CN104793641B - The control method of polar coordinate system photovoltaic generation double-axis tracking structure - Google Patents

Abstract

A kind of control method of polar coordinate system photovoltaic generation double-axis tracking structure, belongs to solar energy generation technology field, is characterized in that the control method for being its structure is：(1) initial value is set；(2) n, δ are calculated；(3) ω is calculated_sr、ω_ss、t_ss、t_sr；(4) t is calculated_z, t_z≥t_sr, it is to perform (5), it is no, return (4)；(5) it is cloudy, is, returns (5), no, performs (6)；(6) encounter limit switch, be, structure stops, no, perform (7)；(7) γ is calculated_s, adjust α_s、γ_s, perform (8)；(8) R is compared₂、R₂'、R₂”、R₂" ', R₂=R_2'=R_2”=R_2”', it is to keep α_s、γ_s, perform (13), it is no, perform (9)；(9)R₂≠R_2'≠R_2”≠R_2”', it is to be sequentially adjusted in α_s、γ_s, perform (13), it is no, perform (10)；(10)R₂=R_2'≠R_2”=R_2”', it is to adjust α_s, perform (13), it is no, perform (11)；(11)R₂=R_2”≠R_2'=R_2”', it is to adjust γ with reference to S_s, perform (13), it is no, perform (12)；(12) R is found_min, it is sequentially adjusted in α_s、γ_s, perform (13)；(13) Δ t terminates, and is, performs (14), no, returns (13)；(14)t_z≥t_ss, it is that structure stops；It is no, perform (5).

Description

The control method of polar coordinate system photovoltaic generation double-axis tracking structure

Technical field

The invention belongs to solar energy generation technology field, and in particular to a kind of controlling party of photovoltaic generation double-axis tracking structure Method.

Background technology

At present, the development and utilization of regenerative resource increasingly obtains the concern of national governments, passes through light in the near future Volt component, which converts solar energy into electric energy, has very big potentiality to be exploited.Predicted according to Joint Research Centre of European Union in 2004, to this In the end of the century, ratio of the photovoltaic generation in All Around The World energy supply will be more than 30%.Existing photovoltaic generation double-axis tracking knot Structure (hereinafter referred to as " structure ") is the double-axis tracking mode based on the horizontal system of coordinates mostly, and solar day liter is not accounted for mostly Error between difference of longitude, solar hour angle and hour angle of true sun between azimuth, sunset azimuth, local longitude and time zone longitude etc. The influence that factor is judged position of sun, causes structure to track deterioration of efficiency, the reduction of photovoltaic power generation structure delivery efficiency；In addition, Double-axis tracking mode based on the horizontal system of coordinates causes two stepping electricity due to sun altitude to be constantly tracked, azimuth Machine constantly works, and reduces service life, adds maintenance；Simultaneously because structure operation and formula calculation error cause prediction There is deviation in position of sun and actual position of sun.Therefore research provide a kind of photovoltaic generation twin shaft based on polar coordinate system with The control method of track structure is to be highly profitable and very necessary.

The content of the invention

, can be effectively it is an object of the present invention to provide a kind of control method of polar coordinate system photovoltaic generation double-axis tracking structure Improve photovoltaic power generation structure tracking accuracy.

The present invention is achieved in that as shown in figure 1, polar coordinate system photovoltaic generation double-axis tracking structure includes top The photovoltaic module 1 of installation, first, second, third, fourth light sensor 2,2', 2 ", 2 " ', photovoltaic module support 3, top silk Bar axle 4, top worm type of reduction gearing 5, top stepper motor 6, upper support platform 7, inclination screw axis 8, sloping shaft stepping Motor 10, sloping shaft worm type of reduction gearing 11, sloping platform 15, lower seat 18, base 19, the cunning on base 19 Dynamic rail road 22 and movable axle bearing 23；Its structure is that movable axle bearing 23 is adjusted in sliding rail 22 by positioning screw 24 Interior position, swings hold-down support 12 of the upper end of pole 17 by upper support bearing pin 13 with being fixed on sloping platform 15 and mutually cuts with scissors Connect, swing the lower end of pole 17 by lower support bearing pin 13 " and the phase hinge of movable axle bearing 23, the bottom of lower seat 18 is consolidated It is scheduled on base 19, the top of lower seat 18 passes through midfoot support bearing pin 13' and the bottom being fixed on below sloping platform 15 Bearing block 16 is hinged, inclination shaft step motor 10 and the band of sloping shaft worm type of reduction gearing 11 on sloping platform 15 The dynamic screw axis 8 that tilt are rotated, and are tilted screw axis 8 and are arranged on by upper and lower axle bearing 9,9 ' on sloping platform 15, in sloping platform 15 limit switches 14 installed above having to upper support platform (7) position-limiting action, the bottom of upper support platform 7 is by wearing Through hole 28 is fixedly connected with tilting screw axis 8, and the lower end for tilting screw axis 8 is provided with encoder 25, and top worm and gear slows down Device 5 and top stepper motor 6 are arranged on upper support platform 7, and photovoltaic module support 3 is fixed on top worm type of reduction gearing 5 and top stepper motor 6 drive top screw axis 4 on, photovoltaic module 1 be arranged on photovoltaic module support 3 on, in photovoltaic module Be separately installed with 1 corner first, second, third, fourth light sensor 2,2', 2 ", 2 " '.The invention is characterised in that right The control method of said structure is：

Determine to swing pole 17 and ground level by adjusting position of the moving shaft holder 23 in sliding rail 22 first Angle is θ=φ, and φ is local dimension.It is n-th day in 1 year to judge some day, and n is positive integer, is calculated according to formula (1) Declination angle δ, then photovoltaic module support 3 and ground inclination alpha_sIt can be obtained by formula (2), the sign in formula (2) takes spring and summer For just, the autumn and winter are negative, solar azimuth γ_sIt can be obtained by formula (3)：

α_s=θ ± δ (2)

Wherein ω is solar hour angle, and 12 noon is 0 °, and be negative in the morning, and is just, hour angle hourly is 15 ° in the afternoon.

Because the circumsolar running track of the earth is elliptical orbit, therefore hour angle of true sun ω_zWith solar hour angle ω Between there is error.Hour angle of true sun ω_zIt can be obtained by formula (4)~(6), then by the solar hour angle ω true suns in formula (3) Hour angle ω_zInstead of：

E=9.87 sin 2B-7.53 cos B-1.5 sin B (5)

ω=0, L is local longitude, L when wherein obtaining clock time t, t=12 point by formula (7)_sFor zone standard time Between location longitude, because China is located at the Eastern Hemisphere, so the sign in formula (4) should take positive sign, then t between the true solar time_z It can be obtained by formula (8)：

Daily sunrise and the azimuth of sunset can be obtained by formula (9), wherein sunrise azimuth ω_sr=-ω_s, sunset side Parallactic angle ω_ss=ω_s, then the daily sunrise sunset moment can be obtained by formula (10) and (11)：

ω_s=arccos (- tan φ tan δ) (9)

Because formula calculating and structure operation can all have error, in addition, structure may partly hide in the process of running We, therefore, be provided with photovoltaic module 1 first, second, third, fourth light sensor 2,2', 2 ", 2 " ', tilt silk Encoder 25 is installed on bar axle 8, respectively to first, second, third, fourth light sensor 2,2', 2 ", 2 " ' resistance value R₂、R_2'、R_2”、R_2”'It is compared：

If, R₂=R_2'=R_2”=R_2”', then illustrate electrodeless axis error and photovoltaic module be not partially obscured；

If R₂≠R_2'≠R_2”≠R_2”', then the inclination alpha of photovoltaic module support 3 and ground is illustrated_sWith the solar azimuth of structure Angle γ_sThere is error, photovoltaic module support 3 and ground are adjusted by top worm type of reduction gearing 5 and top stepper motor 6 first The inclination alpha in face_sSo that R₂=R_2”、R_2'=R_2”', then in conjunction with the angle signal S of encoder 25, by tilting shaft step motor 10 The solar azimuth γ of structure is adjusted with sloping shaft worm type of reduction gearing 11_sSo that R₂=R_2'、R_2”=R_2”', i.e. R₂=R_2'= R_2”=R_2”'；

If R₂≠R_2”, but R₂=R_2'And R_2”=R_2”', then the inclination alpha of photovoltaic module support 3 and ground is illustrated_sIt is wrong, sentence Disconnected R₂With R₂" size, make the inclination alpha of photovoltaic module support 3 and ground_sTo the small side operation of resistance value, until R₂=R_2'= R_2”=R_2”'；

If, R₂≠R_2', but R₂=R_2”And R_2'=R_2”', then the solar azimuth γ of structure is illustrated_sIt is wrong, judge R₂With R_2'Size, make the solar azimuth γ of structure_sTo the small side operation of resistance value, with reference to the angle signal S of encoder 25, make Obtain R₂=R_2'=R_2”=R_2”'；

If, suddenly occur four photo resistance values in three it is equal, one not wait situation (such as R₂=R_2'=R_2”≠ R_2”'), then explanation occurs in that situation is covered in part, and judging four resistance values, that is minimum, makes photovoltaic module support 3 and ground Inclination alpha_sWith the solar azimuth γ of structure_sTo the side operation that resistance value is minimum, photovoltaic module support 3 and ground are adjusted first Inclination alpha_sSo that R₂=R_2”、R_2'=R_2”', then in conjunction with the angle signal S of encoder 25, adjust the solar azimuth of structure γ_sSo that R₂=R_2'、R_2”=R_2”', i.e. R₂=R_2'=R_2”=R_2”'。

In order to prevent infringement of the misoperation to structure, limit switches 14 are installed on sloping platform 15, when top worm gear Worm reducer 5 encounters limit switch 14, and structure stops.

The implementation steps of above-mentioned control method are as shown in figure 3, be：

Step 1: requiring to determine the minimum operation angle Δ of structure according to structure precision, each run interval time Δ is determined T, local longitude L and dimension φ, local standard time location longitude L_s, it is determined that swing pole 17 and the angle of ground level are θ, the angle signal S of sample code device 25；

Step 2: calculating n-th day of some day in 1 year, the declination angle δ on the same day is calculated by formula (1)；

Step 3: according to declination angle δ and local dimension φ, photovoltaic module support 3 and ground are obtained by formula (2) Inclination alpha_s, the sunrise azimuth ω on the same day is obtained by formula (9)_srWith sunset azimuth ω_ss, worked as by formula (10) and (11) It sunrise moment t_srWith sunset moment t_ss；

Step 4: according to clock time by formula (8) calculate the true solar time between t_z, judge t between the true solar time_zWhether it is more than Equal to sunrise moment t_sr, it is to perform step 5；It is no, return to step four；

Step 5: judging whether the cloudy day according to first, second, third, fourth light sensor, it is, return to step five； It is no, perform step 6；

Step 6: judging whether to have encountered limit switch 14, it is that structure stops, no, performs step 7；

Step 7: according to calculating solar azimuth γ by formula (3) between the true solar time_s, photovoltaic module is adjusted according to Δ Support 3 and the inclination alpha on ground_sWith the solar azimuth γ of structure_s, perform step 8；

Step 8: comparing R₂、R_2'、R_2”、R_2”', judge R₂=R_2'=R_2”=R_2”', it is to keep photovoltaic module support 3 and ground The inclination alpha in face_sWith the solar azimuth γ of structure_s, perform step 13；It is no, perform step 9；

Step 9: judging R₂≠R_2'≠R_2”≠R_2”', it is according to Δ, to be sequentially adjusted in inclining for photovoltaic module support 3 and ground Angle α_sSo that R₂=R_2”、R_2'=R_2”', then in conjunction with the angle signal S of encoder 25, adjust the solar azimuth γ of structure_s, make Obtain R₂=R_2'、R_2”=R_2”', perform step 13；It is no, perform step 10；

Step 10: judging whether R₂=R_2'≠R_2”=R_2”', it is that photovoltaic module support 3 and the inclination angle on ground are adjusted according to Δ α_sSo that R₂=R_2'=R_2”=R_2”', perform step 13；It is no, perform step 11；

Step 11: judging whether R₂=R_2”≠R_2'=R_2”', it is, with reference to the angle signal S of encoder 25, to be adjusted according to Δ The solar azimuth γ of whole structure_sSo that R₂=R_2'=R_2”=R_2”', perform step 13；It is no, perform step 12；

Step 12: finding minimum resistance R_min, photovoltaic module support 3 and the inclination alpha on ground are adjusted according to Δ_sSo that R₂= R_2”、R_2'=R_2”', then in conjunction with the angle signal S of encoder 25, adjust the solar azimuth γ of structure_sSo that R₂=R_2'= R_2”=R_2”', perform step 13

Step 13: judging whether interval time Δ t terminates, it is to perform step 14；It is no, when waiting between-line spacing Between Δ t terminate, return to step 13；

Step 14: judging t between the true solar time_zWhether it is more than or equal to the sunset moment, is, structure stops, no, returns and perform Step 5；

The present invention compared with prior art, has the advantages that：1. compared with the prior art, due to control Structure in method employs polar coordinate structure, it is possible to reduce structure extends the structure longevity in the number of run in pole axis direction Life；2. due to being mounted with first, second, third, fourth light sensor and encoder in structure, the tracking of structure is improved Precision；3. the tracking and controlling method of part masking is employed in control method, structure is improved defeated in the case of us is partly hidden Go out power；4. simple in construction, easy to control, with low cost, cost performance is high.

Brief description of the drawings

Fig. 1 is schematic structural view of the invention；

Fig. 2 is the structural representation of upper support platform 7 of the present invention

Fig. 3 is control method flow chart of the present invention；

Fig. 4 is that intelligent control method of the present invention exports comparison diagram with traditional calculations sun location tracking method；

In figure：1-photovoltaic module, 2, the light sensor of '-first, second, third, fourth of 2', 2 ", 2 ", 3-photovoltaic group Part support, 4-top screw axis, 5-top worm type of reduction gearing, 6-top stepper motor, 7-upper support platform, 8-tilt screw axis, 9,9 '-upper and lower axle bearing, 10-tilt shaft step motor, 11-sloping shaft worm type of reduction gearing, 12-hold-down support, 13,13 ', 13 "-top, middle part, lower support bearing pin, 14-limit switch, 15-sloping platform, 16-lower bearing seat, 17-swing pole, 18-lower seat, 19-base, 20,20 '-fixed bottom boundary through hole, 21-spiral shell Mother, 22-sliding rail, 23-movable axle bearing, 24-positioning screw, 25-encoder, 27-support block, 28-break-through Hole.

Embodiment

It is the structural representation of the present embodiment as shown in Figure 1, chooses top stepper motor 6 and tilt shaft step motor 10 Rated power is 200W, and rated voltage is 50V, and rated current is that the photovoltaic module peak power output installed in 4A, structure is 1000W, gear ratio is 50：1；Selected photo resistance is CdS photo resistance.

By taking Shanghai September in 2013 at 15 points in afternoon on the 22nd as an example, control method step is the minimum operation angle Δ that (1) is set =0.1 ° and each run interval time Δ t=5 minutes, local longitude and latitude are respectively 121.48 ° and 31.2 °, work as terrestrial reference The longitude (i.e. Pekinese's longitude) in location is 116.4 ° between punctual, it is determined that it is θ=φ to swing pole 17 and the angle of ground level =31.2 °, the angle signal S of sample code device 25 is 0 °, performs step (2)；(2) it 22nd is the 266th in 1 year to determine September My god, the declination angle calculated by formula (1) is δ=- 0.8966 °, performs step (3)；(3) according to declination angle δ=- 0.8966 ° and local dimension φ=31.2 °, the inclination alpha of photovoltaic module support 3 and ground is obtained by formula (2)_s= 32.0966 °, the September sunrise of 22 days and sunset hour angle respectively ω are obtained by formula (9)_sr=-89.5 ° and ω_ss=89.5 °, It is respectively t by formula (10) and (11) sunrise moment and sunset moment_sr=6.03 and t_ss=17.97 hours, perform step (4)； (4) between the true solar time calculated by formula (8) it is t_z=14.72 hours, more than the sunrise moment, perform step (5)；(5) do not have At the cloudy day, perform step (6)；(6) limit switch 14 is will not hit on, step (7) is performed；(7) solar azimuth is calculated by formula (3) Angle γ_s=58.2 °, adjust photovoltaic module support 3 and the inclination alpha on ground_s=32.0966 ° and the solar azimuth γ of structure_s= 58.2 °, perform step (8)；(8) the resistance value R of first, second, third, fourth light sensor 2,2 ', 2 ", 2 " ' is compared₂、 R_2'、R_2”、R_2”', judge R₂=R_2'=R_2”=R_2”', it is invalid, perform step (9)；(9) first, second, third, fourth is judged The resistance value R of light sensor 2,2 ', 2 ", 2 " '₂≠R_2'≠R_2”≠R_2”', it is invalid, perform step (10)；(10) is judged First, second, third, the resistance value R of the 4th light sensor 2,2 ', 2 ", 2 " '₂=R_2'≠R_2”=R_2”', set up, adjust photovoltaic group Part support 3 and the inclination alpha on ground_s=32.12 ° so that R₉=R₁₀=R₁₁=R₁₂, perform step (13)；(13) during interval Between Δ t terminated, perform step (14)；(14) t between the true solar time is judged_zLess than the sunset moment, return and perform step (5).

Its operation result is compared as shown in Figure 4 with traditional calculations sun location tracking method.

It can be seen that the present invention reaches the photovoltaic generation double-axis tracking structure based on polar coordinate any time in one day Tracking accuracy, and structure is reduced in the number of run in pole axis direction, structural life-time is extended, effectively overcomes the sun partly to be hidden us Influence, improve the power output of photovoltaic power generation structure installed in structure.

Claims (1)

1. a kind of control method of polar coordinate system photovoltaic generation double-axis tracking structure, polar coordinate system photovoltaic generation double-axis tracking Structure includes the photovoltaic module (1) installed at top, first, second, third, fourth light sensor (2,2', 2 ", 2 " '), light Assembly support (3), top screw axis (4), top worm type of reduction gearing (5), top stepper motor (6), upper support is lied prostrate to put down Platform (7), tilt screw axis (8), tilt shaft step motor (10), sloping shaft worm type of reduction gearing (11), sloping platform (15), Lower seat (18), base (19), the sliding rail (22) on base (19) and movable axle bearing (23)；Its structure It is that movable axle bearing (23) adjusts the position in sliding rail (22) by positioning screw (24), swings pole (17) upper end It is hinged, is swung under pole (17) by upper support bearing pin (13) and the hold-down support (12) that is fixed on sloping platform (15) End is by lower support bearing pin (13 ") and movable axle bearing (23) phase hinge, and the bottom of lower seat (18) is fixed on base (19) on, the top of lower seat (18) is by midfoot support bearing pin (13') and is fixed on the bottom of sloping platform (15) below Bearing block (16) is hinged, and the inclination shaft step motor (10) and sloping shaft worm and gear on sloping platform (15) slow down Device (11), which drives, tilts screw axis (8) rotation, tilts screw axis (8) and is arranged on sloping platform by upper and lower axle bearing (9,9 ') (15) on, in sloping platform (15) limit switch (14) installed above having to upper support platform (7) position-limiting action, top The bottom of support platform (7) is fixedly connected by reach through hole (28) with tilting screw axis (8), tilts the lower end peace of screw axis (8) Equipped with encoder (25), top worm type of reduction gearing (5) and top stepper motor (6) are arranged on upper support platform (7), Photovoltaic module support (3) is fixed on the top screw axis that top worm type of reduction gearing (5) and top stepper motor (6) drive (4) on, photovoltaic module (1) is arranged on photovoltaic module support (3), be separately installed with first at the corner of photovoltaic module (1), Second, third, the 4th light sensor (2,2', 2 ", 2 " ')；

It is characterized in that the control method of said structure is：

Determine to swing pole (17) and Horizon by adjusting position of the movable axle bearing (23) in sliding rail (22) first The angle in face is θ=φ, and φ is local dimension, and it is n-th day in 1 year to judge some day, and n is positive integer, is counted according to formula (1) Declination angle δ is calculated, then photovoltaic module support (3) and the inclination alpha on ground_sIt can be obtained by formula (2), the sign in formula (2) Spring and summer is taken for just, the autumn and winter are negative, solar azimuth γ_sIt can be obtained by formula (3)：

α_s=θ ± δ (2)

${\mathrm{sin\γ}}_s=\frac{cos\mathrm{\δ}sin\mathrm{\ω}}{{\mathrm{cos\α}}_s}---\left(3\right)$

Wherein ω is solar hour angle, and 12 noon is 0 °, and be negative in the morning, and is just, hour angle hourly is 15 ° in the afternoon；

Because the circumsolar running track of the earth is elliptical orbit, therefore hour angle of true sun ω_zExist between solar hour angle ω Error；Hour angle of true sun ω_zIt can be calculated and be obtained by formula (4), (5), (6), then by the solar hour angle ω true suns in formula (3) Hour angle ω_zInstead of：

E=9.87sin 2B-7.53cos B-1.5sin B (5)

$B=\frac{360(n-81)}{364}---\left(6\right)$

ω=0, L is local longitude, L when wherein obtaining clock time t, t=12 point by formula (7)_sWhere local standard time The longitude on ground, because China is located at the Eastern Hemisphere, so the sign in formula (4) should take positive sign, then t between the true solar time_zCan be by formula (8) obtain：

$t=\left(\frac{\mathrm{\ω}}{15}\right)+12---\left(7\right)$

$t_z=\left(\frac{{\mathrm{\ω}}_z}{15}\right)+12---\left(8\right)$

Daily sunrise and the azimuth of sunset can be obtained by formula (9), wherein sunrise azimuth ω_sr=-ω_s, sunset azimuth ω_ss=ω_s, then the daily sunrise sunset moment can be obtained by formula (10) and (11)：

ω_s=arccos (- tan φ tan δ) (9)

$t_{sr}=\left(\frac{{\mathrm{\ω}}_{sr}}{15}\right)+12---\left(10\right)$

$t_{ss}=\left(\frac{{\mathrm{\ω}}_{ss}}{15}\right)+12---\left(11\right)$

Because formula calculating and structure operation can all have error, in addition, structure may partly hide us in the process of running, because This, first, second, third, fourth light sensor (2,2 ', 2 ", 2 " ') is provided with photovoltaic module (1), screw mandrel is being tilted Encoder (25) is installed, respectively to the electricity of first, second, third, fourth light sensor (2,2 ', 2 ", 2 " ') on axle (8) Resistance R₂、R_2′、R_2″、R_2″′It is compared：

If, R₂=R_2′=R_2″=R_2″′, then illustrate that no pole axis has error and photovoltaic module is not partially obscured；

If R₂≠R_2′≠R_2″≠R_2″′, then the inclination alpha of photovoltaic module support (3) and ground is illustrated_sWith the solar azimuth of structure γ_sThere is error, photovoltaic module support (3) is adjusted by top worm type of reduction gearing (5) and top stepper motor (6) first With the inclination alpha on ground_sSo that R₂=R_2″、R_2′=R_2″′, then in conjunction with the angle signal S of encoder (25), pass through sloping shaft stepping Motor (10) and sloping shaft worm type of reduction gearing (11) adjust the solar azimuth γ of structure_sSo that R₂=R_2′、R_2″=R_2″′, That is R₂=R_2′=R_2″=R_2″′；

If R₂≠R_2″, but R₂=R_2′And R_2″=R_2″′, then the inclination alpha of photovoltaic module support (3) and ground is illustrated_sIt is wrong, judge R₂With R_2″Size, make the inclination alpha of photovoltaic module support (3) and ground_sTo the small side operation of resistance value, until R₂=R_2′= R_2″=R_2″′；

If, R₂≠R_2′, but R₂=R_2″And R_2′=R_2″′, then the solar azimuth γ of structure is illustrated_sIt is wrong, judge R₂With R_2′'s Size, makes the solar azimuth γ of structure_sTo the small side operation of resistance value, with reference to the angle signal S of encoder (25) so that R₂=R_2′=R_2″=R_2″′；

If, suddenly occur four photo resistance values in three it is equal, one not wait situation, then explanation occur in that part cover Situation, judging four resistance values, which is minimum, makes the inclination alpha of photovoltaic module support (3) and ground_sWith the solar azimuth of structure γ_sTo the side operation that resistance value is minimum, photovoltaic module support (3) and the inclination alpha on ground are adjusted first_sSo that R₂=R_2″、R_2′ =R_2″′, then in conjunction with the angle signal S of encoder (25), adjust the solar azimuth γ of structure_sSo that R₂=R_2′、R_2″= R_2″′, i.e. R₂=R_2′=R_2″=R_2″′；

The implementation steps of above-mentioned control method are：

Step 1: requiring to determine the minimum operation angle Δ of structure according to structure precision, each run interval time Δ t is determined, when Ground longitude L and dimension φ, local standard time location longitude L_s, it is determined that it is θ to swing pole (17) and the angle of ground level, The angle signal S of sample code device (25)；

Step 2: calculating n-th day of some day in 1 year, the declination angle δ on the same day is calculated by formula (1)；

Step 3: according to declination angle δ and local dimension φ, inclining for photovoltaic module support (3) and ground is obtained by formula (2) Angle α_s, the sunrise azimuth ω on the same day is obtained by formula (9)_srWith sunset azimuth ω_ss, the same day is obtained by formula (10) and (11) Sunrise moment t_srWith sunset moment t_ss；

Step 4: according to clock time by formula (8) calculate the true solar time between t_z, judge t between the true solar time_zWhether it is more than or equal to Sunrise moment t_sr, it is to perform step 5；It is no, return to step four；

Step 5: judging whether the cloudy day according to first, second, third, fourth light sensor, it is, return to step five；It is no, hold Row step 6；

Step 6: judging whether to have encountered limit switch (14), it is that structure stops, no, performs step 7；

Step 7: according to calculating solar azimuth γ by formula (3) between the true solar time_s, photovoltaic module support is adjusted according to Δ (3) with the inclination alpha on ground_sWith the solar azimuth γ of structure_s, perform step 8；

Step 8: comparing R₂、R_2′、R_2″、R_2″′, judge R₂=R_2′=R_2″=R_2″′, it is to keep photovoltaic module support (3) and ground Inclination alpha_sWith the solar azimuth γ of structure_s, perform step 13；It is no, perform step 9；

Step 9: judging R₂≠R_2′≠R_2″≠R_2″′, it is, according to Δ, to be sequentially adjusted in the inclination angle of photovoltaic module support (3) and ground α_sSo that R₂=R_2″、R_2′=R_2″′, then in conjunction with the angle signal S of encoder (25), adjust the solar azimuth γ of structure_s, make Obtain R₂=R_2′、R_2″=R_2″′, perform step 13；It is no, perform step 10；

Step 10: judging whether R₂=R_2′≠R_2″=R_2″′, it is that photovoltaic module support (3) and the inclination alpha on ground are adjusted according to Δ_s So that R₂=R_2′=R_2″=R_2″′, perform step 13；It is no, perform step 11；

Step 11: judging whether R₂=R_2″≠R_2′=R_2″′, it is, with reference to the angle signal S of encoder (25), to be adjusted according to Δ The solar azimuth γ of structure_sSo that R₂=R_2′=R_2″=R_2″′, perform step 13；It is no, perform step 12；

Step 12: finding minimum resistance R_min, photovoltaic module support (3) and the inclination alpha on ground are adjusted according to Δ_sSo that R₂= R_2″、R_2′=R_2″′, then in conjunction with the angle signal S of encoder (25), adjust the solar azimuth γ of structure_sSo that R₂=R_2′= R_2″=R_2″′, perform step 13；

Step 13: judging whether interval time Δ t terminates, it is to perform step 14；It is no, wait between-line spacing time Δ t Terminate, return to step 13；

Step 14: judging t between the true solar time_zWhether it is more than or equal to the sunset moment, is, structure stops, no, returns and perform step Five.