CN108469845B - Movable sun tracking system and method based on Beidou - Google Patents
Movable sun tracking system and method based on Beidou Download PDFInfo
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- CN108469845B CN108469845B CN201810462116.5A CN201810462116A CN108469845B CN 108469845 B CN108469845 B CN 108469845B CN 201810462116 A CN201810462116 A CN 201810462116A CN 108469845 B CN108469845 B CN 108469845B
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Abstract
The invention discloses a movable sun tracking system and a movable sun tracking method based on Beidou, wherein the movable sun tracking system based on the Beidou comprises a detection control device and a mechanical execution device; the detection control device comprises a battery panel electronic gyroscope MPU, a Beidou positioning chip, a vehicle electronic gyroscope MPU, a rainwater sensor, a clock module and an RISC processor module; the mechanical execution device comprises a spinning platform, two connecting rod pitching mechanisms, a solar cell supporting plate and a frame. The movable sun tracking system based on the Beidou can be used for mobile scenes like vehicle-mounted and shipborne use, can also be used for static scenes of fixed position tracking, and can also be used for scenes in which movement and static alternate appear, no additional switching operation is needed, and the movable sun tracking system based on the Beidou can automatically identify and judge scenes and switch different tracking modes.
Description
Technical Field
The invention relates to the technical field of sun position trackers, in particular to a movable sun tracking system and a movable sun tracking method based on Beidou.
Background
Studies have shown that under the same conditions, the solar automatic tracking device has an energy receiving rate 37.7% higher than that of the non-tracking device. Therefore, solar energy utilization efficiency can be remarkably improved by realizing solar tracking.
In order to realize the automatic tracking of the sun and enable the solar rays to vertically irradiate a solar cell panel or a solar condenser, the prior art has three types: photoelectric tracking, sun motion trajectory tracking and hybrid tracking. The photoelectric tracking is to detect the position change of the sun through a photosensitive device so as to realize automatic tracking of the sun. The tracking of the motion trail of the sun is to determine the position of the sun by combining longitude and latitude information of an observation place and the current time according to the astronomical law of the running of the sun. Hybrid tracking is to combine the two methods and use specific logic to switch between the two tracking control methods.
The movable sun tracking is characterized in that: the system completes real-time tracking of the sun on a moving carrier. In the prior art, although photoelectric tracking can be applied to a mobile carrier, a photosensitive element is easily influenced by cloud layers, dust, water vapor and other shielding objects and stray light in a working environment, the anti-interference performance of the system is poor, and the actual use is not ideal. Although the solar motion trajectory tracking has low requirement on the working environment and good anti-interference performance, the method takes the current date and time as input, adopts a table look-up method to obtain fixed parameters to drive a motor to execute tracking, and has no environment perception capability and no mobility. In addition, the conventional tracker and tracking method do not study random disturbance caused by a motion environment, for example, when the vehicle is used in a mobile vehicle, the vehicle turns and turns to cause great disturbance to the azimuth angle and the yaw angle of the battery panel, and the disturbance is often strong in randomness and large in amplitude, seriously affects the tracking effect of the system and causes tracking failure. Therefore, it is necessary to invent a novel solar tracker to solve the problems of poor anti-interference performance and poor mobility of the existing tracker.
Disclosure of Invention
The invention provides a movable sun tracking system and method based on Beidou, and aims to solve the two problems that the anti-interference performance of the prior art is poor and the prior art cannot deal with a mobile scene. The technical means adopted by the invention are as follows:
a movable sun tracking system based on Beidou comprises a detection control device and a mechanical execution device;
the detection control device comprises a battery panel electronic gyroscope MPU, a Beidou positioning chip, a vehicle electronic gyroscope MPU, a rainwater sensor, a clock module and an RISC processor module;
the mechanical execution device comprises a self-rotating platform, two connecting rod pitching mechanisms, a solar cell supporting plate and a frame;
the spinning platform is coaxial with the frame and is connected with the upper end of the frame through a stainless steel turntable bearing device, a first stepping motor is arranged on the frame, and the output end of the first stepping motor is in gear engagement connection with the stainless steel turntable bearing device through a driving wheel;
the two-connecting-rod pitching mechanism comprises a lead screw guide rail, one end of the lead screw guide rail is connected with the output end of a second stepping motor, the other end of the lead screw guide rail is rotatably connected with a lead screw connecting plate, the second stepping motor and the lead screw connecting plate are both connected with the upper end of the spinning platform, the upper end of the lead screw connecting plate is hinged with one end of a solar cell supporting plate, a first connecting rod capable of moving along the lead screw guide rail is sleeved on the lead screw guide rail, the upper end of the first connecting rod is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with the middle section of the side wall of the solar cell supporting plate, a solar cell panel is arranged at the upper end of the solar cell supporting plate, a cell panel electronic gyroscope MPU is arranged at the lower end of the solar cell supporting plate, a rainwater sensor is arranged at, The vehicle electronic gyroscope MPU, the RISC processor module and the clock module.
The transmission ratio of the driving wheel to the stainless steel turntable bearing device is 8: 1.
The side wall of the solar cell supporting plate is provided with a stop column, and a # -shaped support is arranged in the solar cell supporting plate.
By adopting a domestic Beidou positioning technology, the movable type sun tracking system based on the Beidou is endowed with movable attributes; the electronic gyroscope is adopted to replace a photoelectric sensor, so that the problem of poor anti-interference performance is fundamentally solved, and meanwhile, the electronic gyroscope has certain environmental perception capability; the robustness of the movable sun tracking system based on the Beidou is improved by adopting a fuzzy PID control algorithm with feedforward compensation so as to deal with various disturbances of a motion scene.
The invention also discloses a sun tracking method using the movable sun tracking system based on the Beidou, the RISC processor module runs a micro C/OS-III real-time multitask operating system, and the multitask comprises a motor control task, a historical observer data acquisition task, a sun angle calculation task, a vehicle dynamic and static detection task, a continuous curve and bumpy road section detection task, a system start and stop judgment task and a Beidou positioning data receiving task;
the method comprises the following steps:
s1, judging system start and stop:
the RISC processor module runs a micro C/OS-III real-time multi-task operating system to periodically execute a system start-stop judging task, reads the data of the clock module, judges whether the time is in a range of 6:00 to 18:00, and suspends all the multi-tasks except the RISC processor module if the time is not in the range of 6:00 to 18: 00; if so, reading the output level of the rainwater sensor, judging whether the rainwater sensor is rainy, and if so, suspending all the multitasks except the rainwater sensor; if not, starting delay and giving control right of the RISC processor module;
s2, mode selection:
after the movable sun tracking system based on the Beidou is initialized, the vehicle electronic gyroscope MPU outputs motion data (acceleration values and angular velocity values of three axes of X, Y and Z, which are a respectively) of the movable sun tracking system based on the Beidoux,ay,azAnd wx,wy,wz) The RISC processor module runs a micro C/OS-III real-time multi-task operating system to periodically execute a vehicle dynamic and static detection task, the vehicle dynamic and static detection task receives and analyzes motion data of the movable sun tracking system based on the Beidou output by the vehicle electronic gyroscope MPU, the current motion state (moving or static) of the movable sun tracking system based on the Beidou is judged, an adjustable dead zone threshold value M is output according to a judgment result, when M is 5 degrees, the movable sun tracking mode corresponds to the fixed-point tracking mode, and when M is 2 degrees, the fixed-point tracking mode corresponds to the fixed-point tracking mode;
s3, tracking:
the motion data of the solar cell panel is acquired by the cell panel electronic gyroscope MPU, and then hardware attitude calculation is carried out by the DMP of the cell panel electronic gyroscope MPU to obtain a cell panel yaw angle and a cell panel pitch angle of the Euler angle of the solar cell panel;
the RISC processor module operates a mu C/OS-III real-time multi-task operating system to execute a Beidou positioning data receiving task, receives Beidou positioning chip communication data, analyzes and processes the communication data, and extracts longitude and latitude information and date and time information of the geographic position of the Beidou based movable solar tracking system; sending latitude, longitude and date and time information to the RISC processor module through a message queue to operate a mu C/OS-III real-time multi-task operating system to execute a solar angle calculation task and calculate a solar azimuth angle and a solar altitude angle of the solar angle, operating the mu C/OS-III real-time multi-task operating system by the RISC processor module to execute a historical observer data acquisition task and capturing the Beidou-based data acquisition task at the moment tThe Euler angle of the movable solar tracking system istAt the moment of t-1, the Euler angle of the movable sun tracking system based on the Beidou ist-1，tAndt-1transmitting the information to the RISC processor module to operate a mu C/OS-III real-time multi-task operating system to execute a motor control task;
the RISC processor module starts a fuzzy PID control algorithm with feedforward compensation through a motor control task, the fuzzy PID control algorithm with the feedforward compensation comprises a fuzzy PID controller and a feedforward fuzzy controller, and in a negative feedback channel of the fuzzy PID control algorithm with the feedforward compensation, a sun azimuth angle and a panel yaw angle are compared to obtain a difference value e between the sun azimuth angle and the panel yaw angle1Comparing the solar elevation angle with the panel pitch angle to obtain a difference e between the solar elevation angle and the panel pitch angle2Collectively referred to as the difference e { e }1,e2Is and only if e1|>M or | e2|>M, difference e { e }1,e2Transmitting the difference value e to the fuzzy PID controller through an adjustable dead zone1And rate of change thereof de1The/dt is used as the input quantity of the fuzzy PID controller to generate a panel yaw angle PWM pulse width modulation output signal e2And rate of change thereof de2The/dt is used as the input quantity of the fuzzy PID controller to generate a panel pitch angle PWM output signal, and the panel yaw angle PWM output signal and the panel pitch angle PWM output signal are collectively called as a PWM output signal;
in a feedforward channel of the fuzzy PID control algorithm with feedforward compensation, the Euler angle history comparison difference value of the movable sun tracking system based on the Beidou is set as et/t-1{e3,e4}＝t-t-1Wherein e is3Is the historical comparison difference, e, of the declination angle of the movable sun-tracking system based on the big Dipper4For the history comparison difference value of the movable sun tracking system pitch angle based on the Beidou, the feedforward fuzzy controller uses the history comparison difference value e3And rate of change thereof de3The/dt is used as an input quantity to generate a panel yaw angle feedforward PWM output signalStep-to-Step Difference e4And rate of change thereof de4Generating a panel pitch angle feedforward PWM output signal by using/dt as an input quantity, wherein the panel yaw angle feedforward PWM output signal and the panel pitch angle feedforward PWM output signal are collectively called as feedforward PWM output signals;
the motor driver of the first stepping motor receives the panel yaw angle PWM pulse width modulation output signal or the panel yaw angle feedforward PWM pulse width modulation output signal to generate a driving current to drive the first stepping motor (executing motor) to rotate forward and backward to complete the solar panel yaw angle adjustment, and the motor driver of the second stepping motor receives the panel pitch angle PWM pulse width modulation output signal or the panel pitch angle feedforward PWM pulse width modulation output signal to generate a driving current to drive the second stepping motor (executing motor) to rotate forward and backward to complete the solar panel pitch angle adjustment;
s4, repeating the step S3 until | e1Less than or equal to M and e2And the solar light vertically irradiates the solar cell panel at the moment.
In the step S2, if the mobile tracking mode is adopted, the adjustable dead zone threshold M is 5 degrees, so as to filter the interference generated by the shaking of the carriage during the movement of the Beidou-based mobile solar tracking system; the RISC processor module operates a mu C/OS-III real-time multi-task operating system to execute a historical observer data acquisition task, captures and stores an Euler angle of the movable sun tracking system based on the Beidou, which is obtained by a vehicle electronic gyroscope MPU through self DMP hardware attitude calculation, the Euler angle is transmitted to the RISC processor module through a message queue to operate the mu C/OS-III real-time multi-task operating system to execute a continuous curve and bumpy road section detection task, the continuous curve and bumpy road section detection task analyzes and judges whether the movable sun tracking system based on the Beidou passes through a continuous curve or not, if so, the interruption of PWM _ INT is initiated, and the RISC processor module operates the mu C/OS-III real-time multi-task operating system to execute a motor control task to be hung: and the PWM output signal is output in a pause mode, and the first stepping motor and the second stepping motor stop acting. And the initiation of PWM _ INT is interrupted, so that unnecessary actions of the solar panel can be reduced when the movable sun tracking system based on the Beidou passes through continuous curves, and energy is saved.
If the tracking mode is in the fixed point tracking mode, the external disturbance is small, and at the moment, the adjustable dead zone threshold value M is set to be small and 2 degrees, so that the tracking instantaneity is ensured; because the geographical position does not change, big dipper location chip gets into the low-power consumption mode in order to practice thrift the energy.
The sun tracking system and the sun tracking method provided by the invention have the following beneficial effects that:
1. the service range is wide. The movable sun tracking system based on the Beidou satellite can be used for mobile scenes like vehicle-mounted and shipborne use, can also be used for static scenes of fixed position tracking, and can also be used for scenes in which movement and static are alternately generated, such as long-time parking after driving without any additional switching operation, and the movable sun tracking system based on the Beidou satellite can automatically identify and judge scenes and switch different tracking modes.
2. The environment perception capability is good. Aiming at a movable scene, the invention sets a historical observer data acquisition task and a continuous curve and bumpy road section detection task, judges whether the movable solar tracking system based on the Beidou passes through a bumpy road section or a continuous curve, and reduces unnecessary attitude adjustment of the solar cell panel.
3. And the robustness is strong. Aiming at a movable scene, the invention adopts a fuzzy PID control algorithm with feedforward compensation in a tracking algorithm, and gives consideration to robustness and real-time property.
4. The mechanical structure is stable. Aiming at a movable scene, the self-rotating and pitching mechanical structure designed by the invention adopts a large-diameter track pulley (a driving wheel and a stainless steel turntable bearing device gear) and a two-connecting-rod pitching mechanism, can cope with shaking, bumping and rapid acceleration and deceleration under the movable scene, and ensures that the mechanical actuating mechanism has a stable and reliable structure.
5. The anti-interference performance is good. Aiming at the existence of cloud layers, dust, water drops and other shielding objects in a movable scene, the invention abandons the traditional photoelectric sensor and uses the electronic gyroscope sensor in the self attitude detection of the solar cell panel, so that the solar cell panel is not easily influenced by the cloud layers and the dust, and has good dynamic performance and high precision.
Based on the reasons, the invention can be widely popularized in the fields of sun position tracker technology and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are 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 front view of a big dipper based mobile sun-tracking system (without a solar panel) in an embodiment of the invention.
Fig. 2 is a schematic spatial structure diagram (excluding a solar panel) of the movable Beidou-based sun-tracking system in the embodiment of the invention.
Fig. 3 is a general control block diagram of a sun tracking method according to an embodiment of the present invention.
FIG. 4 is a flow chart of a fuzzy PID control algorithm with feedforward compensation in an embodiment of the present invention.
Fig. 5 is a fuzzy control principle in an embodiment of the present invention.
Fig. 6 is a view of the change of the yaw angle of the Beidou based mobile sun-tracking system when the system passes through continuous curves in the embodiment of the invention.
FIG. 7 is a flow chart of a continuous curve detection algorithm in an embodiment of the present invention.
Fig. 8 is a block diagram of the overall signal transmission of the big dipper based mobile sun-tracking system in the embodiment of the present invention.
Fig. 9 is a flowchart of a sun-tracking method in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
As shown in fig. 1 and 2, a movable sun tracking system based on the big dipper comprises a detection control device and a mechanical execution device;
the detection control device comprises a battery panel electronic gyroscope MPU1, a Beidou positioning chip 2, a vehicle electronic gyroscope MPU3, a rainwater sensor 4, a clock module 5 and a RISC processor module 6;
the mechanical executing device comprises a spinning platform 18, a two-connecting-rod pitching mechanism, a solar cell supporting plate 7 and a frame 8;
the spinning platform 18 is coaxial with the frame 8 and is connected with the upper end of the frame 8 through a stainless steel turntable bearing device 9, a first stepping motor 10 is arranged on the frame 8, and the output end of the first stepping motor 10 is in gear engagement connection with the stainless steel turntable bearing device 9 through a driving wheel 11 so as to drive the spinning platform 18 to rotate;
the two-connecting-rod pitching mechanism comprises a lead screw guide rail 12, one end of the lead screw guide rail 12 is connected with the output end of a second stepping motor 13, the other end of the lead screw guide rail 12 is rotatably connected with a lead screw connecting plate 14, the second stepping motor 13 and the lead screw connecting plate 14 are both connected with the upper end of a spinning platform 18, the upper end of the lead screw connecting plate 14 is hinged with one end of a solar cell supporting plate 7, a first connecting rod 15 capable of moving along the lead screw guide rail 12 is sleeved on the lead screw guide rail 12, the upper end of the first connecting rod 15 is hinged with one end of a second connecting rod 16, the other end of the second connecting rod 16 is hinged with the middle section of the side wall of the solar cell supporting plate 7, a solar cell panel is arranged at the upper end of the solar cell supporting plate 7, a cell panel electronic gyroscope MPU1 is arranged at the lower end of the solar cell supporting plate 7, and, the frame 8 is provided with the Beidou positioning chip 2, the vehicle electronic gyroscope MPU3, the RISC processor module 6 and the clock module 5.
The transmission ratio of the driving wheel 11 to the stainless steel turntable bearing device 9 is 8: 1.
The side wall of the solar cell supporting plate 7 is provided with a stop column 17, and a # -shaped support is arranged in the solar cell supporting plate 7.
As shown in FIG. 8, the Beidou based mobile sun tracking system signal transmission process is 'sensor-RISC processor module 6-motor driver-executing motor'. The sensor part mainly comprises a battery panel electronic gyroscope MPU1, a Beidou positioning chip 2, a vehicle electronic gyroscope MPU3, a rainwater sensor 4 and a clock module 5. The RISC processor module 6 runs a mu C/OS-III real-time multitask operating system, the clock beat is set to be 10ms, and the multitask comprises 7 user-defined tasks, namely a motor control task, a historical observer data acquisition task, a sun angle calculation task, a vehicle dynamic and static detection task, a continuous curve and bumpy road section detection task, a system start and stop judgment task and a Beidou positioning data receiving task.
Motor control task
The periodic task, the execution frequency 50HZ, the priority 14, and the "motor control task" link in fig. 9 describe the task execution flow. The method comprises the steps of reading an adjustable dead zone threshold value M transmitted by a message from a vehicle dynamic and static detection task, reading a solar azimuth angle and a solar altitude angle of a solar angle transmitted by a message queue from a solar angle calculation task, reading a Nordic angle (yaw angle and pitch angle) of a Beidou based movable solar tracking system transmitted by a message queue from a historical observer data acquisition task, and reading a battery panel Euler angle (yaw angle and pitch angle) output by a battery panel electronic gyroscope MPU 1. Then, starting a fuzzy PID control algorithm with feedforward compensation, and calculating a PWM signal. Finally, the PWM signal is output to control the motor driver, and thus the actuation of the actuating motors (the first stepping motor 10 and the second stepping motor 13).
The fuzzy PID control algorithm with the feedforward compensation comprises a fuzzy PID controller (algorithm) and a feedforward fuzzy controller (algorithm). As shown in fig. 3, in the negative feedback channel, the sun angle is an input signal, and the euler angle of the panel is a feedback signal, specifically: comparing the solar azimuth angle with the battery panel yaw angle to obtain a difference e between the solar azimuth angle and the battery panel yaw angle1Comparing the solar elevation angle with the panel pitch angle to obtain a difference e between the solar elevation angle and the panel pitch angle2Collectively referred to as the difference e { e }1,e2The fuzzy PID controller uses the difference e { e }1,e2And the difference rate of change ec (de/dt) as input and the PWM output signal as output. In a feed-forward channel, the Euler angle of the movable sun tracking system based on the Beidou at the latest moment t istAnd the Euler angle of the movable sun tracking system based on the Beidou at the moment t-1 ist-1And the Euler angle historical comparison difference value of the movable sun tracking system based on the Beidou is et/t-1{e3,e4}＝t-t-1Wherein e is3Is the historical comparison difference, e, of the declination angle of the movable sun-tracking system based on the big Dipper4For the history comparison difference value of the movable sun tracking system pitch angle based on the Beidou, a feedforward fuzzy controller uses the history comparison difference value et/t-1And its rate of change ect/t-1As an input quantity, a feed-forward PWM pulse width modulation output signal is used as an output quantity.
The fuzzy PID controller and the feedforward fuzzy controller both use the same fuzzy control principle, as shown in FIG. 5, the PID parameters are adjusted on line by using fuzzy rules and fuzzy reasoning, the robustness of the movable sun tracking system based on the Beidou can be enhanced, and the parameter to be adjusted is Kp,Ki,KdThe proportional gain, the integral gain, and the differential gain in the PID control are respectively corresponded.
In the following, taking the control of the solar panel to adjust the yaw angle of the panel as an example, the implementation process of the fuzzy PID control algorithm with feedforward compensation is described in detail:
1. variable determination and fuzzification
As shown in fig. 5, the fuzzy element adopts a two-input three-output mode, the difference e and the change rate ec of the difference are used as input quantities, Kp,Ki,KdThe output quantity of the fuzzy controller is the PWM motor control pulse, and the output quantity of the PID controller is the PWM motor control pulse.
In a negative feedback channel, the difference e between the yaw angle of the panel and the azimuth angle of the sun1The variation range is (-180,180) (unit: degree), the controlled quantity in actual engineering is not suitable to be too large, after the engineering scaling treatment, the difference value e is taken1Basic discourse domain E1＝[-50，50]Differential change rate ec1Of (2) basic discourse domain EC1＝[-100，100]And an output KpHas a basic discourse domain of Kp1＝[-3,3]And an output KiHas a basic discourse domain of Ki1＝[-0.6,0.6]And an output KdHas a basic discourse domain of Kd1＝[-1.5,1.5]. The corresponding quantization factors are: ke＝3/50；K ec＝3/100。
In a feedforward channel, the time interval between the sampling time t and the time t-1 is about 100 milliseconds, and as the maximum rotation angle of the tire of a common car is less than 45 degrees, the historical comparison difference value e of the yaw angle of the Beidou-based movable sun tracking system3The variation range is (-45,45) (unit: degree), after the engineering scaling treatment, the difference value e is taken3Has a basic discourse domain of E3＝[-10，10]And the rate of change in difference ec3Of (2) basic discourse domain EC3＝[-20，20]And an output KpHas a basic discourse domain of Kp3＝[-3,3]And an output KiHas a basic discourse domain of Ki3＝[-0.6,0.6]And an output KdHas a basic discourse domain of Kd3＝[-1.5,1.5]. The corresponding quantization factors are: l ise＝3/45；Lec＝3/20。
The feedforward fuzzy controller and the fuzzy PID controller adopt the same fuzzy linguistic variable word set { NB, NM, NS, ZO, PS, PM, PB }, and the meanings are respectively corresponding to { big negative, middle negative, small negative, zero, small positive, middle positive, big positive }. The quantization level is { -3, -2, -1,0,1,2,3 }.
2. Membership function mu (x) of linguistic variables
The feedforward fuzzy controller and the fuzzy PID controller adopt the same membership function mu (x) which is a triangular membership, and the membership function table is shown in Table 1.
TABLE 1 membership function Table
3. Control rule determination
The feedforward fuzzy controller and the fuzzy PID controller adopt the same control rule.
(1) When the difference value is large, in order to enable the movable sun tracking system based on the Beidou to have good rapid tracking performance, a large proportional gain K should be adopted no matter how the variation trend of the difference value ispAnd a smaller differential gain KdMeanwhile, in order to avoid the system response from generating larger overshoot, the integral action is limited, and a smaller K is takeniThe value is obtained.
(2) When the difference value is in a medium size, in order to enable the response of the movable sun tracking system based on the Beidou to have smaller overshoot and not to influence the response speed of the movable sun tracking system based on the Beidou, the proportional gain KpShould be taken to be smaller, the integral gain KiAnd a differential gain KdThe size is moderate.
(3) When the difference is small, the proportional gain K is used for ensuring that the system has better steady-state performancepAnd integral gain KiLarger should be achieved. When the rate of change of the difference is large, the differential gain KdThe movable sun tracking system based on the Beidou is small in size, so that the good anti-interference performance of the movable sun tracking system based on the Beidou is guaranteed, and oscillation is prevented.
According to the above principles, a total of 49 control rules are established in the form of "IF A and B THEN C and D and E", as shown in Table 2.
TABLE 2 control rules Table
4. Fuzzy inference and defuzzification
The feedforward fuzzy controller and the fuzzy PID controller adopt the same fuzzy reasoning and defuzzification method.
Fuzzy reasoning adopts Mamdani's reasoning method, and each rule is' IF A1and B1THEN C1"corresponds to a fuzzy relation R1＝(A1×B1)×C1The relation matrix corresponding to all rules of the movable sun tracking system based on the Beidou is R ═ R1∪R2∪R3…∪RnFuzzy reasoning to obtain output fuzzy vector C ═ (A × B)○R。
The defuzzification adopts a gravity center method to obtain an output accurate value C*。
Formula of center of gravity method:
wherein u isiIs an element of C, mu (u)i) Is uiThe corresponding membership value.
5. Form PID parameter off-line control table
By using MATLAB tool, PID parameter off-line control tables of the feedforward fuzzy controller and the fuzzy PID controller can be calculated in advance, and the data of the PID parameter off-line control tables can be directly called by using a table look-up method on site, so that the calculation pressure of the RISC processor module 6 is reduced.
A flow chart of the fuzzy PID control algorithm with feedforward compensation is shown in fig. 4.
Historical observer data collection task
This task is a periodic task, with execution frequency 10HZ, priority 11. The "historical observer data collection task" link in fig. 9 describes the task execution flow. And receiving the Euler angle (yaw angle and pitch angle) data of the movable sun tracking system based on the Beidou through self DMP hardware attitude calculation of the vehicle electronic gyroscope MPU 3. Then, the yaw angle array ψ [ t ] and the pitch angle array θ [ t ] are stored. And finally, transmitting the Euler angle data of the latest Beidou-based movable sun tracking system to a motor control task through a message queue.
Solar angle calculation task
This task is a triggered task, priority 13. The "sun angle calculation task" link in fig. 9 describes the task execution flow. Firstly, after a trigger signal sent by a Beidou positioning data receiving task is received, longitude and latitude information and date and time information of a Beidou chip are received; then, obtaining a solar angle by utilizing a solar altitude angle and azimuth angle calculation formula; and finally, the sun angle is sent to a motor control task through a message.
The sun angle calculation formula is given as follows:
altitude angle of the sun
Azimuth of the sun
Wherein the time angle omega is [ 12-t-4X min (lambda-120)]*15°，
When the latitude is, the longitude is lambda, and the Beijing is t, n is the number of days.
Vehicle dynamic and static detection task
The periodic task, the execution frequency 20HZ, the priority 9, and the "vehicle motion and static detection task" link in fig. 9 describe the task execution flow. First, the motion data (acceleration values and angular velocity values of three axes X, Y, Z, a, respectively) output by the vehicle electronic gyroscope MPU3 without DMP hardware attitude solution is readx,ay,azAnd wx,wy,wz). Then, use the flatPreprocessing the data by a shifting method, and comparing the preprocessed data with a reference average value corresponding to a similar typical temperature in a reference average value database (for example, a is taken)xA data preprocessing result of (a)xIs compared), the absolute value of the comparison result is greater than zero, and the counter N1 counts up once. Judging whether the value of the counter N1 is greater than 10, if so, judging that the vehicle is in a moving state, and outputting an adjustable dead zone threshold value M of 5 degrees; otherwise, judging that the vehicle is in a static state, and outputting an adjustable dead zone threshold value M of 2 degrees; finally, the value of M is sent to the "motor control task" by a message.
The translation method is a common data preprocessing method, and can effectively weaken the up-and-down fluctuation of data. Collecting motion data output by vehicle electronic gyroscope MPU3 (for example, taking a in the motion datax) And arranging according to the time t sequence to form an original data variable sequence, sequentially calculating the average values of N items of the original data variable sequence according to the sequence to obtain a group of new data variable sequences, and finishing the data preprocessing process.
Sequence of raw data variables X1，X2，X3，X4，X5，X6······
Partial window N-3
Implementing moving averages
New data variable sequence Z1，Z2，Z3，Z4······
Considering the influence of zero drift and white gaussian noise of the vehicle electronic gyroscope MPU3, it is necessary to establish a plurality of typical temperatures in advance (a typical temperature is set every 5 degrees celsius by using self-test temperature data output by the vehicle electronic gyroscope MPU3 as a reference), and when the electronic gyroscope is placed still, the average values of the accelerations and angular velocities of the three axes X, Y and Z are output to form a reference average value database, so as to provide a basis for judging the vehicle motion condition.
Task for detecting continuous curve and bumpy road section
The periodic task, the execution frequency 2HZ, the priority 10, and the "continuous curve and bumpy road section detection task" link in fig. 9 describe the task execution flow. Firstly, after initialization is completed, reading the value of a global variable K, P, and reading a yaw angle array psi [ t ] and a pitch angle array theta [ t ] maintained by a historical observer data acquisition task; then, starting a time-limited counting method, and judging whether the road is in a continuous curve or a bumpy road section; and finally, if so, initiating PWM _ INT interruption to suspend the motor control task, and if not, recovering the motor control task.
The compass-based movable solar tracking system yaw angle takes the north-positive direction of the compass-based movable solar tracking system as a reference, the clockwise direction is positive, the anticlockwise direction is negative, and the compass-based movable solar tracking system yaw angle psi has a variation range of (-180,180) (unit: degree). The Beidou based movable solar tracking system has the pitch angle theta based on the horizontal plane, when the head of the Beidou based movable solar tracking system is lifted, the pitch angle is positive, and when the head of the Beidou based movable solar tracking system is sunk, the pitch angle theta is negative, and the variation range of the pitch angle theta of the Beidou based movable solar tracking system is (-45,45) (unit: degree).
Continuous curve detection principle (time-limited counting method) -in limited time, the times K of large-amplitude adjustment of the generating direction of the movable sun tracking system based on the Beidou are detected, and when the K is greater than or equal to 3, the algorithm initiates PWM _ INT interruption to suspend a motor control task. The specific numerical value of the 'limited time' refers to an empirical time value of the movable sun tracking system based on the big dipper passing through the continuous curve, for example, the empirical time value is selected to be 5 seconds, namely within 5 seconds, as shown in fig. 6, the movable sun tracking system based on the big dipper is subjected to 3 times of direction large-amplitude adjustment, and then the movable sun tracking system based on the big dipper needs to immediately hang up a 'motor control task' when passing through the continuous curve at a higher speed.
As shown in FIG. 7, in a limited time (algorithm execution period t is multiplied by cycle number C), the Beidou based movable sun tracking system performs direction large-amplitude adjustment (direction large-amplitude adjustment means that the direction adjustment angle is larger than 20 degrees) for 3 times or more, such as left turn-right turn-left turn, right turn-left turn, left turn-right turn, and the like, and then the Beidou based movable sun tracking system is judged to perform continuous large-amplitude turn, at this time, interruption PWM _ INT is initiated, a motor control task is suspended, a PWM output signal and a feedforward PWM output signal are suspended, and the motor is stopped.
According to the detection principle (time-limited counting method) of the bumpy road section, the pitch angle fluctuation of the movable sun tracking system based on the Beidou corresponds to that the movable sun tracking system based on the Beidou passes through the bumpy road section, when the movable sun tracking system passes through the bumpy road section, the pitch angle of the movable sun tracking system based on the Beidou can change positively and negatively, and the frequency of the change of the movable sun tracking system based on the Beidou is detected within the limited time. If the vehicle is judged to pass through the bumpy road section, initiating interruption PWM _ INT, suspending a motor control task, pausing output of the PWM output signal and the feedforward PWM output signal, and executing motor stop action. The algorithm program flow chart is similar to the continuous curve detection algorithm, and the description is not repeated here.
Judging task for system start and stop
The periodic task, the execution frequency 50HZ, and the priority 8, and the "system start/stop determination task" link in fig. 9 describes the task execution flow. Reading the data of the clock module 5, judging whether the time is in a range of 6:00-18:00, if not, suspending all the multiple tasks except the clock module; if so, reading the output level of the rainwater sensor 4, judging whether the rain day is rainy, and if so, suspending all the multitasks except the rainwater sensor; if not, the delay is started, and the control right of the RISC processor module is handed over.
Beidou positioning data receiving task
The periodic task is executed at a frequency of 2HZ and has a priority of 12, and the execution flow of the task is described in a link of "beidou positioning data receiving task" in fig. 9. Firstly, completing initialization and receiving Beidou chip communication data; then, analyzing and processing the communication data, and extracting longitude and latitude information and date and time information; and finally, transmitting the longitude, latitude, date and time information to a motor control task through a message queue.
The tracking method comprises the following specific operation steps:
1) the movable sun tracking system based on the Beidou starts to be powered on, initialization self-checking is completed, information of a clock module 5 (model DS1302) and a rainwater sensor is read, the reading time is in a range of 6:00-18:00, and when the rainwater sensor outputs a high level (which indicates that rainwater is not sensed), the movable sun tracking system based on the Beidou starts to work formally. The vehicle electronic gyroscope MPU3 (model 9250) continuously outputs the motion data (acceleration values and angular velocity values of three axes X, Y and Z, a respectively) of the movable sun tracking system based on the Beidoux,ay,azAnd wx,wy,wz) The motion data is judged to be in a vehicle motion state (moving or static) through a vehicle dynamic and static detection task, and when the motion data is judged to be in the static state, the motion data starts to enter a fixed point tracking mode, and an adjustable dead zone threshold value M is 2 degrees; otherwise, entering a mobile tracking mode, and setting the adjustable dead zone threshold value M to be 5 degrees.
2) After the Beidou chip is electrified and initialized, positioning data is output, the RISC processor module 6 starts a Beidou positioning data receiving task which runs periodically, and after longitude and latitude information and time information are received, a sun angle calculating task is triggered to calculate the sun altitude angle and the sun azimuth angle of the current sun angle.
3) And the battery panel electronic gyroscope MPU1 (model 9250) continuously outputs motion data after being electrified, and hardware attitude calculation is implemented by using the DMP of the battery panel electronic gyroscope MPU1 to obtain a battery panel yaw angle and a battery panel pitch angle.
4) The RISC processor module 6 starts a 'historical observer data acquisition task' which runs periodically, receives Euler angle data (specifically yaw angle data and pitch angle data of the system) of the movable sun tracking system based on the Beidou, which is obtained by resolving the vehicle electronic gyroscope MPU3 through the DMP hardware attitude, and forms a yaw angle array psi [ t ] and a pitch angle array theta [ t ].
5) 'Motor control' for starting periodic operation of RISC processor module 6Task making ", receiving the adjustable dead zone threshold M generated in the step 1), receiving 4 angles generated in the steps 2) and 3), and calculating the difference e between the yaw angle of the panel and the azimuth angle of the sun1Calculating the difference e between the pitch angle of the panel and the solar altitude angle2The adjustable dead zone threshold M is set to 5 degrees (in the mobile tracking mode) or 2 degrees (in the fixed point tracking mode) when e1And e2When the absolute values of the solar cell panel and the solar ray are all smaller than or equal to the threshold value M, the normal of the solar cell panel is basically parallel to the incident direction of the solar ray, and the posture adjustment is not needed. When the absolute value of one difference is larger than the threshold value M, the RISC processor sends out a PWM (pulse-width modulation) output signal to control the motor driver, the motor driver drives the execution motors (the first stepping motor 10 and the second stepping motor 13) to act, and the yaw angle and the pitch angle of the solar cell panel are adjusted to accurately track the sun. The first stepper motor 10 is used to adjust the panel yaw angle and thereby influence the difference e1The second stepping motor 13 is used for adjusting the pitch angle of the battery plate so as to influence the difference e2. For example, when the difference e1At 20 deg., the first stepping motor 10 drives the driving wheel 11 to drive the spin platform to complete the rotation so as to reduce the difference e1。
6) The RISC processor module 6 starts a motor control task which runs periodically, and receives the yaw angle array psi [ t ] generated in the step 4)]And pitch angle array theta t]And calculating the historical comparison difference e of the declination angle of the movable sun tracking system based on the Beidou3＝ψ[t]-ψ[t-1]And calculating a historical comparison difference e of the pitch angles of the movable sun tracking system based on the Beidou4＝θ[t]-θ[t-1]At e3And e4Under the action, the RISC processor sends out a feed-forward PWM pulse width modulation output signal to control a motor driver, the motor driver drives an execution motor (a first stepping motor 10 and a second stepping motor 13) to act, and the yaw angle and the pitch angle of the solar cell panel are adjusted to counteract disturbance caused by vehicle running. For example, when a vehicle deflects rightwards during running, and the t-1 moment to the t moment are measured, the declination angle of the Beidou based movable solar tracking system changes by positive 10 degrees (clockwise is positive), namely e3The angle is equal to 10 degrees,at the moment, the RISC processor sends out a feedforward PWM pulse width modulation output signal to control the solar panel to reversely adjust (rotate 10 degrees anticlockwise), and the influence of the vehicle right deflection on the panel yaw angle is reduced.
7) After the attitude of the solar cell panel is adjusted or in the running process of the vehicle, the solar altitude angle, the solar azimuth angle, the solar panel pitch angle and the solar panel yaw angle change, the 4 angles are changed, and 2 new difference values e are obtained again1And e2And 5) judging and executing the forward and reverse rotation of the first stepping motor 10 and the second stepping motor 13 until the difference value e is reached1And e2All the motor enters an adjustable dead zone, and the motor stops acting to complete the closed-loop control process.
8) When the movable sun tracking system based on the Beidou passes through a continuous curve or a bumpy road section, a 'continuous curve and bumpy road section detection task' which runs periodically triggers and interrupts PWM _ INT, after the interruption occurs, a 'motor control task' is suspended, a motor is executed to stop acting until the continuous curve or the bumpy road section is ended, and the movable sun tracking system based on the Beidou resumes normal tracking. When the reading time of the movable solar tracking system based on the Beidou is not in the range of 6:00-18:00, or the rainwater sensor senses rainwater, the movable solar tracking system based on the Beidou enters a dormant state, and meanwhile, the posture of the solar panel is restored to the original posture of horizontal placement.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A movable sun tracking system based on Beidou is characterized in that the movable sun tracking system based on Beidou comprises a detection control device and a mechanical execution device;
the detection control device comprises a battery panel electronic gyroscope MPU, a Beidou positioning chip, a vehicle electronic gyroscope MPU, a rainwater sensor, a clock module and an RISC processor module;
the mechanical execution device comprises a self-rotating platform, two connecting rod pitching mechanisms, a solar cell supporting plate and a frame;
the spinning platform is coaxial with the frame and is connected with the upper end of the frame through a stainless steel turntable bearing device, a first stepping motor is arranged on the frame, and the output end of the first stepping motor is in gear engagement connection with the stainless steel turntable bearing device through a driving wheel;
the two-connecting-rod pitching mechanism comprises a lead screw guide rail, one end of the lead screw guide rail is connected with the output end of a second stepping motor, the other end of the lead screw guide rail is rotatably connected with a lead screw connecting plate, the second stepping motor and the lead screw connecting plate are both connected with the upper end of the spinning platform, the upper end of the lead screw connecting plate is hinged with one end of a solar cell supporting plate, a first connecting rod capable of moving along the lead screw guide rail is sleeved on the lead screw guide rail, the upper end of the first connecting rod is hinged with one end of a second connecting rod, the other end of the second connecting rod is hinged with the middle section of the side wall of the solar cell supporting plate, a solar cell panel is arranged at the upper end of the solar cell supporting plate, a cell panel electronic gyroscope MPU is arranged at the lower end of the solar cell supporting plate, a rainwater sensor is arranged at, The vehicle electronic gyroscope MPU, the RISC processor module and the clock module;
the sun tracking method of the movable sun tracking system based on the Beidou comprises the steps that the RISC processor module runs a mu C/OS-III real-time multi-task operating system, and the multi-task comprises a motor control task, a historical observer data acquisition task, a sun angle calculation task, a vehicle dynamic and static detection task, a continuous curve and bumpy road section detection task, a system start and stop judgment task and a Beidou positioning data receiving task;
the method comprises the following steps:
s1, judging system start and stop:
the RISC processor module runs a micro C/OS-III real-time multi-task operating system to periodically execute a system start-stop judging task, reads the data of the clock module, judges whether the time is in a range of 6:00 to 18:00, and suspends all the multi-tasks except the RISC processor module if the time is not in the range of 6:00 to 18: 00; if so, reading the output level of the rainwater sensor, judging whether the rainwater sensor is rainy, and if so, suspending all the multitasks except the rainwater sensor; if not, starting delay and giving control right of the RISC processor module;
s2, mode selection:
after the movable sun tracking system based on the Beidou is initialized, the vehicle electronic gyroscope MPU outputs motion data of the movable sun tracking system based on the Beidou, the RISC processor module runs the micro C/OS-III real-time multi-task operating system to periodically execute a vehicle dynamic and static detection task, the vehicle dynamic and static detection task receives and analyzes the motion data of the movable sun tracking system based on the Beidou output by the vehicle electronic gyroscope MPU, the current motion state of the movable sun tracking system based on the Beidou is judged, an adjustable dead zone threshold value M is output according to a judgment result, when M is 5 degrees, the movable sun tracking mode is corresponding to the M, and when M is 2 degrees, the fixed point tracking mode is corresponding to the M;
s3, tracking:
the motion data of the solar cell panel is acquired by the cell panel electronic gyroscope MPU, and then hardware attitude calculation is carried out by the DMP of the cell panel electronic gyroscope MPU to obtain a cell panel yaw angle and a cell panel pitch angle of the Euler angle of the solar cell panel;
the RISC processor module operates a mu C/OS-III real-time multi-task operating system to execute a Beidou positioning data receiving task, receives Beidou positioning chip communication data, analyzes and processes the communication data, extracts longitude and latitude information and date and time information of the geographic position of the Beidou based movable solar tracking system, and eliminates the longitude and latitude and date and time informationThe information queue is sent to the RISC processor module to operate a mu C/OS-III real-time multi-task operating system to execute a solar angle calculation task, the solar azimuth angle and the solar altitude angle of the solar angle are calculated, the RISC processor module operates the mu C/OS-III real-time multi-task operating system to execute a historical observer data acquisition task, and the Euler angle of the Beidou-based movable solar tracking system is grasped as the Euler angle at the moment ttAt the moment of t-1, the Euler angle of the movable sun tracking system based on the Beidou ist-1，tAndt-1transmitting the information to the RISC processor module to operate a mu C/OS-III real-time multi-task operating system to execute a motor control task;
the RISC processor module starts a fuzzy PID control algorithm with feedforward compensation through a motor control task, the fuzzy PID control algorithm with the feedforward compensation comprises a fuzzy PID controller and a feedforward fuzzy controller, and in a negative feedback channel of the fuzzy PID control algorithm with the feedforward compensation, a sun azimuth angle and a panel yaw angle are compared to obtain a difference value e between the sun azimuth angle and the panel yaw angle1Comparing the solar elevation angle with the panel pitch angle to obtain a difference e between the solar elevation angle and the panel pitch angle2Collectively referred to as the difference e { e }1,e2Is and only if e1|>M or | e2|>M, difference e { e }1,e2Transmitting the difference value e to the fuzzy PID controller through an adjustable dead zone1And rate of change thereof de1The/dt is used as the input quantity of the fuzzy PID controller to generate a panel yaw angle PWM pulse width modulation output signal e2And rate of change thereof de2The/dt is used as the input quantity of the fuzzy PID controller to generate a panel pitch angle PWM output signal;
in a feedforward channel of the fuzzy PID control algorithm with feedforward compensation, the Euler angle history comparison difference value of the movable sun tracking system based on the Beidou is set as et/t-1{e3,e4}＝t-t-1Wherein e is3Is the historical comparison difference, e, of the declination angle of the movable sun-tracking system based on the big Dipper4Comparing the pitch angle of the movable sun tracking system based on the Beidou to the historical pitch angleThe feedforward fuzzy controller uses a historical comparison difference e3And rate of change thereof de3The/dt is used as an input quantity to generate a panel yaw angle feedforward PWM output signal, and a history comparison difference value e is used4And rate of change thereof de4The method comprises the steps that/dt is used as an input quantity to generate a panel pitch angle feedforward PWM output signal;
the motor driver of the first stepping motor receives the panel yaw angle PWM pulse width modulation output signal or the panel yaw angle feedforward PWM pulse width modulation output signal to generate a driving current to drive the first stepping motor to rotate forward and backward to complete the solar panel yaw angle adjustment, and the motor driver of the second stepping motor receives the panel pitch angle PWM pulse width modulation output signal or the panel pitch angle feedforward PWM pulse width modulation output signal to generate a driving current to drive the second stepping motor to rotate forward and backward to complete the solar panel pitch angle adjustment;
s4, repeating the step S3 until | e1Less than or equal to M and e2And the solar light vertically irradiates the solar cell panel at the moment.
2. The sun-tracking method according to claim 1, characterized in that: the transmission ratio of the driving wheel to the stainless steel turntable bearing device is 8: 1.
3. The sun-tracking method according to claim 1, characterized in that: the side wall of the solar cell supporting plate is provided with a stop column, and a # -shaped support is arranged in the solar cell supporting plate.
4. The sun-tracking method according to claim 1, wherein in step S2, if the mobile tracking mode is in, the RISC processor module runs the μ C/OS-III real-time multitask operating system to execute a historical observer data collection task, captures and stores the euler angle of the movable sun-tracking system based on the big dipper obtained by the vehicle electronic gyroscope MPU via its own DMP hardware attitude calculation, the euler angle is transmitted to the RISC processor module through a message queue to run the μ C/OS-III real-time multitask operating system to execute a continuous curve and bumpy road section detection task, the continuous curve and bumpy road section detection task analysis determines whether the movable sun-tracking system based on the big dipper is passing through a continuous curve, if so, the PWM _ INT is initiated to be interrupted, and the processor module runs the μ C/OS-III real-time multitask operating system to execute a motor control task The service is suspended: and the PWM output signal is output in a pause mode, and the first stepping motor and the second stepping motor stop acting.
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