CN104949357B - Stable tracking control method applied to trough type solar condenser - Google Patents
Stable tracking control method applied to trough type solar condenser Download PDFInfo
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- CN104949357B CN104949357B CN201510324640.2A CN201510324640A CN104949357B CN 104949357 B CN104949357 B CN 104949357B CN 201510324640 A CN201510324640 A CN 201510324640A CN 104949357 B CN104949357 B CN 104949357B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
Abstract
The invention discloses a stable tracking control method applied to a trough type solar condenser. A controller detects that a tracking control starting signal is effective, and enters a stable tracking processing module. The method comprises the steps that firstly, an angle difference value delta theta is calculated and judged; then, the obtained angle difference value is compared with a set value delta theta 0, and a tracking mode is determined; if the angle different value is larger than the set value, a control motor carries out tracking with constant rotating speed; if the angle difference value is smaller than or equal to the set value, a control method of two-point calibration is adopted, and the instantaneous value v of the speed is obtained through a computational formula according to a time instantaneous value t to control the rotating speed of the control motor for tracking. The rotating speed of the control motor is changed in real time, therefore, the defects that according to a traditional control method, speed steps exist in the tracking process, consequently, the tracking angle is hard to control, and tracking precision is insufficient are overcome, and the stability of tracking control is improved.
Description
Technical field
The present invention relates to a kind of control method of trough type solar power generation.
Background technology
In recent years, with the increasingly serious of energy and environment problem so that the research of regenerative resource is become with application works as
A modern focus, and solar energy is because it is rich and persistency even more arouses great concern.
Solar electrical energy generation is a kind of important channel of development and utilization solar energy, and its generating species is broadly divided into solar energy
Volt generates electricity and solar energy thermal-power-generating.Before photovoltaic technology not yet obtains important breakthrough, solar energy thermal-power-generating exists compared with photovoltaic generation
Advantage is had more in large-scale application.At present, common solar energy thermal-power-generating mode mainly has tower, slot type, butterfly and linearly luxuriant and rich with fragrance
Nie Ershi etc., wherein only trough type solar power generation achieves commercialized running.In order that groove type solar condenser is maximum
The collection of efficiency and utilize sunlight, must adopt follow-up control apparatus during thermal-arrest, make condenser follow the tracks of the sun.
In traditional tracking and controlling method, typically according to the size following the tracks of angle difference, different tracking speed are set
Degree, to realize the tracing control to angle on target for the actual angle with this.But the method speed setting value is limited, and exist larger
Velocity step ladder, lead to follow the tracks of angle be difficult to control to, the stationarity of tracking is poor.
Content of the invention
The purpose of the present invention is to overcome the shortcomings of that traditional control method exists, and proposition one kind is applied to trough type solar and sends out
The control method of electricity, the method can improve stationarity and the tracking accuracy of groove type solar condenser angle on target tracking.
Tracking and controlling method of the present invention comprises the steps:
(1) when solar heat power generation system start-up trace signal is effective, carry out groove type solar condenser angle on target
Tracing control；
(2) pass through angle calculation formula and obtain the angle on target θ following the tracks of, record the actual corners of tracking using position sensor
Degree θ ', both subtract each other and obtain angle difference △ θ；
(3) the setting value △ θ according to angle difference △ θ and angle difference0Determine tracking control, if △ is θ > △ θ0, then
Execution step (4), if △ is θ≤△ θ0, then execution step (5)；
(4) controller controls the motor of slot type solar concentrator with constant rotational speed v0Slot type solar concentrator is driven to enter
Row angle on target is followed the tracks of, execution step (2), until angle difference △ θ is less than or equal to setting value △ θ0；
(5) adopt the control method of two-point calibration, instantaneous state of velocity v is calculated by instantaneous time t, and with the control of this v value
Motor speed processed, drives condenser to carry out angle on target tracking；
(6) to (5), until angle difference is zero, motor stops repeat step (2).
Compared with traditional tracking and controlling method, the present invention sets tracking angle difference and timing time, employs at 2 points
The control method of calibration, the size according to following the tracks of angle difference automatically adjusts tracking velocity, changes the control of original single position ring
Mode processed and add speed ring, realize double-closed-loop control, during eliminating tracking, there is velocity step ladder, it is difficult to lead to follow the tracks of angle
To control, the not enough shortcoming of tracking accuracy, improve the stationarity of tracing control.
According to the difference of angle difference, tracing control of the present invention has two kinds of working conditions: when angle on target and actual angle
Difference △ θ be more than setting value △ θ0When, controller controlled motor is with constant rotational speed v0Drive condenser to follow the tracks of angle on target, gather
The actual angle of light device moves closer in angle on target, and angle difference △ θ moves closer in setting value △ θ0；As angle difference △
θ is less than or equal to setting value △ θ0When, intervalometer is from setting time t0Start timing till 0, and periodic output time wink
Duration t, controller is according to instantaneous time t by speed calculation formula v=k0T calculates instantaneous state of velocity v, and with this v value
Controlled motor rotating speed, drives condenser to follow the tracks of angle on target, until instantaneous state of velocity v is zero, motor stops.Wherein, k0Be by
Constant rotational speed v0With setting time t0The proportionality constant determining, i.e. k0=v0/t0.
The present invention utilizes the control method of two-point calibration, according to instantaneous time t, determines speed wink by Linearity Formula
Duration v, using position and speed double circle controling mode, realizes respectively following the tracks of angle difference and tracking velocity is linear to zero point
Convergence.
For ensureing tracking effect and considering the stationarity followed the tracks of, the reference value of set angle difference and timing time, respectively
It is designated as △ θ0And t0；Reference value according to engineering experience and need to be actually needed selection: reference value is less than normal, and the real-time of tracking is preferable, because
And tracking effect is preferably, but system frequent start-stop and also acceleration is larger, cause the less stable followed the tracks of unavoidably；Reference value is inclined
Greatly, actual angle is gradually close to angle on target, and the stationarity of tracking is preferable, but process of following the tracks of is relatively slow, the reality of tracking
When property is poor, and tracking effect is necessarily affected.
Brief description
Fig. 1 is the rate curve comparison diagram of two kinds of control methods；
Fig. 2 is condenser steady tracking schematic diagram；
Fig. 3 is to follow the tracks of angle difference and follow the tracks of time chart；
Fig. 4 is tracking velocity and tracking time chart；
Fig. 5 is the tracing control flow chart of the present invention.
Specific embodiment
As shown in figure 5, the steady tracking control method being applied to groove type solar condenser of the present invention, specifically real
Existing step is as follows:
(1) define the automatic tracking control of groove type solar condenser: if the difference of angle on target θ and actual angle θ '
Value △ θ is more than zero, then motor rotates forward；If angle difference △ θ is less than zero, motor reversal；If angle difference △ θ is equal to zero,
Motor stops；
(2) according to actual requirement of engineering such as stability and real-times, the setting value △ θ of set angle difference0With during timing
Between t0；
(3) detect the start-up trace signal of solar heat power generation system: when following the tracks of signal and being effective, then carry out the slot type sun
The tracing control of energy condenser angle on target, execution step (4)；When following the tracks of invalidating signal, then terminate tracing control；
(4) pass through angle calculation formula and obtain the angle on target θ following the tracks of, record the actual corners of tracking using position sensor
Degree θ ', both subtract each other and obtain angle difference △ θ；
(5) compare angle difference △ θ and setting value △ θ0Determine tracking control: if △ is θ > △ θ0, then carry out motor permanent
Rotating speed controls, execution step (6)；If △ is θ≤△ θ0, then steady tracking control, execution step (7) are carried out；
(6) controller controls the motor of slot type solar concentrator to drive slot type solar concentrator to carry out with constant rotational speed
Angle on target is followed the tracks of, execution step (4), until angle difference △ θ is less than or equal to setting value △ θ0；
(7) enter the interrupt service subroutine of controller；Intervalometer is from setting time t0Start timing, till 0, and
Periodically output time instantaneous value t；
(8) controller by instantaneous time t according to speed calculation formula v=k0T calculates instantaneous state of velocity v, and with
This v value controlled motor rotating speed, drives condenser to follow the tracks of angle on target；Wherein k0=v0/t0；
(9) judge instantaneous state of velocity v: if v value is zero, motor stops, terminating to follow the tracks of；If v value is not zero, execute step
Suddenly (8), continue to follow the tracks of；
(10) repeated execution of steps (3)～(9).
In order to deepen explanation of the invention, with reference to refer to the attached drawing, the present invention is described in further detail.This enforcement
Example is only used for explaining the present invention, does not constitute limiting the scope of the present invention.
As shown in figure 1, in figure solid line is the rate curve using traditional tracking and controlling method.When angle on target and actual corners
When the difference △ θ of degree is more than 0.8 ° of setting value, controller controlled motor is tracked with the rotating speed of 1000r/min；Work as differential seat angle
When value △ θ is located between 0.5 ° and 0.8 °, the tracking velocity of motor is 500r/min；When angle difference △ θ is less than 0.5 °, electricity
The rotating speed of machine is 100r/min；When angle difference △ θ is zero, motor stops.It is consequently formed the three-level ladder of speed, be unfavorable for
Steadily control, particularly when condenser inertia is larger, easily formed and control vibration, condenser deflects repeatedly, thus impact with
Track precision and tracking effect.
In Fig. 1, dotted line is the rate curve using tracking and controlling method of the present invention.Difference when angle on target and actual angle
When value △ θ is more than 0.8 ° of setting value, controller controlled motor is tracked with the rotating speed of 1000r/min；When angle on target and reality
When the difference △ θ of border angle is less than or equal to 0.8 ° of setting value, motor speed v is calculated by correlation formula and is tracked controlling with this
System, until angle difference is zero, motor stops.
As shown in Fig. 2 adopting tracking and controlling method of the present invention, condenser is gradually moved into target position by current location a point
When setting to 0, angle difference △ θ and tracking velocity v all in time t and change, be the function of time.The present invention adopts two-point calibration
Control method, angle difference △ θ and tracking velocity v are the linear function of time t, three-dimensional coordinate are decomposed into two dimension seat
Mark, that is, obtain the curve shown in Fig. 3 and Fig. 4.
As shown in figure 3, when angle difference △ θ is gradually reduced, the time, t was also gradually reduced, until leveling off to zero.Thus,
Angle difference △ θ is represented by:
As shown in figure 4, when tracking velocity v is gradually reduced, the time, t was also gradually reduced, until leveling off to zero.Thus, with
Track speed v is represented by:
During following the tracks of, angle difference △ θ and tracking velocity v simultaneously in time t and change, i.e. angle difference and tracking
Speed level off to zero time equal, can be obtained by computing formula (1) and computing formula (2):
△θ·v0=v △ θ0(3)
During following the tracks of, v0Do not reach setting value △ θ for angle difference △ θ0When constant rotational speed, as known；△θ0
For the setting value of angle difference, can be set according to Practical Project.From computing formula (3), the angle difference △ θ of tracking and with
Track speed v is interrelated, becomes positive correlation.
In computing formula (2), by scale factorIt is designated as k0, then obtain the another kind of of tracking velocity v and represent:
V=k0·t (4)
In computing formula (4), by intervalometer timing and the cycle exports time t value.When angle difference △ θ is less than or equal to set
Definite value △ θ0When, triggering controls to be interrupted entering service subprogram, and intervalometer is from setting time t0Start timing till 0, and week
Output time instantaneous value t of phase property；Try to achieve the instantaneous state of velocity v of tracking by computing formula (4), and with v value controlled motor rotating speed
It is tracked, until v value is zero, motor stops.
By computing formula (3) as can be seen that when tracking velocity v changes, angle difference △ θ changes with v positive correlation.Due to
Timing course is the countdown process successively decreasing, and therefore, in whole process, tracking velocity v constantly reduces, and angle difference △ θ is also not
Disconnected reduction.When time t, value was zero, instantaneous state of velocity v is zero, motor stalls, and angle difference △ θ is zero or is approximately zero
(consideration error), actual angle, close to angle on target, is achieved in the steady tracking of speed and angle.
Claims (4)
1. a kind of steady tracking control method being applied to groove type solar condenser is it is characterised in that described control method bag
Include following steps:
(1) when solar heat power generation system start-up trace signal is effective, carry out groove type solar condenser angle on target and follow the tracks of
Control；
(2) pass through angle calculation formula and obtain the angle on target θ following the tracks of, record the actual angle of tracking using position sensor
θ ', both subtract each other and obtain angle difference δ θ；
(3) the setting value δ θ according to angle difference δ θ and angle difference0Determine tracking control, if δ is θ > δ θ0, then carry out
Step (4), if δ is θ≤δ θ0, then carry out step (5)；
(4) controller controls the motor of slot type solar concentrator to drive slot type solar concentrator to carry out target with constant rotational speed
Angleonly tracking, execution step (2), until angle difference is less than or equal to setting value；
(5) adopt the control method of two-point calibration, instantaneous state of velocity v is calculated by instantaneous time t, and electricity is controlled with this v value
Machine rotating speed, drives condenser to carry out angle on target tracking；
(6) to (5), until angle difference is zero, motor stops repeat step (2).
2. the steady tracking control method being applied to groove type solar condenser according to claim 1 it is characterised in that:
When the angle difference δ θ of angle on target and actual angle is more than setting value δ θ0When, controller controlled motor is driven with constant rotational speed
Angle on target followed the tracks of by dynamic groove type solar condenser, and actual angle moves closer in angle on target, and angle difference δ θ moves closer to
In setting value δ θ0；When angle difference δ θ is less than or equal to setting value δ θ0When, intervalometer is from setting time t0Start timing until 0
Till, and periodic output time instantaneous value t, controller calculates instantaneous state of velocity v according to t value, and with v value controlled motor
Rotating-speed tracking angle on target, until v value is zero, motor stops.
3. the steady tracking control method being applied to groove type solar condenser according to claim 1 it is characterised in that:
Using the control method of two-point calibration, the acquisition of instantaneous state of velocity v is determined by Linearity Formula, using position and speed two close cycles
Control mode, realizes following the tracks of the angle difference and tracking velocity linear approximation to zero point respectively.
4. the steady tracking control method being applied to groove type solar condenser according to claim 1 it is characterised in that:
For ensureing tracking effect and considering the stationarity followed the tracks of, the setting value δ θ of set angle difference0With setting time t0；Angle difference
The selection of the setting of setting value and setting time according to engineering experience and need to be actually needed: when the setting value of angle difference and setting
Between less than normal, preferably, thus tracking effect is preferably for the real-time of tracking, but system frequent start-stop and acceleration is larger, make unavoidably
Become the less stable followed the tracks of；The setting value of angle difference and setting time are bigger than normal, and actual angle is gradually close to angle on target,
The stationarity followed the tracks of is preferable, but tracking process is relatively slow, and the real-time of tracking is poor, and tracking effect is necessarily affected.
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| CN201510324640.2A CN104949357B (en) | 2015-06-12 | 2015-06-12 | Stable tracking control method applied to trough type solar condenser |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108917208B (en) * | 2018-07-05 | 2020-06-19 | 常州龙腾光热科技股份有限公司 | Tracking method for trough type heat collector |
| CN109521804B (en) * | 2018-11-05 | 2022-01-18 | 上海新时达电气股份有限公司 | Robot motion control method, servo controller and readable storage medium |
| CN111207525B (en) * | 2020-02-10 | 2021-05-28 | 南京南瑞继保电气有限公司 | Intermittent driving method and device for heat collecting groove of groove type photo-thermal solar system |
| CN115877872A (en) * | 2023-03-03 | 2023-03-31 | 中国人民解放军军事科学院国防科技创新研究院 | Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6284968B1 (en) * | 2000-06-19 | 2001-09-04 | Joseph Z. Niesyn | Solar-tracking system |
| WO2004102083A1 (en) * | 2003-05-19 | 2004-11-25 | Solar Systems Pty Ltd | A tracking system |
| CN101776333A (en) * | 2010-01-11 | 2010-07-14 | 刘盛里 | Method for driving track by using tank type solar focusing line as axes |
| KR20110016264A (en) * | 2009-08-11 | 2011-02-17 | 대덕대학산학협력단 | Tracking type solar power generation apparatus |
| CN102242980A (en) * | 2011-07-14 | 2011-11-16 | 南京科远自动化集团股份有限公司 | Heliostat tracking control device and tracking control method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130048049A1 (en) * | 2011-08-22 | 2013-02-28 | Kent Flanery | Method and apparatus for controlling photovoltaic plant output using lagging or leading tracking angle |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6284968B1 (en) * | 2000-06-19 | 2001-09-04 | Joseph Z. Niesyn | Solar-tracking system |
| WO2004102083A1 (en) * | 2003-05-19 | 2004-11-25 | Solar Systems Pty Ltd | A tracking system |
| KR20110016264A (en) * | 2009-08-11 | 2011-02-17 | 대덕대학산학협력단 | Tracking type solar power generation apparatus |
| CN101776333A (en) * | 2010-01-11 | 2010-07-14 | 刘盛里 | Method for driving track by using tank type solar focusing line as axes |
| CN102242980A (en) * | 2011-07-14 | 2011-11-16 | 南京科远自动化集团股份有限公司 | Heliostat tracking control device and tracking control method thereof |
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