A communication control system based on hyperchaotic circuit

Abstract

The invention discloses a communication control system based on a hyperchaotic circuit, and relates to the technical field of communication control. A state observation module estimates the state of a hyperchaotic circuit system in real time. A compensation calibration module compensates a main current, a main voltage, a main magnetic flux, and a branch circuit magnetic flux according to the state of the hyperchaotic circuit system using a deviation value, and uses a parameter optimization module to calculate an error rate, and adjusts the parameter value of a communication state equation of the hyperchaotic circuit. Finally, an evaluation optimization module is integrated into a corresponding data model, and further fine-tunes and optimizes a weight coefficient in a formula for calculating a deviation value, thereby ensuring that the system performance reaches a preset optimal state, and enabling the system to work in an optimal state when working in real time.

Description

Technical Field

[0001] The invention relates to the technical field of communication control, and in particular to a communication control system based on a hyperchaotic circuit. Background Art

[0002] Chua proactively proposed the fourth type of passive device, the memristor. This innovative concept was successfully materialized in HP Labs in the United States in 2008. With its unique nonlinear characteristics and built-in memory function, memristors have shown broad application potential in many fields such as memory technology, chaotic system construction, and neural network circuits. Subsequently, in 2009, Ventra et al. further enriched the family of memory elements, introduced memristors and memcontainers, and broadened the boundaries of related research. In recent years, the scientific and technological community has paid particular attention to the design of chaotic circuits that integrate memristors, which has promoted the rapid development of this field.

[0003] On the other hand, as a cutting-edge information transmission and control method, the core of the communication control system based on hyperchaotic circuits is to use the complex dynamic phenomenon of hyperchaos to achieve encrypted data transmission and system control. Chaos, as a major breakthrough in the field of physics in the 20th century, reveals the external complex behavior patterns caused by the internal randomness of nonlinear deterministic systems. Hyperchaos, as an advanced form of chaos, not only has higher dynamic complexity, but also shows stronger anti-interference ability, providing new ideas for secure communications.

[0004] However, although chaotic communication has shown great application potential with its unique encryption and anti-interference capabilities, chaotic synchronization, as a key link to support the realization of this technology, still faces multiple challenges and difficulties. Although some preliminary research results have been achieved, how to achieve efficient, stable and reliable high-dimensional hyperchaotic communication control in practical applications is still a challenging problem. Summary of the invention

[0005] In view of the above situation, the present invention can estimate and calibrate the main current, main voltage, main magnetic flux, and branch circuit magnetic flux in real time, and adjust the system parameters of chaotic communication in real time, ensuring that the system performance reaches the preset optimal state, so that the system can work in the best state when working in real time.

[0006] The technical solution includes a state observation module, which estimates the state of the hyperchaotic circuit system in real time. The specific steps are as follows: S1, inputting the communication state equation of the hyperchaotic circuit, so that the communication control system exhibits a hyperchaotic state, and realizing efficient communication control;

[0007] S2, the fourth-order Runge-Kutta method is used in combination with the digital system to deduce the communication prediction equation of the hyperchaotic circuit, and the communication prediction equation is calculated according to the communication prediction equation. , , , , , , , They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1, respectively. is the main current of the hyperchaotic circuit actually measured at the current moment t. Similarly, , , are the main voltage, main magnetic flux, and sub-circuit magnetic flux of the hyperchaotic circuit actually measured at the current moment t;

[0008] S3, collect and extract the actual values ​​of main current, main voltage, main magnetic flux, and branch circuit magnetic flux at time t+1 , , , , calculate the difference ratio between the estimated value and the actual value of the main current at time t+1 Similarly, calculate the difference ratio between the estimated value and the actual value of the main voltage at time t+1 , calculate the difference ratio between the estimated value and the actual value of the main magnetic flux at time t+1 , calculate the difference ratio between the estimated value and the actual value of the magnetic flux of the sub-circuit at time t+1 ;

[0009] S4, calculate the comprehensive error M1, ,in is the correction value of the comprehensive error M1. M1 greater than 0.4 indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal;

[0010] If M1 is greater than 0.2 and less than 0.4, it means that the current operating state of the hyperchaotic circuit system is abnormal;

[0011] M1 is less than 0.2, indicating that the current operating state of the hyperchaotic circuit system is normal.

[0012] Furthermore, the communication state equation is:

[0013]

[0014] Where X represents the main current of the hyperchaotic circuit, y represents the main voltage of the hyperchaotic circuit, z represents the main magnetic flux of the hyperchaotic circuit, and w represents the sub-circuit magnetic flux of the hyperchaotic circuit. , , , is the system parameter, when , , , When the parameters are set to specific values, the communication control system will exhibit a hyperchaotic state, achieving efficient communication control;

[0015] The communication prediction equation of the hyperchaotic circuit is deduced by the fourth-order Runge-Kutta method combined with the digital system:

[0016]

[0017] in , , , They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1 respectively. is the time step set in the fourth-order Runge-Kutta method, T is the sampling time interval, is the main current of the hyperchaotic circuit actually measured at the current moment t. Similarly, , , are the main voltage, main magnetic flux, and subcircuit magnetic flux of the hyperchaotic circuit actually measured at the current time t, , , , is the slope calculated from the recursive formula of the fourth-order Runge–Kutta method.

[0018] Furthermore, it also includes a preprocessing module, which extracts the difference ratio between the main current estimated value and the actual value at consecutive times t+1, t+2, t+3, t+4, and t+5 in the state observation module. , , , , , similarly extract ~ , ~ , ~ And M1~M5, and group the 5 consecutive data into one group of data.

[0019] Furthermore, it also includes a compensation calibration module. When M5 is greater than 0.2 and less than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is abnormal. The compensation calibration module calculates the deviation value of the main current. ,in , , , is the actual value of the main current at t+5, t+4, t+3, and t+2, , , , It is the estimated value of the main current at t+5, t+4, t+3, and t+2;

[0020] Then the deviation value of the main current is compensated by the actual value at time t+5 , the main current after compensation , It is regarded as the output value of the main current at time t+5. Similarly, the output value after compensating the main voltage is , the output value after compensating the main magnetic flux , the output value after compensating the magnetic flux of the sub-circuit , after compensation Assumed as the output value of the main voltage at time t+5, the compensated Considered as the output value of the main magnetic flux at time t+5, the compensated It is regarded as the output value of the magnetic flux of the circuit at time t+5;

[0021] When M5 is greater than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal, and the compensation calibration module will estimate Assumed as the output value of the main current at time t+5, the estimated value Assumed as the output value of the main voltage at time t+5, the estimated value Considered as the output value of the main magnetic flux at time t+5, the estimated value It is regarded as the output value of the magnetic flux of the circuit at time t+5;

[0022] When M5 is less than 0.2, it indicates that the current operation state of the hyperchaotic circuit system is normal, and the compensation calibration module directly , , , Treated as normal data value output.

[0023] Furthermore, a parameter optimization module is included. When M5 is greater than 0.2 and less than 0.4, the parameter optimization module calculates the error rate N of the main current = ×0.1+ ×0.1+ ×0.2+ ×0.2+ ×0.4+ξ, where ξ is the error rate calibration value of the main current; then substitute N into the communication state equation of the hyperchaotic circuit Find , and similarly find , , ,Will , , , replace , , , Parameters are used as new parameter values ​​of this system;

[0024] When M5 is greater than 0.4, a warning signal is sent to the evaluation and optimization module;

[0025] When M5 is less than 0.2, no parameter optimization is performed.

[0026] Furthermore, it also includes an evaluation and optimization module. When M5 is greater than 0.2, the evaluation and optimization module receives the calibrated data from the compensation and calibration module, and integrates these data into the corresponding data model according to the actual operation effect of the communication control system. Subsequently, the data model is continuously iterated and updated, and the weight coefficient in the formula for calculating the deviation value in the compensation and calibration module is automatically fine-tuned and optimized;

[0027] At the same time, when the warning signal sent by the parameter optimization module is received, the system parameters will be automatically changed. , , , The communication control system is then re-evaluated until M5 is less than 0.2, in which case the communication control system is deemed to have passed the evaluation, and the optimization calibration of the communication control system is stopped. The system performance is deemed to have reached the preset optimal state and can be used normally.

[0028] Due to the adoption of the above technical solution, the present invention has the following advantages compared with the prior art:

[0029] The state observation module estimates the state of the hyperchaotic circuit system in real time. The compensation calibration module uses the deviation value to compensate the main current, main voltage, main magnetic flux, and sub-circuit magnetic flux according to the state of the hyperchaotic circuit system, and uses the parameter optimization module to calculate the error rate and adjust the parameter value of the communication state equation of the hyperchaotic circuit. Finally, the evaluation optimization module is integrated into the corresponding data model to further fine-tune and optimize the weight coefficients in the formula for calculating the deviation value, ensuring that the system performance reaches the preset optimal state and enables the system to work in the optimal state when working in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a module diagram of a communication control system based on a hyperchaotic circuit according to the present invention. DETAILED DESCRIPTION

[0031] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figure 1 The detailed description of the embodiments will clearly show that the structural contents mentioned in the following embodiments are all based on the drawings in the specification.

[0032] In order to realize efficient, stable and reliable high-dimensional hyperchaotic communication control in practical applications, it is necessary to monitor the operating state of the high-dimensional hyperchaotic communication control in real time and make accurate adjustments according to its operating state. In addition, since hyperchaotic communication has a high degree of randomness, this scheme includes a state observation module, which estimates the state of the hyperchaotic circuit system in real time. The specific steps are as follows: S1, input the communication state equation of the hyperchaotic circuit, so that the communication control system shows a hyperchaotic state, and realizes efficient communication control;

[0033] S2, the fourth-order Runge-Kutta method is used in combination with the digital system to deduce the communication prediction equation of the hyperchaotic circuit, and the communication prediction equation is calculated according to the communication prediction equation. , , , , , , , They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1, respectively. is the main current of the hyperchaotic circuit actually measured at the current moment t. Similarly, , , are the main voltage, main magnetic flux, and sub-circuit magnetic flux of the hyperchaotic circuit actually measured at the current moment t;

[0034] S3, collect and extract the actual values ​​of main current, main voltage, main magnetic flux, and branch circuit magnetic flux at time t+1 , , , , calculate the difference ratio between the estimated value and the actual value of the main current at time t+1 Similarly, calculate the difference ratio between the estimated value and the actual value of the main voltage at time t+1 , calculate the difference ratio between the estimated value and the actual value of the main magnetic flux at time t+1 , calculate the difference ratio between the estimated value and the actual value of the magnetic flux of the sub-circuit at time t+1 ;

[0035] S4, calculate the comprehensive error M1, ,in is the correction value of the comprehensive error M1. M1 greater than 0.4 indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal;

[0036] If M1 is greater than 0.2 and less than 0.4, it means that the current operating state of the hyperchaotic circuit system is abnormal;

[0037] M1 is less than 0.2, indicating that the current operating state of the hyperchaotic circuit system is normal.

[0038] Furthermore, the communication state equation is:

[0039]

[0040] Where X represents the main current of the hyperchaotic circuit, y represents the main voltage of the hyperchaotic circuit, z represents the main magnetic flux of the hyperchaotic circuit, and w represents the sub-circuit magnetic flux of the hyperchaotic circuit. , , , is the system parameter, when , , , When the parameters are set to specific values, the communication control system will exhibit a hyperchaotic state, achieving efficient communication control;

[0041] The communication prediction equation of the hyperchaotic circuit is deduced by the fourth-order Runge-Kutta method combined with the digital system:

[0042]

[0043] in , , , They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1 respectively. is the time step set in the fourth-order Runge-Kutta method, T is the sampling time interval, is the main current of the hyperchaotic circuit actually measured at the current moment t. Similarly, , , are the main voltage, main magnetic flux, and subcircuit magnetic flux of the hyperchaotic circuit actually measured at the current time t, , , , is the slope calculated from the recursive formula of the fourth-order Runge–Kutta method.

[0044] Furthermore, it also includes a preprocessing module, which extracts the difference ratio between the main current estimated value and the actual value at consecutive times t+1, t+2, t+3, t+4, and t+5 in the state observation module. , , , , , similarly extract ~ , ~ , ~ And M1~M5, and group the 5 consecutive data into one group of data.

[0045] Furthermore, it also includes a compensation calibration module. When M5 is greater than 0.2 and less than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is abnormal. The compensation calibration module calculates the deviation value of the main current. ,in , , , is the actual value of the main current at t+5, t+4, t+3, and t+2, , , , It is the estimated value of the main current at t+5, t+4, t+3, and t+2;

[0046] Then the deviation value of the main current is compensated by the actual value at time t+5 , the main current after compensation , It is regarded as the output value of the main current at time t+5. Similarly, the output value after compensating the main voltage is , the output value after compensating the main magnetic flux , the output value after compensating the magnetic flux of the sub-circuit , after compensation Assumed as the output value of the main voltage at time t+5, the compensated Considered as the output value of the main magnetic flux at time t+5, the compensated It is regarded as the output value of the magnetic flux of the circuit at time t+5;

[0047] When M5 is greater than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal, and the compensation calibration module will estimate Assumed as the output value of the main current at time t+5, the estimated value Assumed as the output value of the main voltage at time t+5, the estimated value Considered as the output value of the main magnetic flux at time t+5, the estimated value It is regarded as the output value of the magnetic flux of the circuit at time t+5;

[0048] When M5 is less than 0.2, it indicates that the current operation state of the hyperchaotic circuit system is normal, and the compensation calibration module directly , , , Treated as normal data value output.

[0049] Furthermore, a parameter optimization module is included. When M5 is greater than 0.2 and less than 0.4, the parameter optimization module calculates the error rate N of the main current = ×0.1+ ×0.1+ ×0.2+ ×0.2+ ×0.4+ξ, where ξ is the error rate calibration value of the main current; then substitute N into the communication state equation of the hyperchaotic circuit Find , and similarly find , , ,Will , , , replace , , , Parameters are used as new parameter values ​​of this system;

[0050] When M5 is greater than 0.4, a warning signal is sent to the evaluation and optimization module;

[0051] When M5 is less than 0.2, no parameter optimization is performed.

[0052] Furthermore, it also includes an evaluation and optimization module. When M5 is greater than 0.2, the evaluation and optimization module receives the calibrated data from the compensation and calibration module, and integrates these data into the corresponding data model according to the actual operation effect of the communication control system. Subsequently, the data model is continuously iterated and updated, and the weight coefficient in the formula for calculating the deviation value in the compensation and calibration module is automatically fine-tuned and optimized;

[0053] At the same time, when the warning signal sent by the parameter optimization module is received, the system parameters will be automatically changed. , , , The communication control system is then re-evaluated until M5 is less than 0.2, in which case the communication control system is deemed to have passed the evaluation, and the optimization calibration of the communication control system is stopped. The system performance is deemed to have reached the preset optimal state and can be used normally.

[0054] When the present invention is used specifically, based on the prior art, the state observation module estimates the state of the hyperchaotic circuit system in real time, and the preprocessing module extracts the difference ratio between the main current estimated value and the actual value at the consecutive moments t+1, t+2, t+3, t+4, and t+5 in the state observation module. , , , , , similarly extract ~ , ~ , ~ And M1~M5, and classify the five consecutive data into one group of data. Compensation calibration module, when M5 is greater than 0.2 and less than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is abnormal, and the compensation calibration module calculates the deviation value of the main current ,in , , , is the actual value of the main current at t+5, t+4, t+3, and t+2, , , , It is the estimated value of the main current at t+5, t+4, t+3, and t+2;

[0055] Then the deviation value of the main current is compensated by the actual value at time t+5 , the main current after compensation , It is regarded as the output value of the main current at time t+5. Similarly, the output value after compensating the main voltage is , the output value after compensating the main magnetic flux , the output value after compensating the magnetic flux of the sub-circuit , after compensation Assumed as the output value of the main voltage at time t+5, the compensated Considered as the output value of the main magnetic flux at time t+5, the compensated is regarded as the output value of the magnetic flux of the circuit at time t+5; the error rate N of the main current calculated by the parameter optimization module is ×0.1+ ×0.1+ ×0.2+ ×0.2+ ×0.4+ξ, where ξ is the error rate calibration value of the main current; then substitute N into the communication state equation of the hyperchaotic circuit Find , and similarly find , , ,Will , , , replace , , , The parameters are used as new parameter values ​​of the system; the evaluation and optimization module receives the calibrated data from the compensation and calibration module, and integrates these data into the corresponding data model according to the actual operation performance of the communication control system. Subsequently, the data model is continuously iterated and updated, and the weight coefficients in the formula used to calculate the deviation value in the compensation and calibration module are automatically fine-tuned and optimized;

[0056] At the same time, when the warning signal sent by the parameter optimization module is received, the system parameters will be automatically changed. , , , The communication control system is evaluated again until M5 is less than 0.2, and the communication control system is considered qualified. The optimization and calibration of the communication control system is stopped, and the system performance is considered to have reached the preset optimal state and can be used normally. The main current, main voltage, main magnetic flux, and sub-circuit magnetic flux can be estimated and calibrated in real time, and the system parameters of chaotic communication can be adjusted in real time, ensuring that the system performance reaches the preset optimal state, so that the system can work in the best state when working in real time.

[0057] The above is a further detailed description of the present invention in combination with a specific implementation method, and it cannot be determined that the specific implementation of the present invention is limited to this; for technical personnel in the technical field to which the present invention belongs and related technical fields, based on the technical solution of the present invention, the expansion and replacement of operating methods and data should all fall within the protection scope of the present invention.

Claims

1. A communication control system based on hyperchaotic circuit, characterized in that: It includes a state observation module, which estimates the state of the hyperchaotic circuit system in real time. The specific steps are as follows: S1, inputting the communication state equation of the hyperchaotic circuit to make the communication control system show a hyperchaotic state; S2, the fourth-order Runge-Kutta method is used in combination with the digital system to deduce the communication prediction equation of the hyperchaotic circuit, and x is calculated according to the communication prediction equation. t+1 ,y t+1 、z t+1 、w t+1 , x t+1 ,y t+1 、z t+1 、w t+1 They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1, respectively. At the same time, x is set t is the main current of the hyperchaotic circuit actually measured at the current time t. Similarly, y t 、z t 、w t are the main voltage, main magnetic flux, and sub-circuit magnetic flux of the hyperchaotic circuit actually measured at the current moment t; S3, collect and extract the actual values ​​of main current, main voltage, main magnetic flux, and branch circuit magnetic flux at time t+1 Calculate the difference ratio between the estimated value and the actual value of the main current at time t+1 Similarly, calculate the difference ratio yc between the estimated value and the actual value of the main voltage at time t+1 t+1 , calculate the difference ratio zc between the estimated value and the actual value of the main magnetic flux at time t+1 t+1 , calculate the difference ratio wc between the estimated value and the actual value of the magnetic flux of the sub-circuit at time t+1 t+1 ; S4, calculate the comprehensive error M1, M1 = |xc t+1 |×0.3+yc t+1 ×0.3+|zc t+1 |×0.2+|wc t+1 |×0.2+ε, where ε is the correction value of the comprehensive error M1, and M1 greater than 0.4 indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal; If M1 is greater than 0.2 and less than 0.4, it means that the current operating state of the hyperchaotic circuit system is abnormal; M1 is less than 0.2, indicating that the current operating state of the hyperchaotic circuit system is normal; The communication state equation is: dx / dt=α(yx)+w; dy / dt = βx-y-xy; dz / dt=φz+xy; Where X represents the main current of the hyperchaotic circuit, y represents the main voltage of the hyperchaotic circuit, z represents the main magnetic flux of the hyperchaotic circuit, w represents the subcircuit magnetic flux of the hyperchaotic circuit, α, β, φ, are the parameters of the system. When α, β, φ, When the parameters are set to certain values, the communication control system will exhibit a hyperchaotic state; The communication prediction equation of the hyperchaotic circuit is deduced by the fourth-order Runge-Kutta method combined with the digital system: where x t+1 ,y t+1 、z t+1 、w t+1 They represent the estimated values ​​of the main current, main voltage, main magnetic flux, and subcircuit magnetic flux at time t+1 respectively. is the time step set in the fourth-order Runge-Kutta method, T is the sampling time interval, x t is the main current of the hyperchaotic circuit actually measured at the current time t. Similarly, y t 、z t 、w t are the main voltage, main magnetic flux, and sub-circuit magnetic flux of the hyperchaotic circuit actually measured at the current moment t, and k1, k2, k3, and k4 are the slopes calculated from the recursive formula of the fourth-order Runge-Kutta method; It also includes a compensation calibration module. When M5 is greater than 0.2 and less than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is abnormal. The compensation calibration module calculates the deviation value of the main current. in is the actual value of the main current at t+5, t+4, t+3, and t+2, x t+5 、x t+4 、x t+3 、x t+2 It is the estimated value of the main current at t+5, t+4, t+3, and t+2; Then the deviation of the main current is compensated by the actual value x at time t+5 t+5 , the main current bx after compensation t+5 =IC+x t+5 , bx t+5 is regarded as the output value of the main current at time t+5. Similarly, the output value after compensating the main voltage is by t+5 , the output value bz after compensating the main magnetic flux t+5 , the output value bw after compensating the magnetic flux of the sub-circuit t+5 , after compensation t+5 Assumed as the output value of the main voltage at time t+5, the compensated bz t+5 Considered as the output value of the main magnetic flux at time t+5, the compensated bw t+5 It is regarded as the output value of the magnetic flux of the circuit at time t+5; When M5 is greater than 0.4, it indicates that the current operating state of the hyperchaotic circuit system is particularly abnormal. The compensation calibration module will estimate the value x t+5 Assume that it is the output value of the main current at time t+5, and the estimated value y t+5 is regarded as the output value of the main voltage at time t+5, and the estimated value z t+5 Considered as the output value of the main magnetic flux at time t+5, the estimated value w t+5 It is regarded as the output value of the magnetic flux of the circuit at time t+5; When M5 is less than 0.2, it indicates that the current operation state of the hyperchaotic circuit system is normal, and the compensation calibration module directly The data value output is considered normal; It also includes a parameter optimization module. When M5 is greater than 0.2 and less than 0.4, the parameter optimization module calculates the error rate of the main current N=xc t+1 ×0.1+xc t+2 ×0.1+xc t+3 ×0.2+xc t+4 ×0.2+xc t+5 ×0.4+ξ, where ξ is the error rate calibration value of the main current; then substitute N into the communication state equation of the hyperchaotic circuit (N+1)dx / dt=α`(yx)+w; calculate α`, and calculate β`, φ`, Will Replace α, β, φ, The parameter is used as the new parameter value of this system; When M5 is greater than 0.4, a warning signal is sent to the evaluation and optimization module; When M5 is less than 0.2, no parameter optimization is performed.

2. A communication control system based on a hyperchaotic circuit according to claim 1, characterized in that: It also includes a preprocessing module, which extracts the difference ratio xc between the main current estimated value and the actual value at the consecutive times t+1, t+2, t+3, t+4, and t+5 in the state observation module. t+1 、xc t+2 、xc t+3 、xc t+4 、xc t+5 , extract yc in the same way t+1 ~yc t+5 、zc t+1 ~zc t+5 、wc t+1 ~wc t+5 And M1~M5, and group the 5 consecutive data into one group of data.

3. A communication control system based on a hyperchaotic circuit according to claim 2, characterized in that: It also includes an evaluation and optimization module. When M5 is greater than 0.2, the evaluation and optimization module receives the calibrated data from the compensation and calibration module, and integrates the data into the corresponding data model according to the actual operation effect of the communication control system. Subsequently, the data model is continuously iterated and updated to automatically fine-tune and optimize the weight coefficient in the formula for calculating the deviation value in the compensation and calibration module; At the same time, when the warning signal sent by the parameter optimization module is received, the system parameters α, β, φ, The communication control system is then re-evaluated until M5 is less than 0.2, which is considered to be a qualified communication control system, and the optimization calibration of the communication control system is stopped.

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