CN103558866B - Time controlled type double-shaft solar tracking control unit rack shaft method of adjustment - Google Patents

Abstract

The time controlled type double-shaft solar tracking control unit rack shaft method of adjustment that the present invention relates to, comprises the steps: the first step: on tracker controller, utilize astronomical algorithm to calculate elevation angle h and the position angle a of the sun; Second step: the positive motion equation model setting up support on the tracker controller of sun power by D-H representation; 3rd step: set up support height angle θ ₂and the mathematical model A between sun altitude, rack shaft established angle; Set up mount orientations angle θ ₁and the mathematical model B between sun altitude, position angle and rack shaft established angle, substitutes into above-mentioned mathematical model A, mathematical model B in second step, to the correction of support positive motion equation model, compensation.The object of the invention is to provide a kind of time controlled type double-shaft solar tracking control unit rack shaft method of adjustment, the normal line vector of the module installed surface on support is overlapped with sunray vector, thus realizes high precision tracking object.

Description

Time controlled type double-shaft solar tracking control unit rack shaft method of adjustment

[technical field]

The present invention relates to a kind of solar energy tracking controller method of adjustment, particularly a kind of time controlled type double-shaft solar tracking control unit rack shaft method of adjustment.

[background technology]

As shown in Figure 1, double-shaft solar tracking control unit generally comprises the crossbeam 3 that foundation base 1, column 2, the upright rotating shaft concentric with column, upright rotating shaft are equipped with, support 4 crossbeam is equipped with, the rack shaft that support 4 is arranged by horizontal direction is relative to the upper and lower swing of crossbeam, and solar opto-electronic board is loaded on the module installed surface 41 on support 4 top.Double-shaft solar tracking control unit is provided with the tracker (as shown in Figure 2) controlling its upper bracket level, up and down swing, tracker drive crossbeam by motor and be arranged on rack shaft on crossbeam, support horizontally rotates the position angle with adjusting pole around upright spindle central together; Tracker rotates elevation angle with adjusting pole by motor driven support up and down around rack shaft.

For convenience of to the automatic tracking solar of double-shaft solar tracking control unit, need to carry out modeling process to the motion of double-shaft solar tracking control unit.Nineteen fifty-five Denavit and Hartenberg has delivered one section of paper (being called for short D-H representation) at " ASME Journal of Applied Mechanics ", utilize this section of paper to represent and modeling robot afterwards, and be derived their equation of motion.Just the standard method representing robot and robot motion is carried out to modeling was become afterwards.

Carry out after modeling completes to the motion of double-shaft solar tracking control unit, in order to make double-shaft solar tracking control unit can on motion tracking the sun, the general end-state adopting time control and light-operated mode to carry out adjusting pole.The sun is followed the tracks of in time control, and key has 2 points: one is whether the position of sun that astronomical algorithm calculates is accurate; Two is whether time and longitude and latitude be accurate.Because time and longitude and latitude accurately can be obtained by GPS, position of sun astronomical algorithm also has high-precision computing method, such as, by the sun altitude calculated centered by random millet cake and the SPA algorithm calculating the solar azimuth centered by random millet cake.Namely at the exact position algorithm that " Solar Position Algorithm forSolar Radiation Application " (referred to as SPA) introduces in literary composition.Like this, this two problems of the time control tracking sun solves.

Because solar energy tracking controller upper bracket exists design and installation deviation, even if the position of sun calculated is accurately, due to the existence of rack mechanical error, causes tracking error, have influence on tracking accuracy.Actual effect shows, even if algorithm, time, longitude and latitude are all accurate, the tracking of time control still has deviation.Such as:

(1.1) vertically install in upright rotating shaft, and rack shaft and upright rotating shaft 90 degree ideally vertically arranged, D-H representation builds the positive motion equation model between support and foundation base, and D-H parameter list is:

#	θ	d	a	α
					2	θ 2	0	0	0°
1	θ 1	0	0	90°

The homogeneous square formation of coordinate transform of double-shaft solar tracking control unit positive motion equation model is:

$\left[\begin{array}{cccc}{\mathrm{C\θ}}_1& 0& {\mathrm{S\θ}}_1& 0\\ {\mathrm{S\θ}}_1& 0& -{\mathrm{C\θ}}_1& 0\\ 0& 1& 0& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}{\mathrm{C\θ}}_2& -{\mathrm{S\θ}}_2& 0& 0\\ {\mathrm{S\θ}}_2& {\mathrm{C\θ}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}\right]=\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2\\ {\mathrm{S\θ}}_2\\ 0\end{array}\right]$

Wherein θ ₂for support height angle; θ ₁for mount orientations angle; Rack shaft established angle is horizontality, and namely rack shaft established angle is 90 degree; C representative function cos; S representative function sin;

In astronomical algorithm during the manly rise of ether, sun altitude is 0 degree, and now sunshine normal vector is level; And under support height angle is in vertical state with the module installed surface 41 on support 4 top, the normal of module installed surface 41 is level, and the elevation angle of now support 4 pitching is 0 degree; From support 4 pitching 0 degree of angle, with support 4 upwards swing be just, downward swing is negative.When the module installed surface of cantilever tip is towards south, mount orientations angle is 0 degree, and now support is exposed to the west and just clockwise turns to, and support is rotated counterclockwise towards east as negative.

(1.2), under actual conditions, rack shaft and upright rotating shaft established angle are α ₁:

D-H parameter list is:

#	θ	d	a	α
					2	θ 2	0	0	0°

1

θ 1

0

0

α 1

The homogeneous square formation of coordinate transform of double-shaft solar tracking control unit positive motion equation model is:

$\left[\begin{array}{cccc}{\mathrm{C\θ}}_1& -{\mathrm{S\θ}}_1{\mathrm{C\α}}_1& {\mathrm{S\θ}}_1{\mathrm{S\α}}_1& 0\\ {\mathrm{S\θ}}_1& {\mathrm{C\θ}}_1{\mathrm{C\α}}_1& -{\mathrm{C\θ}}_1{\mathrm{S\α}}_1& 0\\ 0& {\mathrm{S\α}}_1& {\mathrm{C\α}}_1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}{\mathrm{C\θ}}_2& -{\mathrm{S\θ}}_2& 0& 0\\ {\mathrm{S\θ}}_2& {\mathrm{C\θ}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}\right]=\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2-S{\mathrm{\θ}}_{1}C{\mathrm{\α}}_{1}S{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]$

Wherein θ ₂for support height angle; θ ₁for mount orientations angle; α ₁for rack shaft established angle; C representative function cos; S representative function sin;

With the tracking error caused below in conjunction with case-study actual installation error.

Ming Yang industry park, Zhongshan city longitude and latitude is:

East longitude 113 ° 26 ' 11 "=113.44 ° north latitude 22 ° 33 ' 49 "=22.56 °

2013 Beijing time (Dong8Qu) July 11 day the morning 12 time 10 points 0 second, the position angle of the sun and elevation angle respectively: a=-85.62 °, h=84.96 °,

At α ₁be that the ideal conditions of 90 degree obtains: $\left[\begin{array}{c}{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2\\ {\mathrm{S\θ}}_2\\ 0\end{array}\right]=\left[\begin{array}{c}0.006709\\ -0.08759\\ 0.996134\\ 0\end{array}\right]$

Thus, position angle corresponding to module installed surface normal line vector is calculated and elevation angle is:

arcsin(0.996134)＝84.96°

Suppose because alignment error causes α ₁=89 °.

At α ₁be that the actual installation of 89 degree obtains: $\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2-S{\mathrm{\θ}}_{1}C{\mathrm{\α}}_{1}S{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]=\left[\begin{array}{c}0.024043\\ -0.086267\\ 0.995982\\ 0\end{array}\right]$

Thus, position angle corresponding to module installed surface normal line vector is calculated and elevation angle is:

arcsin(0.995982)＝84.86°

As from the foregoing:

Under ideal conditions, it is consistent that the module installed surface attitude angle that the double-shaft solar tracking control unit controlled by uranology algorithm obtains and astronomical algorithm calculate angle.

In practical situations both, there is error in the module installed surface attitude angle that the double-shaft solar tracking control unit controlled by astronomical algorithm obtains, under specific moment and angle, this error may be very large.In upper example, only the alignment error of 1 ° is just causing the error of position angle (-74.43 °)-(-85.62 °)=11.19 corresponding to module installed surface normal line vector °.Can show that the maximum tracking of double-shaft solar tracking control unit generated output is subject to the impact of rack shaft actual angle thus.In order to overcome above-mentioned impact, the applicant's innovation and creation this application technology.

[summary of the invention]

The object of the invention is to provide a kind of time controlled type double-shaft solar tracking control unit rack shaft method of adjustment, by following the tracks of rack shaft installation deviation, the method is to the correction of rack shaft mounting shift angle, compensation, tracker runs the support equation model after correction, compensation, control driven by motor support level, pitching swing, after any instant in one day is rotated, the normal line vector of the module installed surface on support overlaps with sunray vector, thus achieves the maximum high precision tracking object of double-shaft solar tracking control unit generated output.

In order to solve above-mentioned Problems existing, present invention employs following technical proposal:

Time controlled type double-shaft solar tracking control unit rack shaft method of adjustment, comprises the steps:

The first step: utilize GPS positioning system, tracker utilizes astronomical algorithm calculate elevation angle h and the position angle a of the sun;

Second step: the positive motion equation model building support in tracker by D-H representation, D-H modeling square formation is:

$\left[\begin{array}{cccc}{\mathrm{C\θ}}_1& -{\mathrm{S\θ}}_1{\mathrm{C\α}}_1& {\mathrm{S\θ}}_1{\mathrm{S\α}}_1& 0\\ {\mathrm{S\θ}}_1& {\mathrm{C\θ}}_1{\mathrm{C\α}}_1& -{\mathrm{C\θ}}_1{\mathrm{S\α}}_1& 0\\ 0& {\mathrm{S\α}}_1& {\mathrm{C\α}}_1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}{\mathrm{C\θ}}_2& -{\mathrm{S\θ}}_2& 0& 0\\ {\mathrm{S\θ}}_2& {\mathrm{C\θ}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}\right]=\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2-S{\mathrm{\θ}}_{1}C{\mathrm{\α}}_{1}S{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]$

Wherein, θ ₂for support height angle; θ ₁for mount orientations angle; α ₁for rack shaft actual installation angle; C representative function cos; S representative function sin;

Characterized by further comprising:

3rd step: to the correction of support positive motion equation model, the compensation of above-mentioned foundation, after any instant is rotated, position angle, the elevation angle of the position angle that on support, module installed surface normal line vector is corresponding, elevation angle and the sun overlap, and its process is as follows:

(3.1) on tracker controller, support height angle θ is built ₂and the mathematical model A between sun altitude, rack shaft established angle,

Mathematical model A meets following equation:

(3.2) on tracker controller, mount orientations angle θ is built ₁and the mathematical model B between sun altitude, position angle and rack shaft established angle,

Mathematical model B meets following equation:

if(Sθ ₁＞＝0)

{

if(Cθ ₁＞＝0) ${\mathrm{\θ}}_1=arcsin\left(\frac{{\mathrm{SaChC\θ}}_2-{\mathrm{CaChS\θ}}_2{\mathrm{C\α}}_1}{{\left({\mathrm{C\θ}}_2\right)}^2+{\left({\mathrm{S\θ}}_2{\mathrm{C\α}}_1\right)}^2}\right)$

else if(Cθ ₁＜0)

}

else if(Sθ ₁＜0)

{

if(Cθ ₁＞＝0) ${\mathrm{\θ}}_1=arcsin\left(\frac{{\mathrm{SaChC\θ}}_2-{\mathrm{CaChS\θ}}_2{\mathrm{C\α}}_1}{{\left({\mathrm{C\θ}}_2\right)}^2+{\left({\mathrm{S\θ}}_2{\mathrm{C\α}}_1\right)}^2}\right)$

else if(Cθ ₁＜0)

}

In (3.1), (3.2), | sinh|≤| sin α ₁|;

Mathematical model A obtained above, mathematical model B are substituted in second step, tracker controls the horizontal swing of motor driven support, pitching swing with the elevation angle of adjusting pole and position angle, complete that any instant rotates module installed surface normal line vector is corresponding on after-poppet position angle, the position angle of elevation angle and the sun, elevation angle overlap, namely

$\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2-S{\mathrm{\θ}}_{1}C{\mathrm{\α}}_{1}S{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]=\left[\begin{array}{c}Cach\\ Sach\\ Sh\\ 0\end{array}\right].$

Wherein, rack shaft established angle α ₁there are two kinds of methods,

Method one, rack shaft established angle α ₁measure rack shaft setting angle for adopting surveyor's staff to obtain.

Method two, double-shaft solar tracking control unit are equipped with for detecting its rotation height angle and azimuthal position coder, tracker controls motor makes electro-optical package on support be in peak power output state, and position coder reads the elevation angle θ of peak power output situation lower carriage ₂and azimuth angle theta ₁; Adopt SPA astronomical algorithm to calculate elevation angle h and the position angle a of the sun in peak power output situation, now calculate:

${\mathrm{\α}}_1=\arccos \left(\frac{SaCh-{\mathrm{S\θ}}_1{\mathrm{C\θ}}_2}{{\mathrm{C\θ}}_1{\mathrm{S\θ}}_2}\right)=\arccos \left(\frac{CaCh-{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2}{-{\mathrm{S\θ}}_1{\mathrm{S\θ}}_2}\right)$

Wherein C representative function cos; S representative function sin.

Principle of the present invention is:

D-H representation is utilized to build positive motion equation model between support and double-shaft solar tracking control unit foundation base; Position relationship between the sun utilizing SPA astronomical algorithm to draw and foundation base, combines said two devices thus sets up the equation model of support and position of sun; Revising by running in tracker, compensating rear equation model, tracker controls the direction rotating shaft that motor drives the height rotating shaft of pitching and horizontal direction to rotate, after any instant of support in one day is rotated, the normal line vector of the module installed surface on support overlaps with sunray vector, thus achieves the maximum high precision tracking object of double-shaft solar tracking control unit generated output.

The invention has the beneficial effects as follows:

1, after any instant of support in one day rotates, the normal line vector of the module installed surface on support overlaps with sunray vector, thus can extraordinary absorption sun power.

2, due to the generating efficiency of each optoelectronic device can be improved, Solar use efficiency can largely be improved to large-scale photovoltaic plant, opto-thermal system, for life provides with much more stable clean energy resourcies.

3, in conjunction with tracker, can conveniently realize High Precision Automatic tracking, eliminate the artificial trouble to the time adjustment of tracker compartment.

4, relative to needing the assembling sunshine sensor ability accurate tracking sun in prior art, adopting the solar energy tracking controller of the inventive method can save sunshine sensor, being conducive to reducing production cost; Owing to not using sunshine sensor external accessory, in tracing process, control flow is simpler, and interference is few, and tracing control is more stable.

[accompanying drawing explanation]

Fig. 1 is time controlled type double-shaft solar tracking control unit structural representation in prior art.

Fig. 2 is tracker block scheme on time controlled type double-shaft solar tracking control unit in prior art.

[embodiment]

2 couples of the present invention describe in further detail by reference to the accompanying drawings.

Time controlled type double-shaft solar tracking control unit rack shaft method of adjustment, comprises the steps:

The first step: utilize GPS positioning system, tracker utilizes astronomical algorithm calculate elevation angle h and the position angle a of the sun;

Second step: the positive motion equation model building support in tracker by D-H representation, D-H modeling square formation is:

$\left[\begin{array}{cccc}{\mathrm{C\θ}}_1& -{\mathrm{S\θ}}_1{\mathrm{C\α}}_1& {\mathrm{S\θ}}_1{\mathrm{S\α}}_1& 0\\ {\mathrm{S\θ}}_1& {\mathrm{C\θ}}_1{\mathrm{C\α}}_1& -{\mathrm{C\θ}}_1{\mathrm{S\α}}_1& 0\\ 0& {\mathrm{S\α}}_1& {\mathrm{C\α}}_1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}{\mathrm{C\θ}}_2& -{\mathrm{S\θ}}_2& 0& 0\\ {\mathrm{S\θ}}_2& {\mathrm{C\θ}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}\right]=\left[\begin{array}{c}{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2-{\mathrm{S\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2-{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]$

Wherein, θ ₂for support height angle; θ ₁for mount orientations angle; α ₁for rack shaft actual installation angle; C representative function cos; S representative function sin;

3rd step: to the correction of support positive motion equation model, the compensation of above-mentioned foundation, after any instant is rotated, position angle, the elevation angle of the position angle that on support, module installed surface normal line vector is corresponding, elevation angle and the sun overlap, and its process is as follows:

(3.1) on tracker controller, support height angle θ is built ₂and the mathematical model A between sun altitude, rack shaft established angle,

Mathematical model A meets following equation:

(3.2) on tracker controller, mount orientations angle θ is built ₁and the mathematical model B between sun altitude, position angle and rack shaft established angle,

Mathematical model B meets following equation:

if(Sθ ₁＞＝0)

{

if(Cθ ₁＞＝0) ${\mathrm{\θ}}_1=arcsin\left(\frac{{\mathrm{SaChC\θ}}_2-{\mathrm{CaChS\θ}}_2{\mathrm{C\α}}_1}{{\left({\mathrm{C\θ}}_2\right)}^2+{\left({\mathrm{S\θ}}_2{\mathrm{C\α}}_1\right)}^2}\right)$

else if(Cθ ₁＜0)

}

else if(Sθ ₁＜0)

{

if(Cθ ₁＞＝0) ${\mathrm{\θ}}_1=arcsin\left(\frac{{\mathrm{SaChC\θ}}_2-{\mathrm{CaChS\θ}}_2{\mathrm{C\α}}_1}{{\left({\mathrm{C\θ}}_2\right)}^2+{\left({\mathrm{S\θ}}_2{\mathrm{C\α}}_1\right)}^2}\right)$

else if(Cθ ₁＜0)

}

In (3.1), (3.2), | sinh|≤| sin α ₁|;

Mathematical model A obtained above, mathematical model B are substituted in second step, tracker controls the horizontal swing of motor driven support, pitching swing with the elevation angle of adjusting pole and position angle, complete that any instant rotates module installed surface normal line vector is corresponding on after-poppet position angle, the position angle of elevation angle and the sun, elevation angle overlap, namely

$\left[\begin{array}{c}C{\mathrm{\θ}}_{1}C{\mathrm{\θ}}_2-S{\mathrm{\θ}}_{1}C{\mathrm{\α}}_{1}S{\mathrm{\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]=\left[\begin{array}{c}CaCh\\ SaCh\\ Sh\\ 0\end{array}\right].$

Wherein, rack shaft established angle α ₁there are two kinds of methods,

Method one, rack shaft established angle α ₁measure rack shaft setting angle for adopting surveyor's staff to obtain.

Method two, double-shaft solar tracking control unit are equipped with for detecting its rotation height angle and azimuthal position coder, tracker controls motor makes electro-optical package on support be in peak power output state, and position coder reads the elevation angle θ of peak power output situation lower carriage ₂and azimuth angle theta ₁; SPA astronomical algorithm is adopted to calculate elevation angle h and the position angle a of the sun in peak power output situation,

Drawn by following formulae discovery computing:

$\left\{\begin{array}{c}{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2-{\mathrm{S\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2=CaCh\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2=SaCh\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2=Sh\end{array}\right.\left\{\begin{array}{c}{\mathrm{S\α}}_1=\frac{Sh}{{\mathrm{S\θ}}_2}\\ {\mathrm{C\α}}_1=\frac{SaCh-{\mathrm{S\θ}}_1{\mathrm{C\θ}}_2}{{\mathrm{C\θ}}_1{\mathrm{S\θ}}_2}=\frac{CaCh-{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2}{-{\mathrm{S\θ}}_1{\mathrm{S\θ}}_2}\end{array}\right.$

Thus obtain

${\mathrm{\α}}_1=\arccos \left(\frac{SaCh-{\mathrm{S\θ}}_1{\mathrm{C\θ}}_2}{{\mathrm{C\θ}}_1{\mathrm{S\θ}}_2}\right)=\arccos \left(\frac{CaCh-{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2}{-{\mathrm{S\θ}}_1{\mathrm{S\θ}}_2}\right);$

Wherein C representative function cos; S representative function sin.

Above-described embodiment is preferred embodiment of the present invention, but embodiments of the present invention are by the restriction of above-described embodiment, and the time control solar tracker introducing more freedom in order to more Accurate Analysis error also can adopt inventive method.The inventive method can be used for the correction of column mounting shift angle, compensation on time controlled type double-shaft solar tracking control unit equally.The change done under other any does not deviate from Spirit Essence of the present invention and principle, decoration, substitute, combine or simplify and all should be equivalent substitute mode, be included in protection scope of the present invention.

Claims (3)

1. time controlled type double-shaft solar tracking control unit rack shaft method of adjustment, comprises the steps:

The first step: utilize GPS positioning system, tracker utilizes astronomical algorithm calculate elevation angle h and the position angle a of the sun;

Second step: the positive motion equation model building support in tracker by D-H representation, D-H modeling square formation is:

$\left[\begin{array}{cccc}{\mathrm{C\θ}}_1& -{\mathrm{S\θ}}_1{\mathrm{C\α}}_1& {\mathrm{S\θ}}_1{\mathrm{S\α}}_1& 0\\ {\mathrm{S\θ}}_1& {\mathrm{C\θ}}_1{\mathrm{C\α}}_1& -{\mathrm{C\θ}}_1{\mathrm{S\α}}_1& 0\\ 0& {\mathrm{S\α}}_1& {\mathrm{C\α}}_1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}{\mathrm{C\θ}}_2& -{\mathrm{S\θ}}_2& 0& 0\\ {\mathrm{S\θ}}_2& {\mathrm{C\θ}}_2& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\[\begin{array}{c}1\\ 0\\ 0\\ 0\end{array}=\]\left[\begin{array}{c}{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2-{\mathrm{S\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]$

Wherein, θ ₂for support height angle; θ ₁for mount orientations angle; α ₁for rack shaft actual installation angle;

C representative function cos; S representative function sin;

Characterized by further comprising:

3rd step: to the correction of support positive motion equation model, the compensation of above-mentioned foundation, after any instant is rotated, position angle, the elevation angle of the position angle that on support, module installed surface normal line vector is corresponding, elevation angle and the sun overlap, and its process is as follows:

(3.1) on tracker controller, support height angle θ is built ₂and the mathematical model A between sun altitude, rack shaft established angle,

Mathematical model A meets following equation:

(3.2) on tracker controller, mount orientations angle θ is built ₁and the mathematical model B between sun altitude, position angle and rack shaft established angle,

Mathematical model B meets following equation:

In (3.1), (3.2), | sinh|≤| sin α ₁|;

Mathematical model A obtained above, mathematical model B are substituted in second step, tracker controls the horizontal swing of motor driven support, pitching swing with the elevation angle of adjusting pole and position angle, complete that any instant rotates module installed surface normal line vector is corresponding on after-poppet position angle, the position angle of elevation angle and the sun, elevation angle overlap, namely

$\left[\begin{array}{c}{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2-{\mathrm{S\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\θ}}_1{\mathrm{C\θ}}_2+{\mathrm{C\θ}}_1{\mathrm{C\α}}_1{\mathrm{S\θ}}_2\\ {\mathrm{S\α}}_1{\mathrm{S\θ}}_2\\ 0\end{array}\right]=\left[\begin{array}{c}CaCh\\ SaCh\\ Sh\\ 0\end{array}\right].$

2. time controlled type double-shaft solar tracking control unit rack shaft method of adjustment according to claim 1, is characterized in that: rack shaft established angle α ₁measure rack shaft setting angle for adopting surveyor's staff to obtain.

3. time controlled type double-shaft solar tracking control unit rack shaft method of adjustment according to claim 1, it is characterized in that: double-shaft solar tracking control unit is equipped with for detecting its rotation height angle and azimuthal position coder, tracker controls motor makes electro-optical package on support be in peak power output state, and position coder reads the elevation angle θ of peak power output situation lower carriage ₂and azimuth angle theta ₁; Adopt SPA astronomical algorithm to calculate elevation angle h and the position angle a of the sun in peak power output situation, now calculate:

${\mathrm{\α}}_1=arccos\left(\frac{SaCh-{\mathrm{S\θ}}_1{\mathrm{C\θ}}_2}{{\mathrm{C\θ}}_1{\mathrm{S\θ}}_2}\right)=arccos\left(\frac{CaCh-{\mathrm{C\θ}}_1{\mathrm{C\θ}}_2}{-{\mathrm{S\θ}}_1{\mathrm{S\θ}}_2}\right)$

Wherein C representative function cos; S representative function sin.