CN107045282A - Solar automatic tracking system and method based on single chip microcomputer fuzzy control algorithm - Google Patents
Solar automatic tracking system and method based on single chip microcomputer fuzzy control algorithm Download PDFInfo
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- CN107045282A CN107045282A CN201710096248.6A CN201710096248A CN107045282A CN 107045282 A CN107045282 A CN 107045282A CN 201710096248 A CN201710096248 A CN 201710096248A CN 107045282 A CN107045282 A CN 107045282A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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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
Abstract
Solar automatic tracking system and method based on single chip microcomputer fuzzy control algorithm, it is related to solar energy generation technology field, including wind speed measurement module, light-intensity test module, component generating voltage detection module, component generation current detection module, component current position detecting module, current time acquisition module, light intensity comparison module, generated output computing module, generated output comparison module, sun altitude and azimuthal angle calculation module, module position and position of sun angle changing rate module, Double-Fuzzy Structure fuzzy controller and component dual-axle motor drive module；Including step, signal detection：Signal of change is simultaneously inputted：Double Fuzzy Controller algorithm is designed：The strategy of bi-fuzzy control.Effectively eliminate the influence that external environment condition is positioned to component tracks system；Effectively eliminate due to component position error caused by time, longitude and latitude equal error；Realize intelligent decision and select rationally and effectively positional parameter, complete precise positioning.
Description
Technical field：
The present invention relates to solar energy generation technology field, and in particular to the solar energy based on single chip microcomputer fuzzy control algorithm is certainly
Motion tracking system and method.
Background technology：
Solar energy is a kind of pollution-free, noiseless, non-harmful regenerative resource, and the mode of solar energy is developed at present
A lot, photovoltaic generation is the main Land use systems of one of which.The method of traditional solar energy tracking sun can be summarized as two kinds of sides
Formula：Photoelectric tracking and according to regarding daily motion track following.
Photoelectric tracking is to change generation according to the power of incident ray by optoelectronic sensor to feed back signal to computer, is counted
The angle of calculation machine operation program adjustment plane skylight realizes the tracking to the sun.The advantage of photoelectric tracking is that sensitivity is high, and structure is set
Haggle over for convenience.Depending on daily motion track following advantage be can round-the-clock real-time tracking, using regarding daily motion track following side
The method of method and double-axis tracking, by carrying out the control of level, two frees degree of pitching to follower, is realized to the complete of the sun
Weather is tracked.
The shortcoming of photoelectric tracking control system is to be influenceed very big by weather, if occurring black clouds screening in slightly long period
Firmly the situation of the sun, can cause tracks of device can not track the sun, or even cause the misoperation of executing agency.For regarding daily motion
The shortcoming of Trajectory Tracking System is that the control system is opened loop control, calculates appearance mistake in position of sun parameter or error occurs
When, it is impossible to the position of solar components is corrected in time；Meanwhile, depending on daily motion track calculating time and position of sun parameter when meeting
There are cumulative errors, the cumulative errors program can not be eliminated effectively.Simultaneously when more than 8 grades strong wind occurs in weather, it is impossible to
Effectively protection solar components are safe, it is possible that situations such as tracking system mechanical structure is damaged.
The content of the invention：
The technical problems to be solved by the invention are to overcome existing technological deficiency to be based on fuzzy microcontroller there is provided one kind
The solar automatic tracking system and method for control algolithm, by introducing Double Fuzzy Controller Structure Fuzzy Control algorithm, can make
More numerous and diverse huge nonlinear function is generated with the fuzzy rule of only a few, with computational efficiency height, output continuity, not only can
It is enough that lineary system theory knowledge is combined well and mathematical analysis is especially suitable for.Pass through many of learning training tracking system
Individual input data, realizes that input variable is provided to the linearly or nonlinearly mapping of output variable, and after the mapping relations are drawn
The estimate of dual-axle motor positioning.Ensure control algolithm high efficiency, the stability of tracking system and equipment low-maintenance cost.
The technical problems to be solved by the invention are realized using following technical scheme：
Solar automatic tracking system based on single chip microcomputer fuzzy control algorithm, it is characterised in that：Including wind speed measurement mould
Block, light-intensity test module, component generating voltage detection module, component generation current detection module, component current location detection mould
Block, current time acquisition module, light intensity comparison module, generated output computing module, generated output comparison module, sun altitude
It is double with azimuthal angle calculation module, module position and position of sun angle changing rate module, Double-Fuzzy Structure fuzzy controller and component
Spindle motor drive module；Described wind speed measurement module will detect that signal is input to Double-Fuzzy Structure fuzzy controller；Described
Light-intensity test module detects that signal carries out inputting a signal into bimodulus after being compared with previous light intensity by light intensity comparison module
Paste structure-varied fuzzy；Described component generating voltage detection module, the detection of component generation current detection module signal it is defeated
Enter to generated output computing module and calculate after generated output, then send signal to generated output comparison module and carry out previous hair
Double-Fuzzy Structure fuzzy controller is input a signal into after electrical power；Described current time acquisition module is high by the sun
Degree angle and azimuthal angle calculation module calculate sun altitude and azimuth, are detected then in conjunction with component current position detecting module
Data-signal be compared by module position and position of sun angle changing rate module after input a signal into Double-Fuzzy Structure
Fuzzy controller；Double-Fuzzy Structure fuzzy controller inputs a signal into component dual-axle motor drive module and carried out certainly again after calculating
Motion tracking is controlled.
Solar energy automatic tracking method based on single chip microcomputer fuzzy control algorithm, it is characterised in that：Comprise the following steps
Signal detection：Generated electricity by wind speed measurement module, light-intensity test module, component generating voltage detection module, component
Current detection module, component current position detecting module, current time acquisition module detect wind speed, light intensity respectively, generate electricity electricity
Pressure, generation current, component current location and time data；
Signal of change is simultaneously inputted：Wind speed measurement data Double-Fuzzy Structure fuzzy controller；Light-intensity test data and previous light
Double-Fuzzy Structure fuzzy controller is input a signal into after being compared by force；Data meter is detected by generating voltage and generation current
Calculate after generated output, then Double-Fuzzy Structure fuzzy controller will be input a signal into after the previous generated output of data；It is logical
Cross sun altitude and azimuthal angle calculation module calculates sun altitude and azimuth, then compared with current location data
After input a signal into Double-Fuzzy Structure fuzzy controller；
Double Fuzzy Controller algorithm is designed：, will using bi-fuzzy control structure and typical dual input, single way of output
Error e and rate of change ec between electrical component position setting value and module position value of feedback is as input quantity, by module position control
Amount u processed is used as output quantity；
The strategy of bi-fuzzy control：The domain of error e, rate of change ec and output quantity u is set, several are quantified as
Grade, and respectively error e, rate of change ec, output quantity u choose multiple Linguistic Values.
Described Double Fuzzy Controller design, it is artificial to set an error threshold value to complete bi-mode control switching；In system
Starting stage, systematic error is larger, fast to realize using relatively small Kec1, Ku1 fuzzy controller of system factor Kec, Ku
Speed response, eliminates the purpose of error；In the systematic steady state stage, systematic error is smaller, increased using system factor Kec, Ku
Kec2, Ku2 fuzzy controller.
The domain of error e, rate of change ec and output quantity u is set to [- 6,6] by the strategy of described bi-fuzzy control, by it
13 grades are quantified as, and respectively error e, rate of change ec, output quantity u choose 7 Linguistic Values.
The strategy of described bi-fuzzy control is in advance according to fuzzy control rule table and linguistic variable assignment table, off-line calculation
Go out fuzzy control data table, be stored in through strict practice test and repeatedly after modification in the program storage of single-chip microcomputer；Then root
According to input quantity e and ec different working condition actual change scope and its domain, calculate quantizing factor Ke1, Kec1 and
Ke2, Kec2, and determine scale factor K u1 and Ku2；During actual control, fuzzy controller is system under different working condition
Input quantity e and ec be multiplied by corresponding Ke, Kec respectively, and quantify into the linguistic variable domain of input quantity, further according to quantization
As a result it is compared with fuzzy control data table, required output quantity U is obtained by look-up routine, Ku is finally multiplied by, obtains system
Reality output controlled quentity controlled variable u under different working condition.
Described error e, rate of change ec, output quantity u slave's degree function use trapezoidal profile.
The present invention is used for solar energy power generating and its relevant device.It is automatic by using heretofore described solar energy
Tracking system, can be achieved being substantially improved for solar components generating efficiency, realizes the protection of solar components in the presence of a harsh environment
Mechanism, realizes the real-time positioning of solar components to ensure the optimal direct projection angle of acquisition sunshine, in order to improve solar energy
The generating efficiency of component is up to 41.34%.1. add wind speed measurement, light-intensity test, module position detection, solar components generating
Multiple control conditions of voltage and current detecting dispatch control system, effectively exclude interference of the external environment condition to tracking system, carry
The positioning precision of high solar component.
Wind speed measurement of the present invention is the air speed value that current weather is detected by air velocity transducer, for solar components in wind
Component protection control when speed is excessive；Light-intensity test is to obtain current solar components by light sensor to receive the sun
The light intensity of light, during the fuzzy control for Double Fuzzy Controller is calculated；Module position detection be by two obliquity sensors come
The current angle value of detection components horizontally and vertically, is positioned for calculating dual-axle motor in fuzzy controller respectively
Calculate；Solar components generating voltage and electric current used A/D module to collect the voltage x current value of current component, worked as calculating
The generated output of front assembly, and the performance number is compared with previous performance number, its result is conveyed into fuzzy controller enters
Row Fuzzy Calculation.
The software of Double Fuzzy solar energy tracking controller uses modular design method, is mainly adopted including main program, signal
Collection program (including wind speed measurement, light-intensity test, component generating voltage and current detecting, component current location detection and
Obtain current time program), sun altitude and azimuthal angle calculation module, component generated output computing module, fuzzy control calculate
Method program and component dual-axle motor drive module etc..
The beneficial effects of the invention are as follows：
1st, the influence that external environment condition is positioned to component tracks system is effectively eliminated；
2nd, component has obtained effectively protecting in the presence of a harsh environment；
3rd, effectively eliminate due to component position error caused by time, longitude and latitude equal error；
4th, Double Fuzzy Controller ensure that component in Positioning Process, realizes intelligent decision and selects rationally effective
Ground positional parameter, completes precise positioning；
5th, the maintenance cost of tracking system is effectively reduced.
Brief description of the drawings：
Fig. 1 is present system schematic diagram.
Fig. 2 is the fuzzy controller schematic diagram of Double Fuzzy mechanism of the present invention.
Fig. 3 is error e of the present invention, rate of change ec, output quantity u membership function.
Embodiment：
In order that technological means, creation new feature, reached purpose and effect that the present invention is realized are easy to understand, below
With reference to being specifically illustrating, the present invention is expanded on further.
As shown in figure 1, the solar automatic tracking system based on single chip microcomputer fuzzy control algorithm, including wind speed measurement mould
Block, light-intensity test module, component generating voltage detection module, component generation current detection module, component current location detection mould
Block, current time acquisition module, light intensity comparison module, generated output computing module, generated output comparison module, sun altitude
It is double with azimuthal angle calculation module, module position and position of sun angle changing rate module, Double-Fuzzy Structure fuzzy controller and component
Spindle motor drive module；Wind speed measurement module will detect that signal is input to Double-Fuzzy Structure fuzzy controller；Light-intensity test module
Detection signal carries out inputting a signal into Double-Fuzzy Structure Fuzzy Control after being compared with previous light intensity by light intensity comparison module
Device processed；Component generating voltage detection module, the signal of component generation current detection module detection are input to generated output and calculate mould
Block is calculated after generated output, then sends signal to the previous generated output of generated output comparison module progress more afterwards by signal
It is input to Double-Fuzzy Structure fuzzy controller；Current time acquisition module is calculated by sun altitude and azimuthal angle calculation module
Sunny elevation angle and azimuth, then in conjunction with component current position detecting module detect data-signal by module position with
Position of sun angle changing rate module inputs a signal into Double-Fuzzy Structure fuzzy controller after being compared；Double-Fuzzy Structure is obscured
Controller inputs a signal into component dual-axle motor drive module and carries out automatic tracing control again after calculating.
The input signal part of control system includes wind speed measurement, light-intensity test, module position detection, solar components hair
Piezoelectric voltage and current detecting etc..Wind speed measurement is the air speed value that current weather is detected by air velocity transducer, for solar energy group
Component protection control of the part when wind speed is excessive；Light-intensity test is to obtain current solar components by light sensor to be connect
By the light intensity of sunshine, during the fuzzy control for Double Fuzzy Controller is calculated；Module position detection is passed by two inclination angles
Sensor distinguishes the current angle value of detection components horizontally and vertically, for calculating twin shaft electricity in fuzzy controller
Machine location Calculation；Solar components generating voltage and electric current used A/D module to collect the voltage x current value of current component, were used for
The generated output of current component is calculated, and the performance number is compared with previous performance number, its result is conveyed to Fuzzy Control
Device processed carries out Fuzzy Calculation.
Solar energy automatic tracking method based on single chip microcomputer fuzzy control algorithm, comprises the following steps
Signal detection：Generated electricity by wind speed measurement module, light-intensity test module, component generating voltage detection module, component
Current detection module, component current position detecting module, current time acquisition module detect wind speed, light intensity respectively, generate electricity electricity
Pressure, generation current, component current location and time data；
This fuzzy controller uses bi-fuzzy control structure and typical dual input, single way of output, as shown in Figure 2.
Using the error e between electrical component position setting value and module position value of feedback and rate of change ec as input quantity, by module position
Controlled quentity controlled variable u is used as output quantity.Because system has error of different sizes under different state of a controls, if considering single mode paste
, will there is contradiction between the quick response and control accuracy that make system, both can not take into account in controller design.Therefore, using double
Design of Fuzzy Controller, and artificially set an error threshold value to complete bi-mode control switching.In the system starting stage, system is missed
Difference is larger, using system factor Kec, Ku relatively small (such as Kec1, Ku1) fuzzy controller 1, to realize quick response, disappears
Except the purpose of error；In the systematic steady state stage, systematic error is smaller, suitably increased using system factor Kec, Ku (such as Kec2,
Ku2 fuzzy controller 2), to improve the steady-state behaviour of system.Shown in Fig. 2, the fuzzy controller of Double Fuzzy mechanism.
The strategy of bi-fuzzy control
The characteristics of considering temperature control, is set to [- 6,6] by the domain of error e, rate of change ec and output quantity u, is quantified
For 13 grades, and respectively error e, rate of change ec, output quantity u choose 7 Linguistic Values, i.e., and NL, NM, NS, ZO, PS, PM,
PL}.The membership function of three uses trapezoidal profile, as shown in Figure 3.According to the summary of experience to industrial stokehold, system
Fixed corresponding fuzzy control rule table is as shown in table 1.Fig. 3 error es, rate of change ec, output quantity u membership function.
The fuzzy control rule table of table 1：
To improve the real time response speed of system, in advance according to fuzzy control rule table and linguistic variable assignment table, offline
Fuzzy control data table is calculated, is stored in through strict practice test and repeatedly after modification in the program storage of single-chip microcomputer.So
Quantizing factor Ke1, Kec1 are calculated in the actual change scope and its domain of different working condition according to input quantity e and ec afterwards
With Ke2, Kec2, and scale factor K u1 and Ku2 are determined.During actual control, fuzzy controller is system in different working condition
Under input quantity e and ec be multiplied by corresponding Ke, Kec respectively, and quantify into the linguistic variable domain of input quantity, further according to quantization
Result be compared with fuzzy control data table, required output quantity U is obtained by look-up routine, Ku is finally multiplied by, is
Unite the reality output controlled quentity controlled variable u under different working condition.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. the solar automatic tracking system based on single chip microcomputer fuzzy control algorithm, it is characterised in that：Including wind speed measurement module,
Light-intensity test module, component generating voltage detection module, component generation current detection module, component current position detecting module,
Current time acquisition module, light intensity comparison module, generated output computing module, generated output comparison module, sun altitude and
Azimuthal angle calculation module, module position and position of sun angle changing rate module, Double-Fuzzy Structure fuzzy controller and component twin shaft
Motor drive module；Described wind speed measurement module will detect that signal is input to Double-Fuzzy Structure fuzzy controller；Described light
Strong detection module detection signal carries out inputting a signal into Double Fuzzy after being compared with previous light intensity by light intensity comparison module
Structure-varied fuzzy；Described component generating voltage detection module, the signal input of component generation current detection module detection
Calculated to generated output computing module after generated output, then send signal to generated output comparison module and carry out previous generate electricity
Double-Fuzzy Structure fuzzy controller is input a signal into after power ratio；Described current time acquisition module passes through altitude of the sun
Angle and azimuthal angle calculation module calculate sun altitude and azimuth, are detected then in conjunction with component current position detecting module
Data-signal inputs a signal into Double-Fuzzy Structure mould after being compared by module position and position of sun angle changing rate module
Fuzzy controllers；Double-Fuzzy Structure fuzzy controller inputs a signal into component dual-axle motor drive module and carried out automatically again after calculating
Tracing control.
2. the solar energy automatic tracking method as claimed in claim 1 based on single chip microcomputer fuzzy control algorithm, it is characterised in that：
Comprise the following steps
Signal detection：Pass through wind speed measurement module, light-intensity test module, component generating voltage detection module, component generation current
Detection module, component current position detecting module, current time acquisition module detect wind speed, light intensity, generating voltage, hair respectively
Electric current, component current location and time data；
Signal of change is simultaneously inputted：Wind speed measurement data Double-Fuzzy Structure fuzzy controller；Light-intensity test data are entered with previous light intensity
Double-Fuzzy Structure fuzzy controller is input a signal into after row；Detect that data are calculated by generating voltage and generation current
After generated output, then Double-Fuzzy Structure fuzzy controller will be input a signal into after the previous generated output of data；By too
Positive elevation angle and azimuthal angle calculation module calculate sun altitude and azimuth, after being then compared with current location data
Input a signal into Double-Fuzzy Structure fuzzy controller；
Double Fuzzy Controller algorithm is designed：Using bi-fuzzy control structure and typical dual input, single way of output, by electric group
Error e and rate of change ec between part position setting value and module position value of feedback is as input quantity, by module position controlled quentity controlled variable u
It is used as output quantity；
The strategy of bi-fuzzy control：The domain of error e, rate of change ec and output quantity u is set, several etc. are quantified as
Level, and respectively error e, rate of change ec, output quantity u choose multiple Linguistic Values.
3. the solar energy automatic tracking method according to claim 2 based on single chip microcomputer fuzzy control algorithm, its feature exists
In：Described Double Fuzzy Controller design, it is artificial to set an error threshold value to complete bi-mode control switching；In the initial rank of system
Section, systematic error is larger, using relatively small Kec1, Ku1 fuzzy controller of system factor Kec, Ku, to realize quick sound
Should, eliminate the purpose of error；In the systematic steady state stage, systematic error is smaller, using the increased Kec2 of system factor Kec, Ku,
Ku2 fuzzy controllers.
4. the solar energy automatic tracking method according to claim 3 based on single chip microcomputer fuzzy control algorithm, its feature exists
In：The domain of error e, rate of change ec and output quantity u is set to [- 6,6] by the strategy of described bi-fuzzy control, is quantified as
13 grades, and respectively error e, rate of change ec, output quantity u choose 7 Linguistic Values.
5. the solar energy automatic tracking method according to claim 4 based on single chip microcomputer fuzzy control algorithm, its feature exists
In：The strategy of described bi-fuzzy control is in advance according to fuzzy control rule table and linguistic variable assignment table, off-line calculation depanning
Paste control summary table, is stored in the program storage of single-chip microcomputer through strict practice test and repeatedly after modification；Then according to defeated
Enter actual change scopes and its domain of the amount e and ec in different working condition, calculate quantizing factor Ke1, Kec1 and Ke2,
Kec2, and determine scale factor K u1 and Ku2；During actual control, fuzzy controller is defeated under different working condition system
Enter amount e and ec and be multiplied by corresponding Ke, Kec respectively, and quantify into the linguistic variable domain of input quantity, further according to the result of quantization
It is compared with fuzzy control data table, required output quantity U is obtained by look-up routine, Ku is finally multiplied by, obtains system not
With the reality output controlled quentity controlled variable u under working condition.
6. the solar energy automatic tracking method according to claim 2 based on single chip microcomputer fuzzy control algorithm, its feature exists
In：Described error e, rate of change ec, output quantity u slave's degree function use trapezoidal profile.
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Application publication date: 20170815 |