WO2023178889A1 - Method for estimating distance and height difference between photovoltaic power generation arrays - Google Patents

Method for estimating distance and height difference between photovoltaic power generation arrays Download PDF

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WO2023178889A1
WO2023178889A1 PCT/CN2022/105426 CN2022105426W WO2023178889A1 WO 2023178889 A1 WO2023178889 A1 WO 2023178889A1 CN 2022105426 W CN2022105426 W CN 2022105426W WO 2023178889 A1 WO2023178889 A1 WO 2023178889A1
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power generation
height difference
distance
arrays
array
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马列生
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杭州伯资企业管理合伙企业(有限合伙)
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  • the invention belongs to the field of photovoltaic power generation, and in particular relates to a method for estimating the distance and height difference between photovoltaic power generation arrays.
  • the Chinese patent document with publication number CN103795343A discloses a device and method for inspecting the spacing between photovoltaic module strings, which includes: a plurality of first emitters arranged on the first side of a substrate, and the substrate is capable of placing solar cell strings to be laid.
  • the substrate of the photovoltaic module a second emitter provided corresponding to the first emitter, the second emitter is located on the third side of the substrate, and the third side is symmetrical with the first side; located at The third emitters on the second side and/or the fourth side of the substrate, the third emitters are respectively located at both ends of the second side and/or the fourth side of the substrate, so that according to the first emitter,
  • the light emitted by the second emitter and the third emitter is used to lay the solar cell strings. Only by checking whether the laid solar cell strings coincide with the light rays can it be judged whether the spacing between the battery strings meets the requirements, thereby improving the inspection accuracy. High, which avoids the problem of uneven string spacing of the laid battery strings that affects the quality of the photovoltaic modules.
  • this method requires the cooperation of multiple transmitters and also lacks dynamic adaptability.
  • the model-based estimation algorithm can effectively solve the above problems. Its basic principle is to establish a mechanism model of the object to be measured, and estimate the variables to be measured based on the data that can be easily measured in practice. Common model-based estimation algorithms include Kalman filtering, rolling time domain estimation, etc. For example, the Chinese patent document with publication number CN109048082A discloses a distance control method based on Kalman filtering.
  • the present invention provides a method for estimating the distance and height difference between photovoltaic power generation arrays, which can quickly and effectively estimate the distance and height difference between photovoltaic power generation arrays, providing a basis for subsequent optimal control. Provide important input.
  • a method for estimating the distance and height difference between photovoltaic power generation arrays The following steps are performed at certain intervals:
  • This invention solves the problem of variable measurement from the perspective of the positional relationship of the photovoltaic power generation array. It can be estimated only by using the current intensity of the power generation array and other basic parameters of the array, which can effectively reduce equipment costs. At the same time, the nonlinear model can be used to more accurately describe the photovoltaic Rotation characteristics and shading relationship of power generation array.
  • the shadow coverage rate of the power generation array refers to the ratio of the area covered by the shadow in the power generation array to the area of the power generation array.
  • the process of calculating the shadow coverage of the power generation array is:
  • step (2) the steps to use unscented Kalman filter to update the distance and height difference between power generation arrays are:
  • step (2) Combined with the shadow coverage of the power generation arrays measured in step (1), use the unscented Kalman filter to estimate the distance and height difference between the power generation arrays based on the initial values of the distance and height difference between the power generation arrays;
  • (2-3) Use the estimated distance and height difference between power generation arrays as the initial values of the distance and height difference between power generation arrays.
  • step (2-1) the method of predicting the shadow coverage of the power generation array using the position of the sun, the angle of the power generation array, the length and width of the power generation array is:
  • the yaw angle of the power generation array is ⁇ . Calculate the yaw angle rotation matrix.
  • the coordinates of the four vertices of the shielded power generation array in the global coordinate system are (x 1 +d, y 1 , z 1 +h), (x 2 +d, y 2 , z 2 +h), (x 3 +d, y 3 , z 3 +h), (x 4 +d, y 4 , z 4 +h), where d represents the spacing of the power generation array, and h represents the height difference of the power generation array.
  • step (2-2) an implementation method of using unscented Kalman filter to estimate the distance and height difference between power generation arrays is:
  • Another implementation method is to simultaneously estimate the height difference and distance between power generation arrays.
  • step (2-1-3) the Sutherland-Hodgman algorithm can be used to determine the vertices of the overlapping area between the shadow of the occluded power generation array and the shadow of the occluded power generation array.
  • the present invention has the following beneficial effects:
  • the method of the present invention can quickly and effectively estimate the spacing and height difference of photovoltaic power generation arrays.
  • this invention does not rely on other measurement units and reduces costs.
  • the method of the present invention has no specific requirements for photovoltaic implementation scenarios and has strong applicability.
  • Figure 1 is a schematic flow chart of a method for estimating distance and height difference between photovoltaic power generation arrays according to the present invention
  • Figure 2 is a diagram showing the relationship between the shadow coverage of the power generation array and the current of the power generation array in the embodiment of the present invention
  • Figure 3 is a schematic diagram of two power generation arrays in an embodiment of the present invention.
  • This embodiment takes two photovoltaic power generation arrays as an example to describe in detail a method for estimating the distance and height difference between photovoltaic power generation arrays.
  • a method for estimating the distance and height difference between photovoltaic power generation arrays performs the following steps at certain intervals:
  • the execution period of the steps is generally 1 to 30 minutes.
  • the shadow coverage rate of the power generation array refers to the proportion of the shadow-covered area in the power generation array to the area of the power generation array.
  • step (1) the process of determining the shadow coverage of the power generation array includes:
  • the relationship between the shadow coverage of the power generation array and the current of the power generation array is obtained through experiments as shown in Figure 2.
  • two cycles of data are collected.
  • the sun position is (0.707,0, 0.707)
  • the corresponding shadow coverage rates are 50% respectively.
  • the sun position in the second cycle is (0.5, 0, 0.886), and the corresponding shadow coverage rates are 42.5% respectively.
  • step (2) the steps for using unscented Kalman filter to update the distance and height difference between power generation arrays are:
  • the specific method is to calculate the pitch angle rotation matrix, the yaw angle rotation matrix, and the roll angle rotation matrix.
  • the pitch angle, yaw angle, and roll angle of the power generation array are all 0, and the pitch angle rotation matrix is calculated
  • the coordinates of the four vertices of the shielded power generation array in the global coordinate system are (d,0,h), (2+d,0,h), (d,50,h), (2+d,50,h), Among them, d represents the spacing of the power generation array, and h represents the height difference of the power generation array.
  • d represents the spacing of the power generation array
  • h represents the height difference of the power generation array.
  • the Sutherland-Hodgman algorithm can be used to determine the vertices of the overlapping area between the shadow of the blocked power generation array and the shadow of the blocked power generation array, and calculate the shadow area.
  • Use the shadow area to calculate the coverage expressed as Among them, x r and z r represent the coordinates of the sun's position respectively, d represents the spacing of the power generation array, and h represents the height difference of the power generation array;
  • step (2) Combined with the shadow coverage of the power generation array measured in step (1), use the unscented Kalman filter to estimate the distance and height difference between the power generation arrays based on the initial values of the distance and height difference between the power generation arrays.
  • an implementation method of using unscented Kalman filter to estimate the distance and height difference between power generation arrays is: taking the height difference or distance between power generation arrays as an invariant, only estimating the distance or height difference between power generation arrays, and then updating The final distance or height difference between power generation arrays is used to estimate the height difference or distance between power generation arrays; another implementation method is to estimate the height difference and distance between power generation arrays at the same time.
  • the power generation array spacing and the power generation array height difference are 3 meters and 2 meters, and these values are used as the new power generation array spacing and power generation array
  • the initial value of the height difference, after the second cycle, is estimated to be 3 meters and 2 meters between the power generation array spacing and the power generation array height difference, reaching stability.

Abstract

Disclosed in the present invention is a method for estimating the distance and height difference between photovoltaic power generation arrays. The following steps are executed every certain period: (1) calculating a shadow coverage rate of power generation arrays, and calculating the position of the sun on the basis of the current time; and (2) updating the distance and height difference between the power generation arrays by means of unscented Kalman filtering. By using the method in the present invention, the distance and height difference between photovoltaic power generation arrays can be estimated by means of data such as the current of the power generation arrays without the aid of other measurement devices, so as to provide parameters for subsequent optimal control.

Description

一种光伏发电阵列间距离和高度差估计方法A method for estimating distance and height difference between photovoltaic power generation arrays 技术领域Technical field
本发明属于光伏发电领域，尤其是涉及一种光伏发电阵列间距离和高度差估计方法。The invention belongs to the field of photovoltaic power generation, and in particular relates to a method for estimating the distance and height difference between photovoltaic power generation arrays.
背景技术Background technique
在光伏发电领域，控制光伏发电阵列的角度能够有效避免阵列间阴影遮挡，提高发电效益，因此光伏发电优化控制有着广泛的应用前景。然而这种优化控制需要大量的测量传感器以提供必须的计算参数，例如，在计算光伏发电阵列的旋转角度时，需要测量发电阵列与周围相邻阵列之间的距离，以保证二者之间没有遮挡。传统的测量方式可以使用GPS定位、图像处理等方式测量，这些测量方式都需要相应的硬件设备，成本较高。In the field of photovoltaic power generation, controlling the angle of photovoltaic power generation arrays can effectively avoid shadows between arrays and improve power generation efficiency. Therefore, photovoltaic power generation optimization control has broad application prospects. However, this kind of optimal control requires a large number of measurement sensors to provide necessary calculation parameters. For example, when calculating the rotation angle of a photovoltaic power generation array, it is necessary to measure the distance between the power generation array and the surrounding adjacent arrays to ensure that there is no gap between the two. Occlusion. Traditional measurement methods can use GPS positioning, image processing and other methods to measure. These measurement methods require corresponding hardware equipment and are relatively expensive.
如公开号为CN103795343A的中国专利文献公开了一种检验光伏组件串间距的装置及方法，包括：设置在基板第一侧的多个第一发射仪，所述基板为可放置待敷设太阳能电池串的光伏组件的基板；与所述第一发射仪对应设置的第二发射仪，所述第二发射仪位于所述基板的第三侧，所述第三侧与所述第一侧对称；位于所述基板第二侧和/或第四侧的第三发射仪，所述第三发射仪分别位于所述基板第二侧和/或第四侧的两端，从而可根据第一发射仪、第二发射仪和第三发射仪发射的光线敷设太阳能电池串，只需检验敷设的太阳能电池串与所述光线是否重合，就能判断电池串之间的间距是否符合要求，从而提高了检验精度高，避免了由于敷设的电池串的串间距不均等而影响光伏组件质量的问题。但是该方法需要多台发射仪配 合，同时也缺乏动态自适应性。For example, the Chinese patent document with publication number CN103795343A discloses a device and method for inspecting the spacing between photovoltaic module strings, which includes: a plurality of first emitters arranged on the first side of a substrate, and the substrate is capable of placing solar cell strings to be laid. The substrate of the photovoltaic module; a second emitter provided corresponding to the first emitter, the second emitter is located on the third side of the substrate, and the third side is symmetrical with the first side; located at The third emitters on the second side and/or the fourth side of the substrate, the third emitters are respectively located at both ends of the second side and/or the fourth side of the substrate, so that according to the first emitter, The light emitted by the second emitter and the third emitter is used to lay the solar cell strings. Only by checking whether the laid solar cell strings coincide with the light rays can it be judged whether the spacing between the battery strings meets the requirements, thereby improving the inspection accuracy. High, which avoids the problem of uneven string spacing of the laid battery strings that affects the quality of the photovoltaic modules. However, this method requires the cooperation of multiple transmitters and also lacks dynamic adaptability.
基于模型的估计算法能够有效解决上述问题，其基本原理为建立需要被测量对象的机理模型，并根据实际中方便测量到的数据，对待测量的变量进行估计。常见的基于模型的估计算法包括卡尔曼滤波，滚动时域估计等。如公开号为CN109048082A的中国专利文献公开了一种基于卡尔曼滤波的距离控制方法。The model-based estimation algorithm can effectively solve the above problems. Its basic principle is to establish a mechanism model of the object to be measured, and estimate the variables to be measured based on the data that can be easily measured in practice. Common model-based estimation algorithms include Kalman filtering, rolling time domain estimation, etc. For example, the Chinese patent document with publication number CN109048082A discloses a distance control method based on Kalman filtering.
然而，对于光伏发电中发电阵列间距离和高差的估计来说，由于其模型关系较复杂，且具有非线性的特性，难以直接使用上述的方法对变量进行估计。同时，基于上述业界现状，整体来看，目前该方面的相关文献也比较少。However, for estimating the distance and height difference between power generation arrays in photovoltaic power generation, it is difficult to directly use the above method to estimate variables due to the complex model relationship and nonlinear characteristics. At the same time, based on the above-mentioned current status of the industry, overall, there are currently relatively few relevant literature in this area.
发明内容Contents of the invention
为解决现有技术存在的上述问题，本发明提供了一种光伏发电阵列间距离和高度差估计方法，能够快速、有效的给出光伏发电阵列间距离和高度差的估计，为后续的优化控制提供重要输入。In order to solve the above-mentioned problems existing in the prior art, the present invention provides a method for estimating the distance and height difference between photovoltaic power generation arrays, which can quickly and effectively estimate the distance and height difference between photovoltaic power generation arrays, providing a basis for subsequent optimal control. Provide important input.
一种光伏发电阵列间距离和高度差估计方法，每隔一定周期，执行以下步骤：A method for estimating the distance and height difference between photovoltaic power generation arrays. The following steps are performed at certain intervals:
(1)计算发电阵列阴影覆盖率，并根据当前时间计算太阳位置；(1) Calculate the shadow coverage of the power generation array and calculate the sun position based on the current time;
(2)使用无迹卡尔曼滤波更新发电阵列间距离和高度差。(2) Use unscented Kalman filter to update the distance and height difference between power generation arrays.
本发明从光伏发电阵列位置关系的角度着手解决变量测量问题，仅需使用发电阵列的电流强度和其他阵列基本参数即可估算，能够有效降低设备成本，同时采用非线性模型能够较准确地描述光伏发电阵列的转动特性和遮挡关系。This invention solves the problem of variable measurement from the perspective of the positional relationship of the photovoltaic power generation array. It can be estimated only by using the current intensity of the power generation array and other basic parameters of the array, which can effectively reduce equipment costs. At the same time, the nonlinear model can be used to more accurately describe the photovoltaic Rotation characteristics and shading relationship of power generation array.
步骤(1)中，所述的发电阵列阴影覆盖率是指发电阵列中被阴影覆盖的面积占发电阵列的面积的比例。In step (1), the shadow coverage rate of the power generation array refers to the ratio of the area covered by the shadow in the power generation array to the area of the power generation array.
计算发电阵列阴影覆盖率的过程为：The process of calculating the shadow coverage of the power generation array is:
通过实验获取发电阵列阴影覆盖率与发电阵列电流关系图；从关系图中找到当前时刻发电阵列电流对应的阴影覆盖率。Obtain the relationship between the power generation array shadow coverage and the power generation array current through experiments; find the shadow coverage corresponding to the power generation array current at the current moment from the relationship diagram.
步骤(2)中，使用无迹卡尔曼滤波更新发电阵列间距离和高度差的步骤为：In step (2), the steps to use unscented Kalman filter to update the distance and height difference between power generation arrays are:
(2-1)确定阴影遮挡关系，使用太阳位置、发电阵列角度、发电阵列长度和宽度预测发电阵列阴影覆盖率；(2-1) Determine the shadow occlusion relationship, and predict the shadow coverage of the power generation array using the sun position, power generation array angle, power generation array length and width;
(2-2)结合步骤(1)中测量的发电阵列阴影覆盖率，根据发电阵列间距离和高度差的初值，使用无迹卡尔曼滤波估计发电阵列间距离和高度差；(2-2) Combined with the shadow coverage of the power generation arrays measured in step (1), use the unscented Kalman filter to estimate the distance and height difference between the power generation arrays based on the initial values of the distance and height difference between the power generation arrays;
(2-3)将估计的发电阵列间距离和高度差作为发电阵列间距离和高度差的初值。(2-3) Use the estimated distance and height difference between power generation arrays as the initial values of the distance and height difference between power generation arrays.
步骤(2-1)中，使用太阳位置、发电阵列角度、发电阵列长度和宽度预测发电阵列阴影覆盖率的方法为：In step (2-1), the method of predicting the shadow coverage of the power generation array using the position of the sun, the angle of the power generation array, the length and width of the power generation array is:
(2-1-1)计算俯仰角旋转矩阵、横摆角旋转矩阵、滚动角旋转矩阵。发电阵列俯仰角为θ，计算俯仰角旋转矩阵(2-1-1) Calculate the pitch angle rotation matrix, yaw angle rotation matrix, and roll angle rotation matrix. The pitch angle of the power generation array is θ, calculate the pitch angle rotation matrix
Figure PCTCN2022105426-appb-000001
Figure PCTCN2022105426-appb-000001
发电阵列横摆角为β，计算横摆角旋转矩阵The yaw angle of the power generation array is β. Calculate the yaw angle rotation matrix.
Figure PCTCN2022105426-appb-000002
Figure PCTCN2022105426-appb-000002
计算滚动向量
Figure PCTCN2022105426-appb-000003
其中[0,1,0] T表示向量[0,1,0]的转置。发电阵列滚动角为γ，计算滚动角旋转矩阵： Calculate scroll vector
Figure PCTCN2022105426-appb-000003
Where [0,1,0] T represents the transpose of the vector [0,1,0]. The rolling angle of the power generation array is γ. Calculate the rolling angle rotation matrix:
令
Figure PCTCN2022105426-appb-000004
其中
Figure PCTCN2022105426-appb-000005
表示向量
Figure PCTCN2022105426-appb-000006
的第一个元素，
Figure PCTCN2022105426-appb-000007
表示向量
Figure PCTCN2022105426-appb-000008
的第二个元素，
Figure PCTCN2022105426-appb-000009
表示向量
Figure PCTCN2022105426-appb-000010
的第三个元素，滚动角旋转矩阵为： make
Figure PCTCN2022105426-appb-000004
in
Figure PCTCN2022105426-appb-000005
Represents a vector
Figure PCTCN2022105426-appb-000006
The first element of
Figure PCTCN2022105426-appb-000007
Represents a vector
Figure PCTCN2022105426-appb-000008
The second element of
Figure PCTCN2022105426-appb-000009
Represents a vector
Figure PCTCN2022105426-appb-000010
The third element of , the roll angle rotation matrix is:
Figure PCTCN2022105426-appb-000011
Figure PCTCN2022105426-appb-000011
(2-1-2)以正东为X轴，正北为Y轴，垂直于地面向上为Z轴，假设被遮挡发电阵列在水平放置时，四个顶点在全局坐标系下的坐标为
Figure PCTCN2022105426-appb-000012
经过俯仰角θ 1、横摆角β 1、滚动角γ 1，四个顶点在全局坐标系下的坐标为 (2-1-2) Taking due east as the X-axis, due north as the Y-axis, and vertically upward as the Z-axis, assuming that the blocked power generation array is placed horizontally, the coordinates of the four vertices in the global coordinate system are:
Figure PCTCN2022105426-appb-000012
After pitch angle θ 1 , yaw angle β 1 , and roll angle γ 1 , the coordinates of the four vertices in the global coordinate system are
Figure PCTCN2022105426-appb-000013
Figure PCTCN2022105426-appb-000013
其中
Figure PCTCN2022105426-appb-000014
表示四个顶点在全局坐标系下的坐标； in
Figure PCTCN2022105426-appb-000014
Represents the coordinates of the four vertices in the global coordinate system;
遮挡发电阵列四个顶点在全局坐标系下的坐标为(x 1+d,y 1,z 1+h),(x 2+d,y 2,z 2+h),(x 3+d,y 3,z 3+h),(x 4+d,y 4,z 4+h)，其中d表示发电阵列间距，h表示发电阵列高度差。经过俯仰角θ 2、横摆角β 2、滚动角γ 2，遮挡发电阵列四个顶点在全局坐标系下的坐标为 The coordinates of the four vertices of the shielded power generation array in the global coordinate system are (x 1 +d, y 1 , z 1 +h), (x 2 +d, y 2 , z 2 +h), (x 3 +d, y 3 , z 3 +h), (x 4 +d, y 4 , z 4 +h), where d represents the spacing of the power generation array, and h represents the height difference of the power generation array. After the pitch angle θ 2 , the yaw angle β 2 , and the roll angle γ 2 , the coordinates of the four vertices of the shielded power generation array in the global coordinate system are:
Figure PCTCN2022105426-appb-000015
Figure PCTCN2022105426-appb-000015
其中
Figure PCTCN2022105426-appb-000016
表示四个顶点在全局坐标系下的坐标。 in
Figure PCTCN2022105426-appb-000016
Represents the coordinates of the four vertices in the global coordinate system.
(2-1-2)根据太阳位置(x r,y r,z r)计算遮挡发电阵列和被遮挡发电阵列四个顶点在地平面的阴影坐标： (2-1-2) Calculate the shadow coordinates of the four vertices of the blocked power generation array and the blocked power generation array on the ground plane based on the sun's position (x r , y r , z r ):
Figure PCTCN2022105426-appb-000017
Figure PCTCN2022105426-appb-000017
其中
Figure PCTCN2022105426-appb-000018
表示被遮挡发电阵列第i个顶点的横纵坐标，
Figure PCTCN2022105426-appb-000019
表示遮挡发电阵列第i个顶点的横纵坐标，i＝1,2,3,4。 in
Figure PCTCN2022105426-appb-000018
Represents the horizontal and vertical coordinates of the i-th vertex of the blocked power generation array,
Figure PCTCN2022105426-appb-000019
Represents the horizontal and vertical coordinates of the i-th vertex of the shielded power generation array, i=1,2,3,4.
(2-1-3)判断遮挡发电阵列阴影和被遮挡发电阵列阴影重叠区域顶点，并计算阴影面积，使用阴影面积计算覆盖率。(2-1-3) Determine the vertices of the overlapping area between the shadow of the blocked power generation array and the shadow of the blocked power generation array, calculate the shadow area, and use the shadow area to calculate the coverage rate.
步骤(2-2)中，使用无迹卡尔曼滤波估计发电阵列间距离和高度差的一种实施方法为：In step (2-2), an implementation method of using unscented Kalman filter to estimate the distance and height difference between power generation arrays is:
首先以发电阵列间高度差为不变量，估计发电阵列间距离，然后再以更新后的发电阵列间距离为不变量，估计发电阵列间高度差；First, use the height difference between power generation arrays as an invariant to estimate the distance between power generation arrays, and then use the updated distance between power generation arrays as an invariant to estimate the height difference between power generation arrays;
或者，首先以发电阵列间距离为不变量，估计发电阵列间高度差，然后再以更新后的发电阵列间高度差为不变量，估计发电阵列间距离。Alternatively, first use the distance between the power generation arrays as an invariant to estimate the height difference between the power generation arrays, and then use the updated height difference between the power generation arrays as an invariant to estimate the distance between the power generation arrays.
另一种实施方法为：同时估计发电阵列间高度差和距离。Another implementation method is to simultaneously estimate the height difference and distance between power generation arrays.
步骤(2-1-3)中，判断遮挡发电阵列阴影和被遮挡发电阵列阴影重叠区域顶点的方法可使用Sutherland-Hodgman算法。In step (2-1-3), the Sutherland-Hodgman algorithm can be used to determine the vertices of the overlapping area between the shadow of the occluded power generation array and the shadow of the occluded power generation array.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明的方法能够快速、有效的给出光伏发电阵列间距和高差的估计。1. The method of the present invention can quickly and effectively estimate the spacing and height difference of photovoltaic power generation arrays.
2、相较于传统算法，本发明不依赖于其他测量单元，降低成本。2. Compared with traditional algorithms, this invention does not rely on other measurement units and reduces costs.
3、本发明的方法对光伏的实施场景没有具体的要求，适用性强。3. The method of the present invention has no specific requirements for photovoltaic implementation scenarios and has strong applicability.
附图说明Description of the drawings
图1为本发明一种光伏发电阵列间距离和高度差估计方法的流程示意图；Figure 1 is a schematic flow chart of a method for estimating distance and height difference between photovoltaic power generation arrays according to the present invention;
图2为本发明实施例中发电阵列阴影覆盖率与发电阵列电流关系图；Figure 2 is a diagram showing the relationship between the shadow coverage of the power generation array and the current of the power generation array in the embodiment of the present invention;
图3为本发明实施例中两个发电阵列示意图。Figure 3 is a schematic diagram of two power generation arrays in an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明做进一步详细描述，需要指出的是，以下所述实施例旨在便于对本发明的理解，而对其不起任何限定作用。The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be noted that the following examples are intended to facilitate the understanding of the present invention and do not limit it in any way.
本实施例以两个光伏发电阵列为例，对一种光伏发电阵列间距离和高度差估计方法做详细描述。This embodiment takes two photovoltaic power generation arrays as an example to describe in detail a method for estimating the distance and height difference between photovoltaic power generation arrays.
如图1所示，一种光伏发电阵列间距离和高度差估计方法，每隔一定周期，执行以下步骤：As shown in Figure 1, a method for estimating the distance and height difference between photovoltaic power generation arrays performs the following steps at certain intervals:
(1)计算发电阵列阴影覆盖率，并根据当前时间计算太阳位置；(1) Calculate the shadow coverage of the power generation array and calculate the sun position based on the current time;
(2)使用无迹卡尔曼滤波更新发电阵列间距离和高度差。(2) Use unscented Kalman filter to update the distance and height difference between power generation arrays.
本实施例中，执行步骤的周期一般为1～30分钟。In this embodiment, the execution period of the steps is generally 1 to 30 minutes.
步骤(1)中，发电阵列阴影覆盖率指发电阵列中被阴影覆盖的面积占发电阵列的面积的比例。In step (1), the shadow coverage rate of the power generation array refers to the proportion of the shadow-covered area in the power generation array to the area of the power generation array.
步骤(1)中，判断发电阵列阴影覆盖率的过程包括：In step (1), the process of determining the shadow coverage of the power generation array includes:
通过实验获取发电阵列阴影覆盖率与发电阵列电流关系图，从关系图中找到当前时刻发电阵列电流对应的阴影覆盖率。Through experiments, the relationship between the power generation array shadow coverage and the power generation array current is obtained, and the shadow coverage corresponding to the power generation array current at the current moment is found from the relationship diagram.
本实施例中通过实验获取了如图2所示的发电阵列阴影覆盖率与发电阵列电流关系图，本实施例中采集了两个周期的数据，第一个周期太阳位置在(0.707,0,0.707)，对应的阴影覆盖率分别为50％，第二个周期太阳位置在(0.5,0,0.886)，对应的阴影覆盖率分别为42.5％。In this embodiment, the relationship between the shadow coverage of the power generation array and the current of the power generation array is obtained through experiments as shown in Figure 2. In this embodiment, two cycles of data are collected. In the first cycle, the sun position is (0.707,0, 0.707), the corresponding shadow coverage rates are 50% respectively. The sun position in the second cycle is (0.5, 0, 0.886), and the corresponding shadow coverage rates are 42.5% respectively.
步骤(2)中，使用无迹卡尔曼滤波更新发电阵列间距离和高度差的 步骤为：In step (2), the steps for using unscented Kalman filter to update the distance and height difference between power generation arrays are:
(2-1)确定阴影遮挡关系，使用太阳位置、发电阵列角度、发电阵列长度和宽度预测发电阵列阴影覆盖率；(2-1) Determine the shadow occlusion relationship, and predict the shadow coverage of the power generation array using the sun position, power generation array angle, power generation array length and width;
具体方法为，计算俯仰角旋转矩阵、横摆角旋转矩阵、滚动角旋转矩阵。本实施例中，如图3所示，发电阵列俯仰角、横摆角、滚动角均为0，计算俯仰角旋转矩阵The specific method is to calculate the pitch angle rotation matrix, the yaw angle rotation matrix, and the roll angle rotation matrix. In this embodiment, as shown in Figure 3, the pitch angle, yaw angle, and roll angle of the power generation array are all 0, and the pitch angle rotation matrix is calculated
Figure PCTCN2022105426-appb-000020
Figure PCTCN2022105426-appb-000020
计算横摆角旋转矩阵Calculate the yaw angle rotation matrix
Figure PCTCN2022105426-appb-000021
Figure PCTCN2022105426-appb-000021
计算滚动向量
Figure PCTCN2022105426-appb-000022
其中[0,1,0] T表示向量[0,1,0]的转置。发电阵列滚动角为γ，计算滚动角旋转矩阵： Calculate scroll vector
Figure PCTCN2022105426-appb-000022
Where [0,1,0] T represents the transpose of the vector [0,1,0]. The rolling angle of the power generation array is γ. Calculate the rolling angle rotation matrix:
令
Figure PCTCN2022105426-appb-000023
其中
Figure PCTCN2022105426-appb-000024
表示向量
Figure PCTCN2022105426-appb-000025
的第一个元素，
Figure PCTCN2022105426-appb-000026
表示向量
Figure PCTCN2022105426-appb-000027
的第二个元素，
Figure PCTCN2022105426-appb-000028
表示向量
Figure PCTCN2022105426-appb-000029
的第三个元素，滚动角旋转矩阵为： make
Figure PCTCN2022105426-appb-000023
in
Figure PCTCN2022105426-appb-000024
Represents a vector
Figure PCTCN2022105426-appb-000025
The first element of
Figure PCTCN2022105426-appb-000026
Represents a vector
Figure PCTCN2022105426-appb-000027
The second element of
Figure PCTCN2022105426-appb-000028
Represents a vector
Figure PCTCN2022105426-appb-000029
The third element of , the roll angle rotation matrix is:
Figure PCTCN2022105426-appb-000030
Figure PCTCN2022105426-appb-000030
(2-1-2)如图3所示，以正东为X轴，正北为Y轴，垂直于地面向上为Z轴，假设被遮挡发电阵列在水平放置时，四个顶点在全局坐标系下的坐标为(0,0,0),(2,0,0),(0,50,0),(2,50,0)。经过俯仰角、横摆角、滚动角，四个顶点在全局坐标系下的坐标为(2-1-2) As shown in Figure 3, take due east as the X-axis, due north as the Y-axis, and vertically upward as the Z-axis. Assume that when the blocked power generation array is placed horizontally, the four vertices are in the global coordinates The coordinates under the system are (0,0,0), (2,0,0), (0,50,0), (2,50,0). After pitch angle, yaw angle, and roll angle, the coordinates of the four vertices in the global coordinate system are
Figure PCTCN2022105426-appb-000031
Figure PCTCN2022105426-appb-000031
遮挡发电阵列四个顶点在全局坐标系下的坐标为(d,0,h),(2+d,0,h),(d,50,h),(2+d,50,h)，其中d表示发电阵列间距，h表示发电阵列高度差。经过俯仰角、横摆角、滚动角，遮挡发电阵列四个顶点在全局坐标系下的坐标为The coordinates of the four vertices of the shielded power generation array in the global coordinate system are (d,0,h), (2+d,0,h), (d,50,h), (2+d,50,h), Among them, d represents the spacing of the power generation array, and h represents the height difference of the power generation array. After the pitch angle, yaw angle, and roll angle, the coordinates of the four vertices of the shielded power generation array in the global coordinate system are:
Figure PCTCN2022105426-appb-000032
Figure PCTCN2022105426-appb-000032
(2-1-2)根据太阳位置(x r,y r,z r)计算遮挡发电阵列和被遮挡发电阵列四个顶点在地平面的阴影坐标： (2-1-2) Calculate the shadow coordinates of the four vertices of the blocked power generation array and the blocked power generation array on the ground plane based on the sun's position (x r , y r , z r ):
Figure PCTCN2022105426-appb-000033
Figure PCTCN2022105426-appb-000033
其中
Figure PCTCN2022105426-appb-000034
表示被遮挡发电阵列第i个顶点的横纵坐标，
Figure PCTCN2022105426-appb-000035
表示遮挡发电阵列第i个顶点的横纵坐标，i＝1,2,3,4。 in
Figure PCTCN2022105426-appb-000034
Represents the horizontal and vertical coordinates of the i-th vertex of the blocked power generation array,
Figure PCTCN2022105426-appb-000035
Represents the horizontal and vertical coordinates of the i-th vertex of the shielded power generation array, i=1,2,3,4.
可使用Sutherland-Hodgman算法判断遮挡发电阵列阴影和被遮挡发电阵列阴影重叠区域顶点，并计算阴影面积，使用阴影面积计算覆盖率，表示为
Figure PCTCN2022105426-appb-000036
其中x r和z r分别表示太阳位置的坐标，d表示发电阵列间距，h表示发电阵列高度差； The Sutherland-Hodgman algorithm can be used to determine the vertices of the overlapping area between the shadow of the blocked power generation array and the shadow of the blocked power generation array, and calculate the shadow area. Use the shadow area to calculate the coverage, expressed as
Figure PCTCN2022105426-appb-000036
Among them, x r and z r represent the coordinates of the sun's position respectively, d represents the spacing of the power generation array, and h represents the height difference of the power generation array;
(2-2)结合步骤(1)中测量的发电阵列阴影覆盖率，根据发电阵列间距离和高度差的初值，使用无迹卡尔曼滤波估计发电阵列间距离和高度差。(2-2) Combined with the shadow coverage of the power generation array measured in step (1), use the unscented Kalman filter to estimate the distance and height difference between the power generation arrays based on the initial values of the distance and height difference between the power generation arrays.
作为优选，使用无迹卡尔曼滤波估计发电阵列间距离和高度差的一种实施方法为：以发电阵列间高度差或者距离为不变量，只估计发电阵列间距离或者高度差，然后再以更新后的发电阵列间距离或者高度差，估计发 电阵列间高度差或者距离；另一种实施方法为：同时估计发电阵列间高度差和距离。As a preferred method, an implementation method of using unscented Kalman filter to estimate the distance and height difference between power generation arrays is: taking the height difference or distance between power generation arrays as an invariant, only estimating the distance or height difference between power generation arrays, and then updating The final distance or height difference between power generation arrays is used to estimate the height difference or distance between power generation arrays; another implementation method is to estimate the height difference and distance between power generation arrays at the same time.
以发电阵列间距和发电阵列高度差为2.5为初值，在第一个周期后，估计发电阵列间距和发电阵列高度差为3米和2米，以此值作为新的发电阵列间距和发电阵列高度差初值，在第二个周期后，估计发电阵列间距和发电阵列高度差为3米和2米，达到稳定。Taking the power generation array spacing and the power generation array height difference as the initial value of 2.5, after the first cycle, it is estimated that the power generation array spacing and the power generation array height difference are 3 meters and 2 meters, and these values are used as the new power generation array spacing and power generation array The initial value of the height difference, after the second cycle, is estimated to be 3 meters and 2 meters between the power generation array spacing and the power generation array height difference, reaching stability.
以上所述的实施例对本发明的技术方案和有益效果进行了详细说明，应理解的是以上所述仅为本发明的具体实施例，并不用于限制本发明，凡在本发明的原则范围内所做的任何修改、补充和等同替换，均应包含在本发明的保护范围之内。The above-described embodiments describe in detail the technical solutions and beneficial effects of the present invention. It should be understood that the above-mentioned are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, additions and equivalent substitutions should be included in the protection scope of the present invention.

Claims (8)

  1. 一种光伏发电阵列间距离和高度差估计方法，其特征在于，每隔一定周期，执行以下步骤：A method for estimating the distance and height difference between photovoltaic power generation arrays, which is characterized by performing the following steps at certain intervals:
    (1)计算发电阵列阴影覆盖率，并根据当前时间计算太阳位置；(1) Calculate the shadow coverage of the power generation array and calculate the sun position based on the current time;
    (2)使用无迹卡尔曼滤波更新发电阵列间距离和高度差。(2) Use unscented Kalman filter to update the distance and height difference between power generation arrays.
  2. 根据权利要求1所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(1)中，所述的发电阵列阴影覆盖率是指发电阵列中被阴影覆盖的面积占发电阵列的面积的比例。The method for estimating distance and height difference between photovoltaic power generation arrays according to claim 1, characterized in that in step (1), the power generation array shadow coverage rate refers to the area covered by the shadow in the power generation array accounting for the total area of the power generation array. area ratio.
  3. 根据权利要求1所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(1)中，计算发电阵列阴影覆盖率的过程为：The method for estimating the distance and height difference between photovoltaic power generation arrays according to claim 1, characterized in that in step (1), the process of calculating the shadow coverage of the power generation array is:
    通过实验获取发电阵列阴影覆盖率与发电阵列电流关系图；从关系图中找到当前时刻发电阵列电流对应的阴影覆盖率。Obtain the relationship between the power generation array shadow coverage and the power generation array current through experiments; find the shadow coverage corresponding to the power generation array current at the current moment from the relationship diagram.
  4. 根据权利要求1所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(2)中，使用无迹卡尔曼滤波更新发电阵列间距离和高度差的步骤为：The method for estimating distance and height difference between photovoltaic power generation arrays according to claim 1, characterized in that in step (2), the step of using unscented Kalman filter to update the distance and height difference between power generation arrays is:
    (2-1)确定阴影遮挡关系，使用太阳位置、发电阵列角度、发电阵列长度和宽度预测发电阵列阴影覆盖率；(2-1) Determine the shadow occlusion relationship, and predict the shadow coverage of the power generation array using the sun position, power generation array angle, power generation array length and width;
    (2-2)结合步骤(1)中测量的发电阵列阴影覆盖率，根据发电阵列间距离和高度差的初值，使用无迹卡尔曼滤波估计当前的发电阵列间距离和高度差；(2-2) Combined with the shadow coverage of the power generation arrays measured in step (1), use the unscented Kalman filter to estimate the current distance and height difference between the power generation arrays based on the initial values of the distance and height difference between the power generation arrays;
    (2-3)将当前的发电阵列间距离和高度差作为发电阵列间距离和高度差的初值。(2-3) Use the current distance and height difference between power generation arrays as the initial values of the distance and height difference between power generation arrays.
  5. 根据权利要求4所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(2-1)中，使用太阳位置、发电阵列角度、发电阵列 长度和宽度预测发电阵列阴影覆盖率的方法为：The distance and height difference estimation method between photovoltaic power generation arrays according to claim 4, characterized in that in step (2-1), the sun position, power generation array angle, power generation array length and width are used to predict the power generation array shadow coverage The method is:
    (2-1-1)计算俯仰角旋转矩阵、横摆角旋转矩阵、滚动角旋转矩阵；发电阵列俯仰角为θ，计算俯仰角旋转矩阵(2-1-1) Calculate the pitch angle rotation matrix, yaw angle rotation matrix, and roll angle rotation matrix; the pitch angle of the power generation array is θ, calculate the pitch angle rotation matrix
    Figure PCTCN2022105426-appb-100001
    Figure PCTCN2022105426-appb-100001
    发电阵列横摆角为β，计算横摆角旋转矩阵The yaw angle of the power generation array is β. Calculate the yaw angle rotation matrix.
    Figure PCTCN2022105426-appb-100002
    Figure PCTCN2022105426-appb-100002
    计算滚动向量
    Figure PCTCN2022105426-appb-100003
    其中[0,1,0] T表示向量[0,1,0]的转置；发电阵列滚动角为γ，计算滚动角旋转矩阵：     Calculate scroll vector
    Figure PCTCN2022105426-appb-100003
    Where [0,1,0] T represents the transpose of the vector [0,1,0]; the rolling angle of the power generation array is γ, and the rolling angle rotation matrix is calculated:
    令
    Figure PCTCN2022105426-appb-100004
    其中
    Figure PCTCN2022105426-appb-100005
    表示向量
    Figure PCTCN2022105426-appb-100006
    的第一个元素，
    Figure PCTCN2022105426-appb-100007
    表示向量
    Figure PCTCN2022105426-appb-100008
    的第二个元素，
    Figure PCTCN2022105426-appb-100009
    表示向量
    Figure PCTCN2022105426-appb-100010
    的第三个元素，滚动角旋转矩阵为：     make
    Figure PCTCN2022105426-appb-100004
    in
    Figure PCTCN2022105426-appb-100005
    Represents a vector
    Figure PCTCN2022105426-appb-100006
    The first element of
    Figure PCTCN2022105426-appb-100007
    Represents a vector
    Figure PCTCN2022105426-appb-100008
    The second element of
    Figure PCTCN2022105426-appb-100009
    Represents a vector
    Figure PCTCN2022105426-appb-100010
    The third element of , the roll angle rotation matrix is:
    Figure PCTCN2022105426-appb-100011
    Figure PCTCN2022105426-appb-100011
    (2-1-2)以正东为X轴，正北为Y轴，垂直于地面向上为Z轴，假设被遮挡发电阵列在水平放置时，四个顶点在全局坐标系下的坐标为(2-1-2) Taking due east as the X-axis, due north as the Y-axis, and vertically upward as the Z-axis, assuming that the blocked power generation array is placed horizontally, the coordinates of the four vertices in the global coordinate system are:
    Figure PCTCN2022105426-appb-100012
    经过俯仰角θ 1、横摆角β 1、滚动角γ 1，四个顶点在全局坐标系下的坐标为
    Figure PCTCN2022105426-appb-100012
    After pitch angle θ 1 , yaw angle β 1 , and roll angle γ 1 , the coordinates of the four vertices in the global coordinate system are
    Figure PCTCN2022105426-appb-100013
    Figure PCTCN2022105426-appb-100013
    其中
    Figure PCTCN2022105426-appb-100014
    表示四个顶点在全局坐标系下的坐标；     in
    Figure PCTCN2022105426-appb-100014
    Represents the coordinates of the four vertices in the global coordinate system;
    遮挡发电阵列四个顶点在全局坐标系下的坐标为The coordinates of the four vertices of the shielded power generation array in the global coordinate system are
    (x 1+d,y 1,z 1+h),(x 2+d,y 2,z 2+h),(x 3+d,y 3,z 3+h),(x 4+d,y 4,z 4+h)，其中d表示发电阵列间距，h表示发电阵列高度差；经过俯仰角θ 2、横摆角β 2、滚动角γ 2，遮挡发电阵列四个顶点在全局坐标系下的坐标为 (x 1 +d,y 1 ,z 1 +h),(x 2 +d,y 2 ,z 2 +h),(x 3 +d,y 3 ,z 3 +h),(x 4 +d ,y 4 ,z 4 +h), where d represents the spacing of the power generation array, h represents the height difference of the power generation array; after the pitch angle θ 2 , the yaw angle β 2 , and the roll angle γ 2 , the four vertices of the shielded power generation array are in the global coordinates The coordinates under the system are
    Figure PCTCN2022105426-appb-100015
    Figure PCTCN2022105426-appb-100015
    其中
    Figure PCTCN2022105426-appb-100016
    表示四个顶点在全局坐标系下的坐标；     in
    Figure PCTCN2022105426-appb-100016
    Represents the coordinates of the four vertices in the global coordinate system;
    (2-1-2)根据太阳位置(x r,y r,z r)计算遮挡发电阵列和被遮挡发电阵列四个顶点在地平面的阴影坐标： (2-1-2) Calculate the shadow coordinates of the four vertices of the blocked power generation array and the blocked power generation array on the ground plane based on the sun's position (x r , y r , z r ):
    Figure PCTCN2022105426-appb-100017
    Figure PCTCN2022105426-appb-100017
    其中
    Figure PCTCN2022105426-appb-100018
    表示被遮挡发电阵列第i个顶点的横纵坐标，
    Figure PCTCN2022105426-appb-100019
    表示遮挡发电阵列第i个顶点的横纵坐标，i＝1,2,3,4；     in
    Figure PCTCN2022105426-appb-100018
    Represents the horizontal and vertical coordinates of the i-th vertex of the blocked power generation array,
    Figure PCTCN2022105426-appb-100019
    Represents the horizontal and vertical coordinates of the i-th vertex of the shielded power generation array, i=1, 2, 3, 4;
    (2-1-3)判断遮挡发电阵列阴影和被遮挡发电阵列阴影重叠区域顶点，并计算阴影面积，使用阴影面积计算覆盖率。(2-1-3) Determine the vertices of the overlapping area between the shadow of the blocked power generation array and the shadow of the blocked power generation array, calculate the shadow area, and use the shadow area to calculate the coverage rate.
  6. 根据权利要求4所述的光伏发电阵列间距离和高度差估计方法， 其特征在于，步骤(2-2)中，使用无迹卡尔曼滤波估计发电阵列间距离和高度差时The method for estimating the distance and height difference between photovoltaic power generation arrays according to claim 4, characterized in that in step (2-2), when the unscented Kalman filter is used to estimate the distance and height difference between photovoltaic power generation arrays,
    首先以发电阵列间高度差为不变量，估计发电阵列间距离，然后再以更新后的发电阵列间距离为不变量，估计发电阵列间高度差；First, use the height difference between power generation arrays as an invariant to estimate the distance between power generation arrays, and then use the updated distance between power generation arrays as an invariant to estimate the height difference between power generation arrays;
    或者，首先以发电阵列间距离为不变量，估计发电阵列间高度差，然后再以更新后的发电阵列间高度差为不变量，估计发电阵列间距离。Alternatively, first use the distance between the power generation arrays as an invariant to estimate the height difference between the power generation arrays, and then use the updated height difference between the power generation arrays as an invariant to estimate the distance between the power generation arrays.
  7. 根据权利要求4所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(2-2)中，使用无迹卡尔曼滤波估计发电阵列间距离和高度差时，同时估计发电阵列间高度差和距离。The method for estimating distance and height difference between photovoltaic power generation arrays according to claim 4, characterized in that in step (2-2), when using unscented Kalman filter to estimate the distance and height difference between power generation arrays, the power generation arrays are simultaneously estimated. height difference and distance.
  8. 根据权利要求5所述的光伏发电阵列间距离和高度差估计方法，其特征在于，步骤(2-1-3)中，判断遮挡发电阵列阴影和被遮挡发电阵列阴影重叠区域顶点的方法使用Sutherland-Hodgman算法。The method for estimating the distance and height difference between photovoltaic power generation arrays according to claim 5, characterized in that in step (2-1-3), the method for judging the vertices of the overlapping area of the shadow of the blocked power generation array and the shadow of the blocked power generation array uses Sutherland -Hodgman algorithm.
PCT/CN2022/105426 2022-03-25 2022-07-13 Method for estimating distance and height difference between photovoltaic power generation arrays WO2023178889A1 (en)

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Publication number Priority date Publication date Assignee Title
US4954837A (en) * 1989-07-20 1990-09-04 Harris Corporation Terrain aided passive range estimation
CN107918700A (en) * 2017-11-02 2018-04-17 杭州淘顶网络科技有限公司 A kind of design method and system of local-style dwelling houses pitched roof photovoltaic array
CN112560256A (en) * 2020-12-10 2021-03-26 中国电建集团贵州电力设计研究院有限公司 System and method for calculating optimal spacing of photovoltaic strings

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4954837A (en) * 1989-07-20 1990-09-04 Harris Corporation Terrain aided passive range estimation
CN107918700A (en) * 2017-11-02 2018-04-17 杭州淘顶网络科技有限公司 A kind of design method and system of local-style dwelling houses pitched roof photovoltaic array
CN112560256A (en) * 2020-12-10 2021-03-26 中国电建集团贵州电力设计研究院有限公司 System and method for calculating optimal spacing of photovoltaic strings

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