CN108803674A - A kind of polar axis photovoltaic array power generation single shaft tracking apparatus and its control method - Google Patents
A kind of polar axis photovoltaic array power generation single shaft tracking apparatus and its control method Download PDFInfo
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- CN108803674A CN108803674A CN201810595886.7A CN201810595886A CN108803674A CN 108803674 A CN108803674 A CN 108803674A CN 201810595886 A CN201810595886 A CN 201810595886A CN 108803674 A CN108803674 A CN 108803674A
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Abstract
A kind of polar axis photovoltaic array power generation single shaft tracking apparatus and control method, belong to field of solar thermal power generation, it is characterized in the longitudinal screw mandrel axis top installed on longitudinal stepper motor+worm reducer and encoder assembles body installation horizontal stepper motor+worm reducer and encoder assembles body, cross lead screw axis both ends are connect with horizontal stepper motor+worm reducer and encoder assembles body and link respectively, each photovoltaic module lower end is hinged with lower end connection respectively, and upper end is hinged with link respectively by upper end connection；Control method：(1) initialization；(2) n, δ are calculated；(3) Δ A, B, ω are calculatedsr、ωss、tss、tsr；(4) t is calculatedz, tz≥tsr, it is to execute (5), it is no, it returns (4)；(5) it is cloudy, is, returns (5), no, executes (6)；(6) it is adjusted, is executed (7) according to Δ；(7) reach t', be, execute (8), it is no, it executes (9)；(8) more than κ, it is that device resets, resets, it is no, it executes (9)；(9)tz≥tss, it is that device stops, no, returns (9).
Description
Technical field
The invention belongs to solar energy generation technology fields, and in particular to a kind of polar axis photovoltaic array power generation single shaft tracking apparatus
And its control method.
Background technology
Currently, the development and utilization of regenerative resource increasingly obtains the concern of national governments, pass through light in the near future
Volt component, which converts solar energy into electric energy, has prodigious potentiality to be exploited.It is predicted according to Joint Research Centre of European Union in 2004, to this
The end of the century, ratio of the photovoltaic generation in All Around The World energy supply will be more than 30%.Existing photovoltaic generation uniaxiality tracking dress
It is the tracking mode based on the horizontal system of coordinates mostly to set (hereinafter referred to as " device "), and does not account for solar day liter orientation mostly
The factors such as difference of longitude, solar hour angle between angle, sunset azimuth, local longitude and time zone longitude and the error between hour angle of true sun
To the influence that position of sun judges, device tracking inefficient, photovoltaic array power generation delivery efficiency is caused to reduce；In addition, based on ground
The uniaxiality tracking mode of flat coordinate system leads to the continuous work of stepper motor due to sun altitude to be constantly tracked or azimuth
Make, reduces service life, increase maintenance；Simultaneously because device operation and formula calculation error cause to predict position of sun
And there are deviations for practical position of sun.Therefore a kind of polar axis photovoltaic array power generation single shaft tracking apparatus of research offer and its controlling party
Method is very necessary.
Invention content
It is an object of the present invention to provide a kind of polar axis photovoltaic array power generation single shaft tracking apparatus and its control methods, can be effectively
Photovoltaic array power generation efficiency is improved, failure rate is reduced.
The invention is realized in this way：As shown in Figure 1, it is characterized in that：Include first, according to array arrangement
Two ... the n-th photovoltaic module 1 ', 1 " ... 1n', the upper end connection 2 of photovoltaic module, link 3, cross lead screw axis 4, laterally
Stepper motor+worm type of reduction gearing and encoder assembles body 5, longitudinal screw mandrel axis 6, longitudinal stepper motor+worm and gear slow down
The lower end connection 9 of device and encoder assembles body 7, support base 8, photovoltaic module, structure are：Support base 8 is fixed on ground 11
On, upper part is equipped with longitudinal stepper motor+worm type of reduction gearing and encoder assembles body 7, longitudinal stepper motor+worm gear snail
Bar retarder and encoder assembles body 7 is installed above a longitudinal screw mandrel axis 6,6 top of longitudinal screw mandrel axis is equipped with lateral stepping electricity
Machine+worm type of reduction gearing and encoder assembles body 5,4 one end of cross lead screw axis and horizontal stepper motor+worm type of reduction gearing
And encoder assembles body 5 connects, the other end is connect with link 3, first, second ... the n-th photovoltaic module 1 ', 1 " ... 1n’
Lower end is hinged with the lower end connection 9 on ground 11 respectively, upper end by upper end connection 2 respectively with link 3
It is hinged；The first, second ... the n-th photovoltaic module 1 ', 1 " ... 1n' it is installed above have a photosensitive sensor 10, longitudinal stepping electricity
Machine+worm type of reduction gearing and encoder assembles body 7 drive longitudinal screw mandrel axis 6 to rotate and drive horizontal stepper motor+worm gear snail
Bar retarder and encoder assembles body 5 vertically move, and horizontal stepper motor drives transverse direction with worm type of reduction gearing part assembly 5
Screw axis 4 rotates and drives 3 transverse shifting of link, wherein cross lead screw axis 4 and horizontal stepper motor+worm and gear slow down
Device and encoder assembles body 5 are horizontally mounted, longitudinal screw mandrel axis 6 and longitudinal stepper motor+worm type of reduction gearing and encoder group
Fit 7 right angle settings.The control method of above-mentioned apparatus is：
If spring and autumn divides day, according to the first, second of array arrangement ... n-th of photovoltaic module 1 ', 1 " ... 1nWith ground
Angle is equal to θ=φ, and φ is local dimension.If according to the first, second of array arrangement ... n-th of photovoltaic module 1 ',
1”……1nLength is A, according to the first, second of array arrangement ... n-th of photovoltaic module 1 ', 1 " ... 1nTop and bottom end
Difference in height be B, then meet formula (1) between A and B.
Then, judging that some day is n-th day in 1 year, n is positive integer, and declination angle δ is calculated according to formula (2),
Then according to the first, second of array arrangement ... n-th of photovoltaic module 1 ', 1 " ... 1nWith the inclination alpha on groundsIt can be by formula (3)
It obtains, it is that just, the autumn and winter are negative, then cross lead screw axis 4 and horizontal stepper motor+worm and gear that the sign in formula (3), which takes spring and summer,
The lateral distance Δ A of 5 level of retarder and encoder assembles body can be obtained by formula (4), and Δ A is that just, court arranges according to array
Cloth first, second ... n-th of photovoltaic module 1 ', 1 " ... 1nDirection is moved, and Δ A is negative, then towards according to array arrangement
The first, second ... n-th of photovoltaic module 1 ', 1 " ... 1nNegative direction moves, longitudinal screw mandrel axis 6 and longitudinal stepper motor+snail
Worm and gear retarder and 7 vertical travel distance Δ B of encoder assembles body can be obtained by formula (5), and Δ B is just, towards lower support 8
Direction is moved, and Δ B is negative, then is moved towards 8 negative direction of lower support.
αs=θ ± δ (3)
Δ A=(cos θ-cos αs)A (4)
Δ B=± | sin θ-sin αs|A (5)
Since the circumsolar running track of the earth is elliptical orbit, hour angle of true sun ωzWith solar hour angle ω
Between there are errors.Hour angle of true sun ωzIt can be obtained by formula (6)~(8).
E=9.87sin 2B-7.53cos B-1.5sin B (7)
ω=0 when wherein obtaining clock time t, t=12 point by formula (9), L are local longitude, LsFor zone standard time
Between location longitude, since China is located at the Eastern Hemisphere, so the sign in formula (6) should take positive sign, then t between the true solar timez
It can be obtained by formula (10).
The azimuth of daily sunrise and sunset can be obtained by formula (11), wherein sunrise azimuth ωsr=-ωs, sunset side
Parallactic angle ωss=ωs, then the daily sunrise sunset moment can be obtained by formula (12) and (13).
ωs=arccos (- tan φ tan δ) (11)
Since formula calculating and device operation can all have error, utilize horizontal stepper motor+worm and gear to slow down
Encoder in device and encoder assembles body 5 and longitudinal stepper motor+worm type of reduction gearing and encoder assembles body 7 can be one
The zero of implementation mechanism error, photosensitive sensor 10 react intensity of solar radiation when error is more than limit value in section time range,
Less than a threshold value, mechanism is failure to actuate.
The implementation steps of above-mentioned control method are as shown in Fig. 2, be：
Step 1: according to device required precision determining device minimum operation angle Δ, determine that error judges time t', error
Limit value κ, local longitude L and dimension φ, the longitude L in local standard time locations, determine according to array arrangement first,
The second ... n-th of photovoltaic module 1 ', 1 " ... 1nLength A, spring and autumn divide day according to array arrangement first, second ...
N photovoltaic module 1 ', 1 " ... 1nWith the angle theta of ground level；
Step 2: calculating n-th day of some day in 1 year, the declination angle δ on the same day is calculated by formula (2)；
Step 3: according to declination angle δ and local dimension φ, first according to array arrangement is obtained by formula (3), the
Two ... n-th of photovoltaic module 1 ', 1 " ... 1nWith the inclination alpha on grounds, cross lead screw axis 4 is obtained by formula (4) and is laterally walked
The lateral distance Δ A of 5 level of stepper motor+worm type of reduction gearing and encoder assembles body, longitudinal silk is obtained by formula (5)
Bar axis 6 and the vertical longitudinal movement distance, delta B of longitudinal stepper motor+worm type of reduction gearing and encoder assembles body 7, by formula
(1) obtain first, second according to array arrangement ... n-th of photovoltaic module 1 ', 1 " ... 1nThe difference in height on top and bottom end
B obtains ω by formula (11)~(13)sr、ωss、tss、tsr；
Step 4: according to clock time by t between formula (10) the calculating true solar timez, judge t between the true solar timezWhether it is more than
Equal to sunrise moment tsr, it is to execute step 5；It is no, return to step four；
Step 5: judging whether the cloudy day according to photosensitive sensor 10, it is return to step five；It is no, execute step 6；
Step 6: adjusting cross lead screw axis 4 and horizontal stepper motor+worm type of reduction gearing and encoder assembles according to Δ
Body 5 adjusts longitudinal screw mandrel axis 6 and longitudinal stepper motor+worm type of reduction gearing and encoder assembles body 7 according to Δ, that is, adjusts
According to the first, second of array arrangement ... n-th of photovoltaic module 1 ', 1 " ... 1nWith the inclination alpha on grounds, execute step 7；
Step 7: whether error in judgement judgement time t' reaches, it is, executes step 8；It is no, execute step 9；
Step 8: whether error in judgement is more than error limit value κ, it is that device resets to initial value, then, according to Δ tune
Whole lateral distance Δ A and longitudinal movement distance, delta B, make first, second according to array arrangement ... n-th of photovoltaic group
Part 1 ', 1 " ... 1nInclination angle with ground is αs；It is no, execute step 9；
Step 9: judging t between the true solar timezWhether it is more than or equal to the sunset moment, is, device stops, no, return to step
Nine；
Compared with prior art, the present invention having the advantages that：1. compared with the prior art, due to control
Device in method uses polar coordinate structure, it is possible to reduce device extends the device longevity in the number of run in polar axis direction
Life；2. due to being mounted with encoder on device, the tracking accuracy of device is improved；3. device is simple, easy to control, at low cost
It is honest and clean, cost-effective.
Description of the drawings
Fig. 1 is apparatus of the present invention schematic diagram；
Fig. 2 is control method flow chart of the present invention；
Fig. 3 is that intelligent control method of the present invention exports comparison diagram with traditional calculations sun location tracking method；
In figure：1',1"……1n'-according to array arrangement first, second ... the n-th photovoltaic module, 2-photovoltaic groups
End connection on part, 3-links, 4-cross lead screw axis, 5-horizontal stepper motors+worm type of reduction gearing and encoder group
Zoarium, 6-longitudinal screw mandrel axis, 7-longitudinal stepper motor+worm type of reduction gearing and encoder assembles body, 8-support bases, 9-
Lower end connection, 10-photosensitive sensors, 11-grounds.
Specific implementation mode：
It is the schematic device of the present embodiment as shown in Figure 1, selection horizontal stepper motor is specified with longitudinal stepper motor
Power is 200W, rated voltage 50V, rated current 4A, and the photovoltaic module peak power output installed on device is
1000W, gear ratio 50：1；Selected photo resistance is CdS photo resistance.
By taking Shanghai September in 2013 at 15 points in afternoon on the 22nd as an example, control method step is the minimum operation angle Δ of (1) setting
=0.1 °, error judge t'=30 days time, error limit value κ=0.2 °, local longitude and latitude be respectively 121.48 ° with
31.2 °, the longitude (i.e. Pekinese's longitude) in local standard time location is 116.4 °, determine first according to array arrangement,
The second ... n-th of photovoltaic module 1 ', 1 " ... 1nLength is 1 meter, and spring and autumn divides day according to first, the of array arrangement
Two ... n-th of photovoltaic module 1 ', 1 " ... 1nAngle with ground level is θ=φ=31.2 °, executes step (2)；(2) really
September is determined 22 for the 266th day in 1 year, and the declination angle by formula (2) calculating is δ=- 0.8966 °, executes step
(3)；(3) it according to δ=- 0.8966 ° of declination angle and local dimension φ=31.2 °, is obtained according to array arrangement by formula (3)
First, second ... n-th of photovoltaic module 1 ', 1 " ... 1nWith the inclination alpha on groundsIt=32.0966 °, is obtained by formula (4)
The lateral distance Δ A of 5 level of cross lead screw axis 4 and horizontal stepper motor+worm type of reduction gearing and encoder assembles body
=0.0081 meter, longitudinal screw mandrel axis 6 and longitudinal stepper motor+worm type of reduction gearing and encoder assembles are obtained by formula (5)
B=0.0133 meters vertical of longitudinal movement distance, delta of body 7, obtain first, second according to array arrangement by formula (1) ...
N-th of photovoltaic module 1 ', 1 " ... 1nB=0.5313 meters of the difference in height on top and bottom end executes step (4)；By formula (10)
It is t between the true solar time of calculatingz=14.72 hours, September sunrise on the 22nd is obtained by formula (11) and sunset hour angle is respectively
ωsr=-89.5 ° and ωss=89.5 °, it is respectively t to obtain sunrise moment and sunset moment by formula (12) and (13)sr=6.03
And tss=17.97 hours, it is more than the sunrise moment, executes step (5)；(5) without the cloudy day, step (6) is executed；(6) according to Δ tune
Whole cross lead screw axis 4 and horizontal stepper motor+worm type of reduction gearing and encoder assembles body 5 adjust longitudinal screw mandrel according to Δ
Axis 6 and longitudinal stepper motor+worm type of reduction gearing and encoder assembles body 7, execute step (7)；(7) error judges time t'
Do not reach, executes step (9)；(8) t between the true solar timezLess than or equal to the sunset moment, return to step (9).
Its operation result and traditional calculations sun location tracking method are more as shown in Figure 3.
It can be seen that any one day of the present invention in 1 year achievees the purpose that track the sun, and tracking accuracy is high, device feature
Few, device number of run is few, extends device lifetime, improves the output power of photovoltaic generating system.
Claims (2)
1. a kind of polar axis photovoltaic array power generation single shaft tracking apparatus and its control method its structure feature are：Include according to battle array
Row arrangement first, second ... the n-th photovoltaic module (1 ', 1 " ... 1n'), the upper end connection (2) of photovoltaic module, connection
Frame (3), cross lead screw axis (4), horizontal stepper motor+worm type of reduction gearing and encoder assembles body (5), longitudinal screw mandrel axis
(6), the lower end connection of longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7), support base (8), photovoltaic module
Part (9), photosensitive sensor (10), structure are：Support base (8) is fixed on ground (11) worm reducer and encoder assembles body
(7) installed above to have longitudinal screw mandrel axis (6), longitudinal screw mandrel axis (6) top that horizontal stepper motor+worm type of reduction gearing is installed
And encoder assembles body (5), cross lead screw axis (4) one end and horizontal stepper motor+worm type of reduction gearing and encoder assembles
Body (5) connects, and the other end is connect with link (3), first, second ... the n-th photovoltaic module (1 ', 1 " ... 1n') lower end point
Be not hinged with the lower end connection (9) on ground (11), upper end by upper end connection (2) respectively with link
(3) it is hinged；Longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7) drive longitudinal screw mandrel axis (6) to rotate simultaneously
Drive horizontal stepper motor+worm type of reduction gearing and encoder assembles body (5) longitudinal movement, horizontal stepper motor and worm gear snail
Bar deceleration device assembly (5) drives cross lead screw axis (4) to rotate and drives link (3) transverse shifting, wherein cross lead screw
Axis (4) and horizontal stepper motor+worm type of reduction gearing and encoder assembles body (5) are horizontally mounted, longitudinal screw mandrel axis (6) and vertical
To stepper motor+worm type of reduction gearing and encoder assembles body (7) right angle setting.Include according to array arrangement first,
The second ... n-th of photovoltaic module (1 ', 1 " ... 1n), end connection (2), connecting bracket (3), transverse wire on photovoltaic module
Bar axis (4), horizontal stepper motor+worm type of reduction gearing and encoder assembles body (5), longitudinal screw mandrel axis (6), longitudinal stepping electricity
End connection (9), photosensitive biography under machine+worm type of reduction gearing and encoder assembles body (7), lower support (8), photovoltaic module
Sensor (10)；Its structure is that lower support (8) is fixed on ground (11), the longitudinal stepper motor+worm gear snail of upper part installation
Bar retarder and encoder assembles body (7), longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7) are pacified above
Longitudinal screw mandrel axis (6) is filled, horizontal stepper motor+worm type of reduction gearing and encoder assembles are installed in longitudinal screw mandrel axis (6) top
Body (5), cross lead screw axis (4) are connect with holder (3), and holder (3) is arranged by end connection on photovoltaic module (2) with according to array
Cloth first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) connection, longitudinal stepper motor+worm type of reduction gearing
And encoder assembles body (7) drives longitudinal screw mandrel axis (6) to rotate and drives horizontal stepper motor+worm type of reduction gearing and coding
Device assembly (5) vertically moves, and horizontal stepper motor drives cross lead screw axis (4) with worm type of reduction gearing part sub-assembly (5)
Rotate and drive holder (3) transverse shifting, end connection (2) connects in conjunction with photovoltaic module lower end on holder (3) hinge photovoltaic module
Fitting (9) drive according to array arrangement first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) mobile, photovoltaic group
Under part end connection (9) top with according to array arrangement first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) hinge
Chain, end connection (9) lower part is fixed on ground (11) under photovoltaic module.Wherein, cross lead screw axis (4) and horizontal stepper motor
+ worm type of reduction gearing and encoder assembles body (5) are horizontally mounted, longitudinal screw mandrel axis (6) and longitudinal stepper motor+worm and gear
Retarder and encoder assembles body (7) right angle setting.
2. the control method of above-mentioned polar axis photovoltaic array power generation single shaft tracking apparatus is：
If spring and autumn divides day, according to the first, second of array arrangement ... n-th of photovoltaic module (1 ', 1 " ... 1n) pressed from both sides with ground
Angle is equal to θ=φ, and φ is local dimension.If according to the first, second of array arrangement ... n-th photovoltaic module (1 ',
1”……1n) length is A, according to the first, second of array arrangement ... n-th of photovoltaic module (1 ', 1 " ... 1n) top with
The difference in height of bottom end is B, then meets formula (1) between A and B.
Then, judge that some day is n-th day in 1 year, n is positive integer, calculates declination angle δ according to formula (2), then presses
According to array arrangement first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) with the inclination alpha on groundsIt can be obtained by formula (3)
It arrives, it is that just, the autumn and winter are negative, then cross lead screw axis (4) and horizontal stepper motor+worm and gear that the sign in formula (3), which takes spring and summer,
Retarder and the lateral distance Δ A of encoder assembles body (5) level can be obtained by formula (4), and Δ A is just, towards according to array
Arrangement first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) direction movement, Δ A is negative, then court arranges according to array
Cloth first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) negative direction movement, longitudinal screw mandrel axis (6) and longitudinal step
Stepper motor+worm type of reduction gearing and encoder assembles body (7) vertical travel distance Δ B can be obtained by formula (5), and Δ B is just court
Lower support (8) direction is moved, and Δ B is negative, then is moved towards lower support (8) negative direction.
αs=θ ± δ (3)
Δ A=(cos θ-cos αs)A (4)
Δ B=± | sin θ-sin αs|A (5)
Since the circumsolar running track of the earth is elliptical orbit, hour angle of true sun ωzExist between solar hour angle ω
Error.Hour angle of true sun ωzIt can be obtained by formula (6)~(8).
E=9.87sin 2B-7.53cos B-1.5sin B (7)
ω=0 when wherein obtaining clock time t, t=12 point by formula (9), L are local longitude, LsWhere local standard time
The longitude on ground, since China is located at the Eastern Hemisphere, so the sign in formula (6) should take positive sign, then t between the true solar timezIt can be by formula
(10) it obtains.
The azimuth of daily sunrise and sunset can be obtained by formula (11), wherein sunrise azimuth ωsr=-ωs, sunset azimuth
ωss=ωs, then the daily sunrise sunset moment can be obtained by formula (12) and (13).
ωs=arccos (- tan φ tan δ) (11)
Since formula calculates and structure operation can all have error, using horizontal stepper motor+worm type of reduction gearing and
Encoder in encoder assembles body (5) and longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7) can be one
The zero of implementation mechanism error when error is more than limit value in section time range, it is strong that photosensitive sensor (10) reacts solar radiation
Degree is less than a threshold value, and mechanism is failure to actuate.
The implementation steps of above-mentioned control method are：
Step 1: requiring to determine structure minimum operation angle Δ according to structure precision, determine that error judges that time t', error are limited
Value κ, local longitude L and dimension φ, the longitude L in local standard time locations, determine first according to array arrangement, the
Two ... n-th of photovoltaic module (1 ', 1 " ... 1n) length A, spring and autumn divide day according to array arrangement first, second ...
N photovoltaic module (1 ', 1 " ... 1n) with the angle theta of ground level；
Step 2: calculating n-th day of some day in 1 year, the declination angle δ on the same day is calculated by formula (2)；
Step 3: according to declination angle δ and local dimension φ, first according to array arrangement is obtained by formula (3), the
Two ... n-th of photovoltaic module (1 ', 1 " ... 1n) with the inclination alpha on grounds, cross lead screw axis (4) and cross are obtained by formula (4)
To stepper motor+worm type of reduction gearing and the lateral distance Δ A of encoder assembles body (5) level, obtained by formula (5)
Longitudinal screw mandrel axis (6) and the vertical longitudinal movement distance of longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7)
Δ B, obtain first, second according to array arrangement by formula (1) ... n-th of photovoltaic module (1 ', 1 " ... 1n) top
With the difference in height B of bottom end, ω is obtained by formula (11)~(13)sr、ωss、tss、tsr；
Step 4: according to clock time by t between formula (10) the calculating true solar timez, judge t between the true solar timezWhether it is more than or equal to
Sunrise moment tsr, it is to execute step 5；It is no, return to step four；
Step 5: judging whether the cloudy day according to photosensitive sensor (10), it is, return to step five；It is no, execute step 6；
Step 6: adjusting cross lead screw axis (4) and horizontal stepper motor+worm type of reduction gearing and encoder assembles body according to Δ
(5), longitudinal screw mandrel axis (6) and longitudinal stepper motor+worm type of reduction gearing and encoder assembles body (7) are adjusted according to Δ, i.e.,
Adjustment according to array arrangement first, second ... n-th of photovoltaic module (1 ', 1 " ... 1n) with the inclination angle on ground it is αs, hold
Row step 7；
Step 7: whether error in judgement judgement time t' reaches, it is, executes step 8；It is no, execute step 9；
Step 8: whether error in judgement is more than error limit value κ, it is that device resets to initial value, then, is adjusted according to Δ horizontal
To displacement distance Δ A and longitudinal movement distance, delta B, make first, second according to array arrangement ... n-th of photovoltaic module
(1’、1”……1n) with the inclination alpha on grounds；It is no, execute step 9；
Step 9: judging t between the true solar timezWhether it is more than or equal to the sunset moment, is, device stops, no, return to step nine.
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| CN111884578A (en) * | 2020-08-14 | 2020-11-03 | 江苏中信博新能源科技股份有限公司 | Photovoltaic tracking system and method |
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