CN107479582B - Automatic light following system of panel turnover type solar trolley and control method - Google Patents
Automatic light following system of panel turnover type solar trolley and control method Download PDFInfo
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Abstract
The invention discloses an automatic light following system of a panel turnover type solar trolley and a control method, and belongs to the technical field of solar power supply. The system consists of a main body frame unit, a quasi-biaxial device, a multi-path detection sensor, a turning plate structure and a light following system control mechanism. According to the invention, one end of the aluminum frame is fixed at the tail end of the solar trolley by adopting the fixed rotating shaft, and two sides of the aluminum frame are stably connected with the trolley body by two telescopic rod motors. Middle solar panel fixes on the aluminum product frame, and two solar panels on both sides pass through angle aluminium and consolidate. The solar panel is reinforced by three sides of the fixed frame. And performing outer loop compensation calculation tracking by adopting a multi-sensor fusion technology and combining a view sun orbit tracking method, and quickly and roughly adjusting to be near the azimuth angle of the sun. And then, sun azimuth information is acquired through a four-quadrant photoelectric sensor, and a PID algorithm is applied to control PWM to output different duty ratios to accurately control the motor, so that the aim of accurately tracking the sun azimuth is achieved.
Description
Technical Field
The invention discloses an automatic light following system of a panel turnover type solar trolley and a control method, and belongs to the technical field of solar power supply.
Background
The western region of China is rich in solar energy resources, and the annual radiation quantity is 6700MJ/m2Above, the amount of radiation per square meter corresponds to the amount of heat generated by the combustion of 230kg of standard coal. But because the western regions are wide and rare, the distance between every two cities is long, so that the transmission line is long. At present, robots aiming at power transmission lines are diversified, and most of the energy supply aspects of the robots are used for supplying power to batteries by fixing solar panels on bodies. Since the incident angle of illumination is mostly not perpendicular to the solar panel, the fixed solar panel cannot utilize the solar energy resource with maximum efficiency, and at some time (before 11 am or after 3 pm), the obtained power is only about half of the maximum power. Thus, it is possible to provideAn automatic tracking system and a control method are needed, and solar energy resources are utilized to the maximum efficiency. However, the automatic tracking system and the control method thereof are applied to the mobile carrier in a few studies and have many defects.
Aiming at the problem of the existing solar power supply, some charging technologies applied to mobile robots are available. But it mainly fixes solar panel to the object periphery or does not use intelligent control algorithm to track the sun position, can't realize accurately, fast the automatic tracking to the sun. Through the literature search, the solar energy driven modular mobile robot is named as a solar energy driven modular mobile robot with the patent publication number of CN101733745 and the patent number of 2009103116719. In the invention, only one solar panel is designed, and the power supply is limited; the solar tracking is realized by adopting a solar tilt angle sensor (a unique sensor) and a coupling, but the invention does not mention any control algorithm (realization algorithm), and obviously only protects the designed mechanical structure; third, the inventive two-axis system is independent of the trolley movement system, essentially independent of the trolley carrier, and does not consider the association of trolley movement with the light tracking system at all. In the invention, the solar panel turnover plate structure is designed, so that the running stability (folding) of the trolley is ensured while the power generation power (opening) is increased; the invention realizes the rapid and accurate automatic light following function by adopting a multi-sensor fusion technology (GPS, a gyroscope and a four-quadrant photoelectric sensor), a quasi-biaxial device and a double-ring control algorithm. The quasi-biaxial device realizes azimuth tracking by depending on a moving system of the trolley without adding an additional mechanical structure. And the control algorithm adopts a double-loop control algorithm, so that the functions of quick coarse adjustment of the outer loop and accurate fine adjustment of the inner loop are realized, and the quick and accurate tracking of the sun is realized.
For the solar panel flap structure, there are some flap structures applied to manual or electric operation. According to the literature search, the solar photovoltaic panel is named as an automatic folding solar photovoltaic panel with the patent publication number of CN203434929 and the patent number of 2013205686329. According to the photovoltaic panel opening and closing control device, two photovoltaic panels are installed on a fixed support in parallel, the middles of the photovoltaic panels are connected through bearings, a driving mechanism of the photovoltaic panels can be a manual crank or an electric motor, and the photovoltaic panels are controlled to be opened and closed in a manual mode. The invention does not mention an automatic light following system, is applied to fixed occasions, is not mentioned for moving a trolley, and is not provided with a control algorithm. Which is substantially different from the present invention.
In summary, the tracking technology and the flap structure mentioned in the prior art and the patent documents cannot satisfy the automatic light tracking function of the solar intelligent car. By combining the existing related tracking technology, according to the working environment and working condition of the mobile trolley, a new design idea is adopted from mechanical design to control algorithm, so that the automatic light following system and the control method suitable for the solar trolley are very necessary.
In the prior art mentioned above, in the application of the solar-driven robot, the tracking device is too simple to adapt to various severe weather in the field only by connecting the coupling with the coupling, so that the sun direction cannot be accurately tracked. In addition, the invention only uses a small solar panel to supply power to the trolley, which is likely to cause insufficient energy source so as to cause the robot to be incapable of acting. And another patent is automatic folding solar photovoltaic board, its beta structure just can open or close when needing artificial help, can't accomplish intelligence and open and close, and its structure is not suitable for automatic system of following spot. Therefore, the invention provides a new method, (1) the solar panel turning plate structure fixes one end of a solar panel on the solar trolley by adopting a bearing seat, telescopic motors connected with the trolley body are respectively arranged in the middle positions of two sides of the middle solar panel so as to stabilize the turning plate structure, and the automatic opening and closing of the turning plate structure are controlled by a steering engine. Thereby solar panel turns over the area that can increase solar panel when board structure opens and increases its power, increases the charging current under the unchangeable condition of voltage promptly, realizes quick charge, does not influence the normal travel when closing. (2) Aiming at the sun tracking device, the invention adopts a quasi-double-shaft device, and achieves the purpose of tracking the altitude angle by 0-90 degrees by controlling the cooperative matching of the screw rod motor and the telescopic rod motor. The purpose of tracking the azimuth in all directions is achieved by controlling the rotation of the driving motor of the solar trolley body. (altitude tracking is one axis, azimuth tracking is not exactly one axis, so the two axes are called as a biaxial-like structure) so that the sun azimuth can be accurately tracked in all directions. (3) Aiming at a control algorithm, the invention provides a sun tracking double-loop control algorithm, firstly, the outer loop control utilizes a GPS, a nine-axis gyroscope and a sun-looking orbit tracking method to carry out coarse adjustment, when the trolley rapidly rotates to the state that the deviation value between the yaw angle and the azimuth angle of the trolley is smaller than a set yaw angle, the inner loop control is utilized to use a four-quadrant photoelectric sensor to combine with a PID algorithm to carry out fine adjustment, and therefore, the rapid, accurate and low-power consumption automatic tracking of the solar trolley is realized.
The automatic light following system applied to the solar intelligent car in the prior art still has some problems.
1) Stability of the tracking device cannot be solved
Most of the existing solar tracking technologies are installed on fixed objects, and only the fixed objects can make the solar panel firm, accurate and free from shaking when tracking the sun. The solar panel is supported only by the two couplers, and the sun is tracked by the rotation between the shafts, so that the solar panel cannot be stably, firmly and permanently applied, and the tracking deviation caused by shaking is easy to occur. Therefore, the problem of stability of the automatic tracking device of the existing solar trolley is not solved, so that the automatic tracking device cannot be directly applied to an automatic light tracking system of the solar trolley.
2) Limitation of application
Because the solar energy trolleys are all intelligent trolleys, the energy sources of the solar energy trolleys are self-sufficient through solar energy conversion, but the dependence of the solar energy trolleys on sunlight is also caused. When special weather such as cloudy day, rainy day, dark cloud cover, solar panel can't receive sufficient sunlight, thereby this can cause solar energy dolly charge efficiency to reduce and lead to the battery power can't satisfy the dolly and normally supply with, so turn over the plate structure through solar panel and enlarge charging power, realize the energy supplement fast. Most of the existing turning plates or folding structures are manually opened and are not intelligently controlled to be automatically opened, and the turning plate structure of the solar trolley tracking system is designed very rarely.
3) Precision tracking
The tracking mode of the solar trolley determines the direction of the sun only through data transmitted back by the single sensor, the method is not high in reliability, and once the sensor generates errors or is damaged, effective tracking cannot be achieved; in addition, a single sensor (such as a sun tilt sensor) can increase the search time and power consumption (more than 180 degree search), and can easily get into local oscillation to increase the power consumption. Therefore, the invention designs a control algorithm for the solar trolley, namely a sun tracking double-loop control algorithm, so that the problems are solved, and the sun is accurately and quickly tracked.
Disclosure of Invention
Aiming at the problems, according to the stability, the charging rapidity and the sun tracking accuracy of the solar intelligent trolley, the solar panel shaking caused by the solar intelligent trolley when tracking the sun is eliminated fundamentally through mechanical and control means, and the position of the sun is found accurately and rapidly.
For the problem that the existing invention and technology cannot solve the problem of solar panel shaking caused by automatic tracking of the solar trolley: the prior related invention and technology only use a single shaft to fix the middle, suspend the solar panel in the air, and track the sun through the change of the shaft and the shaft. However, the structure has limitations, and the solar panel may shake during tracking, or may be deviated from the original position or even damaged in severe weather. According to the invention, one end of the aluminum frame is fixed at the tail end of the solar trolley by adopting the fixed rotating shaft, and two sides of the aluminum frame are stably connected with the trolley body by two telescopic rod motors. Middle solar panel fixes on the aluminum product frame, and two solar panels on both sides pass through angle aluminium and consolidate. Through the trilateral of fixed frame, consolidate solar panel, eliminate in the pursuit and the weather cause that solar panel rocks.
Because the intelligent trolley powered by solar energy works in outdoor open areas, once the trolley travels too far or sunlight is insufficient, the power supply of the solar panel cannot keep up with the electric quantity required by the trolley. The invention designs a solar panel turnover plate structure arranged on the back of a trolley, and a controller controls a steering engine to automatically open two folded solar panels on a middle solar panel. The solar trolley has the advantages that the solar trolley is folded together in the running process of the solar trolley, the width of the solar trolley is consistent with that of the trolley, and the normal running of the trolley is not influenced. When charging is needed, the solar panel is opened, namely the power of the solar panel is enlarged, and the charging current is greatly increased under the condition of unchanged voltage. And the solar panel is controlled to be always vertical to the sunlight incident angle through the quasi-biaxial tracking device, the trolley is charged in the state of the maximum illumination intensity, and the purpose of quick charging is achieved.
The problem of how to complete the quick and accurate automatic tracking of the solar trolley is as follows: in order to meet the requirement of the solar trolley on quick and accurate tracking of the sun, the algorithm problem of sun tracking of the mobile trolley is solved. The invention adopts a sun tracking double-loop control algorithm to track the sun quickly and accurately. Firstly, an outer ring compensation calculation tracking is carried out by adopting a GPS and nine-axis gyroscope in combination with a view sun orbit tracking method, and the outer ring compensation calculation tracking is quickly and roughly adjusted to be near the azimuth angle of the sun. And then inner ring control is carried out, and the PID algorithm is used for controlling PWM to output different duty ratios through the sun azimuth information acquired by the four-quadrant photoelectric sensor, so that the sun azimuth can be accurately and automatically tracked.
Solar power generation is to absorb sunlight through a solar panel and generate a photovoltaic effect on the solar panel to generate current. Solar energy resources are clean energy which is pollution-free, renewable and available everywhere, large solar power plants are established in all countries of the world at present, and solar power generation becomes one of the mainstream technologies of world power generation. In northwest of China, the solar power station is a natural solar power plant with sparse population and high altitude and sufficient sunlight.
At present, solar equipment is divided into a fixed power generation device and an automatic tracking power generation device. However, in the conventional solar power plant, a fixed power generation device is often used, and a solar panel is fixed on the surface of an object at a certain elevation angle. The automatic tracking power generation device moves along with the sun through shaft movement, so that the solar panel and the sunlight are always in a vertical state, and power is generated under the maximum illumination intensity. The current tracking modes mainly comprise photoelectric tracking and apparent day orbit motion trail tracking, and the tracking device comprises single-axis tracking and double-axis tracking. The single-axis tracking can only rotate along one axis, and the azimuth angle of the solar energy can be adjusted. The double-axis tracking makes up the defects of single-axis tracking, is an all-dimensional tracking technology, and can track the sun by controlling the altitude angle and the azimuth angle. With the development of solar energy technology, the solar energy utilization mode is more and more diversified. At present, a movable trolley powered by solar energy becomes a new solar energy utilization mode, but the solar energy tracking of the trolley mainly adopts a fixed structure, cannot realize the real-time tracking of the sun, and cannot realize the power generation under the maximum illumination intensity, so that the development of an intelligent trolley solar energy automatic tracking system with an advanced control algorithm has important significance.
Aiming at the problem, the invention develops the solar automatic tracking system of the field mobile inspection trolley based on a quasi-biaxial tracking device, a multi-sensor fusion technology and a double closed-loop control algorithm. The method is mainly used for various requirements of power line inspection, grassland ecological monitoring, transformer substation inspection and the like. The invention mainly solves the following problems:
1. as the western regions in China are vast and rare, the transmission lines are too long, if the lines are inspected manually, the waste of human resources and the increase of line maintenance cost can be caused. The western regions have solar energy resources with high terrain, high illumination intensity and long sunshine time, so the invention designs the outdoor inspection trolley based on solar power supply, and the intelligent trolley is used for replacing manpower to inspect so as to save manpower resources.
2. Because the rated power and the area of the solar panel are in direct proportion, if electric energy with higher power is obtained, a large enough area of the solar panel must be laid, however, the area of the trolley is limited, and the overlarge solar panel will seriously affect the running performance of the trolley. In order to realize automatic tracking of the sun, a multi-sensor (GPS, a gyroscope, a four-quadrant photoelectric sensor and a limit sensor) fusion technology is used, and a control algorithm is combined to control a double-shaft tracking device to realize all-round quick and automatic sun tracking.
3. The invention is mainly applied to a mobile trolley system, so that the control algorithm of the invention fully considers the high efficiency and energy conservation of the algorithm, provides a double-ring control algorithm of sun tracking, the algorithm combines a GPS, a gyroscope and a sun-looking orbit tracking method to form an outer ring quick coarse adjustment link and an inner ring fine adjustment link formed by combining a four-quadrant photoelectric sensor and a PID algorithm, and realizes the quick and accurate automatic tracking of the sun through the double-ring regulation control algorithm formed by the two steps of regulation.
The technical scheme adopted by the invention is an automatic light following system of a panel turnover type solar trolley and a control method, and the automatic light following system comprises two parts, namely a panel turnover type automatic light following device and a double-ring tracking control algorithm.
An automatic light tracking system of a panel turnover type solar trolley comprises a main body frame unit, a double-shaft-like device, a multi-path detection sensor, a panel turnover structure and a light tracking system control mechanism. The main body frame unit is composed of a vehicle body (10), a crawler (9) and a battery (15), wherein the crawler (9) is arranged at the bottom of the vehicle body (10) and is a driving mechanism of the vehicle body (10), and the battery (15) is an energy supply unit of the vehicle body (10). The vehicle body (10) is a carrier of the whole system, and the quasi-biaxial device, the multi-channel detection sensor, the turning plate structure and the light tracking system control mechanism are all arranged on the vehicle body (10). The quasi-double-shaft device is a light following device of the trolley, the lower part of the quasi-double-shaft device is connected with the trolley body, and the upper part of the quasi-double-shaft device is connected with the turnover plate structure. The plate turnover structure is composed of three solar panels of the same type, and is connected with the quasi-biaxial device. The light tracking system control mechanism is connected with the turnover plate structure.
The quasi-biaxial device is composed of two fixed slide rails (7), two slide blocks (8), four bearing seats, two telescopic rod motors (4), a screw rod motor (11), a cross rod (12) and a vehicle body driving drive motor (16). A sliding block (8) is arranged on each sliding rail (7), a lower bearing seat (3) is fixed on each sliding block (8), the other two upper bearing seats (20) of the double-shaft-like device are fixed on an aluminum frame (13) of the solar panel turning plate, the upper bearing seats (20) are connected with the lower bearing seats (3) through telescopic rods, and the upper bearing seats (20), the lower bearing seats (3) and the telescopic rod support the turning plate structure. The two sliding blocks (8) are fixed through a cross rod (12), and the cross rod (12) controls the two sliding blocks (8) to move synchronously. The screw rod motor (11) is positioned in the middle of the slide rail (7), and the cross rod is controlled through the screw rod motor (11) so as to control the telescopic rod motor (4) to move on the slide rail (7). The lifting of the elevation angle of the plate turning structure is completed by the cooperation of the screw rod motor (11) and the telescopic rod motor (4). The vehicle body driving drive motor (16) is connected with the vehicle body (10), and the vehicle body (10) achieves the aim of tracking the sun azimuth in an all-dimensional manner by controlling the vehicle body driving drive motor (16).
The multi-path detection sensor consists of four sensors, namely a four-quadrant photoelectric sensor (2), a GPS module (19), a limit sensor (6) and a nine-axis gyroscope (17). The four-quadrant photoelectric sensor (2) is arranged in the middle position of the top of the turnover plate structure frame and used for detecting the azimuth angle of the sun. The GPS module (19) is arranged on the main control circuit board (18) and used for positioning the specific position of the vehicle body (10) and providing the required longitude and latitude for the sun-viewing track tracking algorithm. The limit sensor (6) is arranged at the limit position of the quasi-dual-axis device and plays a role in limiting and protecting the quasi-dual-axis device. The nine-axis gyroscope (17) is arranged on the main control circuit board (18) and used for detecting an included angle between the tail part of the vehicle body (10), namely the front direction of the solar panel, and the north direction, namely a yaw angle, and providing an angle basis for a double-loop control algorithm.
The turning plate structure is composed of an aluminum frame (13), three solar panels (1), two tail bearing seats (21), two hinge shafts (14) and two steering engines (5). The aluminum frame (13) is constructed by aluminum, the bottom end of the aluminum frame (13) is fixed at the tail part of the vehicle body (10) through a tail bearing seat (21), and the two sides of the middle part of the aluminum frame (13) are connected with the vehicle body (10) through a telescopic rod motor (4). One of the three solar panels (1) is fixed on the aluminum frame (13), and after the periphery of the other two solar panels (1) is reinforced by using angle aluminum, the two hinge shafts (14) are adopted to respectively install the solar panels on two sides of the aluminum frame (13) in parallel. The steering engine (5) fixed at the bottom of the frame is used for driving the solar panels (1) on the two sides to open or close.
The light following system control mechanism comprises a controller and a motor driving unit. The controller completes the processing of the light tracking information and the output of a control command, wherein the output of the control command is the output of a light tracking control algorithm; because the whole solar trolley tracks the uncertainty of the environment, an optical coupling isolation unit is added at the front end of the main control circuit board so as to ensure the safe and reliable operation of the system. The motor driving unit completes the driving control of the steering engine, the screw rod motor, the telescopic rod motor and the trolley driving motor, and is matched with the main controller to realize an all-dimensional sun tracking algorithm.
The crawler belt (9) is of a wheel type structure.
The overall structural schematic diagram of the automatic light following system of the panel turnover type solar trolley is shown in figure 1.
A control method of a turning-plate type solar trolley automatic light following system is characterized in that a multi-sensor fusion technology (GPS and gyroscope) is combined with a view-sun orbit tracking method to perform outer-loop compensation calculation tracking, and the outer-loop compensation calculation tracking is quickly and roughly adjusted to be near the azimuth angle of the sun. And then, sun azimuth information is acquired through a four-quadrant photoelectric sensor, and a PID algorithm is applied to control PWM to output different duty ratios to accurately control the motor, so that the aim of accurately tracking the sun azimuth is achieved.
1) The outer ring adjustment determines an included angle between the solar trolley and the north, namely a yaw angle, through a nine-axis gyroscope, reads the local latitude through a GPS module, reads the current time and date through a single chip microcomputer RTC real-time clock, and calculates the current azimuth angle through a sun-looking orbit tracking method. In FIG. 2, δ0Indicating yaw angle, delta2Denotes the azimuth angle, when0<δ2When is delta2-δ0>The 180-degree controller sends a signal to control the vehicle body driving motor to rotate reversely; delta2-δ0<The 180 ° control driving motor is positively transmitted as shown in (a) of fig. 2. When delta0>δ2When is delta0-δ2>The 180-degree controller sends out a signal to control the forward transmission of a vehicle body driving motor, delta0-δ2<The 180 ° control drives the motor reverse rotation as shown in (b) of fig. 2. The outer loop realizes delta through the feedback control of the yaw angle2-δ0|<ε1，ε1And finally, rapidly and roughly adjusting the sun azimuth to be close to the sun azimuth obtained by calculation through outer ring control, wherein the dead zone threshold is the dead zone threshold.
2) When the solar trolley rotates to the range near the solar azimuth angle, the solar trolley meets the requirement of delta2-δ0|<ε1When the inner ring is in use, the turning plate structure is opened, and the inner ring is finely adjusted. The automatic light following of the quasi-dual-axis device is controlled by combining a four-quadrant photoelectric sensor with a PID control algorithm. By calculating the voltage difference between the east and the south of the four-quadrant photoelectric sensor, namely (U)East-UWestern medicine) And (U)South China-UNorth China) And the output voltage difference controls the PWM output by using a PID algorithm. When the sun is at west, UEast-UWestern medicine>0 and | UEast-UWestern medicine|>ε2The larger the voltage difference is, the larger the duty ratio of the PID-controlled PWM is, the faster the driving motor rotates to the west, and the smaller the voltage difference is, the smaller the duty ratio of the PWM is, the slower the driving motor rotates. U measurement by four-quadrant photoelectric sensorSouth China-UNorth China<0 and | USouth China-UNorth China|>ε2First, through the horizontal pole of lead screw motor pulling, rely on the removal of horizontal pole again to look for the altitude angle, if not find yet when the horizontal pole touches spacing sensor, just continue to look for the altitude angle through the flexible extension pole motor of control, as shown in (a) in fig. 3. When the sun is located east, the rotation direction is as shown in fig. 3 (b). Setting a minimum threshold value epsilon in the difference between the azimuth and the altitude2In the vicinity of | UEast-UWestern medicine|<ε2、|USouth China-UNorth China|<ε2And when the sunlight and the solar panel are vertical, the light following system is finished. U shapeEast、UWestern medicine、USouth China、UNorth ChinaThe voltage values of the four quadrant photoelectric sensors in the east direction, the west direction, the south direction and the north direction are respectively shown. The structural block diagram of the dual-loop tracking control algorithm is shown in FIG. 4. The control method comprises the following specific implementation flows:
step 1: firstly, by measuring the voltage U of the lithium battery1Setting a discharge cutoff voltage U2，U1≥U2The lithium battery does not need to be charged, U1<U2The lithium battery needs to be charged. Four-quadrant average voltage value U acquired by four-quadrant photoelectric sensor3And a set voltage value U4Comparison, U3≥U4The current time is not suitable for charging. U shape3<U4The solar ray is suitable for charging at the current moment.
Step 2: determining the yaw angle delta between the tail and the north direction of the vehicle body through a nine-axis gyroscope0. Reading GPS module latitude
And the time and date displayed by the RTC real-time clock of the single chip microcomputer are combined with a sun-looking track tracking calculation formula: declination angle of the sun
Wherein n is the number of days between one year, and is 1-365. The solar time angle ω is 15 ° (st-12), st being the local time in 24 hours.
And step 3: the controller sends out an instruction to control the solar panel turnover structure of the trolley to be opened, and the steering engine is controlled to open the uppermost solar panel through algorithm output to stop when the uppermost solar panel is flush with the middle solar panel. Then the second solar panel is opened again, and the solar panel is stopped at the position flush with the middle solar panel.
And 4, step 4: because the sun-viewing orbit tracking algorithm obtains the solar azimuth angle through calculation, deviation exists in practical implementation. Therefore, accurate tracking needs to be realized by using a four-quadrant photoelectric sensor, namely, the voltage of each quadrant is calculated and combined two by two (such as the southeast quadrant and the east quadrant)North quadrant combined into east-oriented voltage) to derive the voltage U for each directionEast、UWestern medicine、USouth China、UNorth ChinaAs shown in fig. 5. By calculating the voltage difference in the east-west and south-north directions, the output voltage difference is controlled by using the PID algorithm to control the PWM output. When the difference between the azimuth angle and the altitude angle is less than the threshold value epsilon2By time, it is meant that the solar light and solar panel are already substantially vertical.
And 5: when the sun position is tracked, the controller controls the program to enter a timing state. After timing is finished, judging whether the deviation value of the azimuth angle and the yaw angle is within a set value range and within a threshold value epsilon1Only fine adjustment of the inner ring is needed, and the step 4 is repeated. Angle epsilon beyond control range1From the repetition of step 2, the outer ring is preceded and then the inner ring is succeeded.
Step 6: when the battery voltage U1Maximum allowable voltage U of large battery5Or the sudden appearance of the cloudy or rainy day to shield the sun so as to measure the voltage value U3Less than a set voltage value U4When so, the charging is cut off. The solar panel is firstly and secondly turned back to the middle position through a control algorithm, the telescopic rod motor retracts, and the screw rod motor pushes back to the initial position. And (5) finishing the automatic light tracking system of the solar trolley and finishing charging.
Compared with the prior art, the method has the following beneficial effects.
1) The solar panel turning plate structure comprises: the design polylith solar panel's turns over the board structure, has both guaranteed to turn over and provides great charging power when opening, and the stability of dolly operation when realizing turning over the board closure again. The automatic control of the opening and closing of the solar panel is realized by automatically detecting the electric quantity of the battery and the illumination intensity of the sun.
2) Quasi-dual-axis light following system: through the cooperation of lead screw motor and telescopic link motor, can realize that solar panel sun height is at 0 ~ 90 adjustment. The 360-degree azimuth rotation of the trolley can be controlled by controlling the moving system of the trolley body. Thereby at first rotate through the lead screw motor and drive the horizontal pole and remove, cause the telescopic link motor on the slider to follow the removal and reach the purpose of tentatively seeking the height angle. When touching the spacing sensor, the height angle is not found yet, and then the height angle is found through the extension of the telescopic rod motor. The solar panel altitude angle tracking is realized through the cooperation of the solar panel altitude angle tracking and the solar panel altitude angle tracking. The trolley can rotate 360 degrees by controlling the driving motor of the solar trolley body. Therefore, the quasi-biaxial structure can track the sun azimuth in all directions.
3) Sun-tracking double-loop control algorithm: outer ring adjustment: and calculating a yaw angle by using a nine-axis gyroscope, and calculating an azimuth angle by combining the latitude read by the GPS and the time read by the singlechip through a sun-looking tracking method, so as to control the vehicle body motor to rotate to the calculated azimuth angle quickly and preliminarily. Adjusting an inner ring: the four-quadrant photoelectric sensor is combined with a PID control algorithm to control the PWM output duty ratio, and the sun position is accurately tracked.
Drawings
Fig. 1 is a general structure diagram of an automatic light following system of a panel-turning type solar trolley, (a) a front view of the automatic light following system of the panel-turning type solar trolley, (b) a sectional view of the automatic light following system of the panel-turning type solar trolley, (c) an opening view of a panel-turning plate of the automatic light following system of the panel-turning type solar trolley.
The rotation directional diagram of the solar trolley in the coarse adjustment is shown in fig. 2, wherein (a) the driving motor is controlled to rotate forwards, and (b) the driving motor is controlled to rotate backwards.
FIG. 3 is a schematic diagram of a four quadrant control drive motor. (a) When the sun is located west, (a) when the sun is located east.
FIG. 4 is a block diagram of a dual loop control algorithm based on sun tracking.
FIG. 5 is a four quadrant control schematic.
FIG. 6 is a general block diagram of the system architecture of the present invention.
Fig. 7 is a flowchart of the sun tracking procedure of the present invention.
Fig. 8 is a diagram of a panel-turning solar automatic tracking trolley.
Fig. 9 is a diagram showing the opening of a solar panel of the panel-turning solar automatic tracking trolley in real time.
Fig. 10 shows an application example of the automatic tracking system of the panel turnover solar car, (a) the automatic tracking system of the wheel type panel turnover solar car, and (b) the automatic tracking system of the crawler type panel turnover solar car.
In the figure: 1. the solar energy collecting device comprises a solar panel 2, a four-quadrant photoelectric sensor 3, a lower bearing seat 4, a telescopic rod motor 5, a steering engine 6, a limiting sensor 7, a sliding rail 8, a sliding block 9, a crawler 10, a vehicle body 11, a screw rod motor 12, a cross rod 13, an aluminum material frame 14, a hinge shaft 15, a lithium battery 16, a vehicle body driving motor 17, a nine-axis gyroscope 18, a main control circuit board 19, a GPS module 20, an upper bearing seat 21 and a tail bearing seat.
Detailed Description
The following describes a specific working process of the double-loop control algorithm in the invention by taking three solar panel solar tracking trolley light tracking systems as an example. Fig. 8 is a practical diagram of the sun-tracking dual-loop control system according to the present invention. In the tracking system, a sun-looking orbit tracking algorithm, a GPS and a nine-axis gyroscope are used for primary positioning, and a PID control algorithm is combined with a four-quadrant photoelectric sensor for precise positioning. The specific parameters are as follows:
three solar panels with the total power of about 100W are powered by a lithium battery with the voltage of 12V and the capacity of 20 AH. The current latitude required by the tracking of the apparent day is read through the GPS module, and the current date and time are read in combination with an STM32 RTC real-time clock. The real-time azimuth angle of the sun is calculated by a sun-looking orbit tracking method, the north is taken as an initial angle, and the range is 0-360 degrees. The difference in azimuth between 12 and 13 pm in the summer solstice period was found by calculation to be 44 °, which is the largest azimuth difference throughout the year. Since the geomagnetic declination of the inner Mongolia Hohaote city is about 4 degrees by using the nine-axis gyroscope JY901, and the maximum rotation azimuth angle of the whole year within 15 minutes is 11 degrees, the declination range value | epsilon1The | is 11 degrees, so that the geomagnetic declination range can be satisfied, and the static charging can be carried out for a long time. Reading the average voltage value U in the absence of light by covering the photovoltaic four-quadrant by hand10.23V, set at a tracking solar voltage value U2＝1.2U10.28V, threshold value is epsilon20.01V. Setting a full-charge voltage value U of a battery5The battery discharge cutoff voltage U was set at 1.2 × 12 to 14.4V20.9 × 12 ═ 10.8V. The nine-axis gyroscope module JY901 arranged at the tail of the vehicle is used, the north-positive direction is set to be 0 degrees, and the yaw angle is increased clockwise at the tail of the vehicle, and the range is 0-360 degrees. Utensil for cleaning buttockThe method comprises the following steps:
when the panel turnover type solar trolley is used for patrolling and examining a circuit, the electric quantity of the trolley is reduced along with the increase of the patrolling and examining time. When the voltage of the lithium battery is less than 10.8V, the average voltage value transmitted by the four-quadrant photoelectric sensor is checked, and if the average voltage value is less than 0.28V, the trolley continues to advance to search for a position with stronger illumination intensity. When the set illumination intensity is reached, the trolley is stopped. The azimuth angle of the sun is calculated according to the sun tracking method by combining the latitude transmitted by the GPS module and the time read by the single chip microcomputer through the yaw transmitted by the nine-axis gyroscope JY901 on the circuit board in the trolley. And judging the positions of the yaw angle and the azimuth angle so as to rotate quickly. In order to prevent the trolley from falling into the situation that local oscillation consumes electricity when searching for an accurate azimuth angle, an offset angle range of 11 degrees is set. When the trolley is rotated to the range, the trolley stops rotating. The azimuth angle of the sun can be quickly found through the outer ring coarse adjustment mode, and after the trolley stops, the controller controls the turning plate structure to be opened for charging. The steering engine is controlled to open the solar panel on the uppermost layer at first, and the rotation is stopped when the solar panel is level with the middle solar panel. The second solar panel is then opened and stopped when flush, as shown in fig. 9.
After the solar panel is opened, the voltages U in all directions are measured by the four-quadrant photoelectric sensorEast、UWestern medicine、USouth China、UNorth ChinaThe east-west direction is the azimuth angle and the south-north direction is the elevation angle. When U is turnedEast-UWestern medicine>When 0, the sun is in the west, and the trolley is controlled to rotate towards the west. When the output voltage difference is larger, the duty ratio of PWM output controlled by the PID control algorithm is larger, so that the rotating speed of the motor is faster. The smaller the voltage difference, the slower the motor speed, up to | UEast-UWestern medicine|<0.01V. The south north direction also is so motion, at first rotates the pulling horizontal pole through the lead screw motor, seeks the altitude angle through the removal of horizontal pole, if not yet find when the horizontal pole touches spacing sensor, just continues to seek the altitude angle through the control telescopic link motor is flexible. When the motors controlling the azimuth angle and the elevation angle are stopped, the solar panel and the sunlight sight line are indicated at the momentIn the vertical state, the battery is charged rapidly with the maximum light intensity. In order to save the energy consumed by the motor due to real-time tracking, when the pressure difference of the altitude angle and the azimuth angle is less than 0.01V (epsilon)2) And the controller controls the program to enter a timing state. After timing for 15 minutes, judging whether the deviation between the yaw angle and the azimuth angle is in a yaw angle range or not, performing coarse adjustment in the range without using a nine-axis gyroscope, a GPS, a real-time clock and a sun-sight orbit tracking method, directly performing inner-ring fine adjustment through a four-quadrant and PID control algorithm, and searching for the sun azimuth without the yaw angle range by using outer-ring coarse adjustment and then inner-ring fine adjustment. The actions are repeated, so that the position of the sun can be quickly, energy-saving and accurately found, and the lithium battery can be quickly charged.
When the voltage of the trolley battery exceeds 14.4V or the average voltage of the four-quadrant output does not reach 0.28V, the solar panel is closed. The telescopic rod motor retracts, the screw rod motor starts to push the cross rod back, the cross rod stops when touching the limiting sensor, and the charging process is finished.
The invention can realize fast, energy-saving and stable sun tracking by using the sun tracking double-loop control algorithm and can fast charge the lithium battery.
The application of the embodiment is shown in fig. 10.
Claims (4)
1. The utility model provides an automatic system of following spot of panel turnover formula solar car which characterized in that: the system consists of a main body frame unit, a quasi-biaxial device, a multi-path detection sensor, a turning plate structure and a light following system control mechanism; the main body frame unit is composed of a vehicle body (10), a crawler belt (9) and a battery (15), the crawler belt (9) is arranged at the bottom of the vehicle body (10) and is a driving mechanism of the vehicle body (10), and the battery (15) is an energy supply unit of the vehicle body (10); the vehicle body (10) is a carrier of the whole system, and the quasi-biaxial device, the multi-channel detection sensor, the turning plate structure and the light tracking system control mechanism are all arranged on the vehicle body (10); the quasi-double-shaft device is a light following device of the trolley, the lower part of the quasi-double-shaft device is connected with the trolley body, and the upper part of the quasi-double-shaft device is connected with the turnover plate structure; the plate turnover structure is composed of three solar panels with the same type, and is connected with the quasi-biaxial device; the light tracking system control mechanism is connected with the turnover plate structure;
the double-shaft-like device consists of two fixed slide rails (7), two slide blocks (8), four bearing seats, two telescopic rod motors (4), a screw rod motor (11), a cross rod (12) and a vehicle body driving motor (16); each sliding rail (7) is provided with a sliding block (8), a lower bearing seat (3) is fixed on each sliding block (8), the other two upper bearing seats (20) of the similar double-shaft device are fixed on an aluminum frame (13) of the solar panel turning plate, the upper bearing seats (20) are connected with the lower bearing seats (3) through telescopic rods, and the upper bearing seats (20), the lower bearing seats (3) and the telescopic rod support the turning plate structure; the two sliding blocks (8) are fixed through a cross rod (12), and the cross rod (12) controls the two sliding blocks (8) to synchronously move; the screw rod motor (11) is positioned in the middle of the slide rail (7), and the cross rod is controlled by the screw rod motor (11) so as to control the telescopic rod motor (4) to move on the slide rail (7); the lifting of the elevation angle of the plate turnover structure is completed by the cooperation of the screw rod motor (11) and the telescopic rod motor (4); the vehicle body driving motor (16) is connected with the vehicle body (10), and the vehicle body (10) achieves the aim of tracking the azimuth angle of the sun in an all-dimensional manner by controlling the vehicle body driving motor (16);
the multi-path detection sensor consists of four sensors, namely a four-quadrant photoelectric sensor (2), a GPS module (19), a limit sensor (6) and a nine-axis gyroscope (17); the four-quadrant photoelectric sensor (2) is arranged in the middle position of the top of the turnover plate structure frame and used for detecting the azimuth angle of the sun; the GPS module (19) is arranged on the main control circuit board (18) and used for positioning the specific position of the vehicle body (10) and providing the required longitude and latitude for the sun-looking track tracking algorithm; the limiting sensor (6) is arranged at the limiting position of the quasi-double-shaft device and plays a role in limiting and protecting the quasi-double-shaft device; the nine-axis gyroscope (17) is arranged on the main control circuit board (18) and used for detecting an included angle, namely a yaw angle, between the tail part of the vehicle body (10), namely the front direction of the solar panel and the north direction, and providing an angle basis for a double-loop control algorithm;
the turning plate structure consists of an aluminum frame (13), three solar panels (1), two tail bearing seats (21), two hinge shafts (14) and two steering engines (5); the aluminum frame (13) is built by aluminum, the bottom end of the aluminum frame (13) is fixed at the tail part of the vehicle body (10) through a tail bearing seat (21), and two sides of the middle part of the aluminum frame (13) are connected with the vehicle body (10) through a telescopic rod motor (4); one of the three solar panels (1) is fixed on the aluminum frame (13), and after the periphery of the other two solar panels (1) is reinforced by using angle aluminum, the solar panels are respectively arranged on two sides of the aluminum frame (13) in parallel by adopting two hinge shafts (14); the steering engine (5) fixed at the bottom of the frame is used for driving the solar panels (1) on the two sides to open or close;
the light tracking system control mechanism comprises a controller and a motor driving unit; the controller completes the processing of the light tracking information and the output of a control command, wherein the output of the control command is the output of a light tracking control algorithm; because the whole solar trolley tracks the uncertainty of the environment, an optical coupling isolation unit is added at the front end of the main control circuit board so as to ensure the safe and reliable operation of the system; the motor driving unit completes the driving control of the steering engine, the screw rod motor, the telescopic rod motor and the vehicle body driving motor, and an omnibearing sun tracking algorithm is realized by matching with the controller.
2. The automatic light following system of the panel turnover type solar trolley according to claim 1, characterized in that: the track (9) is replaced by a wheel type structure.
3. The control method of the automatic light following system of the panel turnover type solar trolley by using the system of claim 1 is characterized in that:
the method adopts a multi-sensor fusion technology and combines a sight day orbit tracking algorithm to carry out outer ring compensation calculation tracking, and the sun azimuth angle is quickly and roughly adjusted to be near the sun azimuth angle; then, sun azimuth information is collected through a four-quadrant photoelectric sensor, a PID algorithm is applied to control PWM to output different duty ratios to accurately control a motor, and the aim of accurately tracking the sun azimuth is achieved;
1) the outer ring adjustment determines an included angle between the solar trolley and the north, namely a yaw angle, through a nine-axis gyroscope, reads the local latitude through a GPS module, reads the current time and date through a single chip microcomputer RTC real-time clock, and calculates the current azimuth angle by combining a sun-looking orbit tracking algorithm; delta0Indicating yaw angle, delta2Indicating orientationAngle, when delta0<δ2When is delta2-δ0>The 180-degree controller sends a signal to control the vehicle body to drive the driving motor to rotate reversely; delta2-δ0<Controlling the driving motor to positively drive at 180 degrees; when delta0>δ2When is delta0-δ2>The 180-degree controller sends out a signal to control the forward transmission of a vehicle body driving drive motor, delta0-δ2<Controlling the driving motor to rotate reversely at 180 degrees; the outer loop realizes delta through the feedback control of the yaw angle2-δ0|<ε1，ε1The dead zone threshold value is finally realized by outer loop control to quickly and roughly adjust the dead zone threshold value to be near the solar azimuth angle obtained by calculation;
2) when the solar trolley rotates to the range near the solar azimuth angle, the solar trolley meets the requirement of delta2-δ0|<ε1When the inner ring is in use, the turning plate structure is opened, and the inner ring is finely adjusted; controlling the quasi-dual-axis device to automatically follow the light by combining a four-quadrant photoelectric sensor with a PID algorithm; by calculating the voltage difference between the east and the south of the four-quadrant photoelectric sensor, namely (U)East-UWestern medicine) And (U)South China-UNorth China) The output voltage difference controls PWM output by using a PID algorithm; when the sun is at west, UEast-UWestern medicine>0 and | UEast-UWestern medicine|>ε2The larger the voltage difference is, the larger the duty ratio of PWM controlled by the PID algorithm is, the faster the westward rotating speed of the driving motor is, and the smaller the voltage difference is, the smaller the duty ratio of PWM is, the slower the rotating speed of the driving motor is; u measurement by four-quadrant photoelectric sensorSouth China-UNorth China<0 and | USouth China-UNorth China|>ε2Firstly, pulling a cross rod through a screw rod motor, then searching for a height angle by depending on the movement of the cross rod, and if the cross rod is not found when the cross rod touches a limit sensor, continuously searching for the height angle by controlling the telescopic rod motor to stretch; when the sun is at east, the direction is rotated; setting a minimum threshold value epsilon in the difference between the azimuth and the altitude2In the vicinity of | UEast-UWestern medicine|<ε2、|USouth China-UNorth China|<ε2When the sunlight and the solar panel are vertical, the light following system is finished; u shapeEast、UWestern medicine、USouth China、UNorth ChinaThe voltage values of the four quadrant photoelectric sensors in the east direction, the west direction, the south direction and the north direction are respectively shown.
4. The control method of the automatic light following system of the panel turnover type solar trolley according to claim 3, characterized in that:
the control method comprises the following specific implementation flows:
step 1: the battery is a lithium battery and is obtained by measuring the voltage U of the lithium battery1Setting a discharge cutoff voltage U2，U1≥U2The lithium battery does not need to be charged, U1<U2The lithium battery needs to be charged; four-quadrant average voltage value U acquired by four-quadrant photoelectric sensor3And a set voltage value U4Comparison, U3≥U4The current time is not suitable for charging; u shape3<U4The solar ray is suitable for charging at the current moment;
step 2: determining the yaw angle delta between the tail and the north direction of the vehicle body through a nine-axis gyroscope0(ii) a Reading GPS module latitude
And the time and date displayed by the RTC real-time clock of the single chip microcomputer are combined with a sun-looking track tracking calculation formula: declination angle of the sun
Wherein n is the number of days between one year, 1-365 is taken; the solar time angle ω is 15 ° (st-12), st is the local time, in 24 hours;
and step 3: the controller sends out an instruction to control the solar panel turnover structure of the trolley to be opened, and the steering engine is controlled to open the uppermost solar panel through algorithm output to stop when the uppermost solar panel is level with the middle solar panel; then, the second solar panel is opened again, and the solar panel stops at the position flush with the middle solar panel;
and 4, step 4: because the sun-viewing orbit tracking algorithm obtains the solar azimuth angle through calculation, deviation exists in actual implementation; therefore, the four-quadrant photoelectric sensor is required to be reused to realize accurate tracking, namely, the voltage of each quadrant is calculated, and the voltage U in each direction is obtained by combining two partsEast、UWestern medicine、USouth China、UNorth China(ii) a By calculating the voltage difference of east-west and south-north directions, the output voltage difference controls PWM output by using a PID algorithm; when the difference between the azimuth angle and the altitude angle is less than the threshold value epsilon2By time, it is meant that the sunlight and solar panel are already substantially vertical;
and 5: when the sun position is tracked, the controller controls the program to enter a timing state; after timing is finished, judging whether the deviation value of the azimuth angle and the yaw angle is within a set value range and within a threshold value epsilon1Only fine adjustment of the inner ring is needed, and the step 4 is repeated; angle epsilon beyond control range1Repeating the step 2, namely, firstly carrying out outer ring and then carrying out inner ring;
step 6: when the battery voltage U1Greater than the maximum allowable voltage U of the battery5Or the sudden appearance of the cloudy or rainy day to shield the sun so as to measure the voltage value U3Less than a set voltage value U4When so, the charging is cut off; the solar panel is firstly and secondly turned back to the middle position through a control algorithm, the telescopic rod motor retracts, and the screw rod motor pushes back to the initial position; solar trolleyAnd finishing the automatic light tracking system and finishing charging.
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