CN107479582A - A kind of turnover plate type solar energy dolly automatic light tracking system and control method - Google Patents
A kind of turnover plate type solar energy dolly automatic light tracking system and control method Download PDFInfo
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Abstract
The invention discloses a kind of turnover plate type solar energy dolly automatic light tracking system and control method, belong to solar powered technical field.The system is made up of five main body frame unit, class biaxial device, multi-way detecting sensor, reverse turning bed structure and light tracing system controlling organization parts.The small vehicle tail end of solar energy is fixed in aluminium framework one end by the present invention using fixed rotating shaft, is connected by two expansion link motors by what aluminium framework both sides and car body consolidated.Middle solar panels are fixed on aluminium framework, and two pieces of both sides solar panels are reinforced by aluminum corner brace.By three sides of fixed frame, solar panels are reinforced.Combined using multi-sensor fusion technology and regard day track tracing progress outer shroud compensation calculation tracking, Fast Coarse is transferred near the azimuth of the sun.Solar azimuth information is gathered by four-quadrant photoelectric sensor afterwards, the different accurate controlled motors of dutycycle is exported using pid algorithm control PWM, reaches the target of accurate tracking solar azimuth.
Description
Technical field
The invention discloses a kind of turnover plate type solar energy dolly automatic light tracking system and control method, belong to solar powered
Technical field.
Background technology
Western China solar energy resources enriches, and annual amount of radiation is in 6700MJ/m2More than, the amount of radiation per square meter
The heat sent equivalent to 230kg standard coal combustions.It is but distant between each city because west area is scarcely populated
Cause transmission line of electricity longer.Emerged in an endless stream currently for the robot of transmission line of electricity, in terms of its energy resource supply majority be pass through by
Solar panels are fixed on body to battery powered.Because illumination incidence angle can not keep hanging down with solar panels in most cases
Directly, therefore fixed solar panels are unable to the solar energy resources that utilizes of maximal efficiency, and some moment (before at 11 points in the morning or under
After 3 points of noon), the power of acquisition is only half of peak power or so.Automatic tracking system and control method thus are needed, most
Big efficiency utilizes solar energy resources.But automatic tracking system and control method are applied to the research on portable carrier at present
It is less and how defective.
For it is existing solar powered the problem of, had at present some be applied to mobile robot charging techniques.
But solar panels mainly are fixed into object periphery for it or unused intelligent control algorithm follows the trail of solar azimuth, Wu Fajing
Really, the quick automatic tracing realized to the sun.By literature search, patent announcement number is CN101733745, Patent No.
2009103116719, the Modularized mobile robot of entitled Driven by Solar Energy.One piece of solar cell is only devised in the invention
Plate, there is provided power limited；In the invention using solar energy obliquity sensor (unique sensor) and shaft coupling realize solar energy with
Track, but the invention does not refer to any control algolithm (realizing algorithm), it is clear that the mechanical structure of the invention design protection；3rd,
The invention biaxial system be it is independent with outside moving of car system, it is substantially unrelated with dolly carrier, do not account for completely small
Car motion associates with light tracing system.And in the present invention, devise solar panels reverse turning bed structure, increase generated output (during opening)
While ensure trolley travelling stability (during folding)；The present invention is by using multi-sensor fusion technology (GPS, gyroscope
With four-quadrant photoelectric sensor), class biaxial device, double -loop control algorithm realize fast, accurately automatic light tracking function.Wherein class
Biaxial device is that the kinematic system for relying on dolly realizes that azimuth is followed the trail of, without increasing other mechanical structure.And control and calculate
Method employs double -loop control algorithm, realize outer shroud Fast Coarse reconcile the accurate fine tuning function of inner ring, realize it is quick to the sun, accurately with
Track.
For solar panels reverse turning bed structure, there are some to be applied to manual or electronic reverse turning bed structure at present.Scripture
Offer retrieval, patent announcement number is CN203434929, Patent No. 2013205686329, entitled auto-folder photovoltaic
Plate.Using on two photovoltaic panel mounting and fixing brackets arranged side by side in the invention, connected among photovoltaic panel by bearing, its drive mechanism
It can be hand-crank or electro-motor, control photovoltaic panel to open and close by this manual method.The invention does not refer to automatically
Light tracing system, applied to fixed occasion, do not refer to for moving cart, do not provide control algolithm yet.There is essence with the present invention
Difference.
To sum up, the tracking technique and reverse turning bed structure referred in prior art and patent text can not meet solar energy intelligence
The automatic light tracking function of dolly.Comprehensive existing correlation tracking technology, according to the working environment and working condition of moving cart,
Be designed into control algolithm from machinery and all use new mentality of designing, with reach suitable for solar energy dolly automatic light tracking system and
Control method is necessary.
It is mentioned above in the prior art, in the robot application of Driven by Solar Energy, only pass through shaft coupling and shaft coupling
It is connected, its tracks of device is excessively simply difficult to adapt to the various bad weathers in field, so as to can not accurately follow the trail of solar azimuth.In addition
Foregoing invention is used only one piece of less solar panels and powered to dolly, it is likely that causes energy deficiency so that robot can not
Action.And another patent auto-folder solar energy photovoltaic panel, its foldable structure need to open or close during artificial help,
It can not accomplish that intelligence is opened and closed, and its structure is not suitable for automatic light tracking system.Therefore, the present invention looks for another way, (1) too
Positive energy plate reverse turning bed structure fixes solar panels one end on solar energy dolly by using bearing block, in middle solar panels both sides
Centre position be separately installed with the telescope motor of connection body so as to firm reverse turning bed structure, and pass through servos control reverse turning bed structure
Automatically open up and close.Solar panels reverse turning bed structure can increase the area of solar panels so as to increase its power when opening,
Increase charging current in the case where voltage is constant, realize quick charge, do not influence normally travel during closure.(2) for too
Positive tracks of device, the present invention use class biaxial device, by controlling the coordinated of lead screw motor and expansion link motor, reach 0-
The purpose of 90 ° of tracking elevation angles.By controlling the motor of solar energy trolley to rotate, reach comprehensive tracking azimuth
Purpose.(elevation angle tracking be an axle, and azimuth tracking not exclusively calculation one axle, so being referred to as class cross-compound arrangement) so as to
Enough comprehensive accurate tracking solar azimuths.(3) control algolithm is directed to, the present invention proposes solar tracking double -loop control algorithm, first
Outer shroud control carries out coarse adjustment using GPS, nine axle gyroscopes and regarding day track tracing, when dolly quick rotation to the driftage of itself
When deviation between angle and azimuth is less than setting drift angle, inner ring control is recycled to be combined using four-quadrant photoelectric sensor
Pid algorithm carries out fine tuning, so as to realize the quick, accurate, low-power consumption from motion tracking of solar energy dolly.
The automatic light tracking system that prior art is applied to solar energy intelligent carriage still suffers from some problems.
1) can not solve the stability of tracks of device
Existing solar energy tracking technology majority is mounted in fixed object, because only that fixed object could follow the trail of
Can make during the sun solar panels firmly, it is accurate, do not rock.And above-mentioned technology only supports solar panels by two shaft couplings,
The sun is tracked by rotation between axle and axle, this can not stablize, firm, permanent application, easily occur rocking cause with
Track deviation.Therefore the autotracker stability problem of existing solar energy dolly does not solve, so can not directly answer
With in the automatic light tracking system of solar energy dolly.
2) limitation of application
Because solar energy dolly is all intelligent carriage, its energy is all to be converted by solar energy self-sufficient, but this also makes
The solar energy dolly of dependence into to(for) sunlight.In special weathers such as cloudy day, rainy day, black clouds coverings, solar panels can not
When receiving sufficient sunshine, it is small so as to cause battery electric quantity not meet that this will result in the reduction of solar energy dolly charge efficiency
Car normal supply, so expanding charge power by solar panels reverse turning bed structure, realize quick energy supplement.And existing turn over
Plate or foldable structure are mostly that not intelligent control is opened manually to automatically open up, and for the turnover panel knot of solar energy dolly tracing system
Structure designs also considerably less.
3) accurate tracking
The data that the tracking mode of above-mentioned solar energy dolly is only sent back by single-sensor determine the orientation of the sun, this
Kind method reliability is not high, and effective tracking can not be realized if sensor produces error or damage；In addition, single-sensor
(such as sun declination sensor) can make search time elongated energy consumption increase (exceeding 180 degree to search for), and be easily trapped into local concussion
And consumption of energy is bigger.Therefore, the present invention devises a kind of control algolithm for solar energy dolly --- and solar tracking is double
Ring control algolithm, so as to solve the above problems, reach being tracked to the sun accurately and fast.
The content of the invention
For above-mentioned problem, the present invention is according to the stability of solar energy intelligent carriage, the rapidity of charging and too
The accuracy of sun tracking, the sun is caused when following the trail of the sun by what machinery and control device were inherently eliminated solar energy dolly
The position rocked and accurately quickly find the sun of energy plate.
The solar panels for caused by existing invention and technology can not solve the automatic tracing of solar energy dolly, which rock, asks
Topic：Existing related invention and technology are simply middle using single shaft fixation, and solar panels surrounding is hanging, passes through the change of axle and axle
To follow the trail of the sun.But this structure has limitation, can be rocked in tracking, or under inclement weather conditions, very
Solar panels are easily caused to occur deviateing original position or even cause the damaged situation of solar panels.The present invention uses fixed rotating shaft
The small vehicle tail end of solar energy is fixed in aluminium framework one end, consolidated aluminium framework both sides and car body by two expansion link motors
Connect.Middle solar panels are fixed on aluminium framework, and two pieces of both sides solar panels are reinforced by aluminum corner brace.Pass through fixation
Three sides of framework, solar panels are reinforced, eliminate the solar panels in tracking and caused by weather and rock reason.
Due to solar powered intelligent carriage more work in outdoor open space, once carriage walking hypertelorism or
When sunlight is inadequate, the power supply of its solar panels does not catch up with the electricity of dolly needs.Present invention design in dolly by carrying on the back
The solar panels reverse turning bed structure that portion is set, steering wheel is controlled to automatically open up two pieces of foldings above middle solar panels by controller
Solar panels.Solar energy folds during solar energy dolly traveling, and its width is consistent with vehicle-width, and
The normally travel of dolly is not influenceed.And when charging is required, opening solar panels expands solar panels power, constant in voltage
In the case of charging current is significantly increased.And solar panels are controlled to be hung down all the time with angle of incidence of sunlight by class double-axis tracking device
Directly, charged with maximum intensity of illumination state to dolly, reach the purpose of quick charge.
Fast, accurately automatic tracking problem for how to complete solar energy dolly：In order to meet solar energy dolly pair
In the requirement of the quick accurate tracking of the sun, solves the algorithmic issue of the solar tracking of moving cart.The present invention by adopt the sun with
Track double -loop control algorithm, fast and accurately tracks the sun.Combine to enter depending on day track tracing using GPS, nine axle gyroscopes first
Row outer shroud compensation calculation is tracked, and Fast Coarse is transferred near the azimuth of the sun.Inner ring control is carried out again, passes through four-quadrant photoelectric transfer
The solar azimuth information of sensor collection, different dutycycles is exported so as to reach accurately from motion tracking using pid algorithm control PWM
Solar azimuth.
Solar power generation is to absorb sunshine by solar panels, and photovoltaic effect occurs on solar panels and produces
Electric current.And solar energy resources is a kind of pollution-free, renewable, available clean energy resource everywhere, nowadays in countries in the world all
Large-sized solar power plant is established, solar power generation turns into one of world's generating mainstream technology.And on NORTHWEST CHINA portion, ground
Wide people is dilute and height above sea level is sunny, is natural solar power plant.
Solar facilities is divided into stationary power generation device and automatic-tracking generation device at present.And existing solar power plant
Stationary power generation device is used, by the way that solar panels are fixed on into body surface with certain elevation angle more.And sent out from motion tracking
Electric installation is by axle motion accompanying solar motion, solar panel and sunshine is in plumbness all the time, strong in maximum illumination
Degree is lower to generate electricity.Current tracking mode mainly has photoelectric tracking and regarding day track motion track following, and tracks of device is divided into
Uniaxiality tracking and double-axis tracking.Uniaxiality tracking can only rotate along an axle, can adjust the azimuth of solar energy.Double-axis tracking is more
The deficiency of uniaxiality tracking is mended, it is a comprehensive tracking technique, can be by controlling elevation angle and azimuth to the sun
Tracking.With the development of heliotechnics, the mode of Solar use is more and more diversified.Nowadays with solar powered shifting
Dynamic formula dolly turns into a kind of new Solar use mode, but the solar energy tracking of dolly mainly uses stationary structure, it is impossible to
The real-time tracing of the sun is realized, the generating under maximum intensity of illumination can not be realized, so intelligence of the research and development with advanced control algorithm
Energy dolly solar automatic tracking system is significant.
For this problem, the present invention have developed based on class double-axis tracking device, multi-sensor fusion technology and two close cycles control
The solar automatic tracking system of field movable formula routing inspection trolley based on algorithm processed.It is mainly used in power circuit polling,
A variety of demands such as grassland ecology monitoring, transformer station's inspection.Present invention mainly solves problems with：
1st, because western China is scarcely populated, transmission line of electricity is long, if human inspection circuit can cause human resources
Waste and line maintenance cost raises.And because west area has, high-land, intensity of illumination be high, the solar energy of sunshine-duration length
Resource, so the present invention devises a kind of based on solar powered field routing inspection trolley, patrolled using intelligent carriage instead of manpower
Look into saving human resources.
2nd, because the rated power and area of solar panels are directly proportional, therefore to obtain the electric energy of relatively high power with regard to necessary
Sufficiently large solar panels area is laid, but dolly limited area, excessive solar panels will have a strong impact on the row of dolly
Performance is sailed, for this in the present invention, devises a kind of automatic panel-turnover structure, i.e., does not influence dolly traveling and can and expands solar panels
Power.For realize the sun from motion tracking, by using multisensor (GPS, gyroscope, four-quadrant photoelectric sensor and limit
Level sensor) integration technology, realize that the comprehensive sun fast and automatically chases after with reference to control algolithm control class double-axis tracking device
Track.
3rd, due to present invention is mainly applied to moving cart system, therefore, being taken into full account in control algolithm of the invention
The high efficiency and energy saving of algorithm, it is proposed that the double -loop control algorithm of solar tracking, the algorithm is using GPS, gyroscope and regards day
Track tracing is combined the quick coarse adjustment link of composition outer shroud and four-quadrant photoelectric sensor is combined the interior of composition with pid algorithm
Ring accurate adjustment link, by more than two step sections form bicyclic adjustment control algorithm, realize to the sun fast, accurately automatically with
Track.
The technical solution adopted by the present invention is a kind of turnover plate type solar energy dolly automatic light tracking system and control method, including
Two parts of turnover plate type automatic spot-following device and double-loop tracking control algolithm.
A kind of turnover plate type solar energy dolly automatic light tracking system, the system is by main body frame unit, class biaxial device, multichannel
Five detection sensor, reverse turning bed structure and light tracing system controlling organization parts form.Main body frame unit is by car body (10), crawler belt
(9) formed with battery (15), crawler belt (9) is arranged on the bottom of car body (10), is the drive mechanism of car body (10), and battery (15) is
The energy resource supply unit of car body (10).Car body (10) is the carrier of whole system, class biaxial device, multi-way detecting sensor, is turned over
Harden structure and light tracing system controlling organization are installed on car body (10).Class biaxial device be dolly light-chasing device, class twin shaft
The bottom of device is connected with car body, and top is connected with reverse turning bed structure.Reverse turning bed structure is made up of three pieces of solar panels with model,
Reverse turning bed structure is connected with class biaxial device.Light tracing system controlling organization is connected with reverse turning bed structure.
Class biaxial device by two fixed racks (7), two sliding blocks (8), four bearing blocks, two expansion link motors (4),
One lead screw motor (11), a cross bar (12) and car body driving motor (16) are formed.There is a cunning on every slide rail (7)
Block (8), a step (3) is fixed on each sliding block (8), two other top chock (20) of class biaxial device is fixed on
On the aluminium framework (13) of solar panels turnover panel, it is connected between top chock (20) and step (3) by expansion link, upper axle
Bearing (20), step (3) and expansion link support reverse turning bed structure.It is fixed by cross bar (12) between two sliding blocks (8), pass through
Cross bar (12) controls the synchronizing moving of two sliding blocks (8).Lead screw motor (11) is located among slide rail (7), passes through lead screw motor
(11) cross bar is controlled to control expansion link motor (4) to be moved on slide rail (7).Lead screw motor (11) and expansion link motor (4)
Coordinated complete reverse turning bed structure elevation angle lifting.Car body driving motor (16) is connected with car body (10), passes through control
Car body driving motor (16) processed, makes car body (10) reach the purpose of comprehensive tracking solar azimuth.
Multi-way detecting sensor is by four-quadrant photoelectric sensor (2), GPS module (19), limit sensors (6) and nine axle tops
(17) four kinds of sensor groups of spiral shell instrument into.Four-quadrant photoelectric sensor (2) is installed on the crown center position of reverse turning bed structure framework, uses
In the azimuth of the detection sun.GPS module (19) is installed on main control board (18), to position the specific position of car body (10)
Put, to provide required longitude and latitude depending on day track track algorithm.Limit sensors (6) are installed on the limit position of class biaxial device
Put, play a part of spacing and protection class biaxial device.Nine axle gyroscopes (17) are installed on main control board (18), to examine
Measuring car body (10) afterbody is the angle i.e. yaw angle between the sensing of solar panels front and direction north, is provided for double -loop control algorithm
Angle foundation.
Reverse turning bed structure is by aluminium framework (13), three pieces of solar panels (1), two tailing axle bearings (21), two hinge axis
(14) formed with two steering wheels (5).Aluminium framework (13) is built by aluminium, and aluminium framework (13) bottom end passes through tailing axle
Bearing (21) is fixed on the afterbody of car body (10), and aluminium framework (13) on both sides of the middle passes through expansion link motor (4) and car body (10)
Connection.One piece in three pieces of solar panels (1) is fixed on aluminium framework (13), and another two pieces of solar panels (1) periphery uses angle
After aluminium is reinforced, solar panels are installed in parallel in aluminium framework (13) both sides respectively using two hinge axis (14).Utilize fixation
Being rotated in the steering wheel (5) of base of frame drives the solar panels (1) of both sides to open or close.
Light tracing system controlling organization includes controller and electric-motor drive unit.Controller completes the follow spot processing and control of information
Make the output of order, the output for exporting control algolithm of following spot of control command；Due to whole solar energy dolly tracking environment
Uncertainty, light-coupled isolation unit is added in governor circuit front edge of board, to ensure the safe and reliable operation of system.Motor drives
Unit completes the drive control of steering wheel, lead screw motor, expansion link motor and trolley drive motor, coordinates master controller to realize full side
Position solar tracking algorithm.
Crawler belt (9) is wheeled construction.
The overall structure diagram of the turnover plate type solar energy dolly automatic light tracking system of the present invention is as shown in Figure 1.
A kind of control method of turnover plate type solar energy dolly automatic light tracking system, this method use multi-sensor fusion technology
(GPS, gyroscope), which combines, regards day track tracing progress outer shroud compensation calculation tracking, and the azimuth that Fast Coarse is transferred to the sun is attached
Closely.Solar azimuth information is gathered by four-quadrant photoelectric sensor afterwards, different duties is exported using pid algorithm control PWM
Than accurate controlled motor, reach the accurate target for tracking solar azimuth.
1) outer shroud regulation determines solar energy dolly and the angle i.e. yaw angle in north by nine axle gyroscopes, then passes through GPS moulds
Block reads local latitude, and the current time date is read using single-chip microcomputer RTC real-time clocks, is calculated with reference to regarding day track tracing
Go out current azimuth.In Fig. 2, δ0Represent yaw angle, δ2Azimuth is represented, works as δ0<δ2When, δ2-δ0>180 ° of controllers send letter
Number control car body motor reversion；δ2-δ0<180 ° of control motor main storys, as shown in (a) in Fig. 2.Work as δ0>δ2When,
δ0-δ2>180 ° of controllers send signal control car body motor main story, δ0-δ2<180 ° of control motor reversions, such as Fig. 2
In (b) shown in.Outer shroud is realized by the feedback control of yaw angle | δ2-δ0|<ε1, ε1For dead band threshold value, eventually through outer shroud
Control is realized near the solar azimuth that quick, coarse adjustment obtains to calculating.
2) when solar energy dolly is turned in solar azimuth environs, that is, meet | δ2-δ0|<ε1When, open turnover panel knot
Structure, into inner ring fine tuning.By four-quadrant photoelectric sensor combination pid control algorithm, class biaxial device automatic light tracking is controlled.It is logical
Cross the voltage difference i.e. (U for calculating four-quadrant photoelectric sensor thing and North and South directionEast-UWest) and (USouth-UNorth), the voltage difference of output is led to
Cross using pid algorithm control PWM outputs.When the sun is located at west, UEast-UWest>0 and | UEast-UWest|>ε2, the bigger PID controls of voltage difference
The PWM of system dutycycle is bigger, and westwards rotating speed is faster for motor, and the smaller PWM of the voltage difference smaller motor of dutycycle turns
Speed is slower.U is measured by four-quadrant photoelectric sensorSouth-UNorth<0 and | USouth-UNorth|>ε2, cross bar is pulled by lead screw motor first,
The mobile searching elevation angle of cross bar is relied on again, it is just flexible by controlling if be much to seek when cross bar touches limit sensors
Bar motor flexible continually looks for elevation angle, as shown in (a) in Fig. 3.When the sun is located at east, rotation direction is as in Fig. 3
(b) shown in.Threshold value ε one minimum is set in azimuth and elevation angle pressure difference2, close | UEast-UWest|<ε2、|USouth-UNorth|<ε2
When, represent that sunshine and solar panels are vertical, light tracing system terminates.UEast、UWest、USouth、UNorthFour-quadrant photoelectric transfer is represented respectively
The magnitude of voltage of sensor East, West, South, North four direction.Double-loop tracking control algolithm structured flowchart is as shown in Figure 4.This control method
Specific implementation flow it is as follows：
Step 1：First by measuring lithium battery voltage U1, discharge cut-off voltage U is set2, U1≥U2When lithium battery be not required to fill
Electricity, U1<U2When lithium battery need to charge.The four quadrant average voltage level U gathered by four-quadrant photoelectric sensor3With setting
Magnitude of voltage U4Contrasted, U3≥U4When current time be not suitable for charging.U3<U4When current time sunray be adapted to charge.
Step 2：The car body tailstock and the yaw angle δ in direction north are determined by the gyroscope of nine axles0.Read GPS module latitude
With the Time of Day of single-chip microcomputer RTC Real Time Clock Displays, calculation formula is tracked with reference to regarding day track：Declination angleWherein n is the number of days between 1 year, takes 1-365.Solar hour angle ω=15 ° * (st-
12), st is the local time, in terms of 24 hours.
H is sun altitude,For local geographic latitude.The azimuth of the sunCalculate present orientation angle.As azimuth δ2With yaw angle δ0's
The absolute value of deviation is less than the threshold value ε of setting1When, car body stops operating.By nine axle gyroscopes, GPS, real-time clock and
Combined depending on day track tracing and carry out outer shroud coarse adjustment, so that this is quick, finds solar azimuth roughly.
Step 3：Controller sends instruction, and control dolly solar energy reverse turning bed structure is opened, and passes through algorithm output control steering wheel
Uppermost one piece of solar panels are opened, reaches and stops when being flushed with middle solar panel.Then second piece of solar panels is opened again,
Equally reach and stop with middle solar panels flush position.
Step 4：Due to being to obtain solar energy azimuth by calculating depending on day track track algorithm, can exist in actual implementation
Deviation.So needing to recycle four-quadrant photoelectric sensor to realize accurate tracking, that is, the voltage of each quadrant is calculated, passes through two
Two combine the voltage U that (such as southeast quadrant and Northeast Quadrant are combined into the voltage in direction east) draws each directionEast、UWest、USouth、
UNorth, as shown in Figure 5.By calculating the voltage difference of thing and North and South direction, the voltage difference of output is controlled by using pid algorithm
PWM is exported.When azimuth and elevation angle voltage difference are less than threshold value ε2When, represent that sunshine and solar panels hang down substantially
Directly.
Step 5：When tracking solar azimuth, controller control program enters definition status.After timing terminates, the side of judgement
Whether the deviation of parallactic angle and yaw angle is in range of set value, in threshold value ε1Interior needs to carry out inner ring fine tuning, repeats
Step 4.Runaway angle ε1, from repeat step 2, inner ring after first outer shroud.
Step 6：As cell voltage U1Big battery maximum permissible voltage U5Either occurring sheltering from the sun rainy days suddenly makes
The magnitude of voltage U measured3Less than setting magnitude of voltage U4When, charge cutoff.Solar panels are successively flipped back to by centre by control algolithm
Position, expansion link motor retraction, lead screw motor push back initial position.Solar energy dolly automatic light tracking system finishing, charging knot
Beam.
Compared with prior art, this method has the advantages that.
1) solar panel reverse turning bed structure：Design polylith solar panels reverse turning bed structure, both ensured turnover panel open when provide it is larger
Charge power, realize again turnover panel closure when trolley travelling stability.It is strong by automatic detection battery electric quantity and solar irradiation
Degree realizes automatically controlling for solar panels folding.
2) class twin shaft light tracing system：Pass through lead screw motor and the coordinated of expansion link motor, it is possible to achieve solar panels
Altitude of the sun is in 0~90 ° of adjustment.By controlling the kinematic system of trolley body, 360 ° of azimuths of dolly can be controlled to rotate.It is first
First pass through lead screw motor to rotate so as to driving cross bar to move, cause the expansion link motor on sliding block to follow to be moved to and tentatively seek
Look for the purpose of elevation angle.Do not search out elevation angle also when touching limit sensors, then found by expansion link motor flexible
Elevation angle.Realize that solar panels elevation angle is followed the trail of by both coordinateds.By the driving for controlling solar energy trolley body
Motor, 360 ° of rotations of dolly can be enable.So class cross-compound arrangement can be comprehensive tracking solar azimuth.
3) sun is followed spot double -loop control algorithm：Outer shroud is adjusted：Yaw angle is calculated using nine axle gyroscopes, then by regarding day
The time that the latitude and single-chip microcomputer that tracing combination GPS is read are read calculates azimuth, and then controls car body motor quick, first
Step turns to the azimuth of calculating.Inner ring is adjusted：PWM outputs are controlled by four-quadrant photoelectric sensor combination pid control algorithm
Dutycycle, accurately trace into position of sun.
Brief description of the drawings
Fig. 1 turnover plate type solar energy dolly automatic light tracking system global structure figures, (a) turnover plate type solar energy dolly automatic light tracking
System front view, (b) turnover plate type solar energy dolly automatic light tracking system diagrammatic cross-section (c) turnover plate type solar energy dolly chase after automatically
Photosystem turnover panel opens schematic diagram.
Rotation direction figure of Fig. 2 solar energy dolly in coarse adjustment, (a) control motor rotate forward, (b) control motor
Reversion.
Fig. 3 four-quadrants control motor turns to schematic diagram figure.(a) when the sun is located at west, (a) is when the sun is positioned at east
Side.
Double -loop control algorithm block diagrams of the Fig. 4 based on solar tracking.
Fig. 5 four-quadrant control schematic diagrams.
The system architecture the general frame of Fig. 6 present invention.
The solar tracking program flow diagram of Fig. 7 present invention.
Fig. 8 turnover plate type solar energy automatic tracking dolly pictorial diagrams.
Fig. 9 turnover plate type solar energy automatic tracking dollies solar panels are in kind to open figure.
Figure 10 turnover panel solar energy dolly automatic tracking system application examples, (a) wheeled turnover panel solar energy dolly is from motion tracking
System, (b) crawler type turnover panel solar energy dolly automatic tracking system.
In figure：1st, solar panels 2, four-quadrant photoelectric sensor 3, step 4, expansion link motor 5, steering wheel 6,
Limit sensors 7, slide rail 8, sliding block 9, crawler belt 10, car body 11, lead screw motor 12, cross bar 13, aluminium framework 14, conjunction
Page axle 15, lithium battery 16, car body motor 17, nine axle gyroscopes 18, main control board 19, GPS module 20, upper axle
Bearing 21, tailing axle bearing.
Embodiment
Illustrate the double -loop control in the present invention by taking three pieces of solar panels solar energy tracking dolly light tracing systems as an example below
The specific work process of algorithm.Implementation legend is illustrated in figure 8, is the reality of solar tracking Double Loop Control System of the present invention
Thing figure.Make Primary Location using depending on day track track algorithm, GPS and nine axle gyroscopes in tracking system, use PID control
Algorithm combination four-quadrant photoelectric sensor is accurately positioned.Design parameter is as follows：
Three pieces of general powers about 100W solar panels, use 12V voltages, the lithium battery power supply that capacity is 20AH.Pass through
GPS module reads the current latitude regarded required for day tracking, with reference to STM32 RTC real-time clocks read current date and when
Between.By calculating sunny real-time azimuthal angle regarding day track tracing, to the north of be initial angle, in the range of 0-360 °.Pass through
Calculate and learn that the difference at azimuth between period in Summer Solstice 12 noon and is 44 ° at 13 points, this for annual maximum azimuth it
Difference.Due to using nine axle gyroscope JY901 about 4 ° or so of the geomagnetic declination of Inner Mongol Huhehaote City, and 15 minutes in whole year
Rotational orientation angle maximum angle is 11 °, so setting angle range value | ε1| when both having met that geomagnetic declination scope and can was long for 11 °
Between static charging.Photovoltaic four-quadrant, average voltage level U in the case of reading is unglazed are covered by using hand1=0.23V, is arranged on
Follow the trail of sun magnitude of voltage U2=1.2U1=0.28V, threshold value ε2=0.01V.Setting battery is full of magnitude of voltage U5=1.2*12
=14.4V, setting battery discharge blanking voltage U2=0.9*12=10.8V.Use the nine axle gyro modules installed in the tailstock
JY901, it is 0 ° to set direct north, and the dolly tailstock increases yaw angle clockwise, and scope is 0-360 °.Specific implementation step is such as
Under：
Turnover plate type solar energy dolly increases, dolly electricity also decreases in inspection circuit with the time of inspection.When
When lithium battery voltage is less than 10.8V, then the average voltage level for examining four-quadrant photoelectric sensor to spread out of, if average voltage level is not
During to 0.28V, dolly, which moves on, finds the stronger position of intensity of illumination.When reaching the intensity of illumination of setting, dolly stops
Car.The yaw angle passed back by nine axle gyroscope JY901 on car interior circuit board, the latitude knot passed back using GPS module
The time that single-chip microcomputer is read is closed, sunny azimuth is calculated according to regarding day track tracing.Judge yaw angle with it is azimuthal
Position, so as to quick rotation.In order to prevent dolly to be absorbed in the situation that local concussion expends electricity when finding refined orientation angle, lead to
Cross the angle range of one 11 ° of setting.When dolly is gone in the range of this, dolly just stops operating.Pass through outer shroud coarse adjustment mode
The azimuth of the sun can be quickly found, after dolly stops, controller control reverse turning bed structure, which is opened, prepares charging.Control first
Steering wheel processed opens topmost one layer of solar panels, to being stopped operating when being flushed with middle solar panels.The second face is opened again too
It is positive can plate is here usually stops, as shown in Figure 9.
After solar panels are all opened, by four-quadrant photoelectric sensor, the voltage U of all directions is measuredEast、UWest、USouth、UNorth,
East-west direction control is azimuth, and North and South direction is the elevation angle of control.Work as UEast-UWest>When 0, show that the sun is in west, control
Dolly processed westwards rotates.When output voltage difference is bigger, the dutycycle of the PWM outputs of pid control algorithm control is bigger, so as to electricity
Machine rotating speed is faster.Voltage difference is smaller, and motor speed is slower, until | UEast-UWest|<0.01V.North and South direction is also so to move,
Rotated first by lead screw motor and pull cross bar, by the mobile searching elevation angle of cross bar, if touching spacing sensing in cross bar
It is much to seek during device, just by controlling expansion link motor flexible to continually look for elevation angle.When the electricity of controlling party parallactic angle and elevation angle
When machine all stops, showing that now solar panels are in plumbness with sunlight sight, it is quick to battery with the intensity of illumination of maximum
Charging.In order to save the energy that motor is consumed by real-time tracking, when elevation angle and azimuthal pressure difference are both less than 0.01V (ε2)
When, controller control program enters definition status.Regularly after 15 minutes, first judge yaw angle and azimuthal deviation whether
In angle range, in the range of without using nine axle gyroscopes, GPS, real-time clock and regarding day track tracing carry out coarse adjustment, directly
Inner ring fine tuning is carried out by four-quadrant and pid control algorithm, needs to first pass through using outer shroud coarse adjustment not in angle range, then
Solar azimuth is found in inner ring fine tuning.Action more than repeating so as to quick, energy-conservation, accurately search out the sun orientation and can
Quickly to lithium cell charging.
When dolly battery voltage more than 14.4V or four-quadrant output average voltage do not reach 0.28V when, solar panels
Close.Expansion link motor bounces back, and lead screw motor starts to push back cross bar, stops when cross bar touches limit sensors, charged
Journey terminates.
As can be seen that the present invention can realize quick, energy-conservation, firm tracking too using solar tracking double -loop control algorithm
Sun, and quickly lithium battery can be charged.
The application of embodiment is as shown in Figure 10.
Claims (4)
- A kind of 1. turnover plate type solar energy dolly automatic light tracking system, it is characterised in that：The system is by main body frame unit, class twin shaft Five device, multi-way detecting sensor, reverse turning bed structure and light tracing system controlling organization parts form；Main body frame unit is by car body (10), crawler belt (9) and battery (15) are formed, and crawler belt (9) is arranged on the bottom of car body (10), are the drive mechanism of car body (10), Battery (15) is the energy resource supply unit of car body (10)；Car body (10) be whole system carrier, class biaxial device, multi-way detecting Sensor, reverse turning bed structure and light tracing system controlling organization are installed on car body (10)；Class biaxial device is the dress of following spot of dolly Put, the bottom of class biaxial device is connected with car body, and top is connected with reverse turning bed structure；Reverse turning bed structure is by three pieces of sun with model Energy plate is formed, and reverse turning bed structure is connected with class biaxial device；Light tracing system controlling organization is connected with reverse turning bed structure；Class biaxial device by two fixed racks (7), two sliding blocks (8), four bearing blocks, two expansion link motors (4), one Lead screw motor (11), a cross bar (12) and car body driving motor (16) are formed；There is a sliding block on every slide rail (7) (8) step (3), is fixed on each sliding block (8), two other top chock (20) of class biaxial device is fixed on too On the aluminium framework (13) of positive energy plate turnover panel, it is connected between top chock (20) and step (3) by expansion link, upper bearing (metal) Seat (20), step (3) and expansion link support reverse turning bed structure；It is fixed by cross bar (12) between two sliding blocks (8), pass through horizontal stroke Bar (12) controls the synchronizing moving of two sliding blocks (8)；Lead screw motor (11) is located among slide rail (7), passes through lead screw motor (11) Cross bar is controlled to control expansion link motor (4) to be moved on slide rail (7)；The association of lead screw motor (11) and expansion link motor (4) With the lifting for coordinating completion reverse turning bed structure elevation angle；Car body driving motor (16) is connected with car body (10), by controlling car Body driving motor (16), makes car body (10) reach the purpose of comprehensive tracking solar azimuth；Multi-way detecting sensor is by four-quadrant photoelectric sensor (2), GPS module (19), limit sensors (6) and nine axle gyroscopes (17) four kinds of sensor groups into；Four-quadrant photoelectric sensor (2) is installed on the crown center position of reverse turning bed structure framework, for examining The azimuth of shoot the sun；GPS module (19) is installed on main control board (18), to position the particular location of car body (10), To provide required longitude and latitude depending on day track track algorithm；Limit sensors (6) are installed on the extreme position of class biaxial device, Play a part of spacing and protection class biaxial device；Nine axle gyroscopes (17) are installed on main control board (18), to detect Car body (10) afterbody is the angle i.e. yaw angle between the sensing of solar panels front and direction north, and angle is provided for double -loop control algorithm Spend foundation；Reverse turning bed structure is by aluminium framework (13), three pieces of solar panels (1), two tailing axle bearings (21), two hinge axis (14) Formed with two steering wheels (5)；Aluminium framework (13) is built by aluminium, and aluminium framework (13) bottom end passes through tailing axle bearing (21) afterbody of car body (10) is fixed on, aluminium framework (13) on both sides of the middle is connected by expansion link motor (4) with car body (10)； One piece in three pieces of solar panels (1) is fixed on aluminium framework (13), and another two pieces of solar panels (1) periphery is reinforced using aluminum corner brace Afterwards, solar panels are installed in parallel in aluminium framework (13) both sides respectively using two hinge axis (14)；Using being fixed on framework The steering wheel (5) of bottom, which rotates, drives the solar panels (1) of both sides to open or close；Light tracing system controlling organization includes controller and electric-motor drive unit；Controller complete follow spot information processing and control life The output of order, the output for exporting control algolithm of following spot of control command；Because whole solar energy dolly follows the trail of the not true of environment It is qualitative, light-coupled isolation unit is added in governor circuit front edge of board, to ensure the safe and reliable operation of system；Electric-motor drive unit Complete the drive control of steering wheel, lead screw motor, expansion link motor and trolley drive motor, coordinate master controller realize it is comprehensive too Positive tracing algorithm.
- A kind of 2. turnover plate type solar energy dolly automatic light tracking system according to claim 1, it is characterised in that：Crawler belt (9) Or it is wheeled construction.
- 3. a kind of control method of the turnover plate type solar energy dolly automatic light tracking system carried out using system described in claim 1, It is characterized in that：This method is combined using multi-sensor fusion technology (GPS, gyroscope) regards day track tracing progress outer shroud compensation calculation Tracking, Fast Coarse are transferred near the azimuth of the sun；Solar azimuth information, application are gathered by four-quadrant photoelectric sensor afterwards Pid algorithm control PWM exports the different accurate controlled motors of dutycycle, reaches the target of accurate tracking solar azimuth；1) outer shroud regulation determines solar energy dolly and the angle i.e. yaw angle in north by nine axle gyroscopes, then is read by GPS module The latitude of locality is taken, the current time date is read using single-chip microcomputer RTC real-time clocks, is worked as with reference to being calculated depending on day track tracing Preceding azimuth；δ0Represent yaw angle, δ2Azimuth is represented, works as δ0<δ2When, δ2-δ0>180 ° of controllers send signal control car body Motor inverts；δ2-δ0<180 ° of control motor main storys；Work as δ0>δ2When, δ0-δ2>180 ° of controllers send signal control Car body motor main story, δ0-δ2<180 ° of control motor reversions；Outer shroud is realized by the feedback control of yaw angle | δ2-δ0 |<ε1, ε1For dead band threshold value, realized eventually through outer shroud control quickly, near coarse adjustment to the solar azimuth for calculating acquisition；2) when solar energy dolly is turned in solar azimuth environs, that is, meet | δ2-δ0|<ε1When, reverse turning bed structure is opened, Into inner ring fine tuning；By four-quadrant photoelectric sensor combination pid control algorithm, class biaxial device automatic light tracking is controlled；Pass through The voltage difference for calculating four-quadrant photoelectric sensor thing and North and South direction is (UEast-UWest) and (USouth-UNorth), the voltage difference of output passes through Use pid algorithm control PWM outputs；When the sun is located at west, UEast-UWest>0 and | UEast-UWest|>ε2, the bigger PID control of voltage difference PWM dutycycle it is bigger, westwards rotating speed is faster for motor, the smaller PWM of the voltage difference smaller motor rotating speed of dutycycle It is slower；U is measured by four-quadrant photoelectric sensorSouth-UNorth<0 and | USouth-UNorth|>ε2, cross bar is pulled by lead screw motor first, then By the mobile searching elevation angle of cross bar, if be much to seek when cross bar touches limit sensors, just by controlling expansion link Motor flexible continually looks for elevation angle；When the sun is located at east, rotation direction；One is set in azimuth and elevation angle pressure difference Individual minimum threshold value ε2, close | UEast-UWest|<ε2、|USouth-UNorth|<ε2When, represent that sunshine and solar panels are vertical, follow spot System finishing；UEast、UWest、USouth、UNorthThe magnitude of voltage of four-quadrant photoelectric sensor East, West, South, North four direction is represented respectively.
- 4. a kind of control method of turnover plate type solar energy dolly automatic light tracking system according to claim 3, its feature exist In：The specific implementation flow of this control method is as follows：Step 1：First by measuring lithium battery voltage U1, discharge cut-off voltage U is set2, U1≥U2When lithium battery be not required to charge, U1 <U2When lithium battery need to charge；The four quadrant average voltage level U gathered by four-quadrant photoelectric sensor3With the voltage of setting Value U4Contrasted, U3≥U4When current time be not suitable for charging；U3<U4When current time sunray be adapted to charge；Step 2：The car body tailstock and the yaw angle δ in direction north are determined by the gyroscope of nine axles0；Read GPS module latitudeWith list The Time of Day of piece machine RTC Real Time Clock Displays, with reference to regarding day track tracking calculation formula：Declination angleWherein n is the number of days between 1 year, takes 1-365；Solar hour angle ω=15 ° * (st- 12), st is the local time, in terms of 24 hours；H is sun altitude,For local geographic latitude；The azimuth of the sunCalculate present orientation angle；As azimuth δ2With yaw angle δ0's The absolute value of deviation is less than the threshold value ε of setting1When, car body stops operating；By nine axle gyroscopes, GPS, real-time clock and Combined depending on day track tracing and carry out outer shroud coarse adjustment, so that this is quick, finds solar azimuth roughly；Step 3：Controller sends instruction, and control dolly solar energy reverse turning bed structure is opened, opened by algorithm output control steering wheel Uppermost one piece of solar panels, reach and stop when being flushed with middle solar panel；Then second piece of solar panels is opened again, equally Reach and stop with middle solar panels flush position；Step 4：Due to being to obtain solar energy azimuth by calculating depending on day track track algorithm, can exist in actual implementation inclined Difference；So needing to recycle four-quadrant photoelectric sensor to realize accurate tracking, that is, the voltage of each quadrant is calculated, by two-by-two With reference to the voltage U for drawing each directionEast、UWest、USouth、UNorth；By calculating the voltage difference of thing and North and South direction, the voltage difference of output By using pid algorithm control PWM outputs；When azimuth and elevation angle voltage difference are less than threshold value ε2When, represent sunshine and Solar panels are substantially vertical；Step 5：When tracking solar azimuth, controller control program enters definition status；After timing terminates, azimuth is judged Whether the deviation with yaw angle is in range of set value, in threshold value ε1Interior needs to carry out inner ring fine tuning, repeat step 4；Runaway angle ε1, from repeat step 2, inner ring after first outer shroud；Step 6：As cell voltage U1Big battery maximum permissible voltage U5Either occurring sheltering from the sun rainy days suddenly makes to measure Magnitude of voltage U3Less than setting magnitude of voltage U4When, charge cutoff；Solar panels are successively flipped back to by interposition by control algolithm Put, expansion link motor retraction, lead screw motor pushes back initial position；Solar energy dolly automatic light tracking system finishing, charging terminate.
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