CN105867516A - Solar double-axis intelligent tracking control system - Google Patents
Solar double-axis intelligent tracking control system Download PDFInfo
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- CN105867516A CN105867516A CN201610364511.0A CN201610364511A CN105867516A CN 105867516 A CN105867516 A CN 105867516A CN 201610364511 A CN201610364511 A CN 201610364511A CN 105867516 A CN105867516 A CN 105867516A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/66—Regulating electric power
- G05F1/67—Regulating electric power to the maximum power available from a generator, e.g. from solar cell
Abstract
The invention discloses a solar double-axis intelligent tracking control system. The solar double-axis intelligent tracking control system comprises a central control module, an energy management module, an environment sensing module, an executer management module and a human-machine interaction module, wherein the energy management module, the environment sensing module, the executer management module and the human-machine interaction module are connected with the central control module through a data line, a clock line and an IIC (inter-integrated circuit) control bus. The solar double-axis intelligent tracking control system has the advantages that when the sunlight is enough, a photo-electric sensor is used as a main control basis for tracking control; when the sunlight is not enough, the sunlight is tracked by an apparent orbit tracking plan; the modules are connected by the IIC bus, so that the subsequent maintenance and overhauling cost of the equipment is reduced, the operation of the system is stable, the accumulated errors are fewer, and the anti-interference capability of the system is guaranteed by a GPS (global positioning system) positioning module; by arranging multiple driving circuit interfaces, the replacement cost is reduced; by using the energy source module to control the seamless switching of the system in double power sources, the energy consumption of the system is decreased, and the utilization efficiency of solar energy in unit time is improved.
Description
Technical field
The invention belongs to technical field of solar, particularly relate to a kind of solar biaxial intelligent-tracking
Control system.
Background technology
At present automatic tracking system can mainly have two kinds of tracking modes the most very much: uniaxiality tracking and twin shaft with
Track.The former is about 20% in the raising of energy utilization rate, and the latter's carrying in energy utilization rate
35% it is about on height.Can also use in addition to automatic tracking system MPPT (maximum power point with
Track) mode improve the utilization rate of solar energy.Use the solar energy of MPPT controller in theory
Electricity generation system the traditional efficiency of ratio can improve 50%, but tests according to reality, due to around ring
Border impact and various energy losses, final efficiency can also improve 20%-30%.
Current single shaft and dual-axis tracking system are mainly based on autotrace.Examine in direction
Generally use the real-time monitoring scheme of photoelectricity in survey or regard day track following scheme.And use general
In the sun controller of MPPT mode, then the most fixing solar panel adds MPPT control
Device.Existing single shaft and the shortcoming of dual-axis tracking system:
1. individually use in trace mode and have cumulative errors depending on day track following scheme, single
The scheme solely using photoelectric sensor to follow the tracks of is disturbed relatively big by weather and external light source, and two kinds of controls
Scheme processed is all provided without IMU (inertial attitude unit) and feeds back actual solar panel actual corners
Degree.
2. MPPT controller the most on the market generally uses the side of fixing solar panel
Case.Comparing dual-axis tracking system, the MPPT controller of fixed panel just drops on luminous energy receives
The efficiency of low about 35%.
Twin shaft controller function the most on the market is the most single, coupling when only supporting to dispatch from the factory
Solar panel and Two axle drive motor type, relatively costly, recycling rate of waterused is low.
4. dual-axis tracking system mostly is photovoltaic plant use, non-miniaturization the most on the market.Body
Long-pending big, Heavy Weight, it is not suitable for the environment such as common household courtyard.And need civil power feed system
Running, it is impossible to lowered in field environment uses.
Summary of the invention
It is an object of the invention to provide a kind of solar biaxial intelligent-tracking control system, it is intended to
Solve existing solar energy automatic tracking method to have that cumulative errors, luminous energy receiving efficiency are the highest, become
This is higher, recycling rate of waterused is low, use the restricted problem of environment.
The present invention is achieved in that a kind of solar biaxial intelligent-tracking control system, described
Solar biaxial intelligent-tracking control system includes:
Central Control Module, for gathering the power parameter of energy conservation module, environment sensing mould
The panel attitude data of block, GPS longitude and latitude data, photometric data, the use of human-computer interaction module
Family input data, carry out decision-making treatment and control parameter, to people to executor module output motor
Machine interactive module output system running state.
Energy conservation module, is used for controlling dual power supply and system is switched over power supply, be used for controlling
System power supply and battery are charged by solaode.
Human-computer interaction module, display and user for parameter with system running state input.
Environment sensing module, is used for gathering solar panel attitude information and equipment current geographic position
The latitude and longitude information put.
Executor manages module, is used for driving motor with control solar panel with ground as reference,
In two axial rotations of X, Y.
Further, described Central Control Module includes:
Single-chip microcomputer for integrated data processing；
The IIC interface electricity of data interaction is carried out for being connected other module of homologous ray with system bus
Road.
Further, described energy conservation module includes: MPPT control circuit, dual power supply switch
Circuit, overcurrent-overvoltage protecting circuit, under-voltage protecting circuit, filter circuit；
MPPT control circuit, monitors solar cell panel voltages, and follows the trail of the highest in real time
Voltage x current (VI) value, makes system be charged battery with peak efficiency.
Dual power supply switching circuit, is used for detecting power circuit, and by one or more load circuits
It is automatically switched to another power supply from a power supply.
Overcurrent-overvoltage protecting circuit, timely for control circuit after current/voltage exceedes safety value
Disconnect each system element of protection circuit without damage.
Under-voltage protecting circuit, for disconnecting in time when circuit voltage is relatively low or switching power supply
The former guarantee system worked well of electricity.
Filter circuit, is used for allowing the electric current of certain frequency pass through or stoping the electric current of certain frequency to lead to
Cross, it is ensured that system power supply is stable.
Further, described human-computer interaction module includes showing for parameter and system running state
Liquid crystal display and user input button.
Further, described environment sensing module includes that nine axle IMU gesture module, GPS position mould
Block, photoelectric sensor.
Nine axle IMU gesture module, are used for obtaining solar panel and exist for the plane of reference with Current terrestrial
The anglec of rotation on X, Y-axis are axial.
GPS locating module, is presently in longitude and the latitude in geographical position for obtaining equipment
Value.
Photoelectric sensor is strong for obtaining the illumination of the sensor of distribution at solar panel corner
Degree.
Further, described executor manage module include digital signal isolate circuit, direct current generator
Full bridge driving circuit, stepper motor driving circuit, steering wheel signal isolating amplifier circuit.
Digital signal isolation circuit, for isolating the circuit noise interference between circuit modules.
Direct current generator full bridge driving circuit, be used for driving DC speed-reducing velocity close-loop control,
The anglec of rotation controls.
Stepper motor driving circuit, runs with different operational modes for drive stepping motor.
Steering wheel signal isolating amplifier circuit, the interference signal produced for isolating steering wheel returns string interference
Control circuit.
Further, the control method of described energy conservation module is:
Energy conservation module powers on, to be received from Central Control Module by iic bus etc.
Order, decides whether that exiting park mode enters mode of operation；If monitoring external battery voltage
Higher than charge threshold level, then entering idle pulley, sun-generated electric power externally exports；If monitoring
Battery port voltage is less than marginal value, then open the charge mode of correspondence；Solar panel
Externally being output as the output after MPPT algorithm adjusts, energy conservation module simultaneously is passed through
Power parameter is passed back to Central Control Module by iic bus.
Further, the control method of described environment sensing module is: environment sensing module is receiving
After the breaking dormancy order of master controller, by the way of SPI communication bus and GPS
Location, the communication of IMU gesture module, obtain the on-site longitude and latitude of current device and the current sun
The attitude angle of energy panel, by current longitude and latitude through regarding daily motion track prediction table, is converted to work as
Front executor controls the angle that the expectation of solar panel reaches, and with photoelectric sensor output
Difference value merges, then after attitude angle actual with IMU carries out pid control computation, defeated
Go out motor controlled quentity controlled variable, controlled quentity controlled variable is dealt into Central Control Module by iic bus, then is transferred to
Executor manages module.
Beneficial effects of the present invention:
1. using iic bus mode to connect between system modules, all modules are all passed through
The direct carry of IIC interface is on system iic bus, and modules power supply is mutually isolated to be subtracted simultaneously
Coupling between little modules, can monitor after a certain module breaks down in time
And be isolated, owing to using standard IIC communication interface, new module can directly be replaced original
Module and without making change on interface.The maintenance in equipment later stage can be effectively reduced and overhaul into
This.
2. the Angular Trackong module data of the present invention, is the light collected by Photoelectric Detection module
Irradiation angle offset data, with controller by calculating depending on the sun altitude in day trace table
Current pilot angle compensating calculation.The output of Photoelectric Detection module is increased in running for a long time
The weight of angle, reduces the weight regarding day trajectory calculation output pilot angle degrees of data.On the contrary in control
Device processed experience short time disturbance, such as situations such as the rocking of equipment under high wind, unexpected Changes in weather
Under, more trust the weight regarding day trajectory calculation output angle, reduce Photoelectric Detection module data
Weight.Increase execution system stability operationally with this and reduce execution system when long
Between cumulative errors under ruuning situation.The reality of IMU module feedback solar panel simultaneously
Corner, it is possible to achieve accurately the controlling and ultimate angle is set of angle.
3. environment sensing module comprises GPS real-time positioning module, equipment can be obtained online
It is presently in longitude and latitude and the clock of position, then by regarding day trace table inquiry present bit in program
Put the sun altitude with the moment, then calculate solar panel relative to north geographic pole at water
Put down and the respective corner of vertical direction.This function can ensure stability and the meaning of system tracks entirety
The anti-interference of the context aware systems under outer disturbance.
4. the executor of the present invention manages module and contains direct current generator, motor, steering wheel
Three kinds of drive interface performing device, can conveniently connect any of the above one motor and drive
Dynamic, so add the motility of mechanical driving device design, and the work electricity of actual environment
Machine demand.The equipment that adds supports the motility transplanted in device at different machineries, without secondary
Design and develop, reduce cost when changing different motor or machinery mount.
5. energy conservation module energy control system seamless switching in dual power supply of the present invention.Flat
Time solar panel when normally work, solar panel provide energy for control system
Source, is two pieces of lead-acid battery chargings simultaneously.When meeting with continuous rainy weather, solaode
Plate is mainly lead-acid battery charging, is simultaneously system power supply by one piece of battery.When supplying cell electricity
When amount is not enough, then two pieces of batteries of instantaneous switching, it is system power supply by one piece of power supply abundance, separately
One piece of battery is then its charging by solar panel, and this procedures system enters low power consumpting state.
Above-mentioned workflow can ensure that system is steady in the continuous overcast and rainy interior holding duty allowed
Fixed, when sunlight meets charge condition, system is waken up the most immediately.Energy conservation module will
Read the time that GPS module is passed back, simultaneously with ambient light illumination detection meter collaborative work: when
Section between operationally (7:00am～18:00pm changes with area) and have sufficient sunlight illumination
Time system the most normally work, otherwise enter low-power consumption mode, controller cuts out executor's power supply,
Singlechip controller fixes lower frequency monitoring real time environment, all moulds when meeting working condition
Block is waken up the most in time.The use time of energy conservation module energy extension device environment out of doors,
Utilize low-power consumption mode to reduce system energy consumption, the solar energy profit of device in the increase unit interval simultaneously
Use efficiency.
Accompanying drawing explanation
Fig. 1 is the structure of the solar biaxial intelligent-tracking control system that the embodiment of the present invention provides
Schematic diagram；
Fig. 2 is the energy conservation module fundamental diagram that the embodiment of the present invention provides；
Fig. 3 is the environment sensing module fundamental diagram that the embodiment of the present invention provides；
Fig. 4 is that the executor that the embodiment of the present invention provides manages module fundamental diagram；
Fig. 5 is the energy conservation module control flow chart that the embodiment of the present invention provides；
Fig. 6 is the environment sensing module control flow chart that the embodiment of the present invention provides；
Fig. 7 is that the executor that the embodiment of the present invention provides manages module control flow chart；
Fig. 8 is that the solar biaxial intelligent-tracking control system of embodiment of the present invention offer is a certain
Schematic diagram is realized on kind of feasible machinery；
In figure: 1, Central Control Module；2, energy conservation module；2-1, MPPT control electricity
Road；2-2, switching circuit；2-3, current/voltage protection circuit；2-4, solaode；2-5、
Lead-acid battery A；2-6, lead-acid battery B；3, human-computer interaction module；4, environment sensing module；
4-1, nine axle IMU gesture module；4-2, GPS module；4-3, photoelectric sensor；5, hold
Row device management module；5-1, direct current generator full bridge driving circuit；5-2, step motor drive electricity
Road；5-3, steering wheel signal isolating amplifier circuit.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following reality
Execute example, and it is as follows to coordinate accompanying drawing to describe in detail.
Refer to Fig. 1 to Fig. 8:
A kind of solar biaxial intelligent-tracking control system, including Central Control Module 1 and pass through
Data wire, clock line, IIC control the energy conservation mould that bus is connected with this Central Control Module
Block 2, environment sensing module 4, executor manage module 5, human-computer interaction module 3；
Central Control Module 1, for gathering the power parameter of energy conservation module, environment sensing
The panel attitude data of module, GPS longitude and latitude data, photometric data, human-computer interaction module
User input data, carries out decision-making treatment and controls parameter to executor module output motor, to
Human-computer interaction module output system running state.
Energy conservation module 2, is used for controlling dual power supply and system is switched over power supply, be used for controlling
System power supply and battery are charged by solaode processed.
Human-computer interaction module 3, display and user for parameter with system running state input.
Environment sensing module 4, is used for gathering solar panel attitude information and equipment current geographic
The latitude and longitude information of position.
Executor manages module 5, is used for driving motor to control solar panel with ground for ginseng
Examine, in two axial rotations of X, Y.
Central Control Module 1 includes the single-chip microcomputer for integrated data processing, for total with system
Line connects other module of homologous ray and carries out the IIC interface circuit of data interaction；
Energy conservation module 2 includes that MPPT control circuit 2-1 (improves the defeated of solar panel
Go out efficiency), switching circuit 2-2 (ensure dual power supply complementary duty, seamless switching ensure system
Not power-off in handoff procedure), current/voltage protection circuit 2-3, under-voltage protecting circuit, filter
Wave circuit；
MPPT control circuit 2-1, monitors solar cell panel voltages, and follows the trail of in real time
High voltage and current (VI) value, makes system be charged battery with peak efficiency.
Dual power supply switching circuit 2-2, is used for detecting power circuit, and by one or more loads
Circuit is automatically switched to another power supply from a power supply.
Overcurrent-overvoltage protecting circuit 2-3, for control circuit after current/voltage exceedes safety value
Disconnect each system element of protection circuit in time without damage.
Under-voltage protecting circuit, for disconnecting in time when circuit voltage is relatively low or switching power supply
The former guarantee system worked well of electricity.
Filter circuit, is used for allowing the electric current of certain frequency pass through or stoping the electric current of certain frequency to lead to
Cross, it is ensured that system power supply is stable.
During system work, energy conservation module is responsible for the power supply supply of system, passes through lead-acid accumulator
A be control circuit provide 5V running voltage, for actuator provide battery output voltage and
Energy output is externally provided.The output of solaode 2-4 is passed through by energy conservation module
MPPT control circuit 2-1 is charged energy storage to lead-acid accumulator B.When lead-acid accumulator A electricity
Pressure drop is to after minimum, and switching circuit 2-2 is then automatically stopped the charging to lead-acid accumulator B simultaneously
Switch to externally be exported power supply by lead-acid accumulator B, by the output of solaode 2-4 through system
After tracking is whole, lead-acid accumulator A is charged.Pilot process seamless switching, it is ensured that in switching
Moment system components circuit the most normally works.When input solar energy disclosure satisfy that system work supplies
When electricity and charging, solaode 2-4 directly power for control system, reduce lead-acid battery
Loss.Energy conservation module simultaneously accepts, by iic bus, the control that central processing module issues
Parameter processed, simultaneously by iic bus to central processing module return system operating voltage, electric current,
And the monitoring information of present battery.
Human-computer interaction module 3 includes 12864 liquid crystal shown for parameter and system running state
Display and user input button；
Described human-computer interaction module 3 is connected with Central Control Module by iic bus, accepts and shows
Show current solaode output voltage, electric current and lead-acid battery A, lead-acid battery B each
Voltage parameter and current electric quantity percentage ratio.Described human-computer interaction module is pressed by reserved user
Key obtains subscriber control information, the system information under the corresponding key combination of display.
Environment sensing module 4 includes nine axle IMU gesture module 4-1, GPS module 4-2, photoelectric transfer
Sensor 4-3；
Nine axle IMU gesture module 4-2, are used for obtaining solar panel with Current terrestrial as reference
Face X, Y-axis axially on the anglec of rotation.
GPS locating module 4-2, for obtain equipment be presently in the longitude in geographical position with
Latitude value.
Photoelectric sensor 4-3, for obtaining the light of the sensor of distribution at solar panel corner
According to intensity.
Described environment sensing module is by the internal nine axle current solar-electricity of IMU Sensor monitoring
Pond plate real-time angular, by comparing or and photoelectric sensor with the current angular set in system
The real time data that 4-3 gathers is done after difference calculates and is obtained this control output corresponding partly to motor,
Described GPS module 4-2 will obtain longitude and latitude, by environment sensing module regarding daily motion
Track prediction table, extrapolates the sun altitude of current location, then calculate current system X,
The Angle ambiguity amount that Y-axis motor is the most corresponding.
Executor manages that module 5 then includes, digital signal isolation circuit, direct current generator full-bridge drive
Galvanic electricity road 5-1, stepper motor driving circuit 5-2, steering wheel signal isolating amplifier circuit 5-3.
Digital signal isolation circuit, for isolating the circuit noise interference between circuit modules.
Direct current generator full bridge driving circuit 5-1, is used for driving DC speed-reducing speed closed loop control
System, the anglec of rotation control.
Stepper motor driving circuit 5-2, runs with different operational modes for drive stepping motor.
Steering wheel signal isolating amplifier circuit 5-3, the interference signal produced for isolating steering wheel returns string
Interference control circuit.
Described executor manages module the version of corresponding different motor as shown in Figure 4, comprises
Steering wheel signal isolating amplifier circuit 5-3, direct current generator full bridge driving circuit 5-1, motor drive
Galvanic electricity road 5-2.Modularized design can be directed to actuator Machine Design and motor choosing
Type and select the executor of corresponding version to manage module.Executor manages module and passes through iic bus
Obtain Central Control Module and pass through environment sensing module calculated motor controlled quentity controlled variable, hold simultaneously
Closed loop control and the stall of motor are monitored by row device management module complete independently.
Energy conservation module control flow is as shown in Figure 5.Energy conservation module is normally powering on it
After, will pass through the orders from Central Control Module to be received such as iic bus, decide whether to move back
Go out park mode and enter mode of operation.If monitoring external battery voltage to be higher than charge threshold level,
Then entering idle pulley, sun-generated electric power externally exports.If monitoring battery port voltage to be less than
Marginal value then opens the charge mode of correspondence.Solar panel be externally output as through
Output after MPPT algorithm adjustment, power parameter is passed back to by module by iic bus simultaneously
Central Control Module.
As shown in Figure 6, environment sensing module is receiving center to environment sensing module control flow
After the breaking dormancy order of controller, just begin through the mode of SPI communication bus and GPS,
IMU module communicates, and obtains the on-site longitude and latitude of current device and current solar panel
Attitude angle.Current longitude and latitude through regarding day track database, is converted to currently perform by this module
Device controls the angle that the expectation of solar panel reaches, and the difference value exported with photoelectric sensor
Merge, then after attitude angle actual with IMU carries out pid control computation, output electricity
Machine controlled quentity controlled variable, is dealt into Central Control Module by controlled quentity controlled variable by iic bus, then is transferred to perform
Device management module.
As it is shown in fig. 7, perform to control device control module flow process for the present invention.System electrification monitors
Breaking dormancy flag bit also reads motor and controls to start after flag bit to accept to control from center
The motor speed of molding block and position control amount.Simultaneously by the speed of current bi-motor and position with
And the operating current of motor feeds back to Central Control Module by iic bus.
If Fig. 8 is that overall system circuit frame of the present invention is on a certain feasible machinery
Realize, driving by the Dual-motors Driving circuit realiration in X, Y-axis of solar panel.Meanwhile,
After the environmental data of detection is processed by the environment sensing module on solar panel with control data,
Pass back to Central Control Module through iic bus, Central Control Module again by iic bus to
Executor manages module transfer motor controlled quentity controlled variable.Power management aspect, in the feelings that solar energy is sufficient
Under condition, the solar energy of solar panel output is direct to being after energy control module processes
System power supply, is then powered from charged pool by equipment in the case of deficiency, and energy conservation module simultaneously is complete
Become the switching of charge mode.
The beneficial effect that technical scheme is brought:
1. using iic bus mode to connect between system modules, all modules are all passed through
The direct carry of IIC interface is on system iic bus, and modules power supply is mutually isolated to be subtracted simultaneously
Coupling between little modules, can monitor after a certain module breaks down in time
And be isolated, owing to using standard IIC communication interface, new module can directly be replaced original
Module and without making change on interface.The maintenance in equipment later stage can be effectively reduced and overhaul into
This.
2. the Angular Trackong module data of the present invention, is the light collected by Photoelectric Detection module
Irradiation angle offset data, with controller by calculating depending on the sun altitude in day trace table
Current pilot angle compensating calculation.The output of Photoelectric Detection module is increased in running for a long time
The weight of angle, reduces the weight regarding day trajectory calculation output pilot angle degrees of data.On the contrary in control
Device processed experience short time disturbance, such as situations such as the rocking of equipment under high wind, unexpected Changes in weather
Under, more trust the weight regarding day trajectory calculation output angle, reduce Photoelectric Detection module data
Weight.Increase execution system stability operationally with this and reduce execution system when long
Between cumulative errors under ruuning situation.The reality of IMU module feedback solar panel simultaneously
Corner, it is possible to achieve accurately the controlling and ultimate angle is set of angle.
3. environment sensing module comprises GPS real-time positioning module, equipment can be obtained online
It is presently in longitude and latitude and the clock of position, then by regarding day trace table inquiry present bit in program
Put the sun altitude with the moment, then calculate solar panel relative to north geographic pole at water
Put down and the respective corner of vertical direction.This function can ensure stability and the meaning of system tracks entirety
The anti-interference of the context aware systems under outer disturbance.
4. the executor of the present invention manages module and contains direct current generator, motor, steering wheel
Three kinds of drive interface performing device, can conveniently connect any of the above one motor and drive
Dynamic, so add the motility of mechanical driving device design, and the work electricity of actual environment
Machine demand.The equipment that adds supports the motility transplanted in device at different machineries, without secondary
Design and develop, reduce cost when changing different motor or machinery mount.
5. energy conservation module energy control system seamless switching in dual power supply of the present invention.Flat
Time solar panel when normally work, solar panel provide energy for control system
Source, is two pieces of lead-acid battery chargings simultaneously.When meeting with continuous rainy weather, solaode
Plate is mainly lead-acid battery charging, is simultaneously system power supply by one piece of battery.When supplying cell electricity
When amount is not enough, then two pieces of batteries of instantaneous switching, it is system power supply by one piece of power supply abundance, separately
One piece of battery is then its charging by solar panel, and this procedures system enters low power consumpting state.
Above-mentioned workflow can ensure that system is steady in the continuous overcast and rainy interior holding duty allowed
Fixed, when sunlight meets charge condition, system is waken up the most immediately.Energy conservation module will
Read the time that GPS module is passed back, simultaneously with ambient light illumination detection meter collaborative work: when
Section between operationally (7:00am～18:00pm changes with area) and have sufficient sunlight illumination
Time system the most normally work, otherwise enter low-power consumption mode, controller cuts out executor's power supply,
Singlechip controller fixes lower frequency monitoring real time environment, all moulds when meeting working condition
Block is waken up the most in time.The use time of energy conservation module energy extension device environment out of doors,
Utilize low-power consumption mode to reduce system energy consumption, the solar energy profit of device in the increase unit interval simultaneously
Use efficiency.
The above is only to presently preferred embodiments of the present invention, not makees the present invention any
Pro forma restriction, every technical spirit according to the present invention is to made for any of the above embodiments any
Simple modification, equivalent variations and modification, belong in the range of technical solution of the present invention.
Claims (8)
1. a solar biaxial intelligent-tracking control system, it is characterised in that the described sun
Can twin shaft intelligent-tracking control system include:
Central Control Module, for gathering the power parameter of energy conservation module, environment sensing mould
The panel attitude data of block, GPS longitude and latitude data, photometric data, the use of human-computer interaction module
Family input data, carry out decision-making treatment and control parameter, to people to executor module output motor
Machine interactive module output system running state；
Energy conservation module, is used for controlling dual power supply and system is switched over power supply, be used for controlling
System power supply and battery are charged by solaode；
Human-computer interaction module, display and user for parameter with system running state input；
Environment sensing module, is used for gathering solar panel attitude information and equipment current geographic position
The latitude and longitude information put；
Executor manages module, is used for driving motor with control solar panel with ground as reference,
In two axial rotations of X, Y.
2. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
Described Central Control Module includes:
Single-chip microcomputer for integrated data processing；
The IIC interface electricity of data interaction is carried out for being connected other module of homologous ray with system bus
Road.
3. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
Described energy conservation module includes:
MPPT control circuit, monitors solar cell panel voltages, and follows the trail of the highest in real time
Voltage x current value, makes system be charged battery with peak efficiency；
Dual power supply switching circuit, is used for detecting power circuit, and by one or more load circuits
It is automatically switched to another power supply from a power supply；
Overcurrent-overvoltage protecting circuit, timely for control circuit after current/voltage exceedes safety value
Disconnect each system element of protection circuit without damage；
Under-voltage protecting circuit, for disconnecting in time when circuit voltage is relatively low or switching power supply
The former guarantee system worked well of electricity；
Filter circuit, is used for allowing the electric current of certain frequency pass through or stoping the electric current of certain frequency to lead to
Cross, it is ensured that system power supply is stable.
4. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
Described human-computer interaction module includes the liquid crystal display shown for parameter and system running state
And user inputs button.
5. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
Described environment sensing module includes:
Nine axle IMU gesture module, are used for obtaining solar panel and exist for the plane of reference with Current terrestrial
The anglec of rotation on X, Y-axis are axial；
GPS locating module, is presently in longitude and the latitude in geographical position for obtaining equipment
Value；
Photoelectric sensor is strong for obtaining the illumination of the sensor of distribution at solar panel corner
Degree.
6. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
Described executor manages module and includes:
Digital signal isolation circuit, for isolating the circuit noise interference between circuit modules；
Direct current generator full bridge driving circuit, be used for driving DC speed-reducing velocity close-loop control,
The anglec of rotation controls；
Stepper motor driving circuit, runs with different operational modes for drive stepping motor；
Steering wheel signal isolating amplifier circuit, the interference signal produced for isolating steering wheel returns string interference
Control circuit.
7. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
The control method of described energy conservation module is:
Energy conservation module powers on, to be received from Central Control Module by iic bus etc.
Order, decides whether that exiting park mode enters mode of operation；If monitoring external battery voltage
Higher than charge threshold level, then entering idle pulley, sun-generated electric power externally exports；If monitoring
Battery port voltage is less than marginal value, then open the charge mode of correspondence；Solar panel
Externally being output as the output after MPPT algorithm adjusts, energy conservation module simultaneously is passed through
Power parameter is passed back to Central Control Module by iic bus.
8. solar biaxial intelligent-tracking control system as claimed in claim 1, it is characterised in that
The control method of described environment sensing module is: environment sensing module is receiving master controller
Breaking dormancy order after, by the way of SPI communication bus with GPS location, IMU
Gesture module communicates, and obtains the appearance of the on-site longitude and latitude of current device and current solar panel
State angle, by current longitude and latitude through regarding daily motion track prediction table, is converted to current executor control
The angle that the expectation of solar panel processed reaches, and the difference value fusion exported with photoelectric sensor,
Again after attitude angle actual with IMU carries out pid control computation, output motor controls
Amount, is dealt into Central Control Module by controlled quentity controlled variable by iic bus, then is transferred to executor's management
Module.
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| CN201610364511.0A CN105867516A (en) | 2016-05-27 | 2016-05-27 | Solar double-axis intelligent tracking control system |
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| CN201610364511.0A CN105867516A (en) | 2016-05-27 | 2016-05-27 | Solar double-axis intelligent tracking control system |
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Inventor after: Wu Jinfei Inventor after: He Yufan Inventor after: Qin Dongxing Inventor after: Ju Hui Inventor after: Yan Hanbing Inventor after: Li Guangxu Inventor after: Wei Zefeng Inventor after: Wang Zhihong Inventor before: Wu Jinfei Inventor before: Qin Dongxing Inventor before: He Yufan |
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Application publication date: 20160817 |