CN107992102B - Single-shaft double-closed-loop sun tracking control method - Google Patents
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Abstract
The invention relates to the technical field of solar energy, and discloses a single-shaft double-closed-loop sun tracking control method, which comprises the following steps: s1: establishing a pixel coordinate system x0 y; s2: through field debugging, an ideal position between the sun and the controlled object is found,acquiring the picture information at the moment through an optical focusing sensor, mapping the center point of the sun into a pixel coordinate system, calculating the pixel coordinate of the point, calibrating the curve of the point as a working state curve y ' f (x '), and calculating a preparation state curve y ' f (x); s3: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0，y0) Let f (x)0) And y0Is less than the error tolerance; s4: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0＇，y0Min.), let f (x)0' and y0A deviation of "" is less than the allowable error value. The method of the invention has simple and convenient operation, the system has two states, and can be switched at any time without manual operation at any time for switching the states.
Description
Technical Field
The invention relates to the technical field of solar energy, in particular to a single-shaft double-closed-loop sun tracking control method.
Background
With the increasing severity of the shortage situation of energy, the application of green energy-solar energy will also deepen gradually, our country is a world-wide high-energy-consumption country, with the increasing of the price and shortage of the supply of international conventional energy, the environmental pollution is increasing, and the deep development and utilization of green energy are imperative. The solar power generation project conforms to the thinking of national energy strategic planning, and provides powerful operational weapons for the energy battle of China.
Most solar power generation systems are controlled by double-shaft tracking at present, the systems are complex in structure, high in cost and inconvenient to maintain, and especially the solar power generation systems are used for the situation that the axial size of a solar receiver is large (such as a trough type solar thermal power generation system). Although the double-shaft tracking has high power generation efficiency, a mechanical structure for realizing double-shaft rotation is complex, the whole support has heavy weight, and the rotation inertia is large, so that the precision is influenced. Therefore, for example, the secondary solar power generation heating system should adopt single-shaft tracking control as much as possible. Fig. 1 is a schematic structural diagram of an existing single-axis double-closed-loop solar tracking system, but the single-axis double-closed-loop solar tracking control method based on the system has the following disadvantages:
1. the precision is low. The tracking control of the sun is carried out only according to the astronomical model, and the position conditions of the astronomical model and the actual sun cannot be completely matched, so the actual tracking result cannot be very accurate, and a large error exists.
2. The response is slow. Even if the astronomical model is modified, the difference between the position of the non-working state and the position of the working state is uncertain, so that the time required for the process of switching from the non-working state to the working state is possibly long, and the quick response cannot be realized.
3. The oscillation is easily overshot. When the difference between the position of the non-working state and the position of the working state is large, the running speed is high in the process of switching from the non-working state to the working state, the problem of overshoot oscillation is easy to occur, and peripheral equipment of the solar receiver can be damaged.
Disclosure of Invention
The invention provides a single-shaft double-closed-loop sun tracking control method, which solves the problems that in the prior art, the tracking result error is large and the ideal position cannot be accurately reached.
The invention discloses a single-shaft double-closed-loop sun tracking control method, which comprises the following steps:
s1: establishing a pixel coordinate system x0 y;
s2: finding an ideal position between the sun and a controlled object through field debugging, acquiring picture information at the moment through an optical focusing sensor, corresponding a center point of the sun to a pixel coordinate system, calculating a pixel coordinate of the point, continuously calculating pixel coordinates of the center points of the sun at the ideal positions in the pixel coordinate system at a plurality of moments on the same day, fitting a plurality of obtained points into a curve, calibrating the curve as a working state curve y ', f (x'), and calculating a preparation state curve y, f (x), wherein the preparation state curve is a curve with a preset distance from the working state curve;
s3: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0，y0) Let f (x)0) And y0Is less than the error tolerance;
s4: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0＇，y0Min.), let f (x)0' and y0A deviation of "" is less than the allowable error value.
Wherein the step S3 includes:
s31: from the empirical position curve of the sun over time,calculating the theoretical position of the sun at the current moment, calculating the theoretical inclination angle beta of the controlled object at the current moment, and adding the correction value u1To obtain the actual angle value beta to be executed by the controlled object0And recording the angle value;
s32: obtaining the actual inclination angle beta of the controlled object through the angle collector1；
S33: the optical focusing sensor collects the image information of the actual position of the sun at the current moment, if the image information of the sun can be normally obtained, the image information of the sun at the current moment is marked to be normally obtained in the record table, and the corresponding actual pixel coordinate (x) of the circle center of the sun at the current moment in the pixel coordinate system is calculated0，y0) Otherwise, marking the image information abnormity of the sun in the record table for future inquiry;
s34: comparison and judgment f (x)0) And y0If the deviation is less than the allowable error value, the correction value is kept unchanged, otherwise, f (x) is used0) Calculating the current time deviation of the controlled object as reference, and updating the correction value u1Updating the angle value beta actually executed by the controlled object0(ii) a According to beta1、y0And f (x)0) Calculating and recording the position c of the sun;
s35: comparing the actual inclination angle beta of the controlled object1Angle value beta actually executed with controlled object0，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S36;
if the deviation is smaller than the error allowable value, sending a stop adjustment instruction to the motor driver, stopping adjusting the inclination angle of the controlled object, and executing the step S36;
s36: determining whether the instruction to switch to S4 or the stop adjustment instruction is received: if an instruction to switch to S4 is received, go to step S4; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S31-S36 are executed.
If the optical focusing sensor can not capture the position of the sun at the current moment, the correction value u is calculated according to the position c of the sun at the latest day1。
Wherein the step S4 includes:
s41, calculating the theoretical position of the sun at the current time according to the empirical position curve of the sun with respect to time, calculating the theoretical inclination angle beta' of the controlled object at the current time, and adding the correction value u2To obtain the actual angle value beta to be executed by the controlled object0And recording the angle value;
s42: obtaining the actual inclination angle beta of the controlled object through the angle collector1＇；
S43: the optical focusing sensor collects the image information of the actual position of the sun at the current moment, if the image information of the sun can be normally obtained, the image information of the sun at the current moment is marked to be normally obtained in the record table, and the corresponding actual pixel coordinate (x) of the circle center of the sun at the current moment in the pixel coordinate system is calculated0＇，y0'), otherwise, marking the image information exception of the sun in the recording table for future inquiry;
s44: comparison and judgment f (x)0' and y0Deviation value between, if the deviation is less than the permissible value of error, keeping the correction value unchanged, otherwise, at f (x)0' as a reference, a deviation of the current time of the controlled object is calculated, and the correction value u is updated2Updating the angle value beta actually executed by the controlled object0' of a compound of formula I; according to beta1＇、y0' and f (x)0' calculating and recording the position d of the sun;
s45: comparing the actual inclination angle beta of the controlled object1Angle value beta to be actually executed with the controlled object0＇，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S46;
if the deviation is smaller than the error allowable value, sending a stop adjustment instruction to the motor driver, stopping adjusting the inclination angle of the controlled object, and executing the step S34;
s46: determining whether the instruction to switch to S3 or the stop adjustment instruction is received: if an instruction to switch to S3 is received, go to step S3; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S41 through S46 are looped.
If the optical focusing sensor can not capture the position of the sun at the current time, the correction value u is calculated according to the obtained position d of the sun in the latest day2。
Wherein the S1 includes: a plurality of pictures with the same size are obtained through an optical focusing sensor, any point on the pictures is defined as a coordinate origin, two directions which are perpendicular to each other are used as positive and negative coordinate axes, and a pixel coordinate system x0y is established by taking a pixel as a basic unit.
Wherein a wide angle of an optical lens group of the optical focus sensor is 186 °.
The single-shaft double-closed-loop sun tracking control method has two control states, namely a preparation state control step of S3 and a working state control step of S4, wherein the preparation state S3 is executed firstly, then the switching to the working state S4 is carried out, the difference value between the position of the preparation state and the position of the working state is fixed, the switching time is fixed and controllable, quick response can be realized, higher precision can be achieved, and the problem of overshoot oscillation is not easy to cause. In addition, the operation is simple and convenient, the system has two states, the switching can be carried out at any time, and manual operation is not needed for switching the states all the time. And the solar pixel coordinates are controlled to be kept on a straight line, only one-dimensional coordinate operation is needed, the structure and the operation process are simplified, the system response time is prolonged, and meanwhile, the control precision can be ensured.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a single-shaft dual-closed-loop solar tracking system;
FIG. 2 is a flow chart of a single-axis dual closed-loop sun-tracking control method of the present invention based on the system of FIG. 1;
FIG. 3 is a simplified operational flow diagram of FIG. 2;
fig. 4 is a flow chart of another simplified operation of fig. 2.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The single-shaft double-closed-loop sun tracking control method of the embodiment, as shown in fig. 2, includes:
step S1, a pixel coordinate system x0y is established, in this embodiment, a plurality of pictures with the same size are obtained through an optical focusing sensor, any point on the picture is defined as a coordinate origin, two directions perpendicular to each other are taken as positive and negative coordinate axes, and a pixel coordinate system x0y is established with pixels as basic units.
Step S2, finding an ideal position between the sun and the controlled object through field debugging, obtaining the picture information at this moment through the optical focusing sensor, mapping the center point of the sun to the pixel coordinate system, calculating the pixel coordinate of the point, and calibrating the curve of the point as the working state curve y ═ f (x '), i.e. the working state curve y ═ f (x') is the sun position curve generated during field debugging. And calculating a preparation state curve y ═ f (x), wherein the preparation state curve is a curve with a preset distance from the working state curve, and the ideal position is a position where the deviation of the solar rays, reflected rays or transmitted rays irradiated on the solar receiver and the theoretical design position of the controlled object is less than an allowable error.
Step S3, adjusting the controlled object, and calculating the actual pixel coordinate (x) of the current sun center point0，y0) Let f (x)0) And y0Is smaller than the error tolerance.
Step S4, adjusting the controlled object, and calculating the actual pixel coordinate (x) of the current sun center point0＇，y0Min.), let f (x)0' and y0A deviation of "" is less than the allowable error value.
The single-shaft double-closed-loop sun tracking control method of the embodiment has two control states, namely a preparation state control step of S3 and a working state control step of S4, wherein the preparation state S3 is executed first, and then the switching to the working state S4 is executed, the difference between the position of the preparation state and the position of the working state is fixed, the switching time is fixed and controllable, quick response can be realized, higher precision can be achieved, and the problem of overshoot oscillation is not easy to cause. In addition, the operation is simple and convenient, the system has two states, the switching can be carried out at any time, and manual operation is not needed for switching the states all the time. And the solar pixel coordinates are controlled to be kept on a straight line, only one-dimensional coordinate operation is needed, the structure and the operation process are simplified, the system response time is prolonged, and meanwhile, the control precision can be ensured.
Specifically, step S3 of the present embodiment includes:
step S31, calculating the theoretical position of the sun at the current time according to the empirical position curve of the sun with respect to time, calculating the theoretical inclination angle beta of the controlled object at the current time, and adding the correction value u1To obtain the actual angle value beta to be executed by the controlled object0And the angle value is recorded.
Step S32, obtaining the actual inclination angle beta of the controlled object through the angle collector1。
Step S33, the optical focusing sensor collects the image information of the actual position of the sun at the current time, if the image information of the sun can be normally obtained, the image information of the sun at the current time is marked in the record table to be normally obtained, and the current time of the sun is calculatedIs at the corresponding actual pixel coordinate (x) in the pixel coordinate system0，y0) Otherwise, the image information abnormity of the sun is marked in the record table for future inquiry.
Step S34, comparing and judging f (x)0) And y0If the deviation is less than the allowable error value, the correction value is kept unchanged, otherwise, f (x) is used0) Calculating the current time deviation of the controlled object as reference, and updating the correction value u1Updating the angle value beta actually executed by the controlled object0(ii) a According to beta1、y0And f (x)0) The position c of the sun is calculated and recorded.
Step S35, comparing the actual inclination angle beta of the controlled object1Angle value beta actually executed with controlled object0，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S36;
if the deviation is smaller than the allowable error value, a stop adjustment command is sent to the motor driver to stop adjusting the tilt angle of the controlled object, and step S36 is executed.
Step S36, determine whether the command to switch to S4 or stop adjustment command is received: if an instruction to switch to S4 is received, go to step S4; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S31-S36 are executed.
If the optical focusing sensor cannot capture the position of the sun at the current moment, the corrected value u1 is calculated according to the position c of the sun at the latest day.
In this embodiment, step S4 includes:
step S41, calculating the theoretical position of the sun at the current time according to the empirical position curve of the sun with respect to time, calculating the theoretical inclination angle beta' of the controlled object at the current time, and adding the correction value u2To obtain the actual angle value beta to be executed by the controlled object0And record the angle value.
Step S42, obtaining the actual inclination angle beta of the controlled object through the angle collector1＇。
Step S43, the optical focusing sensor collects the image information of the actual position of the sun at the current moment, if the image information of the sun can be normally obtained, the image information of the sun at the current moment is marked in the record table to be normally obtained, and the corresponding actual pixel coordinate (x) of the circle center of the sun at the current moment in the pixel coordinate system is calculated0＇，y0'), otherwise, marking the image information exception of the sun in the recording table for future inquiry.
Step S44, comparing and judging f (x)0' and y0Deviation value between, if the deviation is less than the permissible value of error, keeping the correction value unchanged, otherwise, at f (x)0' as a reference, a deviation of the current time of the controlled object is calculated, and the correction value u is updated2Updating the angle value beta actually executed by the controlled object0' of a compound of formula I; according to beta1＇、y0' and f (x)0' calculate and record the position d of the sun.
Step S45, comparing the actual inclination angle beta of the controlled object1Angle value beta to be actually executed with the controlled object0＇，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S46;
if the deviation is smaller than the allowable error value, a stop adjustment command is sent to the motor driver to stop adjusting the tilt angle of the controlled object, and step S34 is executed.
Step S46, determine whether the command to switch to S3 or stop adjustment command is received: if an instruction to switch to S3 is received, go to step S3; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S41 through S46 are looped.
In this embodiment, if the optical focusing sensor cannot capture the position of the sun at the current timeEstimating a correction value u based on the obtained position d of the sun on the last day2。
In this embodiment, the wide angle of the optical lens group of the optical focusing sensor is 186 °, so that the position of the sun at any time can be obtained in the pixel coordinate system including the range from 3 ° before the sun does not exceed the horizontal line to 3 ° after the sun falls, and the tracking accuracy of the sun is improved to a great extent.
In the single-shaft double closed-loop sun-tracking control method of the embodiment, there are two control states, i.e., the ready state control step of S31-S36 and the working state control step of S41-S46, and the switching from the ready state S3 to the working state S4 can be performed according to actual needs, as shown in fig. 3 and 4, or the ready state S3 or the working state control S4 can be performed separately. The difference value between the position of the preparation state and the position of the working state is fixed, and the switching time is fixed and controllable.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A single-shaft double-closed-loop sun tracking control method is characterized by comprising the following steps:
s1: establishing a pixel coordinate system x0 y;
s2: finding an ideal position between the sun and a controlled object through field debugging, acquiring picture information at the moment through an optical focusing sensor, corresponding a center point of the sun to a pixel coordinate system, calculating a pixel coordinate of the point, continuously calculating pixel coordinates of the center points of the sun at the ideal positions in the pixel coordinate system at a plurality of moments on the same day, fitting a plurality of obtained points into a curve, calibrating the curve as a working state curve y ', f (x'), and calculating a preparation state curve y, f (x), wherein the preparation state curve is a curve with a preset distance from the working state curve;
s3: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0，y0)，Let f (x)0) And y0Is less than the error tolerance;
s4: adjusting the controlled object and calculating the actual pixel coordinate (x) of the current sun center point0＇，y0Min.), let f (x)0' and y0A deviation of "" is less than the allowable error value.
2. The single-shaft dual closed-loop sun-tracking control method according to claim 1, wherein the step S3 includes:
s31: according to the empirical position curve of the sun to the time, the theoretical position of the sun at the current moment is calculated, the theoretical inclination angle beta of the controlled object at the current moment is calculated, and a correction value u is added1To obtain the actual angle value beta to be executed by the controlled object0And recording the angle value;
s32: obtaining the actual inclination angle beta of the controlled object through the angle collector1；
S33: the optical focusing sensor collects the image information of the actual position of the sun at the current moment, if the image information of the sun can be normally obtained, the image information of the sun at the current moment is marked to be normally obtained in the record table, and the corresponding actual pixel coordinate (x) of the circle center of the sun at the current moment in the pixel coordinate system is calculated0，y0) Otherwise, marking the image information abnormity of the sun in the record table for future inquiry;
s34: comparison and judgment f (x)0) And y0If the deviation is less than the allowable error value, the correction value is kept unchanged, otherwise, f (x) is used0) Calculating the current time deviation of the controlled object as reference, and updating the correction value u1Updating the angle value beta actually executed by the controlled object0(ii) a According to beta1、y0And f (x)0) Calculating and recording the position c of the sun;
s35: comparing the actual inclination angle beta of the controlled object1Angle value beta actually executed with controlled object0，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S36;
if the deviation is smaller than the error allowable value, sending a stop adjustment instruction to the motor driver, stopping adjusting the inclination angle of the controlled object, and executing the step S36;
s36: determining whether the instruction to switch to S4 or the stop adjustment instruction is received: if an instruction to switch to S4 is received, go to step S4; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S31-S36 are executed.
3. The single-axis dual-closed-loop sun-tracking control method according to claim 2, wherein if the optical focus sensor cannot capture the position of the sun at the present time, the correction value u is estimated based on the position c of the sun at the latest day1。
4. The single-shaft dual closed-loop sun-tracking control method according to claim 1, wherein the step S4 includes:
s41: according to the empirical position curve of the sun to the time, the theoretical position of the sun at the current moment is calculated, the theoretical inclination angle beta' of the controlled object at the current moment is calculated, and the correction value u is added2To obtain the actual angle value beta to be executed by the controlled object0And recording the angle value;
s42: obtaining the actual inclination angle beta of the controlled object through the angle collector1＇；
S43: the optical focusing sensor collects the image information of the actual position of the sun at the current moment, if the image information of the sun can be normally obtained, the image information of the sun at the current moment is marked to be normally obtained in the record table, and the corresponding actual pixel coordinate (x) of the circle center of the sun at the current moment in the pixel coordinate system is calculated0＇，y0'), otherwise, marking the image information exception of the sun in the recording table for future inquiry;
s44: comparison and judgment f (x)0' and y0Deviation betweenIf the deviation is less than the allowable error value, the correction value is kept unchanged, otherwise, f (x) is used0' as a reference, a deviation of the current time of the controlled object is calculated, and the correction value u is updated2Updating the angle value beta actually executed by the controlled object0' of a compound of formula I; according to beta1＇、y0' and f (x)0' calculating and recording the position d of the sun;
s45: comparing the actual inclination angle beta of the controlled object1Angle value beta to be actually executed with the controlled object0＇，
If the deviation is greater than or equal to the error allowable value, respectively calculating the deviation of the two inclination angles, sending an adjusting instruction to a motor driver, adjusting the inclination angle of the controlled object through a motor, and executing the step S46;
if the deviation is smaller than the error allowable value, sending a stop adjustment instruction to the motor driver, stopping adjusting the inclination angle of the controlled object, and executing the step S34;
s46: determining whether the instruction to switch to S3 or the stop adjustment instruction is received: if an instruction to switch to S3 is received, go to step S3; if receiving the adjustment stopping instruction, sending the adjustment stopping instruction to the motor driver, and stopping adjustment; if no instruction is received, steps S41 through S46 are looped.
5. The single-axis dual-closed-loop sun-tracking control method according to claim 4, wherein if the optical focus sensor cannot capture the position of the sun at the present time, the correction value u is estimated based on the obtained position d of the sun in the latest day2。
6. The single-shaft dual closed-loop sun-tracking control method of claim 1, wherein said S1 includes: a plurality of pictures with the same size are obtained through an optical focusing sensor, any point on the pictures is defined as a coordinate origin, two directions which are perpendicular to each other are used as positive and negative coordinate axes, and a pixel coordinate system x0y is established by taking a pixel as a basic unit.
7. The single-axis dual-closed-loop sun-tracking control method according to any one of claims 1 to 6, wherein a wide angle of an optical lens group of the optical focus sensor is 186 °.
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