CN107238376B - A kind of heliostat attitude transducer and heliostat to automatically follow method - Google Patents
A kind of heliostat attitude transducer and heliostat to automatically follow method Download PDFInfo
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- CN107238376B CN107238376B CN201710331719.7A CN201710331719A CN107238376B CN 107238376 B CN107238376 B CN 107238376B CN 201710331719 A CN201710331719 A CN 201710331719A CN 107238376 B CN107238376 B CN 107238376B
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- mirror surface
- heliostat
- sensor
- posture
- gravity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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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
The invention discloses a kind of heliostat attitude transducers and heliostat to automatically follow method that belong to solar energy tower type thermal generation field.Device includes imaging sensor, gravity sensor, GPS, integrated interface, signal processor, inner support, shell and transparency cover; imaging sensor is used to detect the position of sun luminous point; gravity sensor is for feeding back acceleration of gravity size; GPS feedback time and geographical location information, shell then play the role of generating luminous point and protect internal part；Heliostat to automatically follow method is adjusted heliostat including the use of whole device, realizes heliostat to automatically follow；The present invention is an integrated-type sensor, closed-loop automatic control is carried out to heliostat by multisensor feedback information, program and the device correction for solving opened loop control are difficult, the problems such as debugging cycle is long is suitable for solar energy tower type thermal generation heliostat field or carries out the places such as daylight illumination using heliostat.
Description
Technical field
The present invention relates to solar energy tower type thermal generation fields, the in particular to method of heliostat to automatically follow.
Background technique
Heliostat sunlight is reflected on heat dump be solar energy tower type thermal generation factory optically focused power generation the first step, can
Accurately and effectively optically focused determines the benefit of entire power plant, so heliostat automatic control technology is very important.Mirror needs in field
A large amount of heliostat is wanted, numerous mirror of controlling the size is then a great problem, and in previous tower type thermal generation factory, heliostat is usual
Using opened loop control, i.e., position of sun is directly calculated by the time, it is non-about the algorithm for calculating position of sun by the time
It is often mature, the posture that heliostat should be located is calculated in conjunction with heat dump target direction, then reach heliostat by motor rotation
Specified posture.The sensor used is at most then that encoder etc. rotates the measurement of angle to motor to indirectly control mirror surface appearance
State, there is no detect for practical mirror surface posture.The a variety of causes meetings such as the variation year by year due to installation error, machine error and ground
Cause to indirectly control motor rotation angle, the practical heliostat posture reached is inaccurate, and tracking accuracy substantially reduces, and influences to gather
Light effect.Right this disadvantage of reply needs to establish database and continuous more new database in the actual motion of power plant to rectify
Positive tracking error, large number of heliostat debugging efforts are often very complicated and time-consuming.Both at home and abroad to the automatic of heliostat
Follow-up study it is a lot of, but be confined in the correction to tracking error more.The sensor used in correction --- encoder is base
The correction of angle is carried out in installation axle, but inherently there is inclination in installation axle, and so correction is highly difficult, and the method needs
Heliostat is detached from working condition and enters correction state for a period of time, so that the benefit of entire tower steam power plant is affected, for number
Heliostat more than amount Pang, it is impossible to which heliostat is all detached from working condition, so entire correction cycle is particularly long, and needs
It is continuous to carry out.
Summary of the invention
The purpose of the present invention is to propose to the sensors that one kind can directly detect mirror surface posture, which is characterized in that the sensing
Device be have detection mirror surface posture integrated-type sensor, the sensor on the basis of accurate solar direction and gravity direction,
Directly mirror surface posture is measured and controlled, specifically utilizes the appearance of imaging sensor, gravity sensor, GPS gathers mirror surface
Various information are finally summarized by signal processor, are handled, posture information is calculated, and sent out heliostat by state coherent signal
Control instruction out reaches the demand of heliostat automatic control；
The sun vector under mirror surface coordinate system specifically is obtained using imaging sensor, obtains the settled date using gravity sensor
Gravity vector under mirror coordinate system obtains accurate position and time using GPS, thus the gravity under obtaining celestial coordinate system to
Amount and sun vector, are calculated the mirror surface vector under celestial coordinate system by coordinate conversion relation, i.e., practical mirror surface posture；
The theoretical mirror plane that heliostat should reach can be calculated by the sun vector sum heat dump object vector under celestial coordinate system
Posture.It compares practical mirror surface posture and theoretical mirror plane posture rotates heliostat, until theoretical mirror plane posture and actual mirror
Face posture is identical.
The mirror surface attitude transducer include imaging sensor, gravity sensor, GPS, integrated interface, signal processor,
Inner support, shell and transparency cover, wherein imaging sensor is laid in the upper mounting plate of inner support, and gravity sensor, integrated connects GPS
Mouth is located at the lower platform of inner support, and the platform parallel up and down of inner support keeps gravity sensor and imaging sensor parallel；Shell
Aperture is opened at upper surface center, and is sealed with transparent material；
Imaging sensor, gravity sensor, GPS signal output end are connect with integrated interface, and shell opens interface holes, at signal
Reason device can be connect from outside with integrated interface, read signal；The shell is installed on settled date mirror surface at characteristic plane, i.e. the settled date
Certain of entire settled date mirror plane is represented on mirror surface, and keeps imaging sensor parallel with characteristic plane；The signal processing
Device can be installed on heliostat, can also be not mounted on heliostat.
As the further improvement of mirror surface attitude transducer, the structure of the inner support can be various, guarantees gravity sensitive
Device and imaging sensor are installed with fixed known angle.
As the further improvement of mirror surface attitude transducer, the settable single port of signal processor connects with single integrate
Mouth is connected, and handles one group of sensor signal, may also set up multiport and be connected with multiple integrated interfaces, to multiple groups sensor
Signal is handled；The signal processor can add display and directly display heliostat posture information.
As the further improvement of mirror surface attitude transducer, the integrated interface can add wireless communication or reinforce cable modem
News transfer signals to remote processor.
As the further improvement of mirror surface attitude transducer, the transparency cover may filter that infrared light, also may filter that certain
The visible light of ratio.
The method that the mirror surface attitude transducer is used for heliostat to automatically follow, including the use of the letter of three sensor feedbacks
Breath calculates mirror surface normal vector, that is, mirror surface posture, carries out control realization to heliostat using mirror surface posture information and automatically tracks, especially
It is:
Mirror surface attitude transducer is fixedly installed on heliostat, keeps imaging sensor parallel with mirror surface, signal processor with
The signal of three sensors is collected after integrated interface connection；
Sunlight is irradiated on imaging sensor by the aperture in upper shell face, obtains the position of luminous point on the image sensor
Confidence breath is the solar direction information under mirror surface coordinate system, and is transferred to integrated interface；Gravity sensor obtains mirror surface coordinate system
Under gravity direction information, and be transferred to integrated interface；GPS obtains the geographical location information of time and whole device, when feedback
Between and local celestial coordinate system under gravity direction information, and be transferred to integrated interface；
All signals are conveyed into signal processor by integrated interface simultaneously, and signal processor utilizes the mirror surface coordinate system provided
Lower solar direction information, passes through the sun under time calculated celestial coordinate system at the gravity direction information under mirror surface coordinate system
Practical mirror surface posture is calculated by algorithm in gravity direction information under directional information and local celestial coordinate system；Signal processing
Device using under celestial coordinate system solar direction and heat dump target direction information calculate the theoretical mirror plane that mirror surface should reach
Posture；
Constantly the rotation of control motor drives mirror surface rotation to make practical mirror surface posture theoretical mirror plane posture is identical to reach automatic
The purpose of tracking.
As mirror surface attitude transducer be used for heliostat to automatically follow further improvements in methods, described image sensor,
The information that gravity sensor and GPS are transferred to integrated interface, which can be, is also possible to original letter by itself processed signal
Number.
Heliostat to automatically follow further improvements in methods are used for as mirror surface attitude transducer, told algorithm can to pass through
Certain optimization and deformation.
The beneficial effects of the present invention are:
1. the present invention includes tri- kinds of imaging sensor, gravity sensor and GPS sensors, by making full use of sensor to obtain
To information calculated, available accurate mirror surface posture, this algorithm is ginseng with accurate solar direction and gravity direction
It examines, there is no being reference with the installation equipment such as other objects such as pedestal, avoids installation error, machine error equal error.
Heliostat is controlled 2. the present invention makes heliostat to automatically follow system that closed loop feedback signal be added, realizes the settled date
Mirror accurately controls, and makes the control of entire heliostat field is simpler to be easy, also shortens heliostat field limber up period, more hope is to whole
A power plant's regulation operation is helpful.
Detailed description of the invention
Fig. 1 is apparatus of the present invention structural blast view；
Fig. 2 is that apparatus of the present invention use installation environment schematic diagram；
Fig. 3 is the method for the present invention heliostat to automatically follow method flow diagram.Figure label: transparency cover 1, shell 2, figure
Picture sensor is 3, inner support 4, gravity sensor 5, GPS 6, integrated interface 7, signal processor 8, feature mirror surface
It is 9.
Specific embodiment (explanation: vector involved in the present invention is unit vector)
The purpose of the present invention is to propose to sensor and heliostat to automatically follow sides that one kind can directly detect mirror surface posture
Method, the sensor are the integrated-type sensors for having detection mirror surface posture, and the sensor is with accurate solar direction and gravity side
On the basis of, directly mirror surface posture is measured and controlled, specifically utilizes imaging sensor, gravity sensor, GPS gathers
Various information are finally summarized by signal processor, handle, posture information are calculated by the posture coherent signal of mirror surface, and right
Heliostat issues control instruction, reaches the demand of heliostat automatic control；Embodiments of the present invention are made with reference to the accompanying drawing
It further illustrates.
In Fig. 1, transparency cover 1 is fixed on the aperture of 2 upper surface of shell, and imaging sensor 3 is fixed on the upper flat of inner support 4
On platform, gravity sensor 5, GPS 6, integrated interface 7 are fixed on the lower platform of inner support 4, and inner support 4 can be entangled shape by shell 2
Integral, imaging sensor 3, gravity sensor 5, GPS 6 are electrically connected with integrated interface 7 respectively, integrated interface 7 and signal processing
Device 8 is electrically connected.
The structure of inner support 4 can be various, guarantees that gravity sensor 5 and imaging sensor 3 are installed with fixed known angle
?；
The settable single port of signal processor 8 is connected with single integrated interface, handles one group of sensor signal,
Settable multiport is connected with multiple integrated interfaces, handles multiple groups sensor signal；The signal processor can increase
It can also wired or wireless output heliostat posture information signal if display directly displays heliostat posture information.
Integrated interface 7, which can add wireless communication or reinforce wire communication, transfers signals to remote processor 8.
In Fig. 2,2 bottom surface of shell is close to feature mirror surface 9 and is fixed, and signal processor 8 can be placed on mirror surface and also not place
In on mirror surface.
It is heliostat to automatically follow method flow diagram in Fig. 3.
Heliostat to automatically follow method of the present invention specifically includes: mirror surface attitude transducer is parallelly mounted on heliostat, is made
Imaging sensor 3 is parallel with mirror surface, and signal processor 8 collects the signal of three sensors after connecting with integrated interface 7；
Sunlight is irradiated on imaging sensor 3 by the aperture in upper shell face, obtains luminous point on imaging sensor 3
Solar direction information under location information, that is, mirror surface coordinate systemAnd it is transferred to integrated interface 7；Gravity sensor 5 obtains mirror surface
Gravity direction information under coordinate systemAnd it is transferred to integrated interface 7；GPS 6 obtains the geographical location of time and whole device
Information, temporal information can further obtain the sun side under accurate celestial coordinate system by sun algorithm general in the world
ToGeographical location information can calculate the gravity direction under local celestial coordinate systemAnd it is transferred to integrated interface 7；
Space coordinate of the heat dump in mirror field is manually set on signal processor, to obtain heat dump object vector
All signals are conveyed into signal processor 8 by integrated interface 7 simultaneously, and signal processor 8 is sat using the mirror surface provided
Mark is lower solar direction information, the gravity direction information under mirror surface coordinate system, by under time calculated celestial coordinate system
Practical mirror surface posture is calculated in gravity direction information under solar direction information and local celestial coordinate system, and algorithm is as follows:
If: celestial coordinate system isThe three axes of mirror surface coordinate system are in celestial sphere
Coordinate under coordinate system is
The transformed matrix of so Two coordinate system isWherein x1=y2=zH,As institute
It asks, the mirror surface coordinate under corresponding mirror surface coordinate system isReal 7 unknown numbers are y1 z1 x2 z2 xH yH
zH；
Pass through following relationship
12 equatioies in total, acquire optimal solution
Signal processor 8 using under celestial coordinate system solar direction and heat dump target direction information calculate mirror surface and answer
The theoretical mirror plane posture reached, calculation method are as follows:
WhereinFor heat dump object vector；
Constantly the rotation of control motor drives mirror surface rotation to make practical mirror surface postureTheoretical mirror plane postureIt is identical to reach
The purpose automatically tracked.
Referring to Fig. 3, method and workflow of the mirror surface attitude transducer for heliostat to automatically follow are as follows: be powered starting
Afterwards, start-up operation (step 110), is transferred to step 120, step 140 and step 160；In step 120, imaging sensor is detected
Sun luminous point, and it is transferred to step 130；In step 130, the solar direction under mirror surface coordinate system is obtained, and is transferred to step 180；
In step 140, gravity sensor detects terrestrial gravitation direction, and is transferred to step 150；In step 150, mirror surface coordinate is obtained
Gravity direction under system, and it is transferred to step 180；In step 160, GPS detects local time and geographical location, and is transferred to step
170；In step 170, the solar direction and gravity direction under celestial coordinate system are obtained, and is transferred to step 180；In step 180,
Integrated interface summarizes each sensor signal, and is transferred to step 190；In step 190, signal processor counts sensor signal
It calculates, passes through the solar direction and gravity direction calculating under the solar direction and gravity direction, celestial coordinate system under mirror surface coordinate system
Practical heliostat posture is obtained, step 200 is transferred to, passes through the solar direction and the calculating of heat dump target direction under celestial coordinate system
Theoretical heliostat posture is obtained, step 210 is transferred to；In step 220, judges practical heliostat posture and theoretical heliostat posture is
It is no identical, if it is different, then being transferred to step 230, otherwise it is transferred to step 240；In step 230, so that two mirror surface postures are mutually all
Purpose carries out control to motor and drives mirror surface rotation, is then transferred to after step 110 again after turning an angle, from the beginning；Step
In rapid 240, by motor rotation speed when preceding period stable operation, thus it is speculated that the motor rotation speed of future time, it is used with this
Property speed control motor drive mirror surface rotation, be then transferred to after step 110 again after turning an angle, from the beginning.
Obviously, those skilled in the art various changes and modifications can be made to the invention without departing from invention spirit
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the present invention is also intended to include these modifications and variations.
Claims (3)
1. a kind of mirror surface attitude transducer, which is characterized in that the sensor is the integrated-type sensor for having detection mirror surface posture,
The sensor is directly measured and is controlled to mirror surface posture, specifically on the basis of accurate solar direction and gravity direction
Using imaging sensor, gravity sensor, GPS gathers mirror surface posture coherent signal, finally by signal processor by various letters
Breath summarizes, handles, posture information is calculated, and issues control instruction to heliostat, reaches the demand of heliostat automatic control；
The mirror surface attitude transducer includes imaging sensor, gravity sensor, GPS, integrated interface, signal processor, interior branch
Frame, shell and transparency cover, wherein imaging sensor is laid in the upper mounting plate of inner support, gravity sensor, GPS, integrated interface position
In the lower platform of inner support, the platform parallel up and down of inner support keeps gravity sensor and imaging sensor parallel；Upper shell
Aperture is opened at face center, and is sealed with transparency cover；
Imaging sensor, gravity sensor, GPS signal output end are connect with integrated interface, and shell opens interface holes, signal processor
It can be connect from outside with integrated interface, read signal；Shell is installed on settled date mirror surface at characteristic plane, i.e. the settled date mirror surface previous generation
Certain of the entire settled date mirror plane of table, and keep imaging sensor parallel with characteristic plane；Signal processor can be installed on
On heliostat, it can also be not mounted on heliostat.
2. mirror surface attitude transducer according to claim 1 is protected it is characterized in that: the structure of the inner support can be various
Gravity sensor and imaging sensor is demonstrate,proved to install with fixed known angle.
3. a kind of method that mirror surface attitude transducer described in claim 1 is used for heliostat to automatically follow, including the use of three
The information of sensor feedback calculates mirror surface normal vector, that is, mirror surface posture, carries out control realization to heliostat using mirror surface posture information
It automatically tracks, it is characterised in that:
Mirror surface attitude transducer is fixedly installed on heliostat, keeps imaging sensor parallel with mirror surface, signal processor and integrated
The signal of three sensors is collected after interface connection；
Sunlight is irradiated on imaging sensor by the aperture in upper shell face, obtains the position letter of luminous point on the image sensor
Breath is the solar direction information under mirror surface coordinate system, and is transferred to integrated interface；Gravity sensor obtains under mirror surface coordinate system
Gravity direction information, and it is transferred to integrated interface；GPS obtains the geographical location information of time and whole device, feedback time and
Gravity direction information under local celestial coordinate system, and it is transferred to integrated interface；
Space coordinate of the heat dump in mirror field is manually set on signal processor；
All signals are conveyed into signal processor by integrated interface simultaneously, and signal processor utilizes under the mirror surface coordinate system provided too
Gravity direction information under positive directional information, mirror surface coordinate system passes through the solar direction under time calculated celestial coordinate system
Practical mirror surface posture is calculated by algorithm in gravity direction information under information and local celestial coordinate system；Signal processor benefit
With under celestial coordinate system solar direction and heat dump target direction information calculate the theoretical mirror plane posture that mirror surface should reach；
Constantly control motor rotation drive mirror surface rotation make practical mirror surface posture theoretical mirror plane posture it is identical reach automatically track
Purpose.
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108469841A (en) * | 2018-03-17 | 2018-08-31 | 郭其秀 | A kind of heliostat light tracing system waterborne and its method of following spot |
| CN110209205A (en) * | 2019-06-06 | 2019-09-06 | 浙江中控太阳能技术有限公司 | A kind of heliostat bearing calibration based on mirror surface label |
| CN111879298B (en) * | 2020-08-17 | 2022-04-15 | 中国科学院上海天文台 | Automatic star pointing method for moon unattended telescope |
| CN112286234B (en) * | 2020-10-30 | 2023-08-29 | 浙江可胜技术股份有限公司 | Heliostat attitude encoding and decoding-based mirror field correction system and heliostat attitude encoding and decoding-based mirror field correction method |
| CN114018173B (en) * | 2021-11-01 | 2024-04-02 | 江苏鑫晨光热技术有限公司 | Heliostat surface shape initial normal outdoor measurement system and method |
| CN114353346A (en) * | 2021-12-10 | 2022-04-15 | 大唐东北电力试验研究院有限公司 | Tower type solar heliostat field posture correction system and control method thereof |
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| CN102506810B (en) * | 2011-10-18 | 2014-11-12 | 邵文远 | Heliostat angle deviation detection method for tower type solar thermal power generation system |
| CN202329610U (en) * | 2011-11-22 | 2012-07-11 | 赵跃 | Heliostat elevation angle detection device for tower-type solar energy heat-concentration power generation system |
| CN103309361A (en) * | 2013-06-03 | 2013-09-18 | 梁方民 | Tracking and aiming control method and device for heliostat |
| CN103471265B (en) * | 2013-08-19 | 2015-03-11 | 高椿明 | Sunlight directional reflection control device based on time-sharing competition mechanism and control method thereof |
| CN104820437B (en) * | 2015-03-24 | 2017-11-28 | 常州工学院 | A kind of sunlight tracking sensor |
| CN105320156A (en) * | 2015-11-23 | 2016-02-10 | 上海电机学院 | An automatic tracking method for a tower-type solar thermal power generation heliostat |
| CN106059466B (en) * | 2016-05-31 | 2018-07-24 | 张孙云 | Heliostat tracing control device |
| CN205807878U (en) * | 2016-06-28 | 2016-12-14 | 东方电气集团东方锅炉股份有限公司 | A kind of heliostat tracing control device |
| CN106249764B (en) * | 2016-08-31 | 2020-02-18 | 西安理工大学 | Heliostat angle zero point automatic calibration device and method with sun as reference object |
| CN106444868B (en) * | 2016-12-19 | 2019-02-19 | 南京师范大学 | Heliostat precise control device and method based on sunlight reference system |
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