CN108572667A - Active sun tracker and its origin reference location method and control method - Google Patents
Active sun tracker and its origin reference location method and control method Download PDFInfo
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- CN108572667A CN108572667A CN201810796292.2A CN201810796292A CN108572667A CN 108572667 A CN108572667 A CN 108572667A CN 201810796292 A CN201810796292 A CN 201810796292A CN 108572667 A CN108572667 A CN 108572667A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The invention discloses a kind of active sun tracker and its origin reference location methods and control method, are related to solar tracking apparatus field, which includes：The coordinate system of sun tracker and the position of sun horizontal system of coordinates are subjected to coincidence correction, by controller module current clock information and the longitude of locality are read using geography information and clock module, latitude and elevation information, position of sun vector of the sun in the position of sun horizontal system of coordinates is calculated using the information read, elevation angle and azimuth of the sunlight work minute surface in the position of sun horizontal system of coordinates is calculated according to position of sun vector, sending out two motor drive modules rotations of the pulse signal control proportional to elevation angle and azimuth using controller module drives sunlight work minute surfaces to turn to respective angles, so that sun tracker is operated in the settled date or as needed to day any pattern, increase the function of sun tracker, extend its application range.
Description
Technical field
The present invention relates to solar tracking equipment and its operating methods, and in particular to a kind of active sun tracker and its
Origin reference location method and control method.
Background technology
Solar energy is a kind of low-density, intermittence and the clean energy resource changed at any time with the variation in space.The sun with
The method of track is generally divided into two classes, and one kind is the position by the photoelectric sensor real-time detection sun over the ground, controls lighting equipment
To the Passive Track of day angle；Another kind of is to calculate the position of the sun over the ground in real time according to astronomical mathematics formula, controls daylighting
Active tracking of the device to day angle.
The precision of photo-electric passive tracking itself is higher, but has the shortcomings that in field of solar energy utilization following：Cloudy day too
Positive irradiation level is weaker, and photoelectric sensor is difficult the variation for responding light, and tracking result is unsatisfactory；In cloudy weather
In, sun itself by cloud layer cover or the aerial somewhere in day due to cloud layer is thinning and when there is relatively bright hot spot, photo-electric
Passive tracking may be such that lighting equipment malfunctions, or even can start suddenly and cause accident.
Active tracking is determined by the position in calculating the sun on high, gives longitude, latitude, the height above sea level of observation point
Height and current standard time, the sun on high in position can be calculated by astronomical mathematics formula, be embodied in
Using the horizontal system of coordinates of observation point as reference, the sun is relative to the elevation angle of observation point horizontal plane and relative to the positive north and south of observation point
The azimuth in direction.In the case where determining local longitude, latitude, height above sea level and time, the tracking essence of sun tracker
Degree one is the registration for depending on sun tracker itself and moving reference coordinate system and the position of sun horizontal system of coordinates, that is, is installed
Precision；Second is that machinery and transmission accuracy depending on sun tracker itself.Active tracking is constantly controllable, is not become by weather
The influence of change.
The prior art generally use can control pitch angle and the double-axis tracking device of orientation angles.Sun tracker bottom
Portion and the earth horizontal plane keeping parallelism, while a certain reference axis and the sun of reference coordinate system that sun tracker itself moves
The geographical meridian line on tracks of device installation ground needs to overlap, to determine the pitch angle of position of sun and the reference zero of orientation angles
Point.Since geographical south poles and the magnetic north South Pole are misaligned, each geomagnetic declination also differs, the guide based on earth induction principle
Needle, electronic compass etc. are difficult to search out high-precision real north, easily form the installation error of sun tracker, it is difficult to protect
Card sun tracker itself moves the registration of reference coordinate system and the position of sun horizontal system of coordinates.Sun tracker simultaneously
Itself is generally there are machine error, and if pitching rotary shaft and orientation rotation axis are there are nonopiate declination error, sunlight works minute surface
There are not parallel declination errors for opposite pitch axis, and there are null angle errors etc. for pitching rotary shaft and orientation rotation axis.
If the accumulated error that installation error as described above and all kinds of machine errors are formed is excessive, it will make solar tracking
The tracking accuracy of device is difficult to ensure.How to reduce or eliminate the accumulated error that installation error and machine error are formed be the sun with
The main problem that track device faces.This also promotes current sun tracker to be passed mostly using expensive High-precision angle
Sensor, laser ranging, CCD imagings, gyrotheodolite etc., the accumulation that real north and machinery are eliminated using closed-loop control system are missed
Difference makes the cost of sun tracker be significantly increased, and installation and debugging are complicated.
Existing sun tracker generally only has the daylighting pattern of " to day " or " settled date " so that sun tracker
It has a single function, application range is restricted, it is difficult to promote.
Invention content
In view of the deficiencies of the prior art, the invention discloses active sun tracker and its origin reference location method and controls
Method processed.
Technical scheme is as follows：
A kind of active sun tracker, the active sun tracker include：Controller module, first motor are driven
Dynamic model block, the second motor drive module, the first zero position switch, the second zero position switch, sunlight work minute surface, light source module, level
Bubble, geography information and clock module and abutment member；Second motor drive module is fixed on abutment member, and first motor is driven
Dynamic model block is fixed on the output shaft of the second motor drive module, drive of the first motor drive module in the second motor drive module
It is dynamic lower relative to the rotation of the second motor drive module；The axis of the output shaft of first motor drive module and the second motor drive module
Output shaft axis it is vertical, sunlight work minute surface be fixed on the output shaft of first motor drive module, sunlight work minute surface
It is rotated relative to first motor drive module under the driving of first motor drive module；First zero position switch is fixed on first motor
In drive module, the second zero position switch is fixed on the second motor drive module, and light source module and air level are separately fixed at branch
In seat module；First motor drive module, the second motor drive module, the first zero position switch, the second zero position switch, light source module
And geography information is electrically connected controller module with clock module and is controlled by controller module.
Its further technical solution is that the base plane of abutment member is when the bubble position of air level is placed in the middle and horizontal
Face is parallel, and vertical with the axis of the output shaft of the second motor drive module, and with the output shaft of first motor drive module
Axis is parallel.
Its further technical solution is that light source module is launched criss-cross light under the control of controller module and penetrated
Line, criss-cross light ray are respectively horizontal light ray and vertical light ray, horizon light including two orthogonal light rays
Ray is parallel with the base plane of abutment member, and vertical light ray is vertical with the base plane of abutment member.
Its further technical solution is that active sun tracker further includes rocker lever module, rocker lever mould
Block is electrically connected controller module and is controlled by controller module, states controller module for the operation according to rocker lever module
Control the rotation of first motor drive module and/or the second motor drive module.
Its further technical solution is that rocker lever module is realized using entity class rocker lever, or is used virtual
Class rocker lever is realized.
A kind of origin reference location method of active sun tracker, method are used for above-mentioned active sun tracker
In, this method includes：
Light parallel with horizontal plane according to the base plane of the bubble position of air level adjustment abutment member, on abutment member
Towards geographical south, criss-cross light ray is projected to be filled the criss-cross light ray that source module is sent out with active solar tracking
It sets on the object of reference being spaced a predetermined distance；
By controller module using geography information and clock module read current clock information and locality longitude,
Latitude and elevation information, and according to the information that reads calculate position of sun of the sun in the position of sun horizontal system of coordinates to
Amount, the position of sun horizontal system of coordinates are the geographical east using horizontal plane as the coordinate system that x/y plane, plumb line direction are the foundation of the directions z
West is to the both direction for geographical north-south being respectively x/y plane；
By asking vector sum to obtain sunlight work by parallelogram law geographical due south vector and position of sun vector
The normal line vector of minute surface；
Decompose to obtain sunlight work minute surface in the position of sun horizontal system of coordinates by the normal line vector to sunlight work minute surface
In elevation angle and azimuth；
The first pulse signal is sent out according to elevation angle by controller module, sends out the second pulse signal according to azimuth,
First pulse signal and the control first motor drive module rotation of the first zero position switch collective effect, the second pulse signal and second
Zero position switch collective effect controls the rotation of the second motor drive module, and sunlight works minute surface in first motor drive module and second
Sunlight is reflexed into geographical south under the drive of motor drive module, the solar facula of sunlight work mirror-reflection projects ginseng
According on object；
Rotary support module is until the vertical center line of the solar facula of sunlight work mirror-reflection is penetrated with criss-cross light
When the vertical light ray of line overlaps, fastening feet module completes the origin reference location of active sun tracker.
A kind of control method of active sun tracker, this method are used in above-mentioned active sun tracker,
The active sun tracker works in settled date pattern, and this method includes：
Origin reference location is carried out to active sun tracker；
By controller module using geography information and clock module read current clock information and locality longitude,
Latitude and elevation information, and according to the information that reads calculate position of sun of the sun in the position of sun horizontal system of coordinates to
Amount, the position of sun horizontal system of coordinates are the geographical east using horizontal plane as the coordinate system that x/y plane, plumb line direction are the foundation of the directions z
West is to the both direction for geographical north-south being respectively x/y plane；
By asking vector sum to obtain sunlight work minute surface by parallelogram law object vector and position of sun vector
Normal line vector, object vector is vector of the target point in the position of sun horizontal system of coordinates；
Decompose to obtain sunlight work minute surface in the position of sun horizontal system of coordinates by the normal line vector to sunlight work minute surface
In elevation angle and azimuth；
The first pulse signal is sent out according to elevation angle by controller module, sends out the second pulse signal according to azimuth,
First pulse signal and the control first motor drive module rotation of the first zero position switch collective effect, the second pulse signal and second
Zero position switch collective effect controls the rotation of the second motor drive module, and sunlight works minute surface in first motor drive module and second
Sunlight is reflexed into target point under the drive of motor drive module.
Its further technical solution is that this method further includes：
Determine target point；
It is driven to first motor drive module and/or the second motor according to the operation of rocker lever module by controller module
Dynamic model block sends pulse signal respectively, until sunlight work minute surface drives mould in first motor drive module and/or the second motor
Sunlight is reflexed into solar facula under the drive of block and is moved to target point；
According to the quantity for the pulse signal that the first zero position switch and controller module are sent to first motor drive module
Determine the vertical direction angle component of the normal line vector of sunlight work minute surface；
According to the quantity for the pulse signal that the second zero position switch and controller module are sent to the second motor drive module
Determine the horizontal direction angle component of the normal line vector of sunlight work minute surface；
The vertical direction angle component of the normal line vector of sunlight work minute surface and horizontal direction angle component are synthesized into sun
The normal line vector of light work minute surface；
Determine position of sun vector of the sun in the position of sun horizontal system of coordinates at this time, and by sunlight work minute surface
Normal line vector ask vector difference to obtain object vector by parallelogram law with position of sun vector at this time.
A kind of control method of active sun tracker, this method are used in above-mentioned active sun tracker,
The active sun tracker is worked in day pattern, and this method includes：
Origin reference location is carried out to active sun tracker；
By controller module using geography information and clock module read current clock information and locality longitude,
Latitude and elevation information, and according to the information that reads calculate position of sun of the sun in the position of sun horizontal system of coordinates to
Amount, the position of sun horizontal system of coordinates are the geographical east using horizontal plane as the coordinate system that x/y plane, plumb line direction are the foundation of the directions z
West is to the both direction for geographical north-south being respectively x/y plane；
By decomposing to obtain elevation angle of the sunlight work minute surface in the position of sun horizontal system of coordinates to position of sun vector
The azimuth and；
The first pulse signal is sent out according to elevation angle by controller module, sends out the second pulse signal according to azimuth,
First pulse signal and the control first motor drive module rotation of the first zero position switch collective effect, the second pulse signal and second
Zero position switch collective effect controls the rotation of the second motor drive module, and sunlight works minute surface in first motor drive module and second
It is vertical with sunlight under the drive of motor drive module.
The method have the benefit that：
1, the present invention provides a kind of active sun tracker and its control methods, since it is according to time and warp
Latitude has calculated position of the sun in the position of sun horizontal system of coordinates, and the sunlight working lens for passing through sun tracker
Sunlight is reflexed to due south direction, and is allowed to visualize by face.The method is directly calibrated using the using effect of sunlight as target
Positioning, has unified the position of sun horizontal system of coordinates and sun tracker itself and has moved reference coordinate system, so by installation error
With the two kinds of error of machine error mutually compensate for and mutually correct, has reduced installation and mechanically formed accumulation misses
Difference improves the precision of tracking.
2, the method that the present invention provides a kind of carrying out origin reference location during installation and debugging to sun tracker.
During determining coordinate system, the origin reference location for determining real north by sun tracker according to time and longitude and latitude is provided
Method.
3, in the present invention, determine due to avoiding guide for use needle and electronic compass and find real north, institute to avoid
The installation error of sun tracker.
4, the present invention realizes a sun tracker while meeting answering for " settled date " and " to day " two kinds of daylighting patterns
With increasing the function of sun tracker, extend its application range.
5, the present invention provides a kind of controlling the sun by way of hardware rocker lever or the virtual class rocker lever of software
The method of tracks of device can control sun tracker by rocker lever and reflex to sunlight under " settled date " operating mode
Target point improves the applicability of sun tracker.
6, the present invention effectively reduces the manufacturing cost and installation maintenance cost of sun tracker, improves Solar use
Rate has high practical value.
Description of the drawings
Fig. 1 is the structural schematic diagram of active sun tracker.
Fig. 2 is the Structure explosion diagram of active sun tracker.
Fig. 3 is the structure rotation schematic diagram of active sun tracker.
Fig. 4 is the electrical block diagram of active sun tracker.
Fig. 5 is the coordinate system benchmark and position of sun horizontal system of coordinates coincidence correction that visualization judges sun tracker
The schematic diagram of one step.
Fig. 6 is the coordinate system benchmark and position of sun horizontal system of coordinates coincidence correction that visualization judges sun tracker
The schematic diagram of another step.
Fig. 7 is the work flow diagram of the settled date operating mode of active sun tracker.
Fig. 8 is the work flow diagram to day operating mode of active sun tracker.
Specific implementation mode
Fig. 1 is the structural schematic diagram of active sun tracker.Fig. 2 is the structural blast of active sun tracker
Figure.As shown in Figure 1 and Figure 2, active sun tracker includes abutment member 8.7 He of air level is fixed on abutment member 8
Light source module 6.Specifically, air level 7 is fixed on the upper surface of abutment member 8.Light source module 6 is fixed on the side of abutment member 8
Face.
Second motor drive module 2 is fixed on by the second motor drive module fixing bolt 26 on abutment member 8.The
Two zero position switchs 4 are fixed on by the second zero position switch fixing bolt 41 on the second motor drive module 2.Second motor drives
Second motor drive module output shaft 21 is installed on module 2.It include flat key slot on second motor drive module output shaft 21
And jump-ring slot.Second flat key 23 is put into the flat key slot of the second motor drive module output shaft 21, and drives mould with the second motor
Block output shaft 21 is mounted on the second motor drive module 2, the output torque for transmitting the second motor drive module 2.The
Two clamp springs 24 are caught in the jump-ring slot of the second motor drive module output shaft 21, to prevent the second motor drive module output shaft 21
The play in the axial direction in axis hole.Second zero position switch triggering block 22 be fixed on the second motor drive module output shaft 21 it
On.There is an elongate rod in second zero position switch triggering block 22, for triggering the second zero position switch 4.
First motor drive module 1 by first motor drive module fixing bolt 16 be fixed on first motor seat 15 it
On.First zero position switch 3 is fixed on by the first zero position switch fixing bolt 31 on first motor drive module 1.First electricity
First motor drive module output shaft 11 is installed on machine drive module 1.Include on first motor drive module output shaft 11
Flat key slot and jump-ring slot.First flat key 13 is put into the flat key slot of first motor drive module output shaft 11, and with first motor
Drive module output shaft 11 is mounted on first motor drive module 1, and the output for transmitting first motor drive module 1 is turned round
Square.First clamp spring 14 is caught in the jump-ring slot of first motor drive module output shaft 11, to prevent first motor drive module defeated
The play in the axial direction in axis hole of shaft 11.First zero position switch triggering block 12 is fixed on first motor drive module output shaft
On 11.There is an elongate rod in first zero position switch triggering block 12, for triggering the first zero position switch 3.
Sunlight work minute surface 5 is fixed on first motor drive module output shaft 11 by sunlight work minute surface fixing bolt 51
On.
First motor seat 15 is fixed on the second motor drive module output shaft 21, and under the driving of the second motor, can
It is rotated relative to the second motor drive module 2.Sunlight work minute surface 5 be connected on first motor drive module output shaft 21 and
Under the driving of first motor drive module 1, it can be rotated relative to first motor drive module 1.
The axis of first motor drive module output shaft 11 is vertical with the axis of the second motor drive module output shaft 21.
The axis of the bubble of air level 7 identified horizontal plane and first motor drive module output shaft 11 when placed in the middle is flat
Row, and it is vertical with the axis of the second motor drive module output shaft 21.
Light source module 6 can send out eye-catching criss-cross light ray, and criss-cross light ray is mutually perpendicular to including two
Light ray, respectively horizontal light ray and vertical light ray, horizontal light ray is parallel with the base plane of abutment member 8, hangs down
Direct light ray is vertical with the base plane of abutment member 8, i.e., the axis of horizontal light ray and first motor drive module output shaft 11
Line is parallel, and vertical light ray is parallel with the axis of the second motor drive module output shaft 21.
As shown in figure 4, the invention also includes controller module, the first zero position switch 3, the second zero position switch 4, first motor
Drive module 1, the second motor drive module 2 are all connected to be controlled on controller module and by controller module.More have
Body, motor drive module 1 includes first motor and first motor driver, and the second drive module 2 includes the second motor and the
Two motor drivers, first motor and the second motor connect controller module by motor driver respectively and by controller modules
Control.
Light source module 6 is also connected on controller module.
The invention also includes geography information and clock module, rocker lever module, remote communication module, are both connected to control
On device module.
Rocker lever module can control the rotation of first motor and the second motor by connecting controller module.Specifically
, the rotating forward of first motor drive module, reversion and second can be controlled respectively by shaking rocker lever module to upper and lower, left and right
Rotating forward, the reversion of motor drive module.
Further：
First motor drive module 1 can be that stepper motor drives turbine and worm to slow down, and stepper motor step angle is 0.72
For degree to 1.8 degree, turbine and worm reduction ratio is 1：10 to 1：1000.
Second motor drive module 2 can be that stepper motor or servo motor drive turbine and worm to slow down, typical stepping
Motor step angle is 0.72 degree to 1.8 degree, and turbine and worm reduction ratio is 1：10 to 1：1000.
First zero position switch 3 is typically flute profile optoelectronic switch, is used for the movement of relative positioning first motor drive module 1
Origin.
Second zero position switch 4 is typically flute profile optoelectronic switch, is used for the movement of the second motor drive module of relative positioning 2
Origin.
Controller module is microcontroller or PLC (Programmable Logic Controller, Programmable logical controller
Device), single chip computer AT mega2560 or PLC S7-200 can be used.
Geography information is used to obtain local longitude and latitude and temporal information with clock module, can be implemented as GPS (Global
Positioning System, global positioning system) or big dipper module.
Sunlight work minute surface 5 can be sunlight work minute surface or solar energy photovoltaic panel.
Light source module 6 can be red cross laser lamp.
Rocker lever module can be connected to controller module by the entity class rocker lever for changing principle based on resistance, also may be used
To be realized by the virtual class rocker lever or button of Software Create, such as cell phone application, touch screen.Rocker lever module passes through wired
Mode be connected to controller module, such as cable connection；Or it is wirelessly connected to controller module, for example, it is blue
Tooth, WIFI (WIreless-Fidelity, Wireless Fidelity) etc..Controller module can be according to rocker lever mould rocking bar hand in the block
The operation of handle rotates to control motor.
During above-mentioned active sun tracker is installed, which is filled
Set the method for carrying out origin reference location, to the coordinate system of the active sun tracker itself and the position of sun horizontal system of coordinates into
The method of row coincidence correction.With reference to Fig. 5, Fig. 6, wherein coordinate system xyz indicates the position of sun horizontal system of coordinates, coordinate system x ' y ' z '
It is the coordinate system of sun tracker itself, specifically includes：
Step 1, according to the instruction of the bubble position in the air level 7 installed on abutment member 8, adjustment solar tracking dress
It sets parallel with horizontal plane to horizontal plane, namely the base plane of adjustment abutment member 8.So that the projection side that light source module 6 is luminous
To geographical south, and one object of reference of placement outside this direction preset distance is approximately towards, light source module 6 is set to send out criss-cross
Light ray is incident upon on object of reference, which is self-defining value.
Object of reference is with sun tracker at a distance of generally 0.1 meter~500 meters, typically 1~10 meter.
Step 2, controller module read current clock information and the warp of locality by geography information and clock module
Degree, latitude and elevation information.It is the directions z using the horizontal plane in the sun tracker location as x/y plane, with plumb line direction
It is the position of sun horizontal system of coordinates to establish coordinate system, and geographical East and West direction and geographical north-south are respectively the directions x and the y of x/y plane
Direction.Calculate at this time that the sun is herein according to longitude, latitude and the elevation information of the current clock information and locality that read
Position of sun vector in coordinate system.
Step 3 is asked geographical due south vector with the position of sun vector being calculated in step 2 by parallelogram law
Vector sum, the normal line vector for the minute surface 5 that works using this vector sum as sunlight.
The normal line vector being calculated in step 3 is decomposed into the sun position of sunlight work minute surface 5 in step 2 by step 4
Set the elevation angle in the horizontal system of coordinates and azimuth.
Step 5, controller module according to elevation angle send out the first proportional pulse signal, according to azimuth send out into than
Second pulse signal of example, the first pulse signal and 3 collective effect of the first zero position switch control first motor drive module 1 rotate
To corresponding angle, the second pulse signal controls the second motor drive module 2 with 4 collective effect of the second zero position switch and turns to phase
The angle answered.
Angle is corresponding with the number of corresponding pulse signal respectively, and there are one the proportionality coefficient of constant, the ratios between the two
Example coefficient is related with the high-subdividing number of transmission ratio and motor driver.It illustrates, it is assumed that calculate the elevation angle of the current sun
Step angle for 36 degree, first motor is 1.8 degree, the high-subdividing number of first motor driver is 100 (i.e. first motor driver hairs
Go out 100 pulses, first motor rotates 1.8 degree), the reduction ratio of speed reducer be 50:1, as long as then controller module is sent out
(36/1.8) * 100*50=100000 pulse signals, so that it may so that first motor drive module 1 rotates 36 degree.Following implementations
The similar understanding of correspondence between the quantity and angle of the pulse signal that the controller module occurred in example is sent out, the present invention
No longer illustrate one by one in following step.
Step 6, under the action of first motor drive module 1 and the second motor drive module 2, be connected to first motor drive
Sunlight is reflexed to substantially geographical south by sunlight work minute surface 5 on dynamic model block 1, while the reflection of sunlight work minute surface 5 is too
Sunlight spot can project on object of reference, as shown in Figure 5.
Step 7, rotary support module 8 make the vertical center line and step 1 of the solar facula of the sunlight work reflection of minute surface 5
Vertical light ray in the criss-cross light ray that middle light source module 6 is sent out overlaps, as shown in Figure 6.
Step 8, fastening feet module 8, complete the origin reference location of active sun tracker so that sun tracker
Coordinate system and position of sun horizontal system of coordinates coincidence correction so that sun tracker is towards geographical due south direction.
After completing to the origin reference location of active sun tracker by the above method, the invention also discloses one kind
The control method of active sun tracker.Control method needs to include two kinds according to application scenario, and one kind is to day work
Operation mode, i.e., under the control of controller module, the sunlight of the sun tracker work minute surface with the variation of position of sun and
Variation makes sunlight work minute surface remain vertical with sunray.Another kind is settled date operating mode, i.e., in controller module
Control under, the sunlight of sun tracker work minute surface changes with the variation of position of sun, and sunlight works minute surface will too
Sunlight line reflection makes the solar facula of reflection be stopped always in this target point to a target point, not with the change of position of sun
Change and changes.
As shown in fig. 7, settled date operating mode specifically includes following steps：
Step 1, using the horizontal plane in the sun tracker location as x/y plane, plumb line direction be the directions z establish too
The positive position horizontal system of coordinates, geographical East and West direction and geographical north-south are respectively the directions x and the directions y of x/y plane.
Step 2 shakes rocker lever module towards upper and lower directions, left and right directions movement, and controller module is according to rocker lever
The operation of module sends proportional pulse signal respectively to first motor drive module 1 and/or the second motor drive module 2,
With the first zero position switch 3,4 collective effect of the second zero position switch, first motor drive module and the driving of the second motor are controlled respectively
Module rotates, and sunlight works solar facula that minute surface 5 reflects will be with first motor drive module and the second motor drive module
It rotates and moves.
Step 3 determines a target point, which is typically a point region with certain size.In step 2
Under the action of, when the solar facula that sunlight work minute surface 5 is reflected reaches target point, stop shaking rocker lever module.
When step 4, recording step 3 stop shaking rocker lever module, controller module drives mould to first motor respectively
The quantity for the pulse signal that block 1 and the second motor drive module 2 are sent out.By with the first zero position switch 3 and the second zero position switch 4
Collective effect the quantity of the pulse signal to fluctuate and the quantity of the pulse signal to rock from side to side can proportionally be turned
First motor drive module is turned in the rotational angle and first motor drive module of upper and lower vertical direction in left and right horizontal direction
Rotational angle, specifically：The pulse sent to first motor drive module according to the first zero position switch and controller module
The quantity of signal determines the vertical direction angle component of the normal line vector of sunlight work minute surface 5, according to the second zero position switch and
The quantity for the pulse signal that controller module is sent to the second motor drive module determines the normal line vector of sunlight work minute surface 5
Horizontal direction angle component.
The vertical direction angle component and level of step 5, the normal line vector of minute surface 5 that the sunlight obtained in step 4 works
Orientation angle component synthesizes to obtain the normal line vector of sunlight work minute surface 5.Controller module passes through geography information and clock module
Present clock information and local longitude, latitude and elevation information are read, the sun at this time is calculated according to these information read
Position of sun vector, and the sunlight to obtaining work minute surface 5 normal line vector with position of sun vector at this time by parallel four
Side shape rule seeks vector difference, you can obtains the object vector of target point.
Object vector recorded in step 6, preservation step 5.
After obtaining and preserving object vector, you can so that the solar facula of reflection is stopped always using the object vector of preservation
It is specific as follows in this target point：
Step 7, controller module read present clock information and local longitude, latitude by geography information and clock module
Degree and elevation information are calculated according to these information read in the position of sun horizontal system of coordinates of the sun in step 1 at this time
Position of sun vector.
Step 8, by position of sun vector current in the object vector preserved in step 6 and step 7 by parallelogram
Rule seeks vector sum, the normal line vector for the minute surface 5 that works using this vector sum as sunlight.
The normal line vector obtained in step 8 is decomposed into sunlight work minute surface 5 in the position of sun horizontal system of coordinates by step 9
In elevation angle and azimuth.
Step 10, controller module send out the first proportional pulse signal, according to side according to the elevation angle that step 9 determines
Parallactic angle sends out the second proportional pulse signal, and the first pulse signal and 3 collective effect of the first zero position switch control first motor
Drive module 1 turns to corresponding angle, and the second pulse signal and 4 collective effect of the second zero position switch control the driving of the second motor
Module 2 turns to corresponding angle.
Step 11, under the action of first motor drive module 1 and the second motor drive module 2, be connected to first motor
Sunlight is reflexed to target point by the sunlight work minute surface 5 on drive module 1.
Step 12, the interval time by setting repeat step 7 to step 11, make the sunlight of sunlight work mirror-reflection
Spot rests on always target point.
Time interval is usually 1 second to 30 minutes, typically 1 minute.
Step 13, when reaching scheduled time point, under the control of controller module, stop or start the solar tracking
Device.
As shown in figure 8, specifically including following steps to day operating mode：
Step 1, it is that the directions z are established too using the horizontal plane in the sun tracker location as x/y plane, plumb line direction
The positive position horizontal system of coordinates, geographical East and West direction and geographical north-south are respectively the directions x and the directions y of x/y plane.
Step 2, controller module reads present clock information and local longitude, latitude by geography information and clock module
Degree and elevation information are calculated according to these information read in the position of sun horizontal system of coordinates of the sun in step 1 at this time
Position of sun vector.Under to day operating mode, this position of sun vector is the normal line vector of minute surface sunlight work minute surface 5.
Step 3, the position of sun vector in step 2 is decomposed into sunlight and works minute surface 5 in the position of sun horizontal system of coordinates
In elevation angle and azimuth.
Step 4, controller module sends out the first proportional pulse signal, according to side according to the elevation angle that step 9 determines
Parallactic angle sends out the second proportional pulse signal, and the first pulse signal and 3 collective effect of the first zero position switch control first motor
Drive module 1 turns to corresponding angle, and the second pulse signal and 4 collective effect of the second zero position switch control the driving of the second motor
Module 2 turns to corresponding angle.
Step 5, under the action of first motor drive module 1 and the second motor drive module 2, it is connected to first motor drive
Sunlight work minute surface 5 on dynamic model block 1 is vertical with sunlight.
Step 6, the interval time for pressing setting repeats step 2 to step 5, make sunlight work minute surface 5 always with sunray
Keep vertical.
Time interval is usually 1 second to 30 minutes, typically 1 minute.
Step 7, when reaching scheduled time point, under the control of controller module, stop or start the solar tracking
Device.
The present invention operation principle be, the sun on high in position can by observation point on the earth geographical location and when
Between determine, give longitude, latitude, height above sea level and the current standard time of observation point, the sun on high in position can be with
It is calculated by astronomical mathematics formula.The sun on high in position be embodied in the horizontal system of coordinates of observation point be ginseng
According to elevation angle of the sun relative to observation point horizontal plane and the azimuth relative to the positive North and South direction of observation point：Work as solar tracking
When device works on the Northern Hemisphere, the azimuth as relative to observation point due south direction；When sun tracker is in Southern Hemisphere work
When making, the azimuth as relative to observation point direct north.
In sun tracker, a motor drive module is connected on the output shaft of another motor drive module,
The output shaft of two motor drive modules is mutually perpendicular to, and constitutes the holder with two-freedom controlled by two motors, sun
Light work minute surface is fixed on this holder, sun tracker is formed, by the elevation angle of the sun and orientation angles according to setting
Rule be respectively mapped to two motors rotation angle, you can control this sun tracker sunlight work minute surface by setting
Rule operation.
Air level is mounted on the abutment member of the sun tracker, can indicate the branch of the sun tracker
Whether the plane that seat module is installed is parallel with horizontal plane.One motor drive module is fixed on abutment member, this is made
The axis of motor drive module output shaft is vertical with the plane where abutment member.Eye-catching cross light ray will be projected
Light source module be fixed on abutment member, the projecting direction for making cross light ray is parallel with the baseplane of abutment member,
Keep a ray in wherein eye-catching cross light ray parallel with baseplane simultaneously.It is determined by an above-mentioned abutment member
Plane, the direction and a cross-shaped light source projecting direction that the axis of motor drive module output shaft determines are set as this too
The coordinate system benchmark of positive tracks of device.Coordinate system benchmark is set as two motor driving moulds by two zero position switch collective effects
The zero reference of block rotation angle.Cross-shaped light source projecting direction is set as the Due South of the sun tracker itself, eye-catching
The effect of cross light is that the Due South of the sun tracker itself is made to visualize, that is, make sun tracker itself
The reference coordinate system of movement visualizes.
The abutment member for adjusting the sun tracker makes the water on the abutment member of the sun tracker
Bubble in quasi- bubble is placed in the middle, sets the program in controller module, sun tracker is controlled, by the sun light reflection at certain moment
To the due south direction of the horizontal system of coordinates, while light source module sends out eye-catching cross light and is designated as sun tracker itself
Due south direction, rotary support module makes the vertical line in cross light and the center of the solar facula of reflection overlap, at this time
The direction of cross light instruction is geographical positive North and South direction, that is, the horizontal system of coordinates and solar tracking for observing position of sun fill
The reference coordinate system for setting movement overlaps, and the rule which can be run by the local sun is arranged program and runs,
Meets the needs of Solar use.
What has been described above is only a preferred embodiment of the present invention, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technology personnel directly export or associate without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (9)
1. a kind of active sun tracker, which is characterized in that the active sun tracker includes：Controller mould
Block, first motor drive module, the second motor drive module, the first zero position switch, the second zero position switch, sunlight work minute surface,
Light source module, air level, geography information and clock module and abutment member；Second motor drive module is fixed on described
On abutment member, the first motor drive module is fixed on the output shaft of second motor drive module, and described first
Motor drive module rotates under the driving of second motor drive module relative to second motor drive module；Described
The axis of the output shaft of one motor drive module is vertical with the axis of output shaft of the second motor drive module, the sunlight
Work minute surface is fixed on the output shaft of the first motor drive module, and the sunlight work minute surface drives in the first motor
It is rotated relative to the first motor drive module under the driving of dynamic model block；First zero position switch is fixed on the first motor
In drive module, second zero position switch is fixed on second motor drive module, the light source module and the water
Quasi- bubble is separately fixed on the abutment member；The first motor drive module, the second motor drive module, the first zero-bit are opened
Pass, the second zero position switch, light source module and geography information and clock module be electrically connected the controller module and by
The controller module control.
2. active sun tracker according to claim 1, which is characterized in that the base plane of the abutment member
It is parallel with horizontal plane when the bubble position of the air level is placed in the middle, and with the axis of the output shaft of second motor drive module
Line is vertical, and parallel with the axis of output shaft of first motor drive module.
3. active sun tracker according to claim 1, which is characterized in that the light source module is in the control
Launch criss-cross light ray under the control of device module, the criss-cross light ray includes two orthogonal light rays
Respectively horizontal light ray and vertical light ray, the horizontal light ray is parallel with the base plane of the abutment member, described
Vertical light ray is vertical with the base plane of the abutment member.
4. active sun tracker according to any one of claims 1 to 3, which is characterized in that the active sun
Tracks of device further includes rocker lever module, and the rocker lever module is electrically connected the controller module and by the control
Device module controls, and the controller module drives mould for first motor described in the operation and control according to the rocker lever module
The rotation of block and/or second motor drive module.
5. active sun tracker according to claim 4, which is characterized in that the rocker lever module is using real
Body class rocker lever is realized, or is realized using virtual class rocker lever.
6. a kind of origin reference location method of active sun tracker, the method is used for as described in claim 1 to 5 is any
Active sun tracker in, which is characterized in that the method includes：
The base plane that adjusts the abutment member according to the bubble position of the air level is parallel with horizontal plane, the bearing mould
Criss-cross light ray that the light source module on block is sent out towards geographical south, the criss-cross light ray project with
On the object of reference that the active sun tracker is spaced a predetermined distance；
By the controller module current clock information and locality are read using the geography information and clock module
Longitude, latitude and elevation information, and sun position of the sun in the position of sun horizontal system of coordinates is calculated according to the information read
Set vector, it is coordinate that the directions z are established that the position of sun horizontal system of coordinates, which is by x/y plane, plumb line direction of horizontal plane,
System, geographical East and West direction and geographical north-south are respectively the both direction of x/y plane；
By asking vector sum to obtain the sunlight by parallelogram law geographical due south vector and the position of sun vector
The normal line vector of work minute surface；
It decomposes to obtain the sunlight work minute surface in the position of sun by the normal line vector to sunlight work minute surface
Elevation angle in flat coordinate system and azimuth；
The first pulse signal is sent out according to the elevation angle by the controller module, the second arteries and veins is sent out according to the azimuth
Signal is rushed, first pulse signal controls the first motor drive module with the first zero position switch collective effect and turns
Dynamic, second pulse signal controls second motor drive module with the second zero position switch collective effect and rotates, institute
It is under the drive of the first motor drive module and second motor drive module that sunlight is anti-to state sunlight work minute surface
It is incident upon geographical south, the solar facula of the sunlight work mirror-reflection projects on the object of reference；
Rotate vertical center line and the cross of the abutment member up to the solar facula of sunlight work mirror-reflection
When the vertical light ray of the light ray of shape overlaps, the abutment member is fastened, completes the base of the active sun tracker
Certainly position.
7. a kind of control method of active sun tracker, the method is for the master as described in claim 1 to 5 is any
In dynamic formula sun tracker, the active sun tracker works in settled date pattern, which is characterized in that the method packet
It includes：
Origin reference location is carried out to the active sun tracker；
By the controller module current clock information and locality are read using the geography information and clock module
Longitude, latitude and elevation information, and sun position of the sun in the position of sun horizontal system of coordinates is calculated according to the information read
Set vector, it is coordinate that the directions z are established that the position of sun horizontal system of coordinates, which is by x/y plane, plumb line direction of horizontal plane,
System, geographical East and West direction and geographical north-south are respectively the both direction of x/y plane；
It is worked by asking vector sum to obtain the sunlight by parallelogram law object vector and the position of sun vector
The normal line vector of minute surface, the object vector are vector of the target point in the position of sun horizontal system of coordinates；
It decomposes to obtain the sunlight work minute surface in the position of sun by the normal line vector to sunlight work minute surface
Elevation angle in flat coordinate system and azimuth；
The first pulse signal is sent out according to the elevation angle by the controller module, the second arteries and veins is sent out according to the azimuth
Signal is rushed, first pulse signal controls the first motor drive module with the first zero position switch collective effect and turns
Dynamic, second pulse signal controls second motor drive module with the second zero position switch collective effect and rotates, institute
It is under the drive of the first motor drive module and second motor drive module that sunlight is anti-to state sunlight work minute surface
It is incident upon the target point.
8. the method according to the description of claim 7 is characterized in that the method further includes：
Determine target point；
By the controller module according to the operation of the rocker lever module to the first motor drive module and/or institute
It states the second motor drive module and sends pulse signal respectively, minute surface is in the first motor drive module until the sunlight works
And/or sunlight is reflexed into solar facula under the drive of second motor drive module and is moved to the target point；
The pulse letter sent to the first motor drive module according to first zero position switch and the controller module
Number quantity determine sunlight work minute surface normal line vector vertical direction angle component；
The pulse letter sent to second motor drive module according to second zero position switch and the controller module
Number quantity determine sunlight work minute surface normal line vector horizontal direction angle component；
The vertical direction angle component of the normal line vector of sunlight work minute surface and horizontal direction angle component are synthesized into institute
State the normal line vector of sunlight work minute surface；
Determine position of sun vector of the sun in the position of sun horizontal system of coordinates at this time, and by working the sunlight
The normal line vector of minute surface at this time the position of sun vector by parallelogram law ask vector difference obtain the target to
Amount.
9. a kind of control method of active sun tracker, the method is for the master as described in claim 1 to 5 is any
In dynamic formula sun tracker, the active sun tracker is worked in day pattern, which is characterized in that the method packet
It includes：
Origin reference location is carried out to the active sun tracker；
By the controller module current clock information and locality are read using the geography information and clock module
Longitude, latitude and elevation information, and sun position of the sun in the position of sun horizontal system of coordinates is calculated according to the information read
Set vector, it is coordinate that the directions z are established that the position of sun horizontal system of coordinates, which is by x/y plane, plumb line direction of horizontal plane,
System, geographical East and West direction and geographical north-south are respectively the both direction of x/y plane；
By decomposing to obtain the sunlight work minute surface in the position of sun horizontal system of coordinates to the position of sun vector
Elevation angle and azimuth；
The first pulse signal is sent out according to the elevation angle by the controller module, the second arteries and veins is sent out according to the azimuth
Signal is rushed, first pulse signal controls the first motor drive module with the first zero position switch collective effect and turns
Dynamic, second pulse signal controls second motor drive module with the second zero position switch collective effect and rotates, institute
Sunlight work minute surface is stated to hang down with sunlight under the drive of the first motor drive module and second motor drive module
Directly.
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