the fermentation process so that doughs with different fermentation degrees can obtain different compensation power.

[0039] Furthermore, the three power weight parameters and the three adjustment parameters are calibrated by the following steps:

[0040] A1. Use three power weight parameters and three adjustment parameters as elements to construct a parameter vector;

[0041] A2. Assign initial values ​​to each element in the parameter vector;

[0042] A3. Substitute each value in the parameter vector into the third-order feedback control model to obtain the compensation power of the calibration process;

[0043] A4. Determine whether the compensation power of the calibration process is less than or equal to the target compensation power. If so, the current parameter vector is the required parameter. If not, update the median of the parameter vector according to the power difference and jump to step A3.

[0044] Furthermore, the formula for updating the median value of the parameter vector in A4 is: ,in, is the updated value, α is the value before the update, P n is the compensation power of the nth iteration, P tar is the target compensation power, n is the number of iterations, and e is a natural constant.

[0045] The beneficial effect of the above further scheme is as follows: the present invention brings each value in the parameter vector into the third-order feedback control model to obtain the compensation power of the calibration process, compares the compensation power with the target compensation power, and when it is less than or equal to the target compensation power, each value is the required parameter. If not, the value in the parameter vector is updated according to the power difference until it is less than or equal to the target compensation power, thereby avoiding excessive compensation power, which may cause overactivation or even death of yeast cells. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of a food processing control method;

[0047] Figure 2 Schematic diagram of the division of dough infrared image;

[0048] Figure 3 It is a structural diagram of the third-order feedback control model. DETAILED DESCRIPTION

[0049] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0050] like Figure 1 As shown, a food processing control method comprises the following steps:

[0051] S1, collecting infrared images of dough during fermentation, removing background areas from the infrared images, and obtaining infrared images of the dough;

[0052] S2, dividing the infrared image of the dough into a central area, a middle area and an edge area;

[0053] S3, calculating the central fermentation activity, the middle fermentation activity and the edge fermentation activity in the central area, the middle area and the edge area respectively;

[0054] S4, obtaining compensation power based on a third-order feedback control model according to the differences between the target activity and the central fermentation activity, the middle fermentation activity, and the edge fermentation activity;

[0055] S5. Add the compensation power to the current heating power to obtain the heating power required for the fermentation process.

[0056] In this embodiment, when step S1 is implemented, a background image may be acquired in advance, and then images of the background and dough may be acquired, and the difference between the current frame and the background frame may be taken to obtain an infrared image of the dough.

[0057] In this embodiment, the current heating power in step S5 is the power being applied when the dough is fermented.

[0058] In the present invention, the dough is placed on a fermentation tray, and an image of the dough is obtained from a top-down angle.

[0059] In this embodiment, S2 includes the following sub-steps:

[0060] S21, taking the geometric center point of the dough infrared image as a reference point;

[0061] S22, calculating the average distance according to the distance from the reference point to each edge pixel point in the infrared image of the dough;

[0062] S23, dividing the central area of ​​the dough infrared image with the reference point as the center and 1 / 3 of the average distance as the radius;

[0063] S24, taking the reference point as the center and 2 / 3 of the average distance as the radius, dividing the set of the central area and the middle area;

[0064] S25, removing the central area from the set to obtain the middle area;

[0065] S26, taking the remaining area on the dough infrared image as the edge area, such as Figure 2 shown.

[0066] The present invention divides the dough infrared image into three areas, and evaluates each area, thereby obtaining the fermentation activity of each area and improving the heating power control accuracy.

[0067] In this embodiment, S3 includes the following sub-steps:

[0068] S31, calculating the fermentation variation coefficient of the area to be evaluated according to the average value of the temperature radiation intensity of the area to be evaluated at each time, wherein the area to be evaluated is: a central area, a middle area or an edge area, and there are multiple pixel points in one area to be evaluated, so there are multiple temperature radiation intensity values;

[0069] S32, calculating the fermentation activity coefficient of the area to be evaluated according to the temperature radiation intensity value of the area to be evaluated at the current moment;

[0070] S33. Add the fermentation variation coefficient and the fermentation activity coefficient of the same area to be evaluated to obtain the fermentation activity; when the area to be evaluated is the central area, the fermentation activity calculated in step S33 is the central fermentation activity; when the area to be evaluated is the middle area, the fermentation activity calculated in step S33 is the middle fermentation activity; when the area to be evaluated is the edge area, the fermentation activity calculated in step S33 is the edge fermentation activity.

[0071] In this embodiment, the formula for calculating the fermentation variation coefficient of the area to be evaluated in S31 is: , , , where x a is the fermentation variation coefficient of the area to be evaluated, θ c is the temperature radiation intensity change value of the area to be evaluated, μ E is the area change value of the area to be evaluated, T c,t is the mean value of the temperature radiation intensity of the area to be evaluated at time t, T c,t-1 is the mean value of the temperature radiation intensity of the area to be evaluated at time t-1, T is the statistical time length, t is the time number, E t is the area of ​​the area to be evaluated at time t, E t-1 is the area of ​​the area to be evaluated at time t-1.

[0072] The fermentation environment temperature is usually between 20 and 27 degrees, while the temperature of the dough after fermentation can reach 30 to 40 degrees. Therefore, the present invention can evaluate the fermentation status by the temperature radiation intensity value on the dough.

[0073] When calculating the fermentation variation coefficient, the present invention considers the change in the temperature radiation intensity value of the same area at different times, so as to evaluate the fermentation activity of the area, and then combines the area change of the area. The larger the area change, the more the dough expands during fermentation, and the better the fermentation condition. Therefore, the area change value μ is used. E The change of radiation intensity to temperature θ c Enhancements have been made to improve the accuracy of evaluating fermentation conditions.

[0074] The area change not only reflects the fermentation degree of the area to be evaluated, but may also be affected by the fermentation conditions in other areas. For example, the increase in fermentation activity in the central area may lead to an increase in its area, thereby affecting the area change in the middle area. E ) is actually an indicator that comprehensively reflects the fermentation conditions of the area and its surrounding areas when calculating the fermentation variation coefficient. Therefore, when calculating the fermentation variation coefficient, the present invention uses the temperature radiation intensity variation value θ of the area as the basis. c The area change value μ of the area to be evaluated is mainly E To enhance the coefficient, evaluate the degree of fermentation in this area.

[0075] When calculating the fermentation variation coefficient, the temperature radiation intensity change value (θ c ) is considered as the dominant factor because it directly reflects the thermal status and fermentation activity of the area to be evaluated.

[0076] Area change (μ E ) as an enhancement factor, which is intended to supplement and enhance the effect of temperature changes, taking into account the potential impact of fermentation conditions in surrounding areas on the area to be assessed.

[0077] During the fermentation process, there is an exchange of heat, humidity and gases between the various zones (center, middle and edge). This interaction means that changes in fermentation activity in one zone affect the environmental conditions in other zones, thus affecting their fermentation and area changes.

[0078] In this embodiment, the formula for calculating the fermentation activity coefficient of the area to be evaluated in S32 is: , where x b is the fermentation activity coefficient of the area to be evaluated, T i is the temperature radiation intensity value of the i-th pixel in the area to be evaluated at the current moment, N is the number of pixels in the area to be evaluated, and i is the number of the pixel.

[0079] In the dough fermentation process of the present invention, the dough itself can reach a temperature of 30 to 40 degrees. Therefore, the present invention combines the fermentation variation coefficient and the fermentation activity coefficient to obtain the fermentation activity.

[0080] like Figure 3 As shown, the third-order feedback control model in S4 includes: 3 difference calculation units, 3 feedback control units and adder A1;

[0081] The first difference calculation unit is used to calculate the difference between the target activity and the central fermentation activity to obtain the first difference;

[0082] The second difference calculation unit is used to calculate the difference between the target activity and the intermediate fermentation activity to obtain the second difference;

[0083] The third difference calculation unit is used to calculate the difference between the target activity and the marginal fermentation activity to obtain the third difference;

[0084] The first feedback control unit is used for calculating the increased power of the first part according to the first difference;

[0085] The second feedback control unit is used for calculating the increased power of the second part according to the second difference;

[0086] The third feedback control unit is used for calculating the increased power of the third part according to the third difference;

[0087] Adder A1 is used for adding the increased power of the first part, the increased power of the second part and the increased power of the third part to obtain the compensation power.

[0088] The present invention calculates the difference between the target activity and each fermentation activity through each difference calculation unit, sets a feedback control unit for each difference, calculates the increased power, thereby realizing partial evaluation of the heating power required for the dough, and then adds the three parts of the increased power through adder A1 to obtain the compensation power.

[0089] The expression of the feedback control unit is: , where P j is the added power of the jth part, γ j is the jth power weight parameter, d j is the jth difference, f(d j ) is a nonlinear gain function, and the value range of j is 1, 2, 3.

[0090] Nonlinear gain function f(d j ) is: , where e is a natural constant, β j is the jth adjustment parameter.

[0091] The present invention is in the difference d j When the fermentation activity of the center, the middle or the edge is greater than the target activity, the fermentation of this part of the dough meets the requirements. j When greater than 0, set the nonlinear gain function f(d j ), so that the power increases with the difference d j The system can adaptively adjust the changes in the fermentation process so that doughs with different fermentation degrees can obtain different compensation power.

[0092] In this embodiment, the three power weight parameters and the three adjustment parameters are calibrated by the following steps:

[0093] A1. Use three power weight parameters and three adjustment parameters as elements to construct a parameter vector;

[0094] A2. Assign initial values ​​to each element in the parameter vector;

[0095] A3. Substitute each value in the parameter vector into the third-order feedback control model to obtain the compensation power of the calibration process;

[0096] A4. Determine whether the compensation power of the calibration process is less than or equal to the target compensation power. If so, the current parameter vector is the required parameter. If not, update the median of the parameter vector according to the power difference and jump to step A3.

[0097] In this embodiment, the formula for updating the median value of the parameter vector in A4 is: ,in, is the updated value, α is the value before the update, P n is the compensation power of the nth iteration, P tar is the target compensation power, n is the number of iterations, and e is a natural constant.

[0098] The present invention brings each value in the parameter vector into a third-order feedback control model to obtain the compensation power of the calibration process, and compares the compensation power with the target compensation power. When the compensation power is less than or equal to the target compensation power, each value is a required parameter. If not, the value in the parameter vector is updated according to the power difference until it is less than or equal to the target compensation power, so as to avoid excessive compensation power, which may cause excessive activation or even death of yeast cells.

[0099] During the calibration process, d j Set to the maximum value so that the maximum d j The corresponding compensation powers are all smaller than the target compensation power.

[0100] In the present invention, the greater the compensation power, the greater the update amplitude of the parameter vector median, so that the compensation power quickly drops below the target compensation power.

[0101] In this embodiment, when updating the median of the parameter vector, three adjustment parameters can be fixed and three power weight parameters can be updated first. If the compensation power drop is not obvious, six parameters can be updated at the same time, that is, the parameter update status can be adjusted according to the power difference.

[0102] In this embodiment, the median of the parameter vector may also be calibrated by an existing genetic algorithm.

[0103] The target compensation power and the target activity are specifically set based on experiments or experience.

[0104] The present invention divides the infrared image of dough into a central area, a middle area and an edge area, extracts the fermentation activities of the center, the middle and the edge respectively, and then combines the gaps between the central fermentation activity, the middle fermentation activity and the edge fermentation activity and the target activity respectively, obtains the compensation power based on the third-order feedback control model, thereby compensating the current heating power, and realizing precise control of the heating power of the dough fermentation process based on the fermentation conditions of different parts of the dough.

[0105] The purpose of heating power compensation is to overcome the limitations of fixed power control. By real-time monitoring of the fermentation situation and intelligently adjusting the heating intensity, it can effectively respond to dynamic changes in factors such as raw material characteristics, ambient temperature, equipment heat dissipation and dough size, thereby achieving rapid response to environmental changes, maintaining high fermentation efficiency and improving precise control of the fermentation process.

[0106] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A food processing control method, characterized in that: The following steps are involved: S1, collecting infrared images of dough during fermentation, removing background areas from the infrared images, and obtaining infrared images of the dough; S2, dividing the dough infrared image into a central area, a middle area and an edge area; S3, calculating the central fermentation activity, the middle fermentation activity and the edge fermentation activity in the central area, the middle area and the edge area respectively; S4, obtaining compensation power based on a third-order feedback control model according to the differences between the target activity and the central fermentation activity, the middle fermentation activity, and the edge fermentation activity; S5. Add the compensation power to the current heating power to obtain the heating power required for the fermentation process.

2. The food processing control method according to claim 1, characterized in that: The S2 comprises the following sub-steps: S21, taking the geometric center point of the dough infrared image as a reference point; S22, calculating the average distance according to the distance from the reference point to each edge pixel point in the infrared image of the dough; S23, dividing the central area of ​​the dough infrared image with the reference point as the center and 1 / 3 of the average distance as the radius; S24, taking the reference point as the center and 2 / 3 of the average distance as the radius, dividing the set of the central area and the middle area; S25, removing the central area from the set to obtain the middle area; S26. The remaining area on the dough infrared image is used as a marginal area.

3. The food processing control method according to claim 1, characterized in that: The S3 comprises the following sub-steps: S31, calculating the fermentation variation coefficient of the area to be evaluated according to the average value of the temperature radiation intensity of the area to be evaluated at each time, wherein the area to be evaluated is: a central area, a middle area or an edge area; S32, calculating the fermentation activity coefficient of the area to be evaluated according to the temperature radiation intensity value of the area to be evaluated at the current moment; S33. Add the fermentation variation coefficient and the fermentation activity coefficient of the same area to be evaluated to obtain the fermentation activity; when the area to be evaluated is the central area, the fermentation activity calculated in step S33 is the central fermentation activity; when the area to be evaluated is the middle area, the fermentation activity calculated in step S33 is the middle fermentation activity; when the area to be evaluated is the edge area, the fermentation activity calculated in step S33 is the edge fermentation activity.

4. The food processing control method according to claim 3, characterized in that: The formula for calculating the fermentation variation coefficient of the area to be evaluated in S31 is: , , , where x a is the fermentation variation coefficient of the area to be evaluated, θ c is the temperature radiation intensity change value of the area to be evaluated, μ E is the area change value of the area to be evaluated, T c,t is the mean value of the temperature radiation intensity of the area to be evaluated at time t, T c,t-1 is the mean value of the temperature radiation intensity of the area to be evaluated at time t-1, T is the statistical time length, t is the time number, E t is the area of ​​the area to be evaluated at time t, E t-1 is the area of ​​the area to be evaluated at time t-1.

5. The food processing control method according to claim 3, characterized in that: The formula for calculating the fermentation activity coefficient of the area to be evaluated in S32 is: , where x b is the fermentation activity coefficient of the area to be evaluated, T i is the temperature radiation intensity value of the i-th pixel in the area to be evaluated at the current moment, N is the number of pixels in the area to be evaluated, and i is the number of the pixel.

6. The food processing control method according to claim 1, characterized in that: The third-order feedback control model in S4 includes: 3 difference calculation units, 3 feedback control units and adder A1; The first difference calculation unit is used to calculate the difference between the target activity and the central fermentation activity to obtain the first difference; The second difference calculation unit is used to calculate the difference between the target activity and the intermediate fermentation activity to obtain the second difference; The third difference calculation unit is used to calculate the difference between the target activity and the marginal fermentation activity to obtain the third difference; The first feedback control unit is used for calculating the increased power of the first part according to the first difference; The second feedback control unit is used for calculating the increased power of the second part according to the second difference; The third feedback control unit is used for calculating the increased power of the third part according to the third difference; The adder A1 is used to add the increased power of the first part, the increased power of the second part and the increased power of the third part to obtain the compensation power.

7. The food processing control method according to claim 6, characterized in that: The expression of the feedback control unit is: , where P j is the added power of the jth part, γ j is the jth power weight parameter, d j is the jth difference, f(d j ) is a nonlinear gain function, and the value range of j is 1, 2, 3.

8. The food processing control method according to claim 7, characterized in that: The nonlinear gain function f(d j ) is: , where e is a natural constant, β j is the jth adjustment parameter.

9. The food processing control method according to claim 8, characterized in that: The three power weight parameters and three adjustment parameters are calibrated by the following steps: A1. Use three power weight parameters and three adjustment parameters as elements to construct a parameter vector; A2. Assign initial values ​​to each element in the parameter vector; A3. Substitute each value in the parameter vector into the third-order feedback control model to obtain the compensation power of the calibration process; A4. Determine whether the compensation power of the calibration process is less than or equal to the target compensation power. If so, the current parameter vector is the required parameter. If not, update the median of the parameter vector according to the power difference and jump to step A3.

10. The food processing control method according to claim 9, characterized in that: The formula for updating the median value of the parameter vector in A4 is: ,in, is the updated value, α is the value before the update, P n is the compensation power of the nth iteration, P tar is the target compensation power, n is the number of iterations, and e is a natural constant.

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