CN106527500A - Solar energy double-shaft solar-based tracking system based on AHRS and tracking method - Google Patents
Solar energy double-shaft solar-based tracking system based on AHRS and tracking method Download PDFInfo
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- CN106527500A CN106527500A CN201611110684.6A CN201611110684A CN106527500A CN 106527500 A CN106527500 A CN 106527500A CN 201611110684 A CN201611110684 A CN 201611110684A CN 106527500 A CN106527500 A CN 106527500A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The invention provides a solar energy double-shaft solar tracking system based on an AHRS. The tracking system is formed by connecting a machine body main body and a control module. The machine body main body comprises a solar altitude adjusting unit, a solar azimuth adjusting unit and a support mechanism. The support mechanism is formed by a base and a reduction box support seat vertically welded in the center of the base. The solar azimuth adjusting unit is arranged on the reduction box support seat. The solar altitude adjusting unit is arranged on and connected with the solar azimuth adjusting unit. The solar altitude adjusting unit and the solar azimuth adjusting unit are connected with a control module. The invention also discloses a tracking method by use of the solar energy double-shaft solar tracking system based on the AHRS. According to the invention, the solar altitude and azimuth of the solar energy double-shaft solar tracking system can be controlled, tracking of the sun is achieved and power generation efficiency is effectively improved.
Description
Technical field
The invention belongs to tracking system technical field, and in particular to a kind of solar biaxial based on AHRS modules regard day with
Track system, the invention further relates to the side being tracked to the sun depending on day tracking system using the solar biaxial based on AHRS modules
Method.
Background technology
The energy is the lifeblood of socio-economic development, is the guarantee for improving people's living standard.In the energy increasingly deficient the present
My god, regenerative resource has all been invested sight in the whole world, it would be desirable to changes the energy resource structure of the mankind, realizes sustainable development.Too
Sun as a kind of emerging regenerative resource, for alleviating energy crisis, and can largely improve environmental pollution and have
Extremely important meaning.
The exploitation of solar energy are with huge market prospect.At present, the bottleneck that solar energy power generating is present
Problem is exactly that generating efficiency is low, and it is to develop solar tracking system to solve one of method of this problem, makes solaode
Plate can all the time towards the sun, to improve the efficiency of photovoltaic generation.
Encoder and angular displacement sensor etc. are mainly used in existing solar tracking system angle detection.These detection means are big
Many installations are complicated, and installation accuracy has high demands, calibrates time-consuming, and cost is also high.Usually can miss due to installing during use
Difference causes sensor to be easily damaged.AHRS is referred to as attitude heading reference system, and it includes multiple axial sensors, can carry for aircraft
For course, roll and rollover information, this kind of system can provide accurately and reliably attitude and sail information for aircraft, if by AHRS
Module application then has innovative significance in the angle detection of solar panel.
The content of the invention
It is an object of the invention to provide a kind of solar biaxial based on AHRS modules regards day tracking system, can be to the sun
Can twin shaft regard the sun altitude of day tracking system and azimuth is controlled, make solar panel vertical with sunray all the time
Directly, the tracking to the sun is realized, generating efficiency is effectively increased.
Another object of the present invention is to provide regard day tracking system to too using the solar biaxial based on AHRS modules
The method that sun is tracked.
The first technical scheme of the present invention is that the solar biaxial based on AHRS modules regards day tracking system,
Connected and composed by fuselage main body and control module Jing；Fuselage main body, includes sun altitude adjustment unit, solar azimuth and adjusts
Whole unit and supporting mechanism, and reductor bearing of the supporting mechanism by base and vertical welding in base central authorities constitute, sun side
Parallactic angle adjustment unit is arranged on reductor bearing, sun altitude adjustment unit be arranged on solar azimuth adjustment unit and
It is connected with solar azimuth adjustment unit；Sun altitude adjustment unit, solar azimuth adjustment unit are connected with control module
Connect.
The characteristics of the first technical scheme of the invention, also resides in：
Control module, includes single-chip microcomputer, and single-chip microcomputer connects external clock module, human-computer interaction module, motor respectively and drives
Dynamic model block and AHRS modules；Sun altitude adjustment unit, solar azimuth adjustment unit are connected with motor drive module, too
Positive elevation angle adjustment unit is connected with AHRS modules.
Solar azimuth adjustment unit, includes the worm gear-endless screw reductor and direct current for being arranged at reductor bearing upper end
Motor, and worm gear-endless screw reductor is connected as a single entity with direct current generator；The upper weld of worm gear-endless screw reductor is vertically arranged
Column, sun altitude adjustment unit is supported in the upper end of column；Direct current generator respectively by wire and motor drive module,
Solar panels connection in sun altitude adjustment unit.
Sun altitude adjustment unit supports-adjusts integrated apparatus and solar panel Jing to connect by solar panel
Connect composition；Solar panel supports-integrated apparatus are adjusted, include solar panel support unit and solaode
Plate adjustment unit；Solar panel support unit, includes horizontally disposed gyroaxis, and the middle part of gyroaxis with pass through U
Type bolt a, U-bolt b are connected with column, and one end of gyroaxis connects left support frame, the other end of gyroaxis by left support abutment
Right support frame is connected by right support abutment, and left support frame is connected with right support frame by support bar；Solar panel is propped up with left
Support, support bar and right support frame are connected as a single entity, i.e., left support frame, support bar and right support frame are risen to solar panel jointly
It is connected with AHRS modules to fixation, solar panel is supported by wire；Solar panel adjustment unit, includes
Direct current drive push rod, and direct current drive push rod is connected with solar panel, motor drive module by wire respectively；Unidirectional current
The cylinder body of dynamic push rod is connected with handspike bearing by bearing pin a, and the cylinder rod of direct current drive push rod is by bearing pin b and the middle part of support bar
Connection.
Single-chip microcomputer is using STC89C52RC single-chip minimum systems as key control unit.
H bridge chip L298N, the reverse parallel connection fly-wheel diode circuit on L298N chips are adopted in motor drive module.
External clock module is DS1302 chips.
AHRS modules adopt GY-953.
Human-computer interaction module includes LCDs and button switch；LCDs adopt LCD1602；Button switch
It is made up of switch S1 and S2.
Second technical scheme of the present invention is to regard day tracking system using the solar biaxial based on AHRS modules
The method that system is tracked to the sun, specifically implements according to following steps：
Step 1, the button switch for pressing human-computer interaction module, and working as external clock module acquisition, is read by single-chip microcomputer
The front time, specifically include year, month, day, hour, min, second；
Step 2, Jing after step 1, according to the algorithm being burnt in single-chip microcomputer, the current time read by external clock, meter
The solar hour angle represented with angle is calculated, specific algorithm is as follows：
τ=(SO-12)×15° (1)；
In formula, τ is solar hour angle, SOFor the true solar time, unit is hour；
Sun altitude α is specifically obtained according to following algorithm：
Solar azimuth γ is specifically obtained according to following algorithm：
In upper two formula, EDFor declination angle,For local geographic latitude, τ is solar hour angle at that time；
Step 3, Jing after step 2, solar panel 12 that AHRS modules obtain is read towards the sun by single-chip microcomputer
Elevation angle α 1 and azimuth γ 1；
Step 4, Jing after step 3, by comparing the sun altitude α for being burnt to single-chip microcomputer internal algorithm and being calculated, too
Sun altitude α 1 and azimuth γ 1 that positive azimuth γ and Jing AHRS modules are read, obtain sun altitude deviation delta alpha and too
Positive azimuth Δ γ；
Step 5, Jing after step 4, set threshold value a | δ |, by sun altitude deviation delta alpha and azimuth angle deviation Δ γ point
Not be not compared with threshold value | δ | of setting, and by be burnt to algorithm in single-chip microcomputer judge direct current generator forward or reverse and
Direct current drive push rod is above pushed away or drop-down；
Wherein, threshold value | δ | takes 1 °～2 °；
Step 6, Jing after step 5, drive direct current generator and direct current drive push rod to make action using motor drive module；
Step 7, Jing after step 6, by AHRS modules read drive after solar panel towards the sun elevation angle α 1
With azimuth γ 1, and preserved；
Step 8, Jing after step 7, will be sun altitude α 1, azimuth γ 1 high with the sun that algorithm in Jing single-chip microcomputers is obtained
Degree angle α and azimuth γ compares again；
If deviation is not in the range of threshold value | δ |, i.e. Δ α>| δ |, Δ γ>During | δ |, Δ α<| δ |, Δ γ>During | δ | or Δ α>
| δ |, Δ γ<During | δ |, then execution step 5；
If sun altitude deviation delta alpha and azimuth angle deviation Δ γ are in the range of threshold value | δ |, i.e. Δ α<| δ |, Δ γ<|δ|
When, then a secondary tracking terminates, and shows time for reading of external clock module by LCDs and now solaode
Elevation angle α of platesWith azimuth γs。
The beneficial effects of the present invention is：
(1) solar biaxial of the present invention based on AHRS modules regards day tracking system, by AHRS modules and corresponding journey
Sequence cooperates, and can directly read the elevation angle of the sun and azimuth at that time, so as to realize to solar biaxial tracking system
Azimuth and elevation angle are controlled.
(2) solar biaxial of the present invention based on AHRS modules regards day tracking system, more existing structure control device and
Speech：AHRS modules can detect elevation angle and the azimuth of the sun simultaneously, due to only needing a module, so required low cost；
AHRS modules can compensate alignment error by software, it is not necessary to too high installation accuracy, can effectively reduce installation difficulty.
(3) present invention regards day tracking system based on the solar biaxial of AHRS modules and day tracking system can be regarded as solar biaxial
The research of system provides good theoretical basiss and test platform.
Description of the drawings
Fig. 1 is the structural representation that solar biaxial of the present invention based on AHRS modules regards day tracking system；
Fig. 2 is that solar biaxial of the present invention based on AHRS modules regards day tracking system internal circuit connection diagram；
Fig. 3 is the electric operation control circuit figure that solar biaxial of the present invention based on AHRS modules regards day tracking system；
Fig. 4 is the track following flow chart that solar biaxial of the present invention based on AHRS modules regards day tracking system.
In figure, 1. base, 2. reductor bearing, 3. worm gear-endless screw reductor, 4. direct current generator, 5. sells a, 6. push rod
Seat, 7. column, 8. cylinder body, 9. gyroaxis, 10. right support abutment, 11. cylinder rods, 12. solar panels, 13. pin b, 14. support bars,
15.U type bolt a, 16. left support abutments, 17.U type bolt b, 18. direct current drive push rods, 19. left support frames, 20. right support frames, 21.
Motor drive module, 22.AHRS modules, 23. button switches, 24. LCDs, 25. external clock modules, 26. single-chip microcomputers,
27. human-computer interaction modules.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Solar biaxial of the present invention based on AHRS modules regards day tracking system, its structure as shown in Fig. 1 Fig. 2, by fuselage
Main body and control module Jing are connected and composed；Fuselage main body, includes sun altitude adjustment unit, solar azimuth adjustment unit
And supporting mechanism, and reductor bearing 2 of the supporting mechanism by base 1 and vertical welding in 1 central authorities of base constitute, solar azimuth
Adjustment unit is arranged on reductor bearing 2, sun altitude adjustment unit be arranged on solar azimuth adjustment unit and with
Solar azimuth adjustment unit connects；Sun altitude adjustment unit, solar azimuth adjustment unit are connected with control module.
Control module, as shown in Fig. 2 include single-chip microcomputer 26, single-chip microcomputer 26 connects external clock module 25, man-machine respectively
Interactive module 27, motor drive module 21 and AHRS modules 22；Sun altitude adjustment unit, solar azimuth adjustment unit are equal
It is connected with motor drive module 21, sun altitude adjustment unit is connected with AHRS modules 22.
Solar azimuth adjustment unit, subtracts as shown in figure 1, including and being arranged at the worm gear-endless screw of 2 upper end of reductor bearing
Fast machine 3 and direct current generator 4, and worm gear-endless screw reductor 3 is connected as a single entity with direct current generator 4；The top of worm gear-endless screw reductor 3
The column 7 being vertically arranged is welded with, sun altitude adjustment unit is supported in the upper end of column 7；Direct current generator 4 is respectively by leading
Line is connected with the solar panels 12 in motor drive module 21, sun altitude adjustment unit；Worm gear-endless screw reductor 3 and straight
Stream motor 4 cooperates and can provide power for sun altitude adjustment unit adjustment sun altitude.
Sun altitude adjustment unit, as shown in Figures 1 and 2, by solar panel support-adjust integrated apparatus and
12 Jing of solar panel is connected and composed；Solar panel supports-integrated apparatus are adjusted, include solar panel
Support unit and solar panel adjustment unit；Solar panel support unit, includes horizontally disposed gyroaxis 9, and
The middle part of gyroaxis 9 be connected with column 7 by U-bolt a15, U-bolt b17, one end of gyroaxis 9 passes through left support abutment 16
Connection left support frame 19, the other end of gyroaxis 9 connect right support frame 20, and left support frame 19 by supporting by right support abutment 10
Bar 14 is connected with right support frame 20；Solar panel 12 is connected as a single entity with left support frame 19, support bar 14 and right support frame 20,
I.e. left support frame 19, support bar 14 and right support frame 20 play support fixation, solar energy to solar panel 12 jointly
Cell panel 12 is connected with AHRS modules 22 by wire；Solar panel adjustment unit, includes direct current drive push rod 18, and
Direct current drive push rod 18 is connected with solar panel 12, motor drive module 21 by wire respectively；Direct current drive push rod 18
Cylinder body 8 be connected with handspike bearing 6 by bearing pin a5, the cylinder rod 11 of direct current drive push rod 18 is by bearing pin b13 and support bar 14
Middle part connection.
Single-chip microcomputer 26 is using STC89C52RC single-chip minimum systems as key control unit.
Using H bridge chip L298N in motor drive module 21, the reverse parallel connection fly-wheel diode circuit on L298N chips,
For preventing from producing very high voltage in its internal power pipe, cause to damage device；As shown in figure 3, motor drive module 21 passes through
P1.4～the P1.7 of single-chip microcomputer 26, P2.0～P2.1 carry out steering control to the M2 of the M1 and direct current drive push rod 18 of direct current generator 4
System；Wherein, the P1.4～P1.7 of single-chip microcomputer 26 is connected with the IN1～IN4 of motor drive module 21, P2.0 and the electricity of single-chip microcomputer 26
Machine drive module 21 enables ENA and is connected, and P2.1 and the motor drive module 21 of single-chip microcomputer 26 enable ENB and be connected, and VSS connects 5V power supplys
Power for motor drive module 21, VS connects 36V power supplys for driving voltage；ISENA and ISEN B are grounded respectively, OUT1, OUT2,
OUT3, OUT4 as output, are pushed away to the M1 and direct current drive of direct current generator 4 by reverse parallel connection fly-wheel diode circuit realiration
The control of the M2 rotatings of bar 18, adjusts tracking of the solar panel 12 to sun altitude with this；It is straight with IN1, IN2 control
The M1 of stream motor 4 is rotated, and adjusts solar azimuth with this；IN1=0, IN2=1, the M1 of direct current generator 4 are rotated clockwise, orientation
Angle increases；IN1=1, IN2=0, the M1 of direct current generator 4 are rotated counterclockwise, and azimuth reduces；With IN3, IN4 control direct current drives
The M2 of push rod 18 above push away with it is drop-down, tracking of the solar panel 12 to sun altitude is adjusted with this；When IN3=1, IN4=0
The M2 of direct current drive push rod 18 is above pushed away, elevation angle increase；IN3=0, IN4=1, now the M2 of direct current drive push rod 18 is drop-down, high
Degree angle reduces；EN1, EN2 are input signal A, B speed governing end simultaneously, and it is fast that input pwm signal changes adjustable pulse width；High electricity is put all
It is flat, move at full speed.L298N control signals are specifically as shown in table 1 with direct current generator 4,18 control planning of direct current drive push rod.
Table 1
External clock module 25 is DS1302 chips, and the chip has sequencing contro, and anti-interference, small volume, line are few；
For recording the local time, elevation angle and the azimuth of locality are calculated by read access time；DS1302 chips have inside simultaneously
Power supply, does not connect external power source and can still provide for clock timing, i.e. power down and do not reset；Real time clock circuit is powered by 3V power supplys, crystal oscillator
Y1 is 32.768kHz, is connected on X1 and X2 ports as reference clock signal；REST is reset/chip selection signal, connects single-chip microcomputer
26 P2.7 mouths, are input into driving by REST and put the transmission of high level log-on data, when SCLK is low level, could be set to REST
High level；SCLK is connected with the P2.6 of single-chip microcomputer 26, and IO is connected with the P2.5 of single-chip microcomputer 26 for serial date transfer outfan；
VCC1 connection button cells guarantee that power down does not reset；VCC2 connects 5V power supplys, GND ground connection.
AHRS modules 22 adopt GY-953, running voltage 3V～5V, small power consumption and small volume, and its operation principle is by top
Spiral shell instrument is passed with acceleration, and magnetic field sensor is finally obtained through data anastomosing algorithm and directly obtains sun altitude and azimuth.
Human-computer interaction module 27 includes LCDs 24 and button switch 23, and LCDs 24 adopt LCD1602,
Current sun altitude and azimuth can be shown on liquid crystal display screen 24, its low price and easy to use；Wherein DATA0～
DATA7 is connected with the P0.0～P0.7 of single-chip microcomputer 26 respectively, is enabled EN and is connected with the P1.0 of single-chip microcomputer 26, RW and single-chip microcomputer 26
P1.1 is connected, and RS is connected with the P1.2 of single-chip microcomputer 26, and LCDs 24 are powered and are grounded；Button switch 23 is by switching
S1 and S2 is constituted.
It is powered to motor drive module 21 using 36V power supplys, the circuit of single-chip microcomputer 26 needs 5V power voltage supplies, therefore
Blood pressure lowering process is carried out using the adjustable blood pressure lowering chips of DC-DC.
The accuracy class of direct current generator 4 is 0.1 °, speed reducing ratio 62：1, operating temperature is at -40 DEG C～80 DEG C.
The stroke of direct current drive push rod 18 is 150mm.
The method (one that the present invention is tracked to the sun depending on day tracking system using the solar biaxial based on AHRS modules
The method of secondary tracking), as shown in figure 4, specifically implementing according to following steps：
Step 1, the button switch 23 for pressing human-computer interaction module 27, and external clock module 25 is read by single-chip microcomputer 26
The current time of acquisition, specifically includes year, month, day, hour, min, second；
Step 2, Jing after step 1, according to the algorithm being burnt in single-chip microcomputer, the current time read by external clock 25,
Calculate the solar hour angle represented with angle.
τ=(SO-12)×15° (1)；
In formula (1), τ is solar hour angle, SOFor the true solar time, unit is hour；
Sun altitude α is specifically obtained according to following algorithm：
Solar azimuth γ is specifically obtained according to following algorithm：
In formula (2) and formula (3), EDFor declination angle,For local geographic latitude, τ is solar hour angle at that time.
Step 3, Jing after step 2, solar panel 12 that AHRS modules 22 obtain is read towards too by single-chip microcomputer 26
Elevation angle α 1 and azimuth γ 1 of sun.
Step 4, Jing after step 3, by compare the sun altitude α for being burnt to 26 internal algorithm of single-chip microcomputer and being calculated,
Sun altitude α 1 and azimuth γ 1 that solar azimuth γ is read with Jing AHRS modules 22, obtain sun altitude deviation delta alpha
With solar azimuth Δ γ.
Step 5, Jing after step 4, set threshold value a | δ |, by sun altitude deviation delta alpha and azimuth angle deviation Δ γ point
Not be not compared with threshold value | δ | of setting, and by be burnt to algorithm in single-chip microcomputer 26 judge 4 forward or reverse of direct current generator with
And direct current drive push rod 18 is above pushed away or drop-down, the swing caused because of the kinematic error of machinery itself or because of factors such as wind-force is
Prevent tracking system sun altitude α and the solar azimuth γ from swinging and be unable to normal termination tracking or because wind-force etc. is led
Cause reawakes tracking system, and its threshold value | δ | typically takes 1 °～2 °, to reach the effect of energy-conservation.
Step 6, Jing after step 5, drive direct current generator 4 and direct current drive push rod 18 to make using motor drive module 21
Action.
Step 7, Jing after step 6, by AHRS modules 22 read drive after solar panel 12 towards the sun height
Angle α 1 and azimuth γ 1, and preserved.
Step 8, Jing after step 7, the sun that sun altitude α 1, azimuth γ 1 are obtained with algorithm in Jing single-chip microcomputers 26
Elevation angle α and azimuth γ compare again：
If deviation is not in the range of threshold value | δ |, i.e. Δ α>| δ |, Δ γ>During | δ |, Δ α<| δ |, Δ γ>During | δ | or Δ α>
| δ |, Δ γ<During | δ |, then execution step 5；
If sun altitude deviation delta alpha and azimuth angle deviation Δ γ are in the range of threshold value | δ |, i.e. Δ α<| δ |, Δ γ<|δ|
When, then a secondary tracking terminates, and shows time that external clock module 25 reads by LCDs 24 and now solar energy
Elevation angle α of cell panelsWith azimuth γs。
Solar biaxial of the present invention based on AHRS modules regards day tracking system, can regard day tracking system to solar biaxial
Sun altitude and azimuth be controlled, make solar panel vertical with sunray all the time, realize to the sun
Tracking, effectively increases generating efficiency.Solar biaxial of the present invention based on AHRS modules regards day tracking system and tracking,
It is very easy to use, the real time location tracking of the sun in the same time can be realized not.
Claims (10)
1. the solar biaxial based on AHRS modules regards day tracking system, it is characterised in that by fuselage main body and control module Jing
Connect and compose；
The fuselage main body, includes sun altitude adjustment unit, solar azimuth adjustment unit and supporting mechanism, and described
Reductor bearing (2) of the supporting mechanism by base (1) and vertical welding in base (1) central authorities is constituted, and the solar azimuth is adjusted
Whole unit is arranged on reductor bearing (2), and the sun altitude adjustment unit is arranged on solar azimuth adjustment unit
And be connected with solar azimuth adjustment unit；Sun altitude adjustment unit, solar azimuth adjustment unit are and control module
Connection.
2. the solar biaxial based on AHRS modules according to claim 1 regards day tracking system, it is characterised in that described
Control module, includes single-chip microcomputer (26), and the single-chip microcomputer (26) connects external clock module (25), human-computer interaction module respectively
(27), motor drive module (21) and AHRS modules (22)；
The sun altitude adjustment unit, solar azimuth adjustment unit are connected with motor drive module (21), and the sun is high
Degree angle adjustment unit is connected with AHRS modules (22).
3. the solar biaxial based on AHRS modules according to claim 1 and 2 regards day tracking system, it is characterised in that
The solar azimuth adjustment unit, includes the worm gear-endless screw reductor (3) that is arranged at reductor bearing (2) upper end and straight
Motor (4) is flowed, and the worm gear-endless screw reductor (3) is connected as a single entity with direct current generator (4)；
The upper weld of the worm gear-endless screw reductor (3) has the column (7) being vertically arranged, and the sun altitude adjustment is single
Unit is supported in the upper end of column (7)；
The direct current generator (4) is respectively by the sun in wire and motor drive module (21), sun altitude adjustment unit
Can plate (12) connection.
4. the solar biaxial based on AHRS modules according to claim 3 regards day tracking system, it is characterised in that described
Sun altitude adjustment unit supports-adjusts integrated apparatus and solar panel (12) Jing connection structures by solar panel
Into；
The solar panel supports-integrated apparatus are adjusted, include solar panel support unit and solar-electricity
Pond plate adjustment unit；
The solar panel support unit, includes horizontally disposed gyroaxis (9), and the middle part of gyroaxis (9) with it is logical
Cross U-bolt a (15), U-bolt b (17) to be connected with column (7), one end of the gyroaxis (9) is connected by left support abutment (16)
Left support frame (19) is connect, the other end of the gyroaxis (9) connects right support frame (20), and described left by right support abutment (10)
Support (19) is connected with right support frame (20) by support bar (14)；
The solar panel (12) is connected as a single entity with left support frame (19), support bar (14) and right support frame (20), i.e., left
Bracing frame (19), support bar (14) and right support frame (20) play support fixation, institute to solar panel (12) jointly
State solar panel (12) to be connected with AHRS modules (22) by wire；
The solar panel adjustment unit, includes direct current drive push rod (18), and direct current drive push rod (18) leads to respectively
Cross wire to be connected with solar panel (12), motor drive module (21)；The cylinder body (8) of the direct current drive push rod (18) leads to
Cross bearing pin a (5) to be connected with handspike bearing (6), the cylinder rod (11) of the direct current drive push rod (18) is by bearing pin b (13) and support
The middle part connection of bar (14).
5. the solar biaxial based on AHRS modules according to claim 2 regards day tracking system, it is characterised in that described
Single-chip microcomputer (26) is using STC89C52RC single-chip minimum systems as key control unit.
6. the solar biaxial based on AHRS modules according to claim 2 regards day tracking system, it is characterised in that described
H bridge chip L298N, the reverse parallel connection fly-wheel diode circuit on L298N chips are adopted in motor drive module (21).
7. the solar biaxial based on AHRS modules according to claim 2 regards day tracking system, it is characterised in that described
External clock module (25) is DS1302 chips.
8. the solar biaxial based on AHRS modules according to claim 2 regards day tracking system, it is characterised in that described
AHRS modules (22) adopt GY-953.
9. the solar biaxial based on AHRS modules according to claim 2 regards day tracking system, it is characterised in that described
Machine interactive module (27), includes LCDs (24) and button switch (23)；
The LCDs (24) adopt LCD1602；
The button switch (23) is made up of switch S1 and S2.
10. the method being tracked to the sun depending on day tracking system using the solar biaxial based on AHRS modules, its feature are existed
In specifically according to following steps enforcement：
Step 1, the button switch (23) for pressing human-computer interaction module (27), and external clock module is read by single-chip microcomputer (26)
(25) current time for obtaining, specifically includes year, month, day, hour, min, second；
Step 2, Jing after step 1, according to the algorithm being burnt in single-chip microcomputer, the current time read by external clock (25), meter
The solar hour angle represented with angle is calculated, specific algorithm is as follows：
τ=(SO-12)×15° (1)；
In formula, τ is solar hour angle, SOFor the true solar time, unit is hour；
Sun altitude α is specifically obtained according to following algorithm：
Solar azimuth γ is specifically obtained according to following algorithm：
In upper two formula, EDFor declination angle,For local geographic latitude, τ is solar hour angle at that time；
Step 3, Jing after step 2, AHRS modules (22) solar panel 12 that obtains is read towards too by single-chip microcomputer (26)
Elevation angle α 1 and azimuth γ 1 of sun；
Step 4, Jing after step 3, by comparing the sun altitude α for being burnt to single-chip microcomputer (26) internal algorithm and being calculated, too
Sun altitude α 1 and azimuth γ 1 that positive azimuth γ and Jing AHRS modules (22) reads, obtain sun altitude deviation delta alpha
With solar azimuth Δ γ；
Step 5, Jing after step 4, set threshold value a | δ |, by sun altitude deviation delta alpha and azimuth angle deviation Δ γ respectively and
Threshold value | δ | of setting is compared, and by be burnt to the interior algorithm of single-chip microcomputer (26) judge direct current generator (4) forward or reverse with
And direct current drive push rod (18) is above pushed away or drop-down；
Wherein, threshold value | δ | takes 1 °～2 °；
Step 6, Jing after step 5, drive direct current generator (4) and direct current drive push rod (18) to make using motor drive module (21)
Go out action；
Step 7, Jing after step 6, by AHRS modules (22) read drive after solar panel (12) towards the sun height
Angle α 1 and azimuth γ 1, and preserved；
Step 8, Jing after step 7, will be sun altitude α 1, azimuth γ 1 high with the sun that the interior algorithm of Jing single-chip microcomputers (26) is obtained
Degree angle α and azimuth γ compares again：
If deviation is not in the range of threshold value | δ |, i.e. Δ α>| δ |, Δ γ>During | δ |, Δ α<| δ |, Δ γ>During | δ | or Δ α>| δ |,
Δγ<During | δ |, then execution step 5；
If sun altitude deviation delta alpha and azimuth angle deviation Δ γ are in the range of threshold value | δ |, i.e. Δ α<| δ |, Δ γ<During | δ |,
Then a secondary tracking terminates, and shows external clock module (25) time for reading by LCDs (24) and now solar energy
Elevation angle α of cell panelsWith azimuth γs。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107300931A (en) * | 2017-08-16 | 2017-10-27 | 刘圣旺 | Sunshine method for tracing, device and solar power system |
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| CN107966998A (en) * | 2018-01-22 | 2018-04-27 | 钱稷 | A kind of photovoltaic generation tracking system and its control method |
| CN108279710A (en) * | 2018-04-09 | 2018-07-13 | 宿迁学院 | A kind of novel biaxial solar tracking system |
| CN109270964A (en) * | 2018-11-09 | 2019-01-25 | 安徽理工大学 | A kind of auxiliary solar panels automatic positioning position of sun and sharing means |
| CN113110608A (en) * | 2020-01-11 | 2021-07-13 | 广东华普太阳能工业制造有限公司 | Solar control system |
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| CN113487634B (en) * | 2021-06-11 | 2023-06-30 | 中国联合网络通信集团有限公司 | Method and device for associating building height and area |
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