CN104834325A - Floating solar power generation single-axis tracking system and control method thereof - Google Patents
Floating solar power generation single-axis tracking system and control method thereof Download PDFInfo
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Abstract
The present invention provides a floating solar power generation single-axis tracking system with low cost and high reliability and a control method thereof. The system comprises a floating power platform and an automatic tracking control system. The floating power platform autonomously rotates or moves in the horizontal dimension to automatically track solar azimuth. The automatic tracking control system comprises a satellite positioning subsystem, a shore-based ranging positioning subsystem, a sensing acquisition subsystem, a master control subsystem, and a power control subsystem. The present invention provides the control method based on the above floating solar power generation single-axis tracking system, a neural network algorithm is used to analyze floating power platform relative geographic coordinates, absolute geographical coordinates, time, a sun incidence angle, the solar azimuth and other data in real time, a best lighting position is obtained, an underwater driver is controlled to drive the floating power platform to rotate or move to a target position, and the real-time tracking of the solar azimuth by the floating power platform is achieved.
Description
Technical field
The present invention relates to field of solar thermal power generation, especially a kind of floatation type solar electrical energy generation single-shaft tracking system and control method thereof.
Background technology
Sun power is a kind of pollution-free, reproducible clean energy resource.
The construction floatation type device of solar generating waterborne such as reservoir, lake, rivers and ocean, can make full use of the sunshine area waterborne accounting for earth surface 71%, be conducive to applying of solar energy generation technology.
Solar electrical energy generation single-shaft tracking system is applied in solar energy generation technology in prior art, by real-time follow-up solar motion track, improves solar radiation quantity received by device of solar generating, thus improve the generating efficiency of device of solar generating.Traditional tracker can comprise single shaft automatic tracking system, step-by-step movement automatic tracking system and dual-axis tracking system very much.Be in CN102637041, disclose a kind of window shutter double-axis tracking solar photovoltaic generation system in the patent No., single control system can only be realized within the system and control single or several photovoltaic electrification component.Control whole photovoltaic generating system solar panel to need to arrange multiple tracker, cost is high; Rely on a large amount of mechanical rotation element, global reliability is low.
Summary of the invention
In view of this, the invention provides a kind of low cost, the floatation type solar electrical energy generation single-shaft tracking system of high reliability and control method thereof.
The present invention realizes by the following technical solutions: a kind of floatation type solar electrical energy generation single-shaft tracking system, comprises floating power platform and automatic following control system; Described automatic following control system is arranged on described floating power platform; The one or more fixed device of solar generating of described floating power platform top carrying; Described floating power platform independently rotates in horizontal dimensions or moves from motion tracking solar azimuth; Described floating power platform comprises: a buoyancy structure subsystem, and described buoyancy structure subsystem comprises one or more buoyancy structure unit, is connected between described multiple buoyancy structure unit by a syndeton; One power sub-system, described dynamic substructures comprises one or more driver under water, and described driver is under water connected with described buoyancy structure subsystem; One anchoring subsystems, described anchoring subsystems comprises one or more positioning anchor and positioning anchor draw-gear, and the anchor chain of described positioning anchor is connected with the output terminal of positioning anchor draw-gear, and described positioning anchor draw-gear is arranged on buoyancy structure subsystem top or inside; One outside connexon system, one end of described outside connexon system is connected with described floating power platform center of rotation, and its other end is connected with land or other floating power platforms; Described automatic following control system comprises: a satellite positioning subsystem, and described satellite positioning subsystem comprises multiple satellite location data acquisition module, and described satellite location data acquisition module is arranged on the top of described floating power platform; One bank base ranging localization subsystem, described bank base ranging localization subsystem comprises multiple ranging localization data acquisition module and one or more bank base anchor point, described ranging localization data acquisition module is arranged on the top of described floating power platform, and described bank base anchor point is fixedly mounted on bank base; One sensing acquisition subsystem, described sensing acquisition subsystem comprises one or more light level acquisition module and one or more wind direction and wind velocity sensing acquisition module; Described light level acquisition module is arranged on described floating power platform top, and described wind direction and wind velocity sensing acquisition module is arranged on described floating power platform top; One subsystem, described subsystem comprises one or more master control computing module, be arranged on described floating power platform top or inside, the output data of described master control computing module real-time reception satellite positioning subsystem, bank base ranging localization subsystem, sensing acquisition subsystem, Power control subsystem, to Power control subsystem sending controling instruction data; One Power control subsystem, described Power control subsystem comprises one or more power drive module, be arranged on described floating power platform top or inside, described power drive module controls one or more described positioning anchor draw-gear and described driver under water runs, and the one or more described positioning anchor draw-gear of Real-time Collection and the described service data of driver under water.
In an embodiment of the present invention, described ranging localization data acquisition module is laser ranging position data collecting module or ultrasonic ranging position data collecting module.
In an embodiment of the present invention, described driver is under water screw propeller or hydraulic propeller.
In an embodiment of the present invention, the syndeton between multiple buoyancy structure unit is firm access node structure or articulated structure.
The present invention also provides a kind of control method based on above-mentioned floatation type solar electrical energy generation single-shaft tracking system, this control method comprises the following steps: step S1: measure relative geographic coordinate data between point with described one or more bank base anchor point respectively by described bank base ranging localization subsystem multiple ranging localization data acquisition module, and these data are sent to described subsystem; Described satellite positioning subsystem multiple satellite location data acquisition module measures the absolute geographic coordinate data of point and time respectively, and these data are sent to described subsystem; Step S2: described sensing acquisition subsystem light level acquisition module measures the solar irradiation data of residing environment in real time, and these data are sent to described subsystem, draws solar incident angle and position angle by subsystem; Described sensing acquisition subsystem wind direction and wind velocity sensing acquisition module measures wind direction and the air speed data of residing environment in real time, and these data are sent to subsystem; Positioning anchor draw-gear operating condition described in described Power control subsystem power drive module Real-time Collection and the described operating condition of driver under water data, and data are sent to subsystem; Step S3: the relative geographic coordinate that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S1, S2 obtains, definitely geographic coordinate, time, solar incident angle, solar azimuth, wind direction, wind speed, positioning anchor draw-gear operating condition and driver operating condition data under water, draw the optimum target orientation director data of described floating power platform real-time follow-up solar azimuth, this director data is sent to described Power control subsystem; Step S4: described Power control subsystem power drive module controls driving dynamic strength and the driving direction of described one or more driver under water in real time according to the director data that step S3 receives, promote described floating power platform rotate or move to target azimuth, realize described floating power platform to the real-time follow-up of solar azimuth; Step S5: the wind direction that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S2 to obtain and air speed data, residing for described floating power platform, whether the wind direction of environment and wind speed draw in secure threshold scope director data of weighing anchor or cast anchor, and this director data is sent to described Power control subsystem; Step S6: control described one or more positioning anchor draw-gear when described Power control subsystem power drive module receives cast anchor instruction according to step S5 and described positioning anchor is sunk down into the bottom, by described floating power platform safe berth; Described Power control subsystem power drive module controls described one or more positioning anchor draw-gear and is risen by described positioning anchor when receiving weigh anchor instruction according to step S5, described floating power platform can move freely or rotate.
In the control method of one embodiment of the invention, utilize the absolute geographic coordinate of satellite positioning surveys to measure with the range finding of bank base the described floating power platform bearing data that relative geographic coordinate draws the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
In the control method of one embodiment of the invention, utilize geographic coordinate and time to calculate solar azimuth angular data that solar azimuth angular data and the solar azimuth angular data that utilizes light level acquisition module and control subsystem to draw draw the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
Compared with prior art, the present invention has the following advantages:
1, compared to conventional fixed-type device of solar generating, the device of solar generating that native system carries is by horizontal dimensions real-time follow-up solar azimuth, and the device of solar generating of same size can improve solar energy utilization ratio 15-20%;
2, individual system can carry MW class device of solar generating, significantly reduces every watt of cost of solar electrical energy generation tracker;
3, only use a small amount of mechanical rotation element, improve the reliability of solar electrical energy generation single-shaft tracking system;
4, utilize the absolute geographic coordinate of satellite positioning surveys to measure with the range finding of bank base the floating power platform bearing data that relative geographic coordinate draws the mutual redundancy of two covers, put forward precision and the reliability of location;
5, utilize geographic coordinate and time to calculate solar azimuth angular data and utilize light level acquisition module actual measurement solar bearing data to draw the solar azimuth angular data of the mutual redundancy of two covers, putting forward precision and the reliability of tracking;
6, positioning anchor can be utilized under extreme environmental conditions system to be anchored, improve security of system.
Accompanying drawing explanation
Fig. 1 is the structural representation vertical view of one embodiment of the invention.
Fig. 2 is the structural representation side view of one embodiment of the invention.
Fig. 3 is the AA ' cut-open view of one embodiment of the invention.
Fig. 4 is the control method theory diagram of one embodiment of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
The invention provides a kind of floatation type solar electrical energy generation single-shaft tracking system, comprise floating power platform and automatic following control system; Described automatic following control system is arranged on described floating power platform; The one or more fixed device of solar generating of described floating power platform top carrying; Described floating power platform independently rotates in horizontal dimensions or moves from motion tracking solar azimuth; Described floating power platform comprises: a buoyancy structure subsystem 3, and described buoyancy structure subsystem comprises one or more buoyancy structure unit, is connected between described multiple buoyancy structure unit by a syndeton 16; One power sub-system, described power sub-system comprises one or more driver under water 10, and described driver under water 10 is connected with described buoyancy structure subsystem 3; One anchoring subsystems, described anchoring subsystems comprises one or more positioning anchor 8 and positioning anchor draw-gear 14, the anchor chain 12 of described positioning anchor 8 is connected with the output terminal of positioning anchor draw-gear 14, and described positioning anchor draw-gear 14 is arranged on buoyancy structure subsystem 3 top or inside; One outside connexon system 11, one end of described outside connexon system 11 is connected with described floating power platform center of rotation, and its other end is connected with land or other floating power platforms; Described automatic following control system comprises: a satellite positioning subsystem, and described satellite positioning subsystem comprises multiple satellite location data acquisition module 5, and described satellite location data acquisition module 5 is arranged on the top of described floating power platform; One bank base ranging localization subsystem, described bank base ranging localization subsystem comprises multiple ranging localization data acquisition module 13 and one or more bank base anchor point, described ranging localization data acquisition module 13 is arranged on the top of described floating power platform, and described bank base anchor point is fixedly mounted on bank base; One sensing acquisition subsystem, described sensing acquisition subsystem comprises one or more light level acquisition module 6 and one or more wind direction and wind velocity sensing acquisition module 15; Described light level acquisition module 6 is arranged on described floating power platform top, and described wind direction and wind velocity sensing acquisition module 15 is arranged on described floating power platform top; One subsystem, described subsystem comprises one or more master control computing module, be arranged on described floating power platform top or inside, the output data of described master control computing module real-time reception satellite positioning subsystem, bank base ranging localization subsystem, sensing acquisition subsystem, Power control subsystem, to Power control subsystem sending controling instruction data; One Power control subsystem, described Power control subsystem comprises one or more power drive module, be arranged on described floating power platform top or inside, described power drive module controls one or more described positioning anchor draw-gear and described driver under water 10 runs, and the one or more described positioning anchor draw-gear of Real-time Collection and described driver under water 10 service data.
; One Power control subsystem, institute's Power control subsystem comprises one or more power drive module, is arranged in described floating power platform top centralized-control box 7.
The structural representation of one embodiment of the invention is see Fig. 1-3.
In an embodiment of the present invention, described ranging localization data acquisition module is laser ranging position data collecting module or ultrasonic ranging position data collecting module.
In an embodiment of the present invention, the syndeton 16 between multiple buoyancy structure unit has just connect or hinged.
Preferably, described buoyancy structure unit 3 is the enclosed volume type platform of plastic cement or metal or concrete or glass-reinforced plastic material manufacture.
Preferably, described driver under water 10 is screw propeller or hydraulic propeller.
Preferably, the requirement of described buoyancy structure subsystem 3 can carry one or more fixed device of solar generating, and described device of solar generating comprises one or more inverter 1, transformer 2, photovoltaic electrification component 4 etc.Photovoltaic electrification component 4 has support 9 to be fixed on described buoyancy structure unit.Support 9 adopts plastic cement or metal or concrete or glass-reinforced plastic material manufacture.Subsystem and main line are arranged in described floating power platform top centralized-control box 7.
Preferably, described outside connexon system 11 comprises cable, optical cable, tracting cable, and tracting cable is used for described floating power platform outside traction, and cable is used for electric power and sends outside, and optical cable is used for PERCOM peripheral communication.
The present invention also provides a kind of based on above-mentioned floatation type solar energy tracking photovoltaic generating system control method, this control method comprises the following steps: step S1: measure relative geographic coordinate data between described one or more bank base anchor point respectively by described bank base ranging localization subsystem multiple ranging localization data acquisition module, and these data are sent to described subsystem; Described satellite positioning subsystem multiple satellite location data acquisition module measures the absolute geographic coordinate data of point and time respectively, and these data are sent to described subsystem; Step S2: described sensing acquisition subsystem light level acquisition module measures the solar irradiation data of residing environment in real time, and these data are sent to described subsystem, draws solar incident angle and position angle by subsystem; Described sensing acquisition subsystem wind direction and wind velocity sensing acquisition module measures wind direction and the air speed data of residing environment in real time, and these data are sent to subsystem; Positioning anchor draw-gear operating condition described in described Power control subsystem power drive module Real-time Collection and the described operating condition of driver under water data, and data are sent to subsystem; Step S3: the relative geographic coordinate that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S1, S2 obtains, definitely geographic coordinate, time, solar incident angle, solar azimuth, wind direction, wind speed, positioning anchor draw-gear operating condition and driver operating condition data under water, draw the optimum target orientation director data of described floating power platform real-time follow-up solar azimuth, this director data is sent to described Power control subsystem; Step S4: described Power control subsystem power drive module controls driving dynamic strength and the driving direction of described one or more driver under water in real time according to the director data that step S3 receives, promote described floating power platform rotate or move to target azimuth, realize described floating power platform to the real-time follow-up of solar azimuth; Step S5: the wind direction that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S2 to obtain and air speed data, residing for described floating power platform, whether the wind direction of environment and wind speed draw in secure threshold scope director data of weighing anchor or cast anchor, and this director data is sent to described Power control subsystem; Step S6: control described one or more positioning anchor draw-gear when described Power control subsystem power drive module receives cast anchor instruction according to step S5 and described one or more positioning anchor is sunk down into the bottom, by described floating power platform safe berth; Described Power control subsystem power drive module controls described one or more positioning anchor draw-gear and is risen by described positioning anchor when receiving weigh anchor instruction according to step S5, described floating power platform can move freely or rotate.
In the control method of one embodiment of the invention, utilize the absolute geographic coordinate of satellite positioning surveys to measure with the range finding of bank base the described floating power platform bearing data that relative geographic coordinate draws the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
In the control method of one embodiment of the invention, utilize geographic coordinate and time to calculate solar azimuth angular data that solar azimuth angular data and the solar azimuth angular data that utilizes light level acquisition module and control subsystem to draw draw the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
The control method theory diagram of one embodiment of the invention is see Fig. 4.
The present invention, by horizontal dimensions real-time follow-up solar azimuth, improves device of solar generating generating efficiency.Solar azimuth refer to the projection line of solar incident ray on ground level and ground level Due South to angle, setting solar azimuth is 0 DEG C at Due South usually, be westwards on the occasion of, it is eastwards negative value, input geographic coordinate and time, use cosine function to calculate, its formula is as follows:
The proper noun that above-mentioned formula is used is described as follows:
the position angle of the sun,
sun altitude,
the hour angle of computing time,
solar declination at that time,
it is local geographic latitude.
In this article, term " connection " is defined as the connection between two main bodys, but not necessarily directly connects, and also can comprise the indirect annexation realized by other intermediate nodes or equipment.
These are only one embodiment of the present invention, all equalizations done according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (7)
1. a floatation type solar electrical energy generation single-shaft tracking system, is characterized in that: comprise floating power platform and automatic following control system; Described automatic following control system is arranged on described floating power platform; The one or more fixed device of solar generating of described floating power platform top carrying; Described floating power platform independently rotates in horizontal dimensions or moves from motion tracking solar azimuth;
Described floating power platform comprises:
One buoyancy structure subsystem, described buoyancy structure subsystem comprises one or more buoyancy structure unit, is connected between described multiple buoyancy structure unit by a syndeton;
One power sub-system, described dynamic substructures comprises one or more driver under water, and described driver is under water connected with described buoyancy structure subsystem;
One anchoring subsystems, described anchoring subsystems comprises one or more positioning anchor and positioning anchor draw-gear, and the anchor chain of described positioning anchor is connected with the output terminal of positioning anchor draw-gear, and described positioning anchor draw-gear is arranged on buoyancy structure subsystem top or inside;
One outside connexon system, one end of described outside connexon system is connected with described floating power platform center of rotation, and its other end is connected with land or other floating power platforms;
Described automatic following control system comprises:
One satellite positioning subsystem, described satellite positioning subsystem comprises multiple satellite location data acquisition module, and described satellite location data acquisition module is arranged on the top of described floating power platform;
One bank base ranging localization subsystem, described bank base ranging localization subsystem comprises multiple ranging localization data acquisition module and one or more bank base anchor point, described ranging localization data acquisition module is arranged on the top of described floating power platform, and described bank base anchor point is fixedly mounted on bank base;
One sensing acquisition subsystem, described sensing acquisition subsystem comprises one or more light level acquisition module and one or more wind direction and wind velocity sensing acquisition module; Described light level acquisition module is arranged on described floating power platform top, and described wind direction and wind velocity sensing acquisition module is arranged on described floating power platform top;
One subsystem, described subsystem comprises one or more master control computing module, be arranged on described floating power platform top or inside, the output data of described master control computing module real-time reception satellite positioning subsystem, bank base ranging localization subsystem, sensing acquisition subsystem, Power control subsystem, to Power control subsystem sending controling instruction data;
One Power control subsystem, described Power control subsystem comprises one or more power drive module, be arranged on described floating power platform top or inside, described power drive module controls one or more described positioning anchor draw-gear and described driver under water runs, and the one or more described positioning anchor draw-gear of Real-time Collection and the described service data of driver under water.
2. floatation type solar electrical energy generation single-shaft tracking system according to claim 1, is characterized in that: described ranging localization data acquisition module is laser ranging position data collecting module or ultrasonic ranging position data collecting module.
3. floatation type solar electrical energy generation single-shaft tracking system according to claim 1, is characterized in that: described driver is under water screw propeller or hydraulic propeller.
4. floatation type solar electrical energy generation single-shaft tracking system according to claim 1, is characterized in that: the syndeton between multiple buoyancy structure unit is firm access node structure or articulated structure.
5., based on a control method for floatation type solar energy tracking photovoltaic generating system according to claim 1, it is characterized in that: comprise the following steps:
Step S1: measure relative geographic coordinate data between point with described one or more bank base anchor point respectively by described bank base ranging localization subsystem multiple ranging localization data acquisition module, and these data are sent to described subsystem; Described satellite positioning subsystem multiple satellite location data acquisition module measures the absolute geographic coordinate data of point and time respectively, and these data are sent to described subsystem;
Step S2: described sensing acquisition subsystem light level acquisition module measures the solar irradiation data of residing environment in real time, and these data are sent to described subsystem, draws solar incident angle and position angle by subsystem; Described sensing acquisition subsystem wind direction and wind velocity sensing acquisition module measures wind direction and the air speed data of residing environment in real time, and these data are sent to subsystem; Positioning anchor draw-gear operating condition described in described Power control subsystem power drive module Real-time Collection and the described operating condition of driver under water data, and data are sent to subsystem;
Step S3: the relative geographic coordinate that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S1, S2 obtains, definitely geographic coordinate, time, solar incident angle, solar azimuth, wind direction, wind speed, positioning anchor draw-gear operating condition and driver operating condition data under water, draw the optimum target orientation director data of described floating power platform real-time follow-up solar azimuth, this director data is sent to described Power control subsystem;
Step S4: described Power control subsystem power drive module controls driving dynamic strength and the driving direction of described one or more driver under water in real time according to the director data that step S3 receives, promote described floating power platform rotate or move to target azimuth, realize described floating power platform to the real-time follow-up of solar azimuth;
Step S5: the wind direction that described subsystem one or more master control computing module utilizes neural network algorithm analytical procedure S2 to obtain and air speed data, residing for described floating power platform, whether the wind direction of environment and wind speed draw in secure threshold scope director data of weighing anchor or cast anchor, and this director data is sent to described Power control subsystem;
Step S6: control described one or more positioning anchor draw-gear when described Power control subsystem power drive module receives cast anchor instruction according to step S5 and described one or more positioning anchor is sunk down into the bottom, by described floating power platform safe berth; Described Power control subsystem power drive module controls described one or more positioning anchor draw-gear and is risen by described positioning anchor when receiving weigh anchor instruction according to step S5, described floating power platform can move freely or rotate.
6. the control method of floatation type solar energy tracking photovoltaic generating system according to claim 5, it is characterized in that: utilize the absolute geographic coordinate of satellite positioning surveys to measure with the range finding of bank base the described floating power platform bearing data that relative geographic coordinate draws the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
7. the control method of floatation type solar energy tracking photovoltaic generating system according to claim 5, it is characterized in that: utilize geographic coordinate and time to calculate solar azimuth angular data that solar azimuth angular data and the solar azimuth angular data that utilizes light level acquisition module and control subsystem to draw draw the mutual redundancy of two covers, described two sets of data can use individually or simultaneously.
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| CN106933258A (en) * | 2017-03-31 | 2017-07-07 | 中国电子科技集团公司第二十六研究所 | A kind of compact disc uniaxiality tracking platform |
| CN106933258B (en) * | 2017-03-31 | 2020-04-07 | 中国电子科技集团公司第二十六研究所 | Small-size disk single-axis tracking platform |
| CN110071686A (en) * | 2019-06-04 | 2019-07-30 | 浙江正泰新能源开发有限公司 | Water surface solar energy tracking device and system |
| TWI738127B (en) * | 2019-11-25 | 2021-09-01 | 國立澎湖科技大學 | Floating solar tracking system applied to deep waters |
| CN112698312A (en) * | 2020-12-08 | 2021-04-23 | 浙江理工大学 | Port ranging device based on resampling non-linear frequency modulation continuous wave |
| CN112698312B (en) * | 2020-12-08 | 2024-01-16 | 浙江理工大学 | Port ranging device based on resampling nonlinear frequency modulation continuous wave |
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