Information about TPM https://wiki.archlinux.org/index.php/TPM
If you not need TPM, just
echo blacklist tpm_tis > /etc/modprobe.d/tpm_tis.conf (need root)
It worked on my computer. The error gone.
解决方式：$sudo vim /etc/modprobe.d/tpm_tis.conf
输入如下内容：blacklist tpm_tis
另外的方案：just activate the security chip in the bios, that should work, too. similar to what RikT wrote, on my thinkpad the error message was gone after i enabled the security chip in the bios, changing it from inactive to active. so it seems you can get rid of the error message by either activating or disabling the security chip.