CN105972836B - A kind of quick focus adjustment method of solar energy dish-style concentrator mirror unit installation - Google Patents
A kind of quick focus adjustment method of solar energy dish-style concentrator mirror unit installation Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S23/00—Arrangements for concentrating solar-rays for solar heat collectors
- F24S23/70—Arrangements for concentrating solar-rays for solar heat collectors with reflectors
- F24S23/71—Arrangements for concentrating solar-rays for solar heat collectors with reflectors with parabolic reflective surfaces
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- 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
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Abstract
The invention discloses a kind of quick focus adjustment method of solar energy dish-style concentrator mirror unit installation, implementation steps are：1) the spatial pose error and the one-to-one database of focal beam spot feature of each mirror unit are established；2）Concentrator is tracking the state of the sun, and image capturing system obtains the independent optically focused of mirror unit to be focused and the focal beam spot image on target is received in focal plane, and handles and obtain the feature of focal beam spot.3）By step 2）Focal beam spot feature and step 1）The database for the identical mirror unit numbering established is compared, and obtains the identical corresponding mirror unit spatial pose error of focal beam spot feature, and obtains the adjustment length of the ball pivot bolt of mirror unit, and quantitative adjustment is carried out to mirror unit.Mirror unit focusing of the invention is simple, and the rotation error for the elimination mirror unit that can be settled at one go, can effectively adapt to the focusing demand of China's solar concentrating system efficiently, inexpensive at this stage.
Description
Technical field
The present invention relates to solar light-heat power-generation field, more particularly to a kind of solar energy dish-style concentrator mirror unit installation
Quick focus adjustment method.
Background technology
Dish-style/Stirling solar solar-thermal generating system (DS-CSP) has high photoelectric transformation efficiency, flexible arrangement and mould
The features such as block degree is high, it is one of important equipment of solar energy resources Efficient Development.DS-CSP concentrator is by some mirrors
Face unit spliced forms parabolic surface, for realizing the directional transmissions and high-efficiency accumulation of solar energy.Substantially, concentrator is one
Accurate Optical devices are covered, but are limited by the precision that concentrator grid structure is manufactured and installed, tune when mirror unit is installed
Burnt process is necessary.In addition, concentrator is operated in the outdoor environment of high sunshine, be subjected to throughout the year dust storm, drench with rain, high temperature difference etc. is disliked
Bad weather, in solar energy thermo-power station, the breakage of (general amount is 20~25 years) mirror surface or light gathering efficiency drop during one's term of military service
Low is inevitable, and efficient, the high-precision replacing of now local some mirror surfaces will also become particularly important.Therefore,
It is particularly urgent, tool to provide a kind of concentrator mirror unit installation or damaged efficient, the accurate quick focus adjustment method changed
There is important practical meaning in engineering.
The condenser mirrors face focus adjustment method used at present mainly has：
(1) concentrator is operated in regarding day tracking mode, and operating personnel 1 adjust connecting bolt at the back side of concentrator, in Jiao
Plan-position is placed with reception target, and has operating personnel 2 to watch the facula deviation situation that target receives that receives, and teaching process in addition
Personnel 1 are adjusted correspondingly.It is obvious that the installation method of this mirror surface at least needs two people to be cooperated, and
Focussing process be empirically or hot spot drift condition carry out qualitative adjustment, focusing efficiency be low-down.
(2) disclosed in prior art 1 (A of CN 104062743) a kind of for the automatic of Salar light-gathering eyeglass adjustment
Focusing system and its focus adjustment method, this method mainly judge angle of inclination substantially by observing the color of image of speculum
Orientation, and each color-ratio on disk is calculated, while the experience database that contrast prestores, carry out teaching process personnel and carry out accordingly
Adjustment acts.Core therein is to establish experience database, and this patent the particular content of public database and is not built
Cube method, cause the implementation of the technology poor, and the technology is also based on qualitatively instructing to adjust, it is impossible to accurately to inform behaviour
Make personnel to the adjustment amount of mirror unit and adjustment order, whole regulated efficiency is up for further improving.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides a kind of compared by focal beam spot database and obtains mirror unit
Spatial pose, and fast and accurately quantitatively provide the solar energy dish-style concentrator minute surface list of mirror unit ball pivot bolt adjustment amount
The quick focus adjustment method of member installation.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of quick focus adjustment method of solar energy dish-style concentrator mirror unit installation, comprises the following steps：
1) according to the partial annular mirror dividing elements situation of the dish-style concentrator of design, mirror unit is numbered, and builds
Found the spatial pose error and the one-to-one database of focal beam spot characteristic parameter of each mirror unit；
2) concentrator is in the state of real-time tracking position of sun, the square surface tool of one piece of installation in concentrator focal plane
The plane for having lambert's effect receives target, sets the numbering of mirror unit to be focused, and is obtained by image capturing system and treats focusing lens
Unit independent optically focused in face receives the focal beam spot image on target in plane, and is handled in data processing terminal to obtain the focusing
The characteristic parameter of hot spot；When this focal beam spot feature meets installation requirement, the ball pivot bolt of mirror unit is fixed, this
Mirror unit installs；Otherwise, next step operation is carried out；
3) data for numbering the focal beam spot characteristic parameter that step 2) obtains with the identical mirror unit that step 1) is established
Storehouse is contrasted, and obtains the identical corresponding mirror unit spatial pose error of focal beam spot feature, and obtain mirror unit branch
The adjustment length of the ball pivot bolt of support, quantitative adjustment is carried out to mirror unit.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, Database in step 1)
Comprise the following steps that：
1.1) in the case of mirror unit is in design pose, coordinate system O-xyz is established in concentrator parabolic surface fixed point,
Z-axis points to the focus F of parabolic surface；Optics grid is divided to mirror unit, obtains the position vector of each grid element center point and interior
Normal unit vector；
1.2) mirror unit support and the ball pivot center vector of the ball pivot bolt of regulation are calculated；
1.3) by the combination of the integral translation campaign of mirror unit and the rotary motion around ball pivot come equivalent introducing pose
Error, calculate the position vector and inter normal unit vector of each grid element center point under corresponding position and attitude error operating mode；
1.4) square-shaped planar for being pointed to focal plane position receives target progress rectangular mesh division, and to sun incident light
Coning row discrete processes, mirror unit under position and attitude error operating mode is calculated using the method for ray trace and receives gathering on target in plane
Burnt hot spot flux-density distribution；
1.5) Characteristic boundary point of focal beam spot is extracted by local focusing ratio threshold value, and uses least square method pair
Boundary point carries out ellipse fitting, and the center point coordinate, pose angle and long semi-minor axis size by the use of planar elliptical geometry are used as focusing
The characteristic parameter of hot spot, and the adjustment length of the ball pivot bolt under the position and attitude error is calculated, form focal beam spot feature, minute surface list
First position and attitude error and the one-to-one data element of ball pivot bolt adjustment amount, and in the case of calculating several mirror unit pose
Data element, so as to be created as the aggregation beam pattern database of position and attitude error；
1.6) database is sorted successively from small to large according to the x-axis coordinate of elliptical center, facilitates focal beam spot feature
Rapid matching.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, being focused in step 2)
Beam pattern parameter comprises the following steps that：
2.1) center of square plane reception target overlaps with parabolic surface focus F, and two right-angle sides point of square
The x-axis and y-axis in coordinate system O-xyz are not translated；Coordinate system F-x is established at the center for receiving targetFyF, each axle of the coordinate system with
Coordinate system O-xyz each axle is parallel, and uncalibrated image acquisition system receives the spatial pose relation of target with plane；
2.2) gather mirror unit to be focused and receive the focal beam spot image on target in plane, by poly- in step 1.5)
The calculation of characteristic parameters method of burnt hot spot calculates the characteristic parameter of the focal beam spot image；
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, the specific steps of step 1.1)
It is as follows：
Mirror unit is divided into K parts along radial direction is isometric, along the circumferential direction waits angle to be divided into M parts, with grid infinitesimal
Central point carrys out calculation position vector normal line vector, then the grid element center point that the numbering of mirror unit is kmCoordinate and Nei Fa
The formula of line unit vector is as follows：
In formula, R1For the inner circle radius of mirror unit；For the radial dimension of grid infinitesimal；R2For mirror unit
Radical length；For the circumferential angle of grid infinitesimal；θ is the circumferential angle of mirror unit；ez=[0,0,1] is z-axis
Unit direction vector；The uniform spaces equation of curved surface of reflector is F1(x, y, z)=z-f1(x, y)=0, coordinate system O-xyz are established
On the summit of curved surface of reflector, z-axis point to focal position, when for parabolic surface when,F is focal length；Function
Rot (e, β) is spinfunction matrix, for realizing any vector around arbitrary unit vector e=[ex,ey,ez] anglec of rotation β
Function, it is specially：
In formula, C=cos β；S=sin β.
Sign is symbolic variable,zpkmFor pointZ-axis component in coordinate.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, in the ball pivot in step 1.2)
Heart A~C position vector is calculated as follows：
In formula, position vector of the ball pivot center in subpoint a~c of mirror surface is followed successively by：
A=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,θ-β1)；
B=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,β1)；
Plane abc unit normal vector
In formula：δ1And δ2For the distance of support projection point and mirror unit edge；β1For subpoint and the same minute surface of origin line
The angle of cell edges；N is the ball hinged supporting quantity of mirror unit；δ3For plane abc and plane ABC distance.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, the calculation procedure of step 1.3)
And method is as follows：
1.3.1) mirror unit carries out some pivoting movements successively by design attitude and translational motion is combined, wherein revolving
Shaft axis are made up of any two ball pivot center；The angular range of mirror unit rotary motion isIntegral translation campaign
Each axial component scope be-δ~δ, the kinematic parameter of rotation and translation is combined, obtains the position and attitude error of mirror unit
Vector Terror=[Ri,M1], wherein RiFor rotational motion vector, subscript i=1~6 are respectively A-B-C, A-C-B, B-A-C, B-
C-A, C-A-B, C-B-A totally 6 kinds of rotary motions order,Integral translation motion vector is Mi=[xi,yi,zi]；
1.3.2 the position vector and inter normal unit vector of each grid element center point under position and attitude error vector) are calculated；Step
It is as follows：
(1) according to rotary motion order, by first ball pivot center E around the axis GP anglecs of rotationNow in mirror unit
Grid km central pointMove to a littleThen again by second ball pivot center G around the axis E P anglecs of rotationNow mirror
Grid km central point in the unit of faceMove to a littleAgain by the 3rd ball pivot center P around the axis E G anglecs of rotationThis
When mirror unit in grid km central pointMove to a littleMirror unit is integrally pressed into vector M againi=[xi,yi,zi] enter
Row translational motion；E ∈ [A, B, C], G ∈ [A, B, C]；P∈[A,B,C]；E≠G≠p；
Grid km central point in mirror unitMove to a littlePosition, the relevant position vector difference of motion stage
For：
In formula, unit vectorUnit vectorUnit vectorVectorVectorVector E, G, P respectively accordingly rotate suitable
The position vector at the first ball pivot center of sequence, the second ball pivot center and the 3rd ball pivot center；
Introduce position and attitude error, mirror unit grid infinitesimal km normal line vector byRotation is extremelyCalculated by following formula：
In formula, the rotation global matrix of mirror unit pose
The computational methods of step 1.5) in the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation
It is as follows：
1.5.1 local focusing ratio in focal beam spot) is close or equal to threshold value CtPosition be extracted as boundary point；Boundary point
Searching method be：The grid of target division is received with reference to plane, first extracts the coboundary point and coordinate of isopleth by column from top to bottom；
Then extract the lower boundary point and coordinate of isopleth by column from the bottom up.Search and meet when searching for by column
2 neighbouring grids, further according toChoose the minimum respective wire center of a lattice point conduct of difference
Boundary point, its coordinate are designated as Ci(xi,yi)；Wherein, I (w, v) is that to receive grid numbering in target be w to plane, v energy-flux density value,
It is calculated by step 1.4)；W0For direct sunlight irradiation intensity value；Function min (a, b) is to take number minimum in a and b；
1.5.2 ellipse fitting) is carried out to border point using least square method, obtains the characteristic vector T of focal beam spotflux
For：
Tflux=[d, φ1,φ2, a, b] and=[x0,y0,φ2,a,b]
In formula, coordinate system F-x is established at the focus F of focal planeFyF, the coordinate system is parallel with coordinate system O-xyz, oval
The quantitative description parameter of shape includes geometric center point O1Coordinate (x0,y0), the size a of oval major semiaxis and its with coordinate xFAxle
Included angle2, semi-minor axis size b；
1.5.3 ball pivot center A~C of the rotation error of contribution mirror unit screw rod adjustment length d) is calculatedA~dC：
In formula, vector
1.5.4 focal beam spot feature, mirror unit position and attitude error and ball pivot bolt adjustment amount uniquely corresponding data) are formed
Element, and the data element of several mirror unit pose situation is calculated, so as to be created as the aggregation beam pattern of position and attitude error
Database.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, the focusing light in step 2.2)
The characteristic parameter of spot image is by step 1.5.1) and step 1.5.2) method calculated, the direct sunlight spoke used during calculating
According to intensity level W0It is the measured value at the focal beam spot collection moment of mirror unit to be focused.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, the minute surface to be focused of step 2)
The preparation method of the focal beam spot image of the independent optically focused of unit is：By will mirror unit focal beam spot be focused be moved to it is flat
Face, which receives the outside of target and gathered, receives the light spot image 1 of target surface now, then mirror unit to be focused tentatively is installed,
The hot spot of aggregation is adjusted to receiving in target region, image capturing system collection receives the light spot image 2 of target surface now, by light
The gray value of spot image 1 subtract light spot image 2 gray value can be obtained by mirror unit to be focused independent optically focused focusing
Light spot image；
Or first tentatively installed mirror unit to be focused, and the hot spot of aggregation is adjusted to receiving in target region, scheme
As the light spot image 1 for receiving target surface of acquisition system collection now, then mirror unit to be focused is blocked, and gathers
The light spot image 2 for receiving target surface now, the gray value can that the gray value of light spot image 1 is subtracted to light spot image 2 obtain
To the focal beam spot image of the independent optically focused of mirror unit to be focused.
In the quick focus adjustment method of above-mentioned solar energy dish-style concentrator mirror unit installation, in the ball pivot in step 1.2)
Heart A~C position vector in design drawing by directly obtaining.
Compared with prior art, the beneficial effects of the present invention are：
1st, the present invention is by establishing mirror unit spatial pose error and it assembles the one-to-one database of beam pattern,
The actual focal beam spot feature of mirror unit is directly subjected to matching contrast with database, and then is finally inversed by the space of mirror unit
Pose, and the bolt adjustment amount of mirror unit is fed back into operating personnel, is adjusted correspondingly, can settle at one go to mirror
The rotation error of face unit is eliminated, and whole focussing process region be directly facing condenser performance so that solar energy dish-style optically focused
The focusing of device mirror unit is quick and convenient.
2nd, the present invention is by introducing local focusing ratio threshold value CtTo extract the boundary point of focal beam spot, row bound point of going forward side by side
Ellipse fitting；Influence of the solar irradiation intensity level to focal beam spot feature is eliminated, by the database pre-established and reality
Aggregation beam pattern (different solar irradiation value situations) connects, in the mirror unit focussing process of reality, it is only necessary to
Monitor the direct sunlight irradiation intensity value at mirror unit focal beam spot collection moment to be adjusted；Can draws corresponding adjustment amount.
3rd, there is real-time quantitative guidance to act on for focusing of the present invention to mirror unit, and the adjustment of energy quantitative is instructed,
This method has the advantages that high efficiency and high-precision, the tune of the concentrator mirror unit of the invention that can also be applied to other face shapes
During whole.The present invention establishes the one-to-one relationship of focal beam spot feature and position and attitude error, and can be from the focusing of concentrator
The focal beam spot of single mirror unit is isolated in hot spot, other mirror units need not be carried out blocking processing or only need to treat
What the mirror unit of focusing carried out the short time in itself blocks processing, and this is one of fundamental novel features of the present invention, can be effective
Adaptation solar concentrating system high efficiency, low cost accurate installation demand.
Brief description of the drawings
Fig. 1 is the structural representation of dish-style/Stirling solar solar-thermal generating system.
Fig. 2 is the structural representation of the installation and focusing of mirror unit in Fig. 1.
Fig. 3 is the flow chart of the quick focus adjustment method of mirror unit of the present invention.
Fig. 4 is the flow chart of Database in Fig. 3 of the invention.
Fig. 5 is the flow chart that the single focal beam spot feature of mirror unit to be focused in Fig. 3 of the present invention obtains.
Fig. 6 is the structural parameters and optics mesh generation of mirror unit.
Fig. 7 is that the elliptic geometry of mirror unit focal beam spot characterizes.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
First, the position and its fixed form for relatively sharp understanding mirror unit in concentrator illustrate.
The structural representation of dish-style as shown in Figure 1/Stirling solar solar-thermal generating system, mirror unit 2 are mounted in concentrator
Truss structure 1 on.The fixed structure of specific mirror unit 2 is as shown in Fig. 2 bulb end and the minute surface list of ball stud 3
Member 2 is connected using spherical hinge structure, and the other end of ball stud 3 passes through the through hole of truss structure 1, and uses spherical washer and nut
It is fixed on truss structure 1, the fixation of mirror unit is general to be fixed using 3 or 4 ball hinged supportings.Minute surface list
The focussing process of member 2 is the process for the bearing length regulation for carrying out ball stud 3.
As shown in figure 3, the operating procedure of the present invention is as follows：
1) according to the partial annular mirror dividing elements situation of the dish-style concentrator of design, mirror unit is numbered, and builds
Found the spatial pose error and the one-to-one database of focal beam spot characteristic parameter of each mirror unit.
As shown in figure 4, the method for building up of database, is comprised the following steps that：
1.1) in the case of mirror unit is in design pose, optics grid is divided to mirror unit, obtained in each grid
The position vector and inter normal unit vector of heart point.As shown in fig. 6, the apex in condenser mirrors curved surface establishes global sit
Mark system O-xyz, wherein z-axis point to focal position.Mirror unit is divided into K parts along radial direction is isometric, along the circumferential direction waits folder
Angle is divided into M parts, carrys out calculation position vector normal line vector with the central point of grid infinitesimal, then the net that the numbering of mirror unit is km
Lattice central pointCoordinate and inter normal unit vector such as formula (1) and formula (2) shown in：
In formula, R1For the inner circle radius of mirror unit；For the radial dimension of grid infinitesimal；R2For mirror unit
Radical length；For the circumferential angle of grid infinitesimal；θ is the circumferential angle of mirror unit；ez=[0,0,1] is z-axis
Unit direction vector；The uniform spaces equation of curved surface of reflector is F1(x, y, z)=z-f1(x, y)=0, coordinate system O-xyz are established
On the summit of curved surface of reflector, z-axis point to focal position, when for parabolic surface when,F is focal length；Function
Rot (e, β) is spinfunction matrix, for realizing any vector around arbitrary unit vector e=[ex,ey,ez] anglec of rotation β
Function, it is specially：
In formula, C=cos β；S=sin β.
Sign is symbolic variable,zpkmFor pointZ-axis component in coordinate.
1.2) in the case of pose is designed, calculate mirror unit support and the ball pivot center of the ball pivot bolt of regulation is sweared
Amount.The calculation formula of ball pivot center A~C position vector is as follows
In formula, position vector of the ball pivot center in subpoint a~c of mirror surface is followed successively by：
A=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,θ-β1)；
B=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,β1)；
Plane abc unit normal vector
In formula：δ1And δ2For the distance of support projection point and mirror unit edge；β1For subpoint and the same minute surface of origin line
The angle of cell edges；N is the ball hinged supporting quantity of mirror unit, and n=3 is three ball hinged supportings, and n=4 is four ball hinged supportings；δ3
For plane abc and plane ABC distance.Ball pivot center A~C position vector can also obtain by other means, such as pass through
Directly obtained in design drawing.
1.3) by the combination of the integral translation campaign of mirror unit and the rotary motion around ball pivot come equivalent introducing pose
Error, calculate the position vector and inter normal unit vector of each grid element center point of corresponding position and attitude error operating mode.Specific steps are such as
Under：
1.3.1) mirror unit carries out some pivoting movements successively by ideal position and translational motion is combined, wherein revolving
Shaft axis are made up of any two ball pivot center.The angular range of mirror unit rotary motion is(unit rad), it is overall
Each axial component scope of translational motion is-δ~δ (unit mm), and the Estimating Motion Parameters of rotation and translation are combined, obtained
Obtain the position and attitude error vector T of mirror uniterror=[Ri,M1], wherein RiFor rotational motion vector, subscript i=1~6 is respectively
ABC, ACB, BAC, BCA, CAB, CBA rotary motion order, such as during i=1Integral translation campaign is sweared
Measure as M1=[x1,y1,z1]。
1.3.2 the position vector and inter normal unit vector of each grid element center point under position and attitude error vector) are calculated；Step
It is as follows：
By taking A-B-C rotary motions+translational motion as an example, step is as follows：
(1) mirror unit is positioned at design pose, by ball pivot center A around the axis CB anglecs of rotation(regulation：Make ball pivot center
Z-axis coordinate components it is increased be positive angle, and corresponding rotation direction of principal axis is positive direction), move to A1Position；
(2) by ball pivot center B around axis A1The C anglecs of rotationMove to B1Position；
(3) by ball pivot center C around axis B1A1The anglec of rotationMove to C1Position；
(4) mirror unit is integrally pressed into vector M1=[x1,y1,z1] carry out translational motion.
Grid km central point in mirror unitMove to a littlePosition, the relevant position vector difference of motion stage
For：
In formula, unit vectorUnit vectorUnit vectorVectorVector
Introduce position and attitude error, mirror unit grid infinitesimal km normal line vector byRotation is extremelyCalculated by following formula：
In formula, the rotation global matrix of mirror unit pose
Similarly, the position vector of each grid element center point of other rotational order operating modes and interior can be obtained according to the above method
Normal unit vector.
1.4) square-shaped planar for being pointed to focal plane position receives target progress mesh generation, as shown in fig. 7, plane receives
Target is the square centered on focus F, and its length of side is L, and grid division is W × V parts, and W=V, and grid Base Serial Number is on the right side
Upper Angle Position.And discrete processes are carried out to sun incident light, position and attitude error operating mode mirror unit is calculated using ray tracing method
The focal beam spot flux-density distribution on target is received in plane.It is known maturation that the focusing energy flow distribution of this part, which calculates,
Computational methods, be no longer described in detail herein.
1.5) Characteristic boundary point of focal beam spot is extracted by local focusing ratio threshold value, and uses least square method pair
Boundary point carries out ellipse fitting, with 5 parameters such as the center point coordinate of planar elliptical geometry, pose angle and long semi-minor axis sizes
To characterize the feature of focal beam spot, and the adjustment amount of the ball pivot bolt of the position and attitude error is calculated, form focal beam spot feature, minute surface
Data element corresponding to unit position and attitude error and ball pivot bolt adjustment amount etc. are unique, and calculate several mirror unit pose situation
Data element, so as to be created as the aggregation beam pattern database of position and attitude error.Wherein focal beam spot feature and ball pivot bolt
The computational methods of error distance, it is comprised the following steps that：
1.5.1 local focusing ratio in focal beam spot) is close or equal to threshold value CtPosition be extracted as boundary point and (take corresponding
The central point of grid).The searching method of boundary point is：The grid of target division is received with reference to plane, is first extracted by column from top to bottom
The coboundary point and coordinate of isopleth；Then extract the lower boundary point and coordinate of isopleth by column from the bottom up.When searching for by column
Search and meet2 neighbouring grids, further according toChoose difference
Minimum respective wire center of a lattice point is designated as C as boundary point, its coordinatei(xi,yi).Wherein, I (w, v) is that plane is received in target
Grid numbering is w, v energy-flux density value, is calculated by step 1.4)；W0For direct sunlight irradiation intensity value；Function min
(a, b) is to take number minimum in a and b.
1.5.2 ellipse fitting) is carried out to border point using least square method, oval geometry is characterized as shown in fig. 7, obtaining
The characteristic vector T of focal beam spotfluxFor：
Tflux=[d, φ1,φ2, a, b] and=[x0,y0,φ2,a,b]
In formula, coordinate system F-x is established at the focus F of focal planeFyF, the coordinate system is parallel with coordinate system O-xyz, oval
The quantitative description parameter of shape includes geometric center point O1Coordinate (x0,y0) (also available range d and included angle1To determine jointly),
The size a of oval major semiaxis and its with coordinate xFThe included angle of axle2And semi-minor axis size b.Included angle1And φ2Unit be
Rad, the unit of characteristic length is mm.
1.5.3 the ball pivot bolt error of the rotation error of mirror unit) is contributed, can be carried out by adjusting screw rod length
It is completely eliminated, and error caused by translational motion is only capable of being corrected by the integral translation of mirror unit, typically compared with difficulty
Reason.Calculate ball pivot center A~C of the rotation error of contribution mirror unit screw rod adjustment length dA~dC：
In formula, vector
1.5.4 the one-to-one number of focal beam spot feature, mirror unit position and attitude error and ball pivot bolt adjustment amount) is formed
According to element, and the data element of several mirror unit pose situation is calculated, be created as the aggregation beam pattern number of position and attitude error
According to storehouse.
1.6) database is sorted successively from small to large according to the x-axis coordinate of elliptical center, so as to follow-up focal beam spot
The Rapid matching of feature.
2) concentrator is in the state of real-time tracking position of sun, the square surface tool of one piece of installation in concentrator focal plane
The plane for having lambert's effect receives target, sets the numbering of mirror unit to be focused, and is obtained by image capturing system and treats focusing lens
Unit independent optically focused in face receives the focal beam spot image on target in plane, and is handled in data processing terminal to obtain the focusing
The characteristic parameter of hot spot.When this focal beam spot feature meets installation requirement, the ball pivot bolt of mirror unit is fixed, this
Mirror unit installs.Otherwise, next step operation is carried out.
The step of obtaining the focal beam spot characteristic parameter of mirror unit to be focused is as follows：
2.1) coordinate system, and uncalibrated image collection system are established in the center (i.e. the focus of concentrator) that target is received in plane
System receives the spatial pose relation of target with plane.
2.2) gather mirror unit to be focused and receive the focal beam spot image on target in plane, using identical with step 1.5)
Focusing ratio threshold value, feature extraction and ellipse fitting method, obtain the characteristic parameter of the focal beam spot image.
The preparation method of the focal beam spot image of the independent optically focused of mirror unit to be focused is as follows：First by by minute surface list
First focal beam spot is moved to plane and receives the outside of target and gather the light spot image 1 of reception target surface now, then will treat focusing lens
Face unit is tentatively installed, and the hot spot of aggregation is adjusted to receiving in target region, and image capturing system collection receives target table
The light spot image 2 of face now；The gray value that the gray value of light spot image 1 is subtracted to light spot image 2 can be obtained by and treat focusing lens
The focal beam spot image of the independent optically focused of face unit, such a method need not carry out blocking processing to other mirror units.
The acquisition of the focal beam spot image of the independent optically focused of mirror unit to be focused can also be with the following method：First will
Mirror unit to be focused tentatively is installed, and the hot spot of aggregation is adjusted to receiving in target region, and image capturing system gathers
The light spot image 1 for receiving target surface now；Then mirror unit to be focused is blocked, and gathers reception target table now
The light spot image 2 in face；The gray value that the gray value of light spot image 1 is subtracted to light spot image 2 can be obtained by minute surface list to be focused
The focal beam spot image of the independent optically focused of member.The method only needs the mirror unit for treating focusing to carry out blocking processing in itself, whole
Individual operation is also efficiently convenient.
3) data for numbering the focal beam spot characteristic parameter that step 2) obtains with the identical mirror unit that step 1) is established
Storehouse is compared, and obtains the identical corresponding mirror unit spatial pose error of focal beam spot feature, and obtain mirror unit branch
The adjustment length of the ball pivot bolt of support, quantitative adjustment is carried out to mirror unit.
Because The present invention gives the one-to-one relationship of focal beam spot feature and mirror unit position and attitude error, it is only necessary to one
Secondary quantitative adjusting can realizes the accurate focusing of mirror unit, but in view of the foozle of actual mirror unit, may
It may require that step 2 and step 3 are carried out repeatedly, until the spatial pose of mirror unit meets the Spreading requirements of focal beam spot.
The quick focus adjustment method of the solar energy dish-style concentrator mirror unit installation of the present invention, by establishing mirror unit sky
Between position and attitude error and its assemble the one-to-one database of beam pattern, directly by the actual focal beam spot feature of mirror unit
Matching contrast is carried out with database, and then is finally inversed by the spatial pose of mirror unit, and the bolt adjustment amount of mirror unit is anti-
Feed operating personnel, is adjusted correspondingly, and the rotation error to mirror unit that can be settled at one go eliminates, whole to adjust
Burnt process region be directly facing condenser performance, and it is efficient, inexpensive can to effectively adapt to China's solar concentrating system at this stage
Accurate installation engineer applied demand.
Claims (10)
1. a kind of quick focus adjustment method of solar energy dish-style concentrator mirror unit installation, comprises the following steps：
1) according to the partial annular mirror dividing elements situation of the dish-style concentrator of design, mirror unit is numbered, and established each
The spatial pose error of mirror unit and the one-to-one database of focal beam spot characteristic parameter；
2) concentrator real-time tracking position of sun state, concentrator focal plane install one piece of square surface have it is bright
The plane of primary effect receives target, sets the numbering of mirror unit to be focused, minute surface list to be focused is obtained by image capturing system
First individually optically focused receives the focal beam spot image on target in plane, and is handled in data processing terminal to obtain the focal beam spot
Characteristic parameter；When this focal beam spot feature meets installation requirement, the ball pivot bolt of mirror unit is fixed, this minute surface
Unit installs；Otherwise, next step operation is carried out；
3) the focal beam spot characteristic parameter that step 2) obtains is entered with the database that the identical mirror unit that step 1) is established is numbered
Row contrast, the identical corresponding mirror unit spatial pose error of focal beam spot feature is obtained, and obtain mirror unit support
The adjustment length of ball pivot bolt, quantitative adjustment is carried out to mirror unit.
2. the quick focus adjustment method of solar energy dish-style concentrator mirror unit according to claim 1 installation, in step 1)
Database comprises the following steps that：
1.1) in the case of mirror unit is in design pose, coordinate system O-xyz, z-axis are established in concentrator parabolic surface fixed point
Point to the focus F of parabolic surface；Optics grid is divided to mirror unit, obtains the position vector and inter normal of each grid element center point
Unit vector；
1.2) mirror unit support and the ball pivot center vector of the ball pivot bolt of regulation are calculated；
1.3) by the combination of the integral translation campaign of mirror unit and the rotary motion around ball pivot come equivalent introducing position and attitude error,
Calculate the position vector and inter normal unit vector of each grid element center point under corresponding position and attitude error operating mode；
1.4) square-shaped planar for being pointed to focal plane position receives target progress rectangular mesh division, and to sun incident light coning
Row discrete processes, mirror unit under position and attitude error operating mode is calculated using ray tracing method and receives the focal beam spot on target in plane
Flux-density distribution；
1.5) Characteristic boundary point of focal beam spot is extracted by local focusing ratio threshold value, and using least square method to border
Point carries out ellipse fitting, and center point coordinate, pose angle and long semi-minor axis size by the use of planar elliptical geometry are used as focal beam spot
Characteristic parameter, and calculate the adjustment length of the ball pivot bolt under the position and attitude error, form focal beam spot feature, mirror unit position
Appearance error and the one-to-one data element of ball pivot bolt adjustment amount, and calculate the data in the case of several mirror unit pose
Element, so as to be created as the aggregation beam pattern database of position and attitude error；
1.6) database is sorted successively from small to large according to the x-axis coordinate of elliptical center, facilitates the quick of focal beam spot feature
Matching.
3. the quick focus adjustment method of solar energy dish-style concentrator mirror unit according to claim 1 installation, in step 2)
Acquisition focal beam spot characteristic parameter comprise the following steps that：
2.1) center of square plane reception target is overlapped with parabolic surface focus F, and two right-angle sides of square are put down respectively
Move the x-axis and y-axis in coordinate system O-xyz；Coordinate system F-x is established at the center for receiving targetFyF, each axle and coordinate of the coordinate system
Be O-xyz each axle it is parallel, and uncalibrated image acquisition system and plane receive the spatial pose relation of target；
2.2) gather mirror unit to be focused and receive the focal beam spot image on target in plane, pass through the focusing light in step 1.5)
The calculation of characteristic parameters method of spot calculates the characteristic parameter of the focal beam spot image.
4. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 2, step 1.1)
Comprise the following steps that：
Mirror unit is divided into K parts along radial direction is isometric, along the circumferential direction waits angle to be divided into M parts, with the center of grid infinitesimal
Point comes calculation position vector normal line vector, then the grid element center point that the numbering of mirror unit is kmCoordinate and inter normal
Unit vector formula is as follows：
In formula, R1For the inner circle radius of mirror unit；For the radial dimension of grid infinitesimal；R2For the radial direction of mirror unit
Length；For the circumferential angle of grid infinitesimal；θ is the circumferential angle of mirror unit；ez=[0,0,1] is the unit of z-axis
Direction vector；The uniform spaces equation of curved surface of reflector is F1(x, y, z)=z-f1(x, y)=0, coordinate system O-xyz are established anti-
Penetrate the summit of mirror curved surface, z-axis points to focal position, when for parabolic surface when,F is focal length；Function Rot (e,
It is β) spinfunction matrix, for realizing any vector around arbitrary unit vector e=[ex,ey,ez] anglec of rotation β function, tool
Body is：
In formula, C=cos β；S=sin β；
Sign is symbolic variable,zpkmFor pointZ-axis component in coordinate.
5. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 4, step 1.2)
In ball pivot center A~C position vector be calculated as follows：
In formula, position vector of the ball pivot center in subpoint a~c of mirror surface is followed successively by：
A=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,θ-β1)；
B=[R2-δ2,0,f1(R2-δ2,0)]·Rot(ez,β1)；
Plane abc unit normal vector
In formula：δ1And δ2For the distance of support projection point and mirror unit edge；β1For subpoint and the same mirror unit of origin line
The angle at edge；N is the ball hinged supporting quantity of mirror unit；δ3For plane abc and plane ABC distance.
6. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 5, step 1.3)
Calculation procedure and method it is as follows：
1.3.1) mirror unit carries out some pivoting movements successively by design attitude and translational motion is combined, wherein rotary shaft
Line is made up of any two ball pivot center；The angular range of mirror unit rotary motion isIntegral translation campaign it is each
Axial component scope is-δ~δ, and the kinematic parameter of rotation and translation is combined, and obtains the position and attitude error vector of mirror unit
Terror=[Ri,M1], wherein RiFor rotational motion vector, subscript i=1~6 are respectively A-B-C, A-C-B, B-A-C, B-C-A,
C-A-B, C-B-A totally 6 kinds of rotary motions order,Integral translation motion vector is Mi=[xi,yi,zi]；
1.3.2 the position vector and inter normal unit vector of each grid element center point under position and attitude error vector) are calculated；Step is such as
Under：
(1) according to rotary motion order, by first ball pivot center E around the axis GP anglecs of rotationNow grid in mirror unit
Km central pointMove to a littleThen again by second ball pivot center G around the axis E P anglecs of rotationNow minute surface list
Grid km central point in memberMove to a littleAgain by the 3rd ball pivot center P around the axis E G anglecs of rotationNow mirror
Grid km central point in the unit of faceMove to a littleMirror unit is integrally pressed into vector M againi=[xi,yi,zi] put down
Shifting movement；E ∈ [A, B, C], G ∈ [A, B, C]；P∈[A,B,C]；E≠G≠p；
Grid km central point in mirror unitMove to a littlePosition, the relevant position vector of motion stage are respectively：
In formula, unit vectorUnit vectorUnit vectorVectorVectorVector E, G, P respectively accordingly rotate suitable
The position vector at the first ball pivot center of sequence, the second ball pivot center and the 3rd ball pivot center；
Introduce position and attitude error, mirror unit grid infinitesimal km normal line vector byRotation is extremelyCalculated by following formula：
In formula, the rotation global matrix of mirror unit pose
7. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 6, step 1.5)
Computational methods it is as follows：
1.5.1 local focusing ratio in focal beam spot) is close or equal to threshold value CtPosition be extracted as boundary point；Boundary point is searched
Suo Fangfa is：The grid of target division is received with reference to plane, first extracts the coboundary point and coordinate of isopleth by column from top to bottom；And
Extract the lower boundary point and coordinate of isopleth by column from the bottom up afterwards；Search and meet when searching for by column
2 neighbouring grids, further according toChoose the minimum respective wire center of a lattice point conduct of difference
Boundary point, its coordinate are designated as Ci(xi,yi)；Wherein, I (w, v) is that to receive grid numbering in target be w to plane, v energy-flux density value,
It is calculated by step 1.4)；W0For direct sunlight irradiation intensity value；Function min (a, b) is to take number minimum in a and b；
1.5.2 ellipse fitting) is carried out to border point using least square method, obtains the characteristic vector T of focal beam spotfluxFor：
Tflux=[d, φ1,φ2, a, b] and=[x0,y0,φ2,a,b]
In formula, coordinate system F-x is established at the focus F of focal planeFyF, the coordinate system is parallel with coordinate system O-xyz, elliptical shape
Quantitative description parameter include geometric center point O1Coordinate (x0,y0), the size a of oval major semiaxis and its with coordinate xFThe folder of axle
Angle φ2, semi-minor axis size b；
1.5.3 ball pivot center A~C of the rotation error of contribution mirror unit screw rod adjustment length d) is calculatedA~dC：
In formula, vector
1.5.4 focal beam spot feature, mirror unit position and attitude error and ball pivot bolt adjustment amount uniquely corresponding data element) are formed
Element, and the data element of several mirror unit pose situation is calculated, so as to be created as the aggregation beam pattern number of position and attitude error
According to storehouse.
8. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 7, step 2.2)
In focal beam spot image characteristic parameter by step 1.5.1) and step 1.5.2) method calculated, use during calculating
Direct sunlight irradiation intensity value W0It is the measured value at the focal beam spot collection moment of mirror unit to be focused.
9. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 5, step 2)
The preparation method of the focal beam spot image of the independent optically focused of mirror unit to be focused is：By the way that mirror unit to be focused is focused on into light
Spot is moved to plane and receives the outside of target and gather the light spot image 1 of reception target surface now, then mirror unit to be focused is entered
The preliminary installation of row, the hot spot of aggregation is adjusted to receiving in target region, image capturing system collection receives the light of target surface now
Spot image 2, the gray value that the gray value of light spot image 1 is subtracted to light spot image 2 can be obtained by the list of mirror unit to be focused
The focal beam spot image of only optically focused；
Or first tentatively installed mirror unit to be focused, and the hot spot of aggregation is adjusted to receiving in target region, image is adopted
The light spot image 1 for receiving target surface of collecting system collection now, is then blocked mirror unit to be focused, and gather now
The light spot image 2 for receiving target surface, the gray value that the gray value of light spot image 1 is subtracted to light spot image 2 can be obtained by and treat
The focal beam spot image of the independent optically focused of focusing mirror unit.
10. the quick focus adjustment method of solar energy dish-style concentrator mirror unit installation according to claim 2, step 1.2)
In ball pivot center A~C position vector by being directly obtained in design drawing.
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