CN105302166B - Sun tracker return error cancelling method based on twin worm rotating disk - Google Patents
Sun tracker return error cancelling method based on twin worm rotating disk Download PDFInfo
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- CN105302166B CN105302166B CN201510907848.7A CN201510907848A CN105302166B CN 105302166 B CN105302166 B CN 105302166B CN 201510907848 A CN201510907848 A CN 201510907848A CN 105302166 B CN105302166 B CN 105302166B
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Abstract
The invention discloses a kind of sun tracker return error cancelling method based on twin worm rotating disk, the rotating disk of the sun tracker is driven simultaneously by power motor and essence control motor, and power motor and the essence control motor driving condition that to remain rotation direction opposite, when the sun tracker return drives, the speed difference of the power motor and essence control motor makes the rotating disk generation tracking gap of sun tracker during return, is eliminated for error caused by rotating disk return.Present invention is generally directed to the rotating disk of sun tracker during return existing gear clearance problem, the situation of difference gear clearance when this method is applied to eliminate return, while return error is eliminated, moreover it is possible to ensure that tracker eventually stops at zero boundary position of datum mark.
Description
Technical field
The invention belongs to technical field of solar utilization technique, more particularly to a kind of sun tracker based on twin worm rotating disk returns
Position error cancelling method.
Background technology
Position of the twin worm rotating disk tracker in return with power motor during tracking and essence control motor exchanges.
During return there is nuance in the rotating speed of two motors, this be as caused by motor production technology, it is immutable, be also exactly
Because two motors of twin worm have the difference of rotating speed, when result in return when tracker azimuth east limit switch is effective,
Rotating disk is in gap state, you can rocks.If with regard to this think tracker have returned to east it is spacing, then can produce tracking error and
Limit signal is unstable.
When east is spacing effective, twin worm rotating disk tracker causes rotating disk to be usually to have due to motor speed and other factors
Gap, now eliminating gap all can cause rotating disk to be rotated further certain angle, θ, and this can cause two problems：If the 1st, to
Return direction eliminates gap, then tracker return can be caused to exceed datum mark, later tracking then can be every time than correct position
Put few θ；2nd, limit switch can be caused to fail if gap is eliminated to tracking direction.
The content of the invention
It is an object of the invention to：For above-mentioned problem, there is provided one kind is produced during can effectively eliminating return
The sun tracker return error cancelling method based on twin worm rotating disk of raw error.
The technical proposal of the invention is realized in this way：Sun tracker return error concealment side based on twin worm rotating disk
Method, it is characterised in that：The rotating disk of sun tracker is driven simultaneously by power motor and essence control motor, and power motor and essence control electricity
Machine remains the opposite driving condition of rotation direction, when the sun tracker return drives, the power motor and essence
The speed difference of control motor makes the rotating disk generation tracking gap of sun tracker during return, for caused by rotating disk return
Error is eliminated, and its removing method is：
The first step：When the rotating disk return and effective eastern limit switch of sun tracker, power motor stops driving, and smart
Control motor continues to drive towards tracking direction, and limit switch departs from aluminium sensor block, untill the tracking gap of rotating disk eliminates；
Second step：After above-mentioned steps, sun tracker is not in reference point location, now again according to normal
Situation carries out return driving；
3rd step：Repeat two step above, while making sun tracker infinitely close to datum mark, sun tracker rotating disk
Gap also successive elimination, until after essence control motor drives towards tracking direction, limit switch does not have second step yet in cyclic process
Have untill departing from aluminium sensor block, now both eliminated the return gap of sun tracker rotating disk, and sun tracker is in base again
Position on schedule.
Present invention is generally directed to the rotating disk of sun tracker, existing gear clearance problem, this method are fitted during return
The situation of difference gear clearance during for eliminating return, while return error is eliminated, moreover it is possible to ensure that tracker finally stops
In zero boundary position of datum mark.
Embodiment
The present invention is described in detail below.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Embodiment：Sun tracker return error cancelling method based on twin worm rotating disk, the sun tracker turn
Disk is driven simultaneously by power motor and essence control motor, and power motor and smart controls the motor driving that to remain rotation direction opposite
State, when the sun tracker return drives, the power motor makes with the smart speed difference for controlling motor during return
The rotating disk of sun tracker produces tracking gap, is eliminated for error caused by rotating disk return, its removing method is：
The first step：When the rotating disk return and effective eastern limit switch of sun tracker, power motor stops driving, and smart
Control motor continues to drive towards tracking direction, and limit switch departs from aluminium sensor block, untill the tracking gap of rotating disk eliminates；
Second step：After above-mentioned steps, sun tracker is not in reference point location, now again according to normal
Situation carries out return driving；
3rd step：Repeat two step above, while making sun tracker infinitely close to datum mark, sun tracker rotating disk
Gap also successive elimination, until after essence control motor drives towards tracking direction, limit switch does not have second step yet in cyclic process
Have untill departing from aluminium sensor block, now both eliminated the return gap of sun tracker rotating disk, and sun tracker is in base again
Position on schedule
Wherein, the datum mark described in the second step of sun tracker return error is being eliminated, its finding method is specially：
The first step：When sun tracker is in optional position, light vertical gauge is positioned over sun tracker
On solar energy sailboard, and light vertical gauge is set to adjust sun tracker until too perpendicular to the horizontal plane of solar energy sailboard
Untill the positive shade that light vertical gauge can be can't see on windsurfing, the now angle of the sun tracker face sun, the i.e. sun
It is consistent with the angle of tracker.It is in course of adjustment, shade, measuring instrument and the light of measuring instrument constitute triangle, if surveying
The stem height for measuring instrument is 30CM, it is assumed that the 2mm that the shadow length of current light vertical gauge is easily observed for naked eyes, then
Angle theta=arctan (0.2/30)=0.38 ° of light and column, this has been very high precision, the significantly larger than sun
± 0.5 degree of the national tracking standard of energy.
Second step：Calculation position is poor, and after the first step, now sun tracker is synchronous with the position of the sun, it is assumed that
Currently the angle of the sun is（W, H）, wherein W is solar azimuth, and H is sun altitude, then azimuth position difference Δ W=W-
（-120°）, H=H-90 ° of elevation angle alternate position spike Δ.
3rd step：The alternate position spike calculated using second step（Δ W, Δ H）Tracker is driven, wherein alternate position spike is to drive
Dynamic stroke, is different from artificial method, is unquestionable using stroke accuracy as defined in tracker oneself driving.The system is adopted
With the direct current generator for carrying Hall sensor, motor rotates one week and produces two signals, and the rear class of motor is type star decelerator, general
Logical speed reducing ratio is 1:234, such motor needs to rotate 234 weeks, and the rotating shaft of decelerator can just rotate one week；After decelerator
One-level is turbine, generally 62, the axis of rotation of such decelerator 62 weeks, turbine can just rotate 1 week.Turbine drives windsurfing to turn
It is dynamic, that is, the angle of turbine rotation is exactly angle that windsurfing rotates, so through calculating 360/（2*234*62）=0.0124 just
It is the angle that solar energy sailboard corresponding to each signal rotates, it is achieved thereby that uncontrollable artificial find of precision is converted into height
The reliable machine Automatic-searching of precision.
4th step：Installation, sun tracker is by stroke（Δ W, Δ H）It can be automatically stopped after covering, now in solar tracking
The rotating disk of installation limit switch and the aluminium sensor block with limit switch corresponding matching on device, limit switch and sun tracker is same
Step rotation, adjustment aluminium sensor block is from left to right slided until just making limit switch defeated after the position for going to datum mark is stopped
Untill going out induced signal, finally aluminium sensor block is fixed on rail plate again, later sun tracker daily first time opens
The dynamic datum mark beginning all limited since limit switch, the operation for so far finding datum mark are completed.Because equipment has storage
Function, itself current position can be stored automatically after every secondary tracking, so driving next time can store according to the last time
Result perform, such system would not because of have a power failure or artificial power-off and lead to not track.
, it is necessary to be corrected to error caused by the installation of aluminium sensor block, its bearing calibration is after aluminium sensor block is installed：
The first step：The control sun tracker alignment sun manually, sun tracker is positioned over by light vertical gauge
On solar energy sailboard, start correction when the shade of light vertical gauge can't see.
Second step：System-computed goes out current position of sun after correction is started, and determines now as the position of sun tracker
Put, it is assumed that current location is（W ', H '）, position is directly scaled to pulse step number（Sw, Sh）.
3rd step：Driving sun tracker returns to datum mark, and records the pulse sum during driving（Sw0, Sh0）.
4th step：It is that the installation of aluminium sensor block produces by the difference that the umber of pulse of above-mentioned second step and the 3rd step subtracts each other to obtain
Error（δ sw, δ sh）, this group of data are stored in system EEPROM, then call in RAM when each electrifying startup, during tracking
Directly subtracted with driving pulse or plus the pulse.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (1)
1. the sun tracker return error cancelling method based on twin worm rotating disk, it is characterised in that：The rotating disk of sun tracker
Driven simultaneously by power motor and essence control motor, and power motor and smart control the motor driving shape that to remain rotation direction opposite
State, when the sun tracker return drives, the speed difference of the power motor and essence control motor makes during return too
The rotating disk of positive tracker produces tracking gap, is eliminated for error caused by rotating disk return, its removing method is：
The first step：When the rotating disk return and effective eastern limit switch of sun tracker, power motor stops driving, and essence control is electric
Machine continues to drive towards tracking direction, and limit switch departs from aluminium sensor block, untill the tracking gap of rotating disk eliminates；
Second step：After above-mentioned steps, sun tracker is not in reference point location, now again according to normal condition
Carry out return driving；
3rd step：Repeat two step above, while making sun tracker infinitely close to datum mark, the gap of sun tracker rotating disk
Also successive elimination, until second step is after essence control motor drives towards tracking direction in cyclic process, limit switch is also without de-
Untill from aluminium sensor block, the return gap of sun tracker rotating disk had now both been eliminated, sun tracker is in datum mark again
Position;
Wherein, the datum mark described in the second step of sun tracker return error is being eliminated, its finding method is specially：
The first step：When sun tracker is in optional position, light vertical gauge is positioned over to the sun of sun tracker
On energy windsurfing, and light vertical gauge is set to adjust sun tracker until solar energy perpendicular to the horizontal plane of solar energy sailboard
Untill the shade that light vertical gauge is can't see on windsurfing, the now sun tracker face sun, the i.e. angle of the sun with
The angle of track device is consistent；
Second step：Calculation position is poor, and after the first step, now sun tracker is synchronous with the position of the sun, it is assumed that current
The angle of the sun is（W, H）, wherein W is solar azimuth, and H is sun altitude, then azimuth position difference Δ W=W-（-
120°）, H=H-90 ° of elevation angle alternate position spike Δ；
3rd step：The alternate position spike calculated using second step（Δ W, Δ H）Tracker is driven, wherein alternate position spike is driving row
Journey；
4th step：Installation, sun tracker is by stroke（Δ W, Δ H）It can be automatically stopped after covering, now on sun tracker
Limit switch and the aluminium sensor block with limit switch corresponding matching, the rotating disk synchronously rotation of limit switch and sun tracker are installed
Turn, aluminium sensor block is adjusted after the position for going to datum mark is stopped and is from left to right slided until just making limit switch output sense
Untill induction signal, finally aluminium sensor block is fixed on rail plate again, later sun tracker daily first time starts all
Since the datum mark beginning that limit switch limits, the operation for so far finding datum mark is completed；
, it is necessary to be corrected to error caused by the installation of aluminium sensor block, its bearing calibration is after aluminium sensor block is installed：
The first step：The control sun tracker alignment sun manually, light vertical gauge is positioned over to the sun of sun tracker
On energy windsurfing, start correction when the shade of light vertical gauge can't see；
Second step：System-computed goes out current position of sun after correction is started, and determines now for the position of sun tracker, false
If current location is（W ', H '）, position is directly scaled to pulse step number（Sw, Sh）；
3rd step：Driving sun tracker returns to datum mark, and records the pulse sum during driving（Sw0, Sh0）；
4th step：It is to be missed caused by the installation of aluminium sensor block by the difference that the umber of pulse of above-mentioned second step and the 3rd step subtracts each other to obtain
Difference（δ sw, δ sh）, this group of data are stored in system EEPROM, then call in RAM when each electrifying startup, it is direct during tracking
Subtracted with driving pulse or plus the pulse.
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| CN201510907848.7A CN105302166B (en) | 2015-12-10 | 2015-12-10 | Sun tracker return error cancelling method based on twin worm rotating disk |
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| CN201510907848.7A CN105302166B (en) | 2015-12-10 | 2015-12-10 | Sun tracker return error cancelling method based on twin worm rotating disk |
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| CN105302166A CN105302166A (en) | 2016-02-03 |
| CN105302166B true CN105302166B (en) | 2018-03-27 |
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| CN106404345B (en) * | 2015-07-27 | 2018-10-02 | 鸿合科技股份有限公司 | For the method for correcting error in infrared tube physical centre and angle measurement |
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| US5632823A (en) * | 1996-01-29 | 1997-05-27 | Sharan; Anand M. | Solar tracking system |
| CN102306028A (en) * | 2011-05-06 | 2012-01-04 | 成都钟顺科技发展有限公司 | Adaptive rotation device for sun tracking and working method for adaptive rotation device |
| CN202133910U (en) * | 2011-05-06 | 2012-02-01 | 成都钟顺科技发展有限公司 | Self-adaptive slewer used for sun tracking |
| CN102944209A (en) * | 2012-11-15 | 2013-02-27 | 中联重科股份有限公司 | Equipment, system and method for determining revolving angle and engineering machine |
| CN103930735A (en) * | 2011-09-21 | 2014-07-16 | 西安大略大学 | Solar tracker |
| CN104181940A (en) * | 2014-08-21 | 2014-12-03 | 四川钟顺太阳能开发有限公司 | Passing point control method based on double-axis photovoltaic tracking system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100842773B1 (en) * | 2008-03-11 | 2008-07-01 | 서울마린 (주) | Solar servo control tracking device |
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2015
- 2015-12-10 CN CN201510907848.7A patent/CN105302166B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5632823A (en) * | 1996-01-29 | 1997-05-27 | Sharan; Anand M. | Solar tracking system |
| CN102306028A (en) * | 2011-05-06 | 2012-01-04 | 成都钟顺科技发展有限公司 | Adaptive rotation device for sun tracking and working method for adaptive rotation device |
| CN202133910U (en) * | 2011-05-06 | 2012-02-01 | 成都钟顺科技发展有限公司 | Self-adaptive slewer used for sun tracking |
| CN103930735A (en) * | 2011-09-21 | 2014-07-16 | 西安大略大学 | Solar tracker |
| CN102944209A (en) * | 2012-11-15 | 2013-02-27 | 中联重科股份有限公司 | Equipment, system and method for determining revolving angle and engineering machine |
| CN104181940A (en) * | 2014-08-21 | 2014-12-03 | 四川钟顺太阳能开发有限公司 | Passing point control method based on double-axis photovoltaic tracking system |
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Effective date of registration: 20230526 Address after: No. 1913, 19th Floor, Unit 1, Building 9, No. 1700, North Section of Tianfu Avenue, High tech Zone, Chengdu, Sichuan, 610000 Patentee after: CHENG DU ZHONG SHUN SCIENCE AND TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 610207 within the third phase of Industrial Development Zone of Southwest Airport Economic Development Zone, Shuangliu County, Chengdu City, Sichuan Province Patentee before: SI CHUAN ZHONG SHUN SOLAR ENERGY DEVELOPMENT Co.,Ltd. |
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