Intelligent auxiliary system for coupling alignment based on double laser displacement and mems gyroscope

Abstract

The application belongs to the field of shaft coupling alignment technology, in particular to a shaft coupling alignment intelligent auxiliary system based on double laser displacement and MEMS gyroscopes, which adopts a mode of cooperative work of an active stable attitude measurement module and a space reference beacon module to establish a dynamic stable measurement reference unaffected by turning operation and environmental disturbance. The system can perceive and actively compensate for the slight attitude change of the measurement device in real time during the measurement process, ensure that the laser displacement data under all angles are collected under the same absolute space coordinate system, ensure the high consistency and accuracy of the multi-point measurement data, then use an intelligent calculation module to fuse the attitude feedback signal and the attitude reference signal to generate an attitude control instruction, and process the displacement measurement data collected by the double laser displacement sensors after the attitude is stabilized to calculate the centering deviation parameters, which helps to improve the efficiency, accuracy and automation level of the shaft coupling alignment work.

Description

Technical Field

[0001] This invention belongs to the field of coupling alignment technology, specifically a coupling alignment intelligent auxiliary system based on dual laser displacement and MEMS gyroscope. Background Technology

[0002] Rotating machinery, such as compressors, pumps, and generator sets, are core power units in modern industrial production. To ensure the long-term, efficient, and stable operation of these devices, precise alignment of their transmission shafts—that is, coupling alignment—is a crucial installation and maintenance task. The quality of shaft alignment directly affects the equipment's vibration, energy consumption, and the lifespan of bearings and seals. Laser alignment technology, due to its high precision and efficiency, has become the mainstream measurement method in this field.

[0003] Currently, the commonly used laser alignment method in the industry is a multi-point measurement method based on dual laser displacement sensors. This technical solution typically involves fixing a measuring head transmitting unit containing two laser displacement sensors to the active half-coupling, and fixing a reflective target or another measuring head receiving unit to the driven half-coupling. The operator manually rotates the shaft system to multiple preset angular positions such as 0 degrees, 90 degrees, 180 degrees, and 270 degrees, recording the displacement readings measured by the laser sensors at each position. Finally, a geometric calculation algorithm uses this multi-point data to calculate the radial and angular offsets between the two axes.

[0004] However, the aforementioned existing technical solutions have inherent technical defects in practical applications, specifically manifested as follows:

[0005] 1. During the rotation process, due to factors such as uneven force application, slight elastic deformation of the measuring support, or ground vibration, the actual spatial orientation of the measuring head carrying the laser sensor undergoes minute and uncontrollable changes each time the measurement stops. This means that the displacement data collected at different angles is not based on a strictly unified coordinate system reference. This drift in the measurement reference leads to inherent inconsistencies between multi-point measurement data, directly reducing the accuracy and repeatability of the final centering deviation parameter calculation.

[0006] 2. The measurement unit in the existing solution is a passive sensor carrier, whose own attitude cannot be monitored in real time, let alone actively adjusted. It cannot distinguish between the actual displacement of the measured axis and the change in the measured value caused by the shaking of the measurement unit itself, resulting in the measurement results containing inseparable device attitude disturbance errors, thereby reducing the accuracy of the centering deviation calculation. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, embodiments of the present invention provide an intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope, which can effectively solve the problems involved in the prior art.

[0008] The objective of this invention can be achieved through the following technical solution: a coupling alignment intelligent auxiliary system based on dual laser displacement and MEMS gyroscope, comprising: an active attitude stabilization measurement module, a space reference beacon module, and an intelligent calculation module.

[0009] The active attitude stabilization measurement module and the space reference beacon module are both connected to the intelligent calculation module.

[0010] An active attitude stabilization measurement module includes dual laser displacement sensors, a first MEMS gyroscope, and an active attitude stabilization mechanism. The active attitude stabilization mechanism is used to adjust the spatial orientation of the dual laser displacement sensors according to attitude control commands. The first MEMS gyroscope is used to output an attitude feedback signal characterizing the real-time attitude of the spatial orientation of the dual laser displacement sensors.

[0011] The space reference beacon module is configured to be fixed to a stationary reference object and has a built-in second MEMS gyroscope, which is used to output an attitude reference signal characterizing the globally invariant reference frame.

[0012] The intelligent calculation module is used to fuse the attitude feedback signal and the attitude reference signal to generate attitude control commands, and to process the displacement measurement data collected by the dual laser displacement sensors after the attitude is stabilized, so as to calculate the alignment deviation parameters.

[0013] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0014] (1) This invention establishes a dynamically stable measurement benchmark that is unaffected by turning operations and environmental disturbances through an active attitude stabilization measurement module and a space reference beacon module. It can sense and actively compensate for the minute attitude changes of the measurement device itself in real time during the measurement process, ensuring that the laser displacement data at all angles are collected in the same absolute spatial coordinate system. This helps to avoid error sources caused by inconsistent measurement benchmarks and improves the inherent reliability and final accuracy of the measurement results.

[0015] (2) The present invention integrates a feedforward and feedback composite control strategy based on attitude feedback. By predicting and compensating for foreseeable disturbances caused by turning operation, and performing fast closed-loop correction for unpredictable random disturbances, the attitude stabilization time can be shortened and overshoot and oscillation in the control process can be suppressed. It can obtain highly reliable measurement data under continuous or unstable operating conditions.

[0016] (3) By introducing data consistency verification based on dual-laser inherent geometric constraints into the solution process, the present invention can automatically identify and eliminate abnormal data points caused by surface contamination or instantaneous interference, thereby enhancing the robustness of the entire measurement system and the reliability of the output results. Attached Figure Description

[0017] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the module connection of the present invention.

[0019] Figure 2 This is a flowchart illustrating the verification process for the benchmark unified measurement dataset of this invention.

[0020] Figure 3 This is a flowchart of the centering deviation parameter calculation process of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Reference Figure 1 As shown, the present invention provides an intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope, including: an active attitude stabilization measurement module, a space reference beacon module and an intelligent calculation module.

[0023] The active attitude stabilization measurement module and the space reference beacon module are both connected to the intelligent calculation module.

[0024] The active attitude stabilization measurement module includes dual laser displacement sensors, a first MEMS gyroscope, and an active attitude stabilization mechanism. The active attitude stabilization mechanism is used to adjust the spatial orientation of the dual laser displacement sensors according to attitude control commands. The first MEMS gyroscope is used to output an attitude feedback signal characterizing the real-time attitude of the spatial orientation of the dual laser displacement sensors.

[0025] In a preferred embodiment, the active attitude stabilization mechanism includes a pitch-yaw gimbal driven by a two-axis servo motor. The active attitude stabilization mechanism preferably includes a two-degree-of-freedom precision servo gimbal, and the dual laser displacement sensors and the first MEMS gyroscope are fixedly connected to the gimbal.

[0026] The space reference beacon module is configured to be fixed to a stationary reference object and has a built-in second MEMS gyroscope, which is used to output an attitude reference signal characterizing the globally invariant reference frame.

[0027] The intelligent calculation module is used to fuse the attitude feedback signal and the attitude reference signal to generate attitude control commands, and to process the displacement measurement data collected by the dual laser displacement sensors after the attitude is stabilized, so as to calculate the alignment deviation parameters.

[0028] To achieve the above functions, the intelligent solution module is configured to perform the following steps:

[0029] S1. Obtain the initial correspondence between the attitude reference signal and the attitude feedback signal, establish the coordinate transformation relationship characterizing the relative attitude between the active attitude stabilization measurement module and the spatial reference beacon module, and simultaneously define an absolute spatial coordinate system.

[0030] The coordinate transformation relationship establishment process is as follows: An initial alignment operation is performed, aligning the laser emission port of the active attitude stabilization module towards and approaching a specific marker point on the space reference beacon module. This establishes a relative proximity between the active attitude stabilization module and the space reference beacon module in physical space. Specifically, this relative proximity means that the physical distance between the two is controlled within the range of 10 to 30 centimeters, and the relative deflection angle is within ±15 degrees. This operation does not require high-precision alignment; it only needs to ensure that a clear wireless communication link can be established between the two. Therefore, the specific example values ​​above are only for general reference, and those skilled in the art can adjust them according to actual application requirements after establishing a wireless communication link.

[0031] Furthermore, after establishing a relative proximity relationship, it is necessary to allow the device to remain still for a short period of time and then collect multiple sets of attitude data from the first and second MEMS gyroscopes at a high frequency. The two sets of data are then averaged or low-pass filtered. The three-axis attitude angle data output by the first and second MEMS gyroscopes at the alignment time are then used as the initial attitude feedback signal and the initial attitude reference signal, respectively, to form an initial attitude signal pair, thereby improving the anti-interference and accuracy of the initial coordinate transformation relationship.

[0032] The three-axis attitude angle data includes three independent angle components, specifically:

[0033] Pitch angle: Characterizes the rotation angle of the carrier coordinate system about its horizontal axis, used to describe the carrier's forward or backward tilting posture.

[0034] Yaw angle: Characterizes the rotation angle of the carrier coordinate system about its vertical axis, used to describe the horizontal direction of the carrier turning left or right.

[0035] Roll angle: Characterizes the rotation angle of the carrier coordinate system about its longitudinal horizontal axis, used to describe the carrier's tilting posture to the left or right.

[0036] Based on the initial attitude signal pair, calculate the first rotation matrix corresponding to the initial attitude feedback signal and the second rotation matrix corresponding to the initial attitude reference signal.

[0037] It should be added that the calculation of the first and second rotation matrices is based on the Euler angle method for representing attitude in three-dimensional space. This involves converting the three Euler angle components—pitch, yaw, and roll—into corresponding basic rotation matrices according to a preset rotation axis order, and then multiplying them sequentially to synthesize the final rotation matrix. This method is existing technology and will not be elaborated upon here.

[0038] By multiplying the second rotation matrix by the inverse of the first rotation matrix, a coordinate transformation matrix is ​​calculated to characterize the coordinate transformation relationship of the relative attitude between the active attitude stabilization measurement module and the space reference beacon module.

[0039] Since the space reference beacon module is fixed to a stationary reference object, its attitude remains constant during measurement. Therefore, the static reference frame required for measurement is defined based on its attitude at the alignment moment. Specifically, the absolute space coordinate system is defined as a three-dimensional Cartesian coordinate system established based on the coordinate system of the space reference beacon module itself, as represented by the second rotation matrix at the alignment moment.

[0040] S2. When the gantry is rotated to any target measurement angle, the real-time attitude feedback signal is continuously acquired and converted to the absolute space coordinate system using the coordinate transformation relationship. The attitude control command is generated based on the deviation from the target stable attitude, driving the active attitude stabilization mechanism to adjust the dual laser displacement sensors until the attitude of the dual laser displacement sensors is stable.

[0041] The attitude control command generation process includes: pre-setting a target stable attitude parameter to provide the active attitude stabilization measurement module with a clear attitude locking target in the absolute spatial coordinate system. Specifically, the target stable attitude parameter in the absolute spatial coordinate system is characterized as the attitude rotation matrix that maintains the preset spatial orientation of the measurement beams of the dual laser displacement sensors.

[0042] To obtain the actual instantaneous attitude of the active attitude stabilization measurement module, the system continuously reads the real-time attitude feedback signal output by the first MEMS gyroscope at a preset sampling frequency, obtains its real-time attitude rotation matrix, and uses the established coordinate transformation relationship to transform it to the absolute space coordinate system to obtain the current attitude parameters that characterize its current actual spatial orientation, i.e., the current absolute attitude rotation matrix.

[0043] To quantify the difference between the actual attitude and the target stable attitude and generate correction commands, an attitude deviation parameter between the current attitude parameters and the target stable attitude parameters is calculated. Specifically, a deviation rotation matrix is ​​obtained by multiplying the attitude rotation matrix by the inverse of the current absolute attitude rotation matrix.

[0044] The deviation rotation matrix is ​​converted into a three-dimensional angle error vector. Using this as input, a preset feedback control algorithm is used to calculate and generate feedback control components for driving the active attitude stabilization mechanism to make reverse adjustments.

[0045] The aforementioned preset feedback control algorithm can be exemplified by the PID control algorithm.

[0046] Synchronously identify the angular velocity changes caused by the turning operation, obtain the turning angle change data, and substitute it into the preset feedforward model to calculate the feedforward compensation amount.

[0047] The process of constructing the preset feedforward model includes: during the system calibration stage, controlling the coupling to perform several standard turning movements at different speeds.

[0048] During each turning motion, real-time angular velocity data generated by the turning operation and historical compensation control signal vectors generated by the active attitude stabilization mechanism to counteract attitude disturbances caused by the turning motion are collected to form a training sample set.

[0049] The angular velocity vectors corresponding to multiple calibration disc motions recorded in the training sample set. With historical compensation control signal vector To organize, among which The numbers assigned to each calibration are as follows: .

[0050] Suppose that a total of N calibration movements are performed. Arrange all angular velocity vectors in rows to form an N×3 data matrix, and arrange all corresponding historical compensation control signal vectors in rows to form an N×3 target matrix.

[0051] Define the calibration coupling matrix M as a 3×3 matrix to be solved, and the goal of its linear fitting is to satisfy the following for each set of calibration samples: ,in For the first The fitting residual vector of the calibration samples.

[0052] The least squares method is used to solve a calibration coupling matrix that maps the turning gear angular velocity to the feedforward compensation control signal, so as to minimize the sum of squared fitting residuals of all samples, and this matrix is ​​used as the preset feedforward model parameter.

[0053] It should be noted that linear fitting using the least squares method is a typical implementation method for obtaining the calibration coupling matrix. Provided that the goal of modeling the mapping relationship from turning gear angular velocity to feedforward compensation can be achieved, as other implementation methods, those skilled in the art can also use other feasible parameter identification or system identification algorithms in the prior art to solve the calibration coupling matrix, based on the actual system characteristics and accuracy requirements, such as recursive least squares method, least squares method with forgetting factor, etc. This invention does not impose any limitations on these methods.

[0054] During real-time control, the intelligent calculation module multiplies the collected real-time turning gear angular velocity vector with the calibration coupling matrix to directly calculate the feedforward compensation amount.

[0055] The feedforward compensation amount and the feedback control component are vector-superimposed to synthesize an attitude control command, which is then sent to the active attitude stabilization mechanism to drive it to adjust the spatial orientation of the dual laser displacement sensors until the attitude deviation parameters converge to a preset tolerance range.

[0056] Specifically, the attitude control command is a control voltage vector that drives the motors of each motion axis in the active attitude stabilization mechanism.

[0057] The embodiments of the present invention integrate a feedforward and feedback composite control strategy based on attitude feedback. By predicting and pre-compensating for foreseeable disturbances caused by turning gear operation, and performing fast closed-loop correction for unpredictable random disturbances, the attitude stabilization time can be shortened and overshoot and oscillations in the control process can be suppressed. Highly reliable measurement data can be obtained under continuous or unstable operating conditions.

[0058] S3. After the dual laser displacement sensors stabilize, trigger them to collect displacement measurement data at each target measurement angle and integrate them to generate a unified benchmark measurement dataset.

[0059] Acquiring high-precision axis displacement data is fundamental to alignment calculations. However, if data is acquired before the sensor's own attitude is stable, minute attitude sway will be introduced into the displacement measurement, becoming an error that is difficult to eliminate and directly affecting the accuracy of the final alignment deviation parameter. Therefore, it is essential to ensure that each data acquisition is performed only when the dual-laser displacement sensors have precisely maintained their spatial pointing in the target's stable attitude. The determination of attitude stability requires real-time feedback attitude data and the setting of reasonable judgment conditions to avoid accidental reading fluctuations leading to false triggers.

[0060] Based on this, the process of generating the benchmark unified measurement dataset includes:

[0061] The attitude deviation parameter is continuously monitored. When the attitude deviation parameter is continuously within the preset tolerance range for a set waiting time threshold, it is determined that the attitude of the dual laser displacement sensor has reached a stable state that can be measured, and a data acquisition trigger signal is generated.

[0062] It should be noted that if the attitude stabilization condition is not met within the set waiting time threshold, the system will generate an attitude stabilization timeout alarm. You can choose to collect data in the current attitude, but the collected data needs to be marked as low confidence data, or stop the measurement and prompt the user to check the operating environment and equipment.

[0063] In response to the data acquisition trigger signal, the displacement measurement data output by the dual laser displacement sensors and the current turning angle data are acquired synchronously. These two sets of data are bound to the current system timestamp to form a data tuple.

[0064] Control the coupling to rotate to the next preset target measurement angle, repeat the above monitoring process, generate corresponding data tuples at multiple preset rotation angle positions, collect all data tuples to construct a unified benchmark measurement dataset. Specifically, all displacement data in this dataset are obtained under the condition of controlled and stable attitude of dual laser displacement sensors, and have a unified measurement benchmark.

[0065] Factors such as environmental vibrations, temporary obstruction of the laser beam path, or momentary sensor malfunctions can lead to gross errors or invalid values ​​in the acquired displacement data. Directly using abnormal data for calculation will result in incorrect alignment. Therefore, physical consistency verification is essential before performing calculations based on a unified benchmark measurement dataset. The core principle of this verification is based on the fixed geometry of the dual-laser displacement sensor: the spatial positions of its two laser emission points are fixed. When measuring the same axial section, although the individual displacement value varies with the axis position, the sum of the two displacement values ​​should remain relatively constant under certain geometric constraints. If the data is abnormal, this sum will exhibit drastic fluctuations that violate the physical constraints.

[0066] Therefore, refer to Figure 2 As shown, the verification process is as follows: extract the displacement measurement data pairs of the relative turning gear positions from the benchmark unified measurement dataset. The relative turning gear positions specifically refer to two turning gear angles that are 180 degrees out of phase.

[0067] For each pair of relative turning positions, the displacement measurement data is used to calculate the sum of the two laser displacement values ​​to obtain the corresponding position and value.

[0068] Compare the positions and values ​​corresponding to all relative turning positions, and calculate the difference between the maximum and minimum values ​​as the geometric constraint residual.

[0069] If the geometric constraint residual is greater than the preset physical consistency threshold, the data is determined to be abnormal, a data abnormality alarm is generated, and the subsequent calculation process is stopped.

[0070] The process of determining the preset physical consistency threshold includes: based on the preset spatial distance and emission angle of the two laser beams of the dual laser displacement sensor, combined with their nominal maximum linear error, calculating the maximum allowable change of the sum of the two displacement measurement values ​​under this geometric constraint, and setting this value as the preset physical consistency threshold.

[0071] This invention, by introducing data consistency verification based on dual-laser inherent geometric constraints into the calculation process, can automatically identify and eliminate abnormal data points caused by surface contamination or transient interference, thereby enhancing the robustness of the entire measurement system and the reliability of the output results.

[0072] S4. Based on the geometric relationships in the benchmark unified measurement dataset, calculate the alignment deviation parameter that characterizes the alignment state of the coupling.

[0073] The essence of centering deviation lies in the relative position and angular relationship between the two rotation axes in space. Direct measurements only show the distance from the laser beam to a specific point on the shaft surface. Therefore, based on a fixed geometric model of the sensor and shaft system, a series of displacement measurements must be inverted into the spatial trajectory of the shaft center. Then, parameters characterizing the axis deviation can be extracted through geometric analysis. Since the sensor's own attitude is actively stabilized and precisely known during the measurement process, all displacement measurements can be uniformly compensated for and calculated under the same absolute spatial reference frame, eliminating errors introduced by changes in the measurement perspective and ensuring spatial consistency of the solution results.

[0074] Reference Figure 3 As shown, the process of calculating the centering deviation parameter includes: extracting displacement measurement data at each turning angle from the benchmark unified measurement dataset to form a radial displacement sequence.

[0075] Based on the internal geometric layout of the dual laser displacement sensor, including the spatial coordinates and beam direction vectors of the two laser emitters, and combined with the radial displacement sequence, the initial spatial coordinates of the measured axis on a single measurement plane are calculated using the triangulation geometry principle.

[0076] At the synchronization moment of generating the data acquisition trigger signal, the actual attitude angle of the first MEMS gyroscope in the absolute spatial coordinate system after coordinate transformation is recorded. Using this attitude angle, a three-dimensional spatial rotation transformation matrix is ​​constructed. All the initial axis center coordinate points calculated above and located in the sensor body coordinate system are then transformed to the absolute spatial coordinate system, resulting in a set of axis center spatial coordinate points with unified reference and attitude correction. This step eliminates the influence of minute pointing deviations of the sensor during measurement on the calculation of axis center coordinates.

[0077] In an absolute spatial coordinate system, the set of coordinate points of the axis center should theoretically be distributed on a spatial circle, and the center of this circle is the instantaneous rotation center of the axis in the measurement plane. A circle fitting algorithm is used to process this set of coordinate points to solve for the center coordinates of the best-fit circle. These center coordinates represent the spatial position of the axis on the measurement plane and are the coordinates of the rotation center within the measurement plane.

[0078] Two measuring planes with a known distance between them are selected along the axial direction of the coupling. The coordinates of the rotation centers on the two measuring planes are obtained. Based on the coordinates of the two rotation centers and the known axial distance between the two measuring planes, the spatial angle between the two axes is calculated as the angular deviation parameter. Combined with the offset of the two rotation centers in the radial direction, they together constitute the complete alignment deviation parameter.

[0079] The calculation of the centering deviation parameter further includes: automatically comparing the centering deviation parameter with a predefined pass / fail standard, and generating a status judgment conclusion based on the comparison result, indicating whether the parameter is pass / fail, requires adjustment, or exceeds the tolerance alarm.

[0080] It should be noted that the qualified standard is a preset numerical range based on the technical specifications, industry standards, or user-defined process requirements of the equipment to which the coupling being calibrated belongs. Specifically, it is the radial offset numerical range and angular deviation numerical range defined under three different states: qualified, requiring adjustment, and out-of-tolerance alarm.

[0081] The human-computer interaction interface is driven to display the alignment deviation parameters and the state determination conclusions in real time in the form of numbers, tables or polar coordinate graphs.

[0082] The complete benchmark unified measurement dataset, solution process data, centering deviation parameters and corresponding timestamps of this measurement are stored to form a traceable historical measurement record.

[0083] This invention establishes a dynamically stable measurement benchmark unaffected by manual rotation and environmental disturbances through an active attitude stabilization measurement module and a space reference beacon module. It can detect and actively compensate for minute attitude changes of the measurement device itself in real time during the measurement process, ensuring that laser displacement data at all angles are collected in the same absolute spatial coordinate system. This helps avoid error sources introduced by inconsistent measurement benchmarks, improving the inherent reliability and final accuracy of the measurement results.

[0084] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, and all such modifications and additions should fall within the protection scope of the present invention.

Claims

1. A coupling alignment intelligent auxiliary system based on dual laser displacement and MEMS gyroscope, characterized in that, include: An active attitude stabilization measurement module includes dual laser displacement sensors, a first MEMS gyroscope, and an active attitude stabilization mechanism. The active attitude stabilization mechanism is used to adjust the spatial orientation of the dual laser displacement sensors according to attitude control commands. The first MEMS gyroscope is used to output an attitude feedback signal that characterizes the real-time attitude of the spatial orientation of the dual laser displacement sensors. A space reference beacon module is configured to be fixed to a stationary reference object and has a built-in second MEMS gyroscope, which is used to output an attitude reference signal characterizing the globally invariant reference frame. The intelligent calculation module is used to fuse the attitude feedback signal and the attitude reference signal to generate attitude control commands, and to process the displacement measurement data collected by the dual laser displacement sensors after the attitude is stabilized in order to calculate the centering deviation parameters. The intelligent solution module execution process includes: S1. Obtain the initial correspondence between the attitude reference signal and the attitude feedback signal, establish the coordinate transformation relationship characterizing the relative attitude between the active attitude stabilization measurement module and the spatial reference beacon module, and simultaneously define an absolute spatial coordinate system; S2. When the gantry is rotated to any target measurement angle, the real-time attitude feedback signal is continuously acquired and transformed to the absolute space coordinate system using the coordinate transformation relationship. The attitude control command is generated based on the deviation from the target stable attitude, and the active attitude stabilization mechanism is driven to adjust the dual laser displacement sensor until the attitude of the dual laser displacement sensor is stable. S3. After the dual laser displacement sensors stabilize, trigger them to collect displacement measurement data at each target measurement angle and integrate them to generate a unified benchmark measurement dataset. S4. Based on the geometric relationships in the benchmark unified measurement dataset, calculate the alignment deviation parameter that characterizes the alignment state of the coupling.

2. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 1, characterized in that, The process of establishing the coordinate transformation relationship is as follows: Perform an initial alignment operation to establish a physical proximity relationship between the active attitude stabilization measurement module and the space reference beacon module; The three-axis attitude angle data output by the first MEMS gyroscope and the second MEMS gyroscope at the alignment time are respectively used as the initial attitude feedback signal and the initial attitude reference signal to form an initial attitude signal pair; Based on the initial attitude signal pair, calculate the first rotation matrix corresponding to the initial attitude feedback signal and the second rotation matrix corresponding to the initial attitude reference signal, respectively. By multiplying the second rotation matrix by the inverse of the first rotation matrix, a coordinate transformation matrix is ​​calculated to characterize the coordinate transformation relationship between the active attitude stabilization measurement module and the space reference beacon module. Store the coordinate transformation matrix and use the coordinate system defined by the second rotation matrix as the absolute spatial coordinate system.

3. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 1, characterized in that, The attitude control command generation process includes: Set the target stable attitude parameters in the absolute spatial coordinate system; The attitude feedback signal output by the first MEMS gyroscope is received in real time, and the established coordinate transformation relationship is used to transform it to the absolute space coordinate system to obtain the current attitude parameters. Calculate the attitude deviation parameters between the current attitude parameters and the target stable attitude parameters, and use them to generate feedback control components; Synchronously identify the angular velocity changes caused by the turning operation, obtain the turning angle change data, and substitute it into the preset feedforward model to calculate the feedforward compensation amount; The feedforward compensation amount and the feedback control component are vector-superimposed to synthesize an attitude control command, which is then sent to the active attitude stabilization mechanism to drive it to adjust the spatial orientation of the dual laser displacement sensors until the attitude deviation parameters converge to a preset tolerance range.

4. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 3, characterized in that, The pre-defined feedforward model construction process includes: During the system calibration phase, the control coupling performs several standard turning movements at different speeds. During each turning motion, real-time angular velocity data generated by the turning operation and historical compensation control signal vectors generated by the active attitude stabilization mechanism to counteract the attitude disturbances caused by the turning motion are collected to form a training sample set. The training sample set is linearly fitted using the least squares method to solve for a calibration coupling matrix that maps the turning gear angular velocity to the feedforward compensation control signal, and this matrix is ​​used as the preset feedforward model parameter. During real-time control, the intelligent calculation module multiplies the collected real-time turning gear angular velocity vector with the calibration coupling matrix to directly calculate the feedforward compensation amount.

5. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 3, characterized in that, The process of generating the benchmark unified measurement dataset includes: The attitude deviation parameter is continuously monitored. When the attitude deviation parameter is continuously within the preset tolerance range for a set waiting time threshold, a data acquisition trigger signal is generated. In response to the data acquisition trigger signal, the displacement measurement data output by the dual laser displacement sensor and the current turning angle data are acquired synchronously. Through data binding, a data tuple containing displacement value, turning angle and timestamp is formed. The monitoring process is repeated, and corresponding data tuples are generated at multiple preset turning angle positions. All data tuples are then collected to construct a unified benchmark measurement dataset.

6. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 5, characterized in that, After the benchmark unified measurement dataset is generated, a verification process needs to be performed, including: Extract the displacement measurement data pairs relative to the turning gear position from the aforementioned unified benchmark measurement dataset; For each pair of relative turning positions, the displacement measurement data is used to calculate the sum of the two laser displacement values ​​to obtain the corresponding position and value. Compare the positions and values ​​corresponding to all relative turning positions, and calculate the difference between the maximum and minimum values ​​as the geometric constraint residual; If the geometric constraint residual is greater than the preset physical consistency threshold, the data is determined to be abnormal, a data abnormality alarm is generated, and the subsequent calculation process is stopped.

7. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 6, characterized in that, The process of determining the preset physical consistency threshold includes: based on the preset spatial distance and emission angle of the two laser beams of the dual laser displacement sensor, combined with their nominal maximum linear error, calculating the maximum allowable change of the sum of the two displacement measurement values ​​under this geometric constraint, and setting this value as the preset physical consistency threshold.

8. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 1, characterized in that, The process for calculating the centering deviation parameter includes: Displacement measurement data at each turning gear angle are extracted from the aforementioned unified benchmark measurement dataset to form a radial displacement sequence; Based on the internal geometric layout of the dual laser displacement sensor and the radial displacement sequence, the initial spatial coordinates of the measured shaft center on a single measurement plane are calculated. At the synchronous moment of generating the data acquisition trigger signal, the actual attitude angle of the first MEMS gyroscope in the absolute space coordinate system after coordinate transformation is recorded. In this way, the original displacement measurement data is subjected to three-dimensional coordinate rotation transformation to retrieve the axis space coordinates after attitude correction. All the attitude-corrected axisymmetric spatial coordinates are combined into an axisymmetric spatial coordinate point set, and the coordinates of the rotation center in the measurement plane are determined by geometric fitting. Two measuring planes with a known distance between them are selected along the axial direction of the coupling. The coordinates of the rotation centers on the two measuring planes are obtained. Based on the coordinates of the two rotation centers and the known axial distance between the two measuring planes, the spatial angle between the two axes is calculated as the angular deviation parameter. Combined with the offset of the two rotation centers in the radial direction, they together constitute the complete alignment deviation parameter.

9. The intelligent auxiliary system for coupling alignment based on dual laser displacement and MEMS gyroscope according to claim 8, characterized in that, The calculation of the centering deviation parameter also includes: The centering deviation parameter is automatically compared with the predefined pass standard, and a status judgment conclusion of pass, need adjustment, or out-of-tolerance alarm is generated based on the comparison result. The human-computer interaction interface is driven to display the alignment deviation parameters and the state judgment conclusions in real time in the form of numbers, tables or polar coordinate graphs. The complete benchmark unified measurement dataset, solution process data, centering deviation parameters and corresponding timestamps of this measurement are stored to form a traceable historical measurement record.

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