CN104865975B - The solar tracking control method in large solar power station - Google Patents
The solar tracking control method in large solar power station Download PDFInfo
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- CN104865975B CN104865975B CN201510216981.8A CN201510216981A CN104865975B CN 104865975 B CN104865975 B CN 104865975B CN 201510216981 A CN201510216981 A CN 201510216981A CN 104865975 B CN104865975 B CN 104865975B
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Abstract
The invention discloses a kind of solar tracking control system in large solar power station, including host computer, field control unit, power supply unit, the controlled device and motor for gathering solar energy；Controlled device is equipped with obliquity sensor and optical focusing sensor；Obliquity sensor gathers the obliquity information of controlled device, and is transmitted to field control unit by angle acquisition device；Optical focusing sensor obtains the sun and controlled device relative position information, and is transferred to field control unit；Field control unit is connected by motor driver with motor, and the output terminal of motor and the tracking stent of controlled device are sequentially connected；Power supply unit is arranged in field control cabinet；Host computer includes human-computer interaction interface and central controller, is connected between central controller and field control unit by wireless ethernet or fiber optic communication.The invention also discloses a kind of solar tracking control method in large solar power station, the inclination angle of controlled device can be accurately controlled, realizes that the sun is accurately followed the trail of.
Description
Technical field
The present invention relates to a kind of solar tracking control system, more particularly to a kind of solar tracking in large solar power station
Control system, the invention further relates to the solar tracking control method in large solar power station, belongs to technical field of solar.
Background technology
Utilization for solar energy, with fastest developing speed in recent years is no more than opto-electronic conversion, that is, solar energy power generating.And
In whole solar power system, the angular dimension between sunray and solar panel directly decides that solar panel exports
Power height, the angle (0 °~90 °) between sunray and solar panel is bigger, solar panel power generation output
Power is higher, and therefore, during solar power generation, optimal state is to remain solar panel and sunlight
Line is vertical (i.e. angle is 90 °), can so reach efficiency maximization.
In order to achieve the above object, Chinese patent database discloses a patent name on December 19th, 2012 and is：
Solar energy sun-following system, Application No.：CN201210352650, the applying date be：The patent of invention of on 09 21st, 2012, should
Solar energy sun-following system includes control device, transmission device, image collecting device, image processing apparatus and filtering apparatus；Figure
As image of the harvester for gathering the sun, with image processing apparatus；Image processing apparatus is used to calculate the sun in the picture
Position, be electrically connected with transmission device.By the relation table being stored in control device, coarse regulation is carried out to power generation carrier, then
By means of image collecting device and image processing apparatus, using image compensation technology calibrate power generation carrier to Japanese side to.Work as figure
As harvester can not effectively perceive position of sun when, the sun tracking system then solar tracking in a manner of passive homing.
Above-mentioned solar energy sun-following system is disadvantageous in that：In the case of the weather such as cloudy is changeable, image collector
Put in the presence of possibly can not effectively perceive position of sun information, certainly exist Image Acquisition control and power generation carrier coarse regulation control two
The frequent switching of kind pattern, makes tracking system there is control and shakes；Moreover, it can not be realized by imaging sensor parameter
The self study of the Controlling model of passive sun tracking system, it is impossible to gradually optimize passive model accuracy；Only image collecting device without
Method just carries out power generation carrier coarse regulation when perceiving the sun, it is impossible to realize advanced experience control, it is impossible to realize in Image Acquisition control
System just implements tracing control before being not detected by deviation, and under high precision tracking demand, there are the trickle shake of tracing positional.Separately
Outside, the prior art is mostly：1st, a tracking control unit controls a stent, and so in large-scale application, there are power supply list
The progress such as member, communication unit, processor simply repeats to install, and causes system component number huge, adds power station tracking system
Component failure total amount of uniting and fault time, increase O＆M cost；2nd, using low rate form of communication in RS-485 etc., big rule
Communication delay hysteresis, low-response when mould is applied.
The content of the invention
It is an object of the invention to overcome deficiency of the prior art, there is provided a kind of sun in large solar power station with
Track control system, when solving that solar tracking control accuracy existing in the prior art is not high enough, system is not sufficiently stable reliable, failure
Between more and O＆M cost it is high the problem of, the problem of and communication delay lags during large-scale application, low-response.
To reach above-mentioned purpose, the technical solution adopted in the present invention is：The solar tracking control in large solar power station
System processed, including host computer, field control unit, power supply unit, the controlled device for gathering solar energy and for controlling quilt
Control the motor of object rotation angle；The controlled device is equipped with obliquity sensor and optical focusing sensor；The inclination angle passes
Sensor is used for the obliquity information for gathering controlled device, and is transmitted to field control unit by angle acquisition device；The optics pair
Burnt sensor obtains the sun and controlled device relative position information, and is transferred to field control unit；The field control unit
It is electrically connected by motor driver with the input terminal of motor, the output terminal of motor and the tracking stent of controlled device are sequentially connected；
Said supply unit is arranged in field control cabinet, the input terminal connection 380V three-phase alternating current alternating currents of power supply unit, output terminal difference
It is electrically connected with field control unit, motor driver；The host computer includes human-computer interaction interface and central controller, in described
Entreat and connected between controller and field control unit by wireless ethernet or fiber optic communication.
The controlled device is Photospot solar module.
The controlled device is non-concentrating solar receiver.
The controlled device is speculum.
Said supply unit includes transformer, and transformer includes primary side and multiple mutually isolated secondary, primary side and 380V
Three-phase alternating current city is electrically connected, and each secondary provides different work by rectifier for field control unit and motor driver respectively
Voltage.
The optical focusing sensor includes optical lens, dim light diaphragm and imaging sensor, and the dim light diaphragm is arranged on
In the light path of optical lens, optical imagery is converted into electronic signal transmission to field control unit by described image sensor.
Described image sensor is ccd sensor.
Described image sensor is cmos sensor.
Compared with prior art, caused by the solar tracking control system in large solar power station provided by the invention
Beneficial effect is：1st, equipped with obliquity sensor, point of theory closed-loop control is realized, simultaneity factor is sensed equipped with optical focusing
Device, carries out optical monitoring operation result, if there is deviation, then calculates correction value, point of theory is modified, and record
It is revised be actually subjected to operation as a result, improve system control accuracy, realizing system annual need not manually adjust parameter
High accuracy operation；2nd, using 380V three-phase alternating current alternating currents, circuit loss is few, voltage output Wen Bo little, voltage are steady, single power supply
Power is big, and device is few, and reliability is high, strong environmental adaptability；3rd, a field control unit can control multiple tracking stents,
System device sum is few, reduces system failure rate；4th, between central controller and field control unit by wireless ethernet or
Fiber optic Ethernet connects, and is transmitted easy to mass data, realizes that advanced algorithm by the long-range computing of Central Control Room, reduces field controller control
Algorithm pressure processed.
Another object of the present invention is to provide a kind of solar tracking control method in large solar power station, including such as
Lower step：
Step 1：Establish pixel coordinate system：An equal amount of some pictures are obtained by optical focusing sensor, by picture
Upper any point is defined as coordinate origin, using orthogonal both direction as positive and negative reference axis, using pixel as substantially single
Pixel coordinate system is established in position；
Step 2：Calculate the official portrait vegetarian refreshments of ideal position：By field adjustable, find between the sun and controlled device
Ideal position, obtains this time chart piece information by optical focusing sensor, sun centre point is corresponded in pixel coordinate system,
Calculate official portrait vegetarian refreshments；
Step 3：Calculate theoretical inclination angle：Field control unit calculates the theoretical position of the current time sun, is calculated
The theoretical inclination angle of current time controlled device, plus correction value, show that controlled device is actually subjected to the angle value (α performed0, β0), and
Record the value；
Step 4：Calculate actual pixels point：Optical focusing sensor gathers the image information of the current time sun, if energy
Enough normal image informations for obtaining the sun, then mark the image information acquisition of the moment sun normal in record sheet, calculate
The center of circle of the current time sun corresponding actual pixels point in pixel coordinate system, otherwise marks the image of the sun in record sheet
Information abnormity, for inquiring about in the future；
Step 5：Pixel multilevel iudge：Whether multilevel iudge official portrait vegetarian refreshments overlaps with actual pixels point：If two pictures
Vegetarian refreshments position deviation is less than error permissible value, then keeps correction value constant, otherwise, then on the basis of official portrait vegetarian refreshments, calculates quilt
Object current time deviation is controlled, draws new correction value；
Step 6：The actual inclination angle of collection：The angle of obliquity sensor is gathered by angle acquisition device, if obliquity sensor is examined
It is α that the solar bracket measured only axis in perpendicular, which has the inclination angle of rotative component, and two axis have rotation in perpendicular
The inclination angle of component is β, passes through operation transform assignment：α1=α,Obtain the physical location of controlled device
(α1, β1), feed back to field control unit；
Step 7：Inclination angle multilevel iudge, action executing：Compare the physical location (α of controlled device1, β1) real with controlled device
Border angle value (the α to be performed0, β0), if deviation is more than or equal to error permissible value, the deviation at two inclination angles is calculated respectively, and send
Control instruction is adjusted the inclination angle of controlled device by motor, if deviation is less than error permissible value, need not adjusted to motor driver
The inclination angle circulation step three to seven of whole controlled device.
When weather conditions are bad, and optical focusing sensor can not capture the position of the current time sun, field control list
Member calculates according to the angle of inclination information for the nearest one day controlled device that can obtain position of sun and adjusts same day controlled device reason
The angle of inclination thought.
Compared with prior art, caused by the solar tracking control method in large solar power station provided by the invention
Beneficial effect is：
1st, the modified control strategy of optics is added using point of theory closed-loop control, makes system that there is empirical value, can be pre-
First know the angle of operation in next step, realize before optical focusing sensor is not detected by angular deviation, just closed by angle
Ring control system completes closed-loop control in advance by model empirical value in advance, effectively tackles various weather conditions, realizes round-the-clock
Continuous tracking operation, further improves control accuracy, introduces optics correction algorithm, have modified empirical model error and machine driving
Error, makes system realize the annual high accuracy operation that need not manually adjust parameter；2nd, the detection of optical focusing sensor is too
The central coordinate of circle of sun, the coordinate of the official portrait vegetarian refreshments by changing calibration, it is possible to eliminate since mechanical ageing deformation, ground sink
Tracking focus offset problem caused by drop etc.；3rd, double-shaft tilt angle sensor angular transformation processing method is provided, is inclined that can use
Under the operating mode of angle transducer, the preferential sensor for using the type, can reduce rack mechanical required precision, so as to reduce system
Cost.
Brief description of the drawings
Fig. 1 is the structure diagram of the solar tracking control system in large solar power station provided by the invention.
Fig. 2 is the angle schematic diagram for the angle value that controlled device is actually subjected to execution.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiments are only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
As shown in Figure 1, be the structure diagram of the solar tracking control system in large solar power station provided by the invention,
Including host computer, field control unit, power supply unit, the controlled device for gathering solar energy and for controlling controlled device to revolve
The motor of gyration.Host computer is located in Central Control Room, by wireless ethernet or optical fiber and each field control unit in scene into
Row communication connection.Field control unit is multichannel input and output, can be passed with the angle acquisition device of connecting multi-channel, optical focusing
Sensor and motor driver etc., realize multi-way contral.Controlled device is equipped with obliquity sensor and optical focusing sensor, inclines
Angle transducer is used for the obliquity information for gathering controlled device, and is transmitted to field control unit by angle acquisition device.Optics pair
Burnt sensor is used to obtain the sun and controlled device relative position information, and is transferred to field control unit；Field control unit
It is electrically connected by motor driver with the input terminal of motor, the output terminal of motor and the tracking stent of controlled device are sequentially connected.
Tracking stent, which can be selected, uniaxially or biaxially tracks stent.
Circuit loss is few, voltage output Wen Bo to reduce, and power supply unit is arranged in field control cabinet, the input of power supply unit
End connection 380V three-phase alternating current alternating currents, output terminal are electrically connected with field control unit, motor respectively.Host computer includes human-computer interaction
Interface and central controller, are connected between central controller and field control unit by wireless ethernet or fiber optic communication.
Power supply unit includes transformer, and transformer includes primary side and multiple mutually isolated secondary, primary side and 380V three-phases
Electric main connects, and each secondary provides different work electricity by rectifier for field control unit and motor driver respectively
Pressure.
Optical focusing sensor includes optical lens, dim light diaphragm and imaging sensor, and dim light diaphragm is arranged on optical lens
Surface, optical imagery is converted into electronic signal transmission to field control unit by imaging sensor.Imaging sensor can be selected
Ccd sensor or cmos sensor.
Photospot solar module can be selected in controlled device, includes disc type condensation system, lens light gathering system etc..
Non-concentrating solar receiver, including crystal silicon photovoltaic plate etc. also can be selected in controlled device.
Speculum, including heliostat, linear Fei Nier speculums etc. also can be selected in controlled device.
Can be one inclination angle of the corresponding configuration of each tracking stent for the control system of high precision tracking service requirement
Sensor and an optical focusing sensor；For the control system that tracking accuracy is of less demanding, due in several kilometer ranges too
Sunlight angle change is very small, therefore can be only that one of tracking stent configures obliquity sensor and optical focusing biography at the same time
Sensor, remaining tracking stent only configure obliquity sensor, do not configure optical focusing sensor, at the same be configured with obliquity sensor and
The tracking stent of optical focusing sensor adds the modified control mode of optical focusing using angle closed loop, eliminates correlated error, obtains
To the angle for being more accurately actually subjected to perform, by central controller, what will be obtained is more accurately actually subjected to the angle of execution, together
Step is sent to other tracking stents and synchronously performs.
The solar tracking control method in large solar power station provided by the invention, includes the following steps：
Step 1：Establish pixel coordinate system：An equal amount of some pictures are obtained by optical focusing sensor, by picture
Upper any point is defined as coordinate origin, using orthogonal both direction as positive and negative reference axis, using pixel as substantially single
Pixel coordinate system is established in position；
Step 2：Calculate the official portrait vegetarian refreshments of ideal position：By field adjustable, find between the sun and controlled device
Ideal position, obtains this time chart piece information by optical focusing sensor, sun centre point is corresponded in pixel coordinate system,
Calculate official portrait vegetarian refreshments；For Photospot solar module and non-concentrating solar receiver, ideal position refer to sunray with
Photospot solar module or non-concentrating solar receiver are vertical.For speculum, ideal position digital reflex light is accurately anti-
It is mapped on receiving device, meanwhile, in the sun picture that adjustment CCD sensors obtain, the sun center of circle is attached in the center of picture
Closely.
Step 3：Calculate theoretical inclination angle：Field control unit calculates the theoretical position of the current time sun, is calculated
The theoretical inclination angle of current time controlled device, plus correction value, show that controlled device is actually subjected to the angle value (α performed0, β0), and
Record the value；Wherein α0Represent that a tracking stent only axis has the axis of transmission component and the angle of gravity vertical, β in perpendicular0Represent
Tracking two axis of stent has the axis of transmission component and the angle of gravity vertical in perpendicular, as shown in Fig. 2, L1 represents vertical flat in figure
A stent only axis is tracked in face the axis of transmission component, and L2 represents that two axis of stent is tracked in perpendicular the axis of transmission component,
L3 represents gravity vertical.
Step 4：Calculate actual pixels point：Optical focusing sensor gathers the image information of the current time sun, if energy
Enough normal image informations for obtaining the sun, then mark the image information acquisition of the moment sun normal in record sheet, calculate
The center of circle of the current time sun corresponding actual pixels point in pixel coordinate system, otherwise marks the image of the sun in record sheet
Information abnormity, for inquiring about in the future；
Step 5：Pixel multilevel iudge：Whether multilevel iudge official portrait vegetarian refreshments overlaps with actual pixels point：If two pictures
Vegetarian refreshments position deviation is less than error permissible value, then keeps correction value constant, otherwise, then on the basis of official portrait vegetarian refreshments, calculates quilt
Object current time deviation is controlled, draws new correction value；
Step 6：The actual inclination angle of collection：The angle of obliquity sensor is gathered by angle acquisition device, if obliquity sensor is examined
It is α that the solar bracket measured only axis in perpendicular, which has the inclination angle of rotative component, and two axis have rotation in perpendicular
The inclination angle of component is β, passes through operation transform assignment：α1=α,Obtain the physical location of controlled device
(α1, β1), feed back to field control unit；
Step 7：Inclination angle multilevel iudge, action executing：Compare the physical location (α of controlled device1, β1) real with controlled device
Border angle value (the α to be performed0, β0), if deviation is more than or equal to error permissible value, the deviation at two inclination angles is calculated respectively, and send
Control instruction is adjusted the inclination angle of controlled device by motor, if deviation is less than error permissible value, need not adjusted to motor driver
The inclination angle circulation step three to seven of whole controlled device.
When weather conditions are bad, and optical focusing sensor can not capture the position of the current time sun, field control list
Member calculates according to the angle of inclination information for the nearest one day controlled device that can obtain position of sun and adjusts same day controlled device reason
The angle of inclination thought.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. the solar tracking control method in large solar power station, it is characterised in that include the following steps：
Step 1：Establish pixel coordinate system：An equal amount of some pictures are obtained by optical focusing sensor, picture is taken up an official post
Meaning is a little defined as coordinate origin, using orthogonal both direction as positive and negative reference axis, is built using pixel as base unit
Vertical pixel coordinate system；
Step 2：Calculate the official portrait vegetarian refreshments of ideal position：By field adjustable, the ideal between the sun and controlled device is found
Position, obtains this time chart piece information by optical focusing sensor, sun centre point is corresponded in pixel coordinate system, calculates
Go out standard pixel；
Step 3：Calculate theoretical inclination angle：Field control unit calculates the theoretical position of the current time sun, is calculated current
The theoretical inclination angle of moment controlled device, plus correction value, show that controlled device is actually subjected to the angle value (α performed0, β0), and record
The value；
Step 4：Calculate actual pixels point：Optical focusing sensor gathers the image information of the current time sun, if it is possible to just
The image information of the sun is often obtained, then marks the image information acquisition of the moment sun normal in record sheet, is calculated current
The center of circle of the moment sun corresponding actual pixels point in pixel coordinate system, otherwise marks the image information of the sun in record sheet
It is abnormal, for inquiring about in the future；
Step 5：Pixel multilevel iudge：Whether multilevel iudge official portrait vegetarian refreshments overlaps with actual pixels point：If two pixels
Position deviation is less than error permissible value, then keeps correction value constant, otherwise, then on the basis of official portrait vegetarian refreshments, calculates controlled pair
As current time deviation, new correction value is drawn；
Step 6：The actual inclination angle of collection：The angle of obliquity sensor is gathered by angle acquisition device, if obliquity sensor detects
Solar bracket an only axis has the inclination angle of rotative component in perpendicular is α, two axis have rotative component in perpendicular
Inclination angle be β, pass through operation transform assignment：α1=α,Obtain the physical location (α of controlled device1,
β1), feed back to field control unit；
Step 7：Inclination angle multilevel iudge, action executing：Compare the physical location (α of controlled device1, β1) be actually subjected to controlled device
Angle value (the α of execution0, β0), if deviation is more than or equal to error permissible value, the deviation at two inclination angles is calculated respectively, and send control
Instruct to motor driver, the inclination angle of controlled device is adjusted by motor, if deviation is less than error permissible value, quilt need not be adjusted
Control the inclination angle circulation step three to seven of object.
2. the solar tracking control method in large solar power station according to claim 1, it is characterised in that work as weather
In poor shape, when optical focusing sensor can not capture the position of the current time sun, field control unit is according to can obtain too
The angle of inclination information of nearest one day controlled device of positive position, calculates and adjusts the preferable angle of inclination of same day controlled device.
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| US10938218B2 (en) * | 2015-12-28 | 2021-03-02 | Sunpower Corporation | Solar tracker system |
| CN106301091B (en) * | 2016-09-28 | 2021-06-11 | 阳光电源股份有限公司 | Battery panel tracking system, motor power supply method thereof and tracking control box |
| CN107885237A (en) * | 2017-12-04 | 2018-04-06 | 上海发电设备成套设计研究院有限责任公司 | A kind of distributed advanced specified time solar energy tracking device |
| CN107992102B (en) * | 2018-01-24 | 2021-04-16 | 包头市艾派克自动化科技有限公司 | Single-shaft double-closed-loop sun tracking control method |
| CN108181936B (en) * | 2018-01-24 | 2021-05-11 | 包头市艾派克自动化科技有限公司 | Double-shaft double-closed-loop sun tracking control method |
| CN108572666A (en) * | 2018-07-04 | 2018-09-25 | 驰鸟智能科技（上海）有限公司 | A kind of integrated solar energy tracking control device |
| CN110391779B (en) * | 2019-05-04 | 2021-05-11 | 扬州市文灏光伏科技有限公司 | Controllable angle correction system of solar street lamp |
| CN113885589A (en) * | 2021-09-26 | 2022-01-04 | 西安理工大学 | Photovoltaic support group tracking control device and control method based on machine vision |
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