CN109164836B - Single-tower multi-disc solar tracking control system - Google Patents
Single-tower multi-disc solar tracking control system Download PDFInfo
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Abstract
The invention belongs to the technical field of new energy equipment, and particularly relates to a single-tower multi-disc solar tracking control system. Comprising the following steps: the solar energy collecting mirror comprises a programmable controller, a heat collector tracking device and a solar energy collecting mirror component tracking device; the collector tracking device comprises a set of collector azimuth angle driving device and two sets of collector pitch angle driving devices; the solar collecting lens component tracking device comprises a collecting lens azimuth driving device and two collecting lens pitch angle driving devices; the programmable controller can control and adjust the azimuth angle and pitch angle driving device of the heat collector; and the programmable controller can control and regulate the azimuth angle rotary driving device of the solar collecting lens and the pitch angle rotary movement device of the solar collecting lens. The invention provides a tracking control system of a single-tower multi-disc solar concentrator, which realizes the tracking control of the single-tower multi-disc solar concentrator and the technical requirements of high precision and high reliability.
Description
Technical Field
The invention belongs to the technical field of new energy equipment, and particularly relates to a single-tower multi-disc solar tracking control system.
Background
The dish type solar thermal power generation technical route is mainly divided into Stirling solar power generation and energy storage power generation from the power generation mode. The Stirling solar power generation device is not included, and a Stirling generator is directly arranged at the focus of the dish-type heliostat to realize power generation; the dish type energy storage power generation is a new technological route by converting light into heat and then converting the heat into electricity.
The prior art (patent CN 102400868B) discloses a single-tower multi-dish solar concentrating power generation system. Has the following advantages: the length of the high-temperature hot air pipeline can be greatly reduced, and the problem of heat loss caused in the hot air transmission process is solved; the heat storage system is skillfully arranged in the heat collector supporting tower, so that not only is the arrangement space saved, but also the optimal thermodynamic requirement of fluid operation when the heat storage device stores heat is met, and the stability of the tower body is facilitated; the single-tower multi-disc type condensation heat collection system can be respectively configured and applied with a steam wheel generator set, an air turbine generator set and a Stirling generator set; the weight of the platform is greatly reduced; truss drive and condensing lens cost is reduced.
However, the existing single-tower multi-dish solar concentrating power generation system has no matched tracking control system, so that a single-tower multi-dish solar tracking control system with high precision and high reliability needs to be developed.
Disclosure of Invention
Aiming at the technical problems, the invention provides a tracking control system of a single-tower multi-disc solar concentrator, which can realize the tracking control of the single-tower multi-disc solar concentrator and can realize the technical requirements of high precision and high reliability.
The invention is realized by the following technical scheme:
A single tower multi-dish solar tracking control system comprising:
A programmable controller;
the collector tracking device comprises a set of collector azimuth driving device and two sets of collector pitch angle driving devices, wherein the set of collector azimuth driving device is arranged at the center position of the top of the solar tower and used for adjusting the azimuth angle of the collector; the pitch angle driving devices of the two sets of heat collectors are respectively connected with the two heat collectors in the single-tower multi-disc solar concentrating power generation system and are used for adjusting the pitch angle of the heat collectors;
The solar collecting lens component tracking device comprises a collecting lens azimuth driving device and two collecting lens pitch angle driving devices; the set of azimuth driving device of the condensing lens is arranged on an azimuth rotation orbit in the single-tower multi-disc solar condensing power generation system and is connected with the azimuth rotation orbit, and is used for adjusting the azimuth of the solar condensing lens; the two sets of condensing lens pitch angle driving devices are respectively connected with two sets of solar condensing lenses in the single-tower multi-disc solar condensing power generation system and are used for adjusting the pitch angle of the solar condensing lenses.
Further, the azimuth angle driving device of the heat collector and the pitch angle driving devices of the heat collectors adopt speed reducers; the programmable controller is connected with 3 stepping motors through 3 stepping motor drivers, wherein the output shaft of 1 stepping motor is connected with the azimuth driving device of the heat collector; the output shafts of the other 2 stepping motors are connected with the pitch angle driving devices of the two sets of heat collectors;
The set of azimuth driving device for the condenser comprises three speed reducers, the programmable controller is connected with 3 servo motors through 3 servo motor drivers, and the output shafts of the 3 servo motors are connected with the three speed reducers in the set of azimuth driving device for the condenser; each set of condenser pitch angle driving device comprises a hydraulic motor, a hydraulic winch and a steel wire rope, the programmable controller is respectively connected with the 2 hydraulic motors through the 2 proportional valve drivers, the output shafts of the 2 hydraulic motors drive the steel wire ropes in the two sets of condenser pitch angle driving devices to move through the 2 hydraulic winches, the solar condenser is connected with the steel wire ropes, and the hydraulic winch drives the steel wire ropes to move so as to realize that the solar condenser moves along the solar condenser support rail.
In the invention, the horizontal angle and pitch angle tracking devices of the heat collector both adopt a transmission mode that a stepping motor drives a speed reducer to drive the heat collector to move, and the invention has the characteristics of wide speed regulation range, high response speed and large output torque, can realize continuous variable speed tracking, and effectively improves the tracking precision of the heat collector in the system.
The horizontal angle tracking device of the solar collecting lens component adopts a transmission mode that a servo motor drives a speed reducer to drive a large disk of an azimuth angle rotation track to move, has the characteristics of wider speed regulation range, larger driving torque and real-time monitoring of motor state, can realize continuous variable speed tracking, and effectively improves the tracking precision of the solar collecting lens component in the system.
The pitch angle tracking device of the solar collecting lens component adopts a transmission mode that a hydraulic motor drives a hydraulic winch to drag through a steel wire rope so as to drive the collecting lens component to move along a track. Compared with the electric winch, the solar energy collecting lens is safer in operation, large in driving torque, capable of preventing overload, capable of realizing large-range speed regulation and long in service life, and tracking precision of the solar energy collecting lens assembly in the system is effectively improved.
Further, the single-tower multi-disc solar concentrator tracking control system also comprises an encoder;
The specific mounting positions of the encoder are as follows:
An encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the heat collector; the output shafts of the speed reducers corresponding to the pitch angle driving devices of the two sets of heat collectors are respectively provided with an encoder; an encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the condenser; and the output shafts of the hydraulic winches corresponding to the pitch angle driving devices of the two sets of condensing lenses are respectively provided with an encoder.
Further, the single-tower multi-dish solar concentrator tracking control system further comprises: the weather sensor is used for collecting weather parameters and is connected with the programmable controller;
The meteorological sensor comprises a wind speed sensor, a wind direction sensor and an illumination sensor.
Further, the single-tower multi-disc solar concentrator tracking control system also comprises sun tracking sensors, wherein the number of the sun tracking sensors is 4, and the sun tracking sensors are all connected with a programmable controller;
Wherein 2 are respectively arranged on the back surfaces of the two heat collectors at the top of the heat absorption tower; the other two are respectively arranged on the two sets of solar collecting lenses, and preferably the other two are respectively arranged on the opposite extension lines of the focus normals of the two sets of solar collecting lenses.
Further, the sun tracking sensor is a PSD-based four-quadrant optical sensor.
Further, the single-tower multi-disc solar concentrator tracking control system further comprises a memory, and the memory is connected with the programmable controller and used for storing the running state of the system.
Further, the sun tracking sensor is a PSD-based four-quadrant optical sensor.
Further, the single-tower multi-disc solar concentrator tracking control system further comprises a memory, and the memory is connected with the programmable controller and used for storing the running state of the system. Wherein the operating state includes: a absorber elevation angle, absorber azimuth angle; a condenser height angle, a condenser azimuth angle; weather information such as wind power, wind speed, illumination and the like; pitch tracking deviation and horizontal tracking deviation of the heat absorber; the condenser lens pitch tracking deviation and the horizontal tracking deviation; the running state information is recorded once every 5s or so, and the recording interval is configurable; alarm information of the sensor and alarm record.
Further, the single-tower multi-disc solar concentrator tracking control system also comprises a touch screen, and the touch screen is communicated with the programmable controller through an Ethernet interface.
Further, the programmable controller is connected with the mirror field DCS system through an industrial Ethernet interface.
Further, the single-tower multi-disc solar concentrator tracking control system further comprises a positioning module, wherein the positioning module is used for obtaining time information, longitude and latitude information and altitude information.
The beneficial technical effects of the invention are as follows:
The tracking control system of the single-tower multi-disc solar concentrator provided by the invention can realize the tracking control of the single-tower multi-disc solar concentrator and can realize the technical requirements of high precision and high reliability.
Drawings
FIG. 1 is a front view of a single-tower multi-dish solar power generation system;
FIG. 2 is a side view of a single tower multi-dish solar power generation system;
FIG. 3 is a top view of a single tower multi-dish solar power generation system;
FIG. 4 is a block diagram of a single tower multi-dish solar concentrator control system in an embodiment of the present invention;
FIG. 5 is a logic block diagram of the hydraulic winch wire rope constant tension control in the condenser pitch angle driving device;
Reference numerals:
1. A solar energy collecting lens; 2. a support rail for pitching operation of the solar collecting lens; 3. a support frame 4 for supporting the rail; 5. a rotating device on the solar tower; 6. a solar tower; 7. an azimuthal rotation orbit; 8. a heat transfer and insulation pipe.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
On the contrary, the invention is intended to cover any alternatives, modifications, equivalents, and variations as may be included within the spirit and scope of the invention as defined by the appended claims. Further, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. The present invention will be fully understood by those skilled in the art without the details described herein.
As disclosed in patent CN102400868B, in the prior art (see fig. 1-3), a single-tower multi-dish solar concentrating power generation system comprises: the solar energy tower 6 and the solar energy collecting lens component comprise solar energy collecting lenses 1, solar energy collecting lens supporting rails 2 and azimuth angle rotating rails 7, the solar energy collecting lens supporting rails 2 and the azimuth angle rotating rails 7 are formed by welding jackets, the azimuth angle rotating rails 7 are round and horizontally arranged and rotatable, the two solar energy collecting lens supporting rails 2 are obliquely fixed on the azimuth angle rotating rails 7, each solar energy collecting lens supporting rail 2 is provided with a plurality of solar energy collecting lenses 1, the solar energy collecting lenses 1 can be in a square structure or can be round, hexagonal or other shapes, the solar energy collecting lenses 1 are arranged along the solar energy collecting lens supporting rails 2 and can move, the solar energy tower 6 is vertically arranged at the center of the azimuth angle rotating rails 7, a heat transfer heat preservation pipe 8 is arranged on the top end of the solar energy tower 6 through a rotating device 5 on the solar energy tower, two outer ends of the heat transfer heat preservation pipe 8 are provided with solar energy collectors 4, and the length of the heat transfer heat preservation pipe 8 is such that the rotating device 5 on the solar energy tower is located at the midpoint of the solar energy collecting lenses 1. The two solar collecting lens supporting rails 2 are of parallel concave curve structures. The solar collecting lens 1 is arranged on the solar collecting lens supporting track 2 through a rear supporting truss and pulleys, and the solar collecting lens 1 can move along the solar collecting lens supporting track 2 to realize a pitch angle movement function.
Aiming at the situation that a single-tower multi-disc solar concentrating power generation system in the prior art is not available with a matched tracking control system, the embodiment of the invention provides a single-tower multi-disc solar concentrator tracking control system, and the single-tower multi-disc solar concentrator tracking control system provided by the embodiment can be suitable for a single-tower multi-disc solar concentrator disclosed in an invention patent CN 102400868B.
In this embodiment, a single tower multi-dish solar concentrator tracking control system includes:
A programmable controller;
the collector tracking device comprises a set of collector azimuth driving device and two sets of collector pitch angle driving devices, wherein the set of collector azimuth driving device is arranged at the center position of the top of the solar tower and used for adjusting the azimuth angle of the collector; the pitch angle driving devices of the two sets of heat collectors are respectively connected with the two heat collectors in the single-tower multi-disc solar concentrating power generation system and are used for adjusting the pitch angle of the heat collectors;
The solar collecting lens component tracking device comprises a collecting lens azimuth driving device and two collecting lens pitch angle driving devices; the set of azimuth driving device of the condensing lens is arranged on an azimuth rotation orbit in the single-tower multi-disc solar condensing power generation system and is connected with the azimuth rotation orbit, and is used for adjusting the azimuth of the solar condensing lens; the two sets of condensing lens pitch angle driving devices are respectively connected with two sets of solar condensing lenses in the single-tower multi-disc solar condensing power generation system and are used for adjusting the pitch angle of the solar condensing lenses.
In the embodiment, the azimuth angle driving device of the heat collector and the pitch angle driving devices of the heat collectors adopt speed reducers; the programmable controller is connected with 3 stepping motors through 3 stepping motor drivers, wherein the output shaft of 1 stepping motor is connected with the azimuth driving device of the heat collector; the output shafts of the other 2 stepping motors are connected with the pitch angle driving devices of the two sets of heat collectors;
In the embodiment, the azimuth driving device of the condensing lens comprises three speed reducers, and the speed reducers have compact structure and high bearing capacity and can be integrally connected with various motors. Compared with other types of driving equipment, the device has the functions of decelerating and increasing torque, can conveniently realize reverse self-locking and accurate angle transmission, and is suitable for being used in a severe working condition environment. The programmable controller is connected with 3 servo motors through 3 servo motor drivers, and the output shafts of the 3 servo motors are connected with three speed reducers in the set of condensing lens azimuth driving devices; each set of condensing lens pitch angle driving device comprises a hydraulic motor, a hydraulic winch and a steel wire rope, the programmable controller is respectively connected with 2 hydraulic motors through 2 proportional valve drivers, an output shaft of each 2 hydraulic motors drives the steel wire rope to move through 2 hydraulic winches, the solar condensing lens is connected with the steel wire rope, and the hydraulic winch drives the steel wire rope to move to realize that the solar condensing lens moves along the solar condensing lens supporting track.
Specifically, as shown in fig. 4, the azimuth driving device of the heat collector is driven by a stepper motor 1, the stepper motor 1 can receive the output analog voltage of the programmable controller, the direction and the rotation speed of the stepper motor 1 are determined according to the magnitude of the voltage, and the rotation angle of the azimuth of the heat collector is fed back according to the value of the encoder 1. The pitch angle driving devices of the two sets of heat collectors are respectively driven by a stepping motor 2 and a stepping motor 3, the stepping motor 2 and the stepping motor 3 receive the output analog voltage of the programmable controller, the direction and the rotating speed of the stepping motor 2 and the stepping motor 3 are determined according to the voltage, and the rotating angle of the pitch angle driving device of the heat collector is fed back according to the numerical values of the encoder 2 and the encoder 3. Specifically, the condenser azimuth driving device is driven by a servo motor 1, a servo motor 2 and a servo motor 3, and adopts a synchronous control mode of 1 for 2. The servo driver 1, the servo driver 2 and the servo driver 3 receive the operation instructions of the controller, acquire the operation state of the servo motor according to the instructions, control the operation direction and the rotation speed of the servo motor, and feed back the azimuth angle of the condensing lens according to the numerical value of the encoder 4.
The two sets of condenser pitch angle driving devices are driven by 2 hydraulic winches respectively, and a hydraulic motor driving mode is adopted. The programmable controller controls the proportional valve through analog output to realize speed regulation and direction control of the hydraulic motor, and the rotation angles of the pitch angles of the two sets of condensing lenses are fed back according to the numerical values of the encoder 5 and the encoder 6.
In the embodiment, the stepping motor and the servo motor are adopted as power sources of the mechanical driving device, and compared with the common direct current motor and alternating current motor, the device has the characteristics of small volume, large torque, wider speed regulation range, flexible control and the like, so that the tracking control is more accurate; and the speed regulation range of the tracking device is wide, and the purpose of improving the tracking precision can be achieved.
In this embodiment, in order to avoid causing the motor damage because of the erosion of external natural environment rainwater, influence the operation of entire system, step motor, servo motor all set up the protective housing to dispose temperature control system, thereby avoided the motor to damage because of the rainwater erosion, guaranteed simultaneously that the motor can all normally work under high low temperature environment, improved entire system's stability and security. The temperature control system comprises a temperature sensor and a temperature controller, wherein the temperature sensor and the temperature controller are connected with the programmable controller.
In the embodiment, the hydraulic winch drives the steel wire rope to move to realize the movement of the pitching device along the arc-shaped track, and constant tension control is adopted to ensure that the steel wire rope is always in a tensioning state.
In this embodiment, as shown in fig. 5, a logic block diagram of the hydraulic winch wire rope constant tension control is shown. The hydraulic winch adopts a load sensitive technology to control tension to be constant, a transmission mechanism is provided with a steel wire rope tension sensor for measuring tension of the steel wire rope when the roller rotates, the tension is fed back to a control valve of the bidirectional variable pump through an amplifier, the fed back value pv is compared with a set value sv, a control oil cylinder of the variable pump is regulated according to a compared difference value e, and the inclination angle of a swash plate of the variable pump is controlled, so that the displacement of the pump is controlled, and a control motor works under a specific flow, so that the tension of the steel wire rope is controlled to be a certain specific value.
In the embodiment, the programmable controller preferably adopts an S7-300 series of PLC controllers, the series of PLC controllers has high reliability and high response speed, the deviation can be automatically corrected, the problem of accumulated error in the traditional tracking can be solved, and the tracking precision is improved. It should be specifically noted that, the programmable controller in this embodiment is in the prior art, and it is fully possible for those skilled in the art to implement the programmable controller, and needless to say, the disclosure of the present invention does not relate to improvement of the structure and working principle of the programmable controller.
The single-tower multi-dish solar concentrator tracking control system further comprises: an optical light sensor; the single-tower multi-dish solar concentrator tracking control system further comprises: an encoder; the specific installation positions are as follows: an encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the heat collector; the output shafts of the speed reducers corresponding to the pitch angle driving devices of the two sets of heat collectors are respectively provided with an encoder; an encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the condenser; the output shafts of the hydraulic winches corresponding to the pitch angle driving devices of the two sets of condensing lenses are respectively provided with an encoder; the real positions of the heat absorber and the condenser can be fed back in real time after the numerical value of the encoder is converted by the angle.
In this embodiment, the encoder is a multi-turn absolute value encoder.
The single-tower multi-dish solar concentrator tracking control system further comprises: the weather sensor is used for collecting weather parameters and comprises a wind speed sensor, a wind direction sensor and an illumination sensor; the weather sensor is connected with the programmable controller, preferably, the weather sensor is connected with the programmable controller through an RS485 bus interface. The illumination sensor is used for acquiring the total irradiation intensity value of the sun and determining whether the system is operated or not. The wind speed sensor and the wind direction sensor acquire real-time wind power and wind direction, so that the system is ensured to run under the safe wind speed condition, and when the current value is larger than the set value, the system automatically returns to the corresponding danger avoiding safe position, and the condenser is prevented from being damaged due to bad weather, so that the safety of the condenser is ensured.
The single-tower multi-dish solar concentrator tracking control system further comprises: the number of the sun tracking sensors is 4, and the sun tracking sensors are connected with the programmable controller; wherein 2 are respectively arranged on the back surfaces of the two heat collectors at the top of the heat absorption tower; the other two are respectively arranged on the two sets of solar collecting mirrors. Preferably, the other two are respectively arranged on the opposite extension lines of the focus normal of the two sets of solar collecting mirrors. Preferably, in this embodiment, the sun tracking sensor is a four-quadrant optical sensor based on PSD. The sun tracking sensors are used for detecting the position information of the sun, each sun tracking sensor outputs 4 azimuth signals which are digital quantity signals, and the signals are connected to the programmable controller. The programmable controller obtains the information as a basis for adjusting the condenser pitching mechanism and the heat collector pitching mechanism. It should be specifically noted that, the sun tracking sensor in this embodiment is in the prior art, and it is fully possible for those skilled in the art to implement the sun tracking sensor, and needless to say, the disclosure of the present invention does not relate to improvement of the structure and working principle of the sun tracking sensor.
In this embodiment, the tracking control system of the single-tower multi-disc solar concentrator further includes a gps+beidou dual-system positioning module, where the positioning module is configured to obtain time information and information such as longitude, latitude, altitude, etc., so as to calculate and obtain a position of the sun through a sun position algorithm, and further track a track of the sun, which belongs to the prior art and is not described herein again.
In this embodiment, the tracking control system for a single-tower multi-dish solar concentrator further includes a memory, where the memory is connected to the programmable controller and is configured to store an operating state of the system, where the operating state includes the following steps: a absorber elevation angle, absorber azimuth angle; a condenser height angle, a condenser azimuth angle; weather information such as wind power, wind speed, illumination and the like; pitch tracking deviation and horizontal tracking deviation of the heat absorber; the condenser lens pitch tracking deviation and the horizontal tracking deviation; the information is recorded once every 5s or so, and the recording interval is configurable; alarm information of the sensor and alarm record.
In this embodiment, the tracking control system of the single-tower multi-disc solar concentrator further includes a button, an indicator light, and a touch screen, which are respectively connected with the programmable controller. The touch screen may communicate with the programmable controller via an ethernet interface. The system is mainly used for displaying the running state of the system, and on-site monitoring personnel can intuitively obtain the running information of the system. The on-site monitoring personnel can set the operation parameters of the system according to the actual conditions of the site, so that the operation of the system is more suitable for the site, and the flexibility of the system is improved.
Preferably, in this embodiment, in order to implement remote control, the programmable controller is connected to the mirror field DCS system through an industrial ethernet interface. The programmable controller uploads the system running condition to the mirror field DCS system, so that a remote monitoring person can know the field condition; the remote monitoring personnel can also send control commands to the programmable controller through the mirror field DCS system, so that remote control is realized.
Preferably, the tracking control system provided by the invention adopts a double closed loop tracking control method of an angle closed loop and an optical closed loop, and can solve the problem that accumulated tracking errors exist when the system runs for a long time. When the system startup operation condition is reached, firstly, the system self-checking work is carried out, and meanwhile, whether the meteorological condition meets the requirement or not is judged, and particularly whether the illumination meets the condition or not is judged. If so, the system begins to enter an auto-tracking running state. In the running process, the position sensor and the sun tracking sensor are combined with each other, so that the tracking precision of the system is ensured, and the system runs stably. The embodiment adopts a double closed loop tracking control method of an angle closed loop and an optical closed loop, and specifically comprises the following steps:
In this embodiment, when the irradiation value obtained by the illumination sensor is smaller than the set value, and the illumination does not meet the condition, but when the weather condition is good and the current time is longer than the starting time, only the angle closed-loop control is performed, otherwise, the "angle closed-loop" and "optical closed-loop" double closed-loop control is performed.
The encoder is arranged on the output shaft of the speed reducer, and the actual movement positions of the heat collector and the condenser are fed back, so that the closed-loop control of the angle can be realized; the sun tracking sensor is arranged on the collecting lens and the heat collector, and the actual position of the sun is measured, so that optical closed-loop control can be realized; in the process of tracking control of the single-tower multi-disc solar tracking control system, adopting angle closed-loop and optical closed-loop double closed-loop control;
The angle closed loop includes:
The encoder feeds back the current position information of the heat collector and the condenser, and the programmable controller converts the current position information into angle information, which is expressed by pv 1;
The GPS acquires current time information, longitude, latitude, altitude and other information, and calculates the current sun position (comprising 2 information of azimuth angle and pitch angle) in real time as an input parameter; converting the current sun position into current position angle information of a tracking device, and expressing the current position angle information by using sv 1;
Comparing pv1 with sv1, calculating current deviation, using e1 to represent the current deviation, executing PID algorithm when the current deviation e1 is larger than the set tracking precision, and obtaining output value mv1; wherein the PID algorithm is a PID algorithm commonly used in the industry in the prior art, and the invention does not relate to the improvement of the algorithm.
The programmable logic controller drives the motor or the hydraulic motor through the output module to drive the actuating mechanism to move, so that the position of the heat collector or the condenser is changed, and tracking deviation is ensured to be within an allowable range;
The optical closed loop includes:
On the premise that the angle closed loop drives the position of the heat collector or the condensing lens to a position with the deviation in an allowable range, if the sun tracking sensor still outputs signals, the position which characterizes the adjustment of the angle closed loop has optical deviation, and the light spot cannot be accurately ensured to be accurately irradiated on the heat collector; at this time, according to the inherent measurement accuracy sv2 of the sun tracking sensor and the signal output pv2 of the sun tracking sensor, the deviation e2 is calculated, mv2 is calculated, and then the programmable logic controller drives the motor or the hydraulic motor through the output module to drive the executing mechanism to move, fine adjustment is carried out on the position of the heat collector or the condenser lens, and the accumulated deviation of the system caused by the mechanical clearance is eliminated.
Further, in the control strategy of the tracking control system, the angle closed-loop control is mainly used, and the optical closed-loop control is secondarily used. The coarse adjustment of the angle closed loop is mainly, and the fine adjustment of the optical closed loop is mainly. In the execution process of the double closed loop tracking control, if tracking is not allowed under the condition of overlarge wind power and the like, the emergency risk avoiding program is preferentially executed, and the system is driven to a safe risk avoiding position.
In this embodiment, the sun tracking sensor is preferably a four-quadrant optical sensor based on PSD (Position Sensitive detector), and the output signal is an analog voltage signal.
In the single-tower multi-disc solar concentrator tracking control system provided by the invention, an encoder is arranged on an output shaft of a speed reducer, and the actual position of a motion device is fed back to realize angle closed-loop control; the sun tracking sensor is arranged on the collecting lens and the heat collector, and the actual position of the sun is measured, so that the optical closed-loop control can be realized. The system has strong anti-interference capability, and the illumination sensor and the sun tracking sensor are added, so that the tracking precision and the reliability of the solar condenser are high, and the optical efficiency is greatly improved.
According to the single-tower multi-disc solar concentrator tracking control system provided by the invention, the programmable controller is adopted as a control core, and the positioning module and the sun tracking sensor are added, so that the tracking precision of the condensing lens assembly can be ensured; meanwhile, the weather sensor is arranged, so that the safety and reliability of the system can be improved.
The tracking control system of the single-tower multi-disc solar concentrator provided by the invention has the advantages of high response speed and long service life, can realize deviation self-correction, and solves the tracking difficulty of a novel single-tower multi-disc concentrating power generation system.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed.
Claims (6)
1. A single-tower multi-dish solar tracking control system, comprising:
A programmable controller;
the collector tracking device comprises a set of collector azimuth driving device and two sets of collector pitch angle driving devices, wherein the set of collector azimuth driving device is arranged at the center position of the top of the solar tower and used for adjusting the azimuth angle of the collector; the pitch angle driving devices of the two sets of heat collectors are respectively connected with the two heat collectors in the single-tower multi-disc solar concentrating power generation system and are used for adjusting the pitch angle of the heat collectors;
the solar collecting lens component tracking device comprises a collecting lens azimuth driving device and two collecting lens pitch angle driving devices; the set of azimuth driving device of the condensing lens is arranged on an azimuth rotation orbit in the single-tower multi-disc solar condensing power generation system and is connected with the azimuth rotation orbit, and is used for adjusting the azimuth of the solar condensing lens; the two sets of condensing lens pitch angle driving devices are respectively connected with two sets of solar condensing lenses in the single-tower multi-disc solar condensing power generation system and are used for adjusting the pitch angle of the solar condensing lenses;
The azimuth angle driving device of the heat collector and the pitch angle driving devices of the heat collectors adopt speed reducers; the programmable controller is connected with 3 stepping motors through 3 stepping motor drivers, wherein the output shaft of 1 stepping motor is connected with the azimuth driving device of the heat collector; the output shafts of the other 2 stepping motors are connected with the pitch angle driving devices of the two sets of heat collectors;
The set of azimuth driving device for the condenser comprises three speed reducers, the programmable controller is connected with 3 servo motors through 3 servo motor drivers, and the output shafts of the 3 servo motors are connected with the three speed reducers in the set of azimuth driving device for the condenser;
each set of pitch angle driving device of the collecting lens comprises a hydraulic motor, a hydraulic winch and a steel wire rope, the programmable controller is respectively connected with the 2 hydraulic motors through 2 proportional valve drivers, the output shafts of the 2 hydraulic motors drive the steel wire rope to move through the 2 hydraulic winches, the solar collecting lens is connected with the steel wire rope, and the hydraulic winch drives the steel wire rope to move so as to realize that the solar collecting lens moves along the solar collecting lens supporting track;
The single-tower multi-disc solar concentrator tracking control system also comprises an encoder;
The specific mounting positions of the encoder are as follows:
An encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the heat collector; the output shafts of the speed reducers corresponding to the pitch angle driving devices of the two sets of heat collectors are respectively provided with an encoder; an encoder is arranged on an output shaft of a speed reducer corresponding to the azimuth driving device of the condenser; the output shafts of the hydraulic winches corresponding to the pitch angle driving devices of the two sets of condensing lenses are respectively provided with an encoder;
The single-tower multi-disc solar concentrator tracking control system also comprises sun tracking sensors, wherein the number of the sun tracking sensors is 4, and the sun tracking sensors are all connected with a programmable controller; wherein 2 are respectively arranged on the back surfaces of the two heat collectors at the top of the heat absorption tower; the other two solar energy collecting mirrors are respectively arranged on the two sets of solar energy collecting mirrors;
the single-tower multi-disc solar concentrator tracking control system further comprises a positioning module, wherein the positioning module is used for obtaining time information, longitude and latitude information and altitude information;
the encoder is arranged on the output shaft of the speed reducer, and the actual movement positions of the heat collector and the condenser are fed back, so that the closed-loop control of the angle can be realized; the sun tracking sensor is arranged on the collecting lens and the heat collector, and the actual position of the sun is measured, so that optical closed-loop control can be realized; in the process of tracking control of the single-tower multi-disc solar tracking control system, adopting angle closed-loop and optical closed-loop double closed-loop control;
The angle closed loop includes:
The encoder feeds back the current position information of the heat collector and the condenser, and the programmable controller converts the current position information into angle information, which is expressed by pv 1; the GPS acquires current time information, longitude, latitude and altitude information and calculates the current sun position in real time as an input parameter; converting the current sun position into current position angle information of a tracking device, and expressing the current position angle information by using sv 1; comparing pv1 with sv1, calculating current deviation, using e1 to represent the current deviation, executing PID algorithm when the current deviation e1 is larger than the set tracking precision, and obtaining output value mv1; the programmable logic controller drives the motor or the hydraulic motor through the output module to drive the actuating mechanism to move, so that the position of the heat collector or the condenser is changed, and tracking deviation is ensured to be within an allowable range;
The optical closed loop includes:
On the premise that the angle closed loop drives the position of the heat collector or the condensing lens to a position with the deviation in an allowable range, if the sun tracking sensor still outputs signals, the position which characterizes the adjustment of the angle closed loop has optical deviation, and the light spot cannot be accurately ensured to be accurately irradiated on the heat collector; at this time, according to the inherent measurement accuracy sv2 of the sun tracking sensor and the signal output pv2 of the sun tracking sensor, the deviation e2 is calculated, mv2 is calculated, and then the programmable logic controller drives the motor or the hydraulic motor through the output module to drive the executing mechanism to move, fine adjustment is carried out on the position of the heat collector or the condenser lens, and the accumulated deviation of the system caused by the mechanical clearance is eliminated.
2. The single tower multi-dish solar tracking control system of claim 1, further comprising: the weather sensor is used for collecting weather parameters and is connected with the programmable controller;
The meteorological sensor comprises a wind speed sensor, a wind direction sensor and an illumination sensor.
3. The single tower multiple dish solar tracking control system of claim 1 wherein said sun tracking sensor is a PSD based four-quadrant optical sensor.
4. The single tower multiple dish solar tracking control system of claim 1 further comprising a memory coupled to the programmable controller for storing an operational status of the system.
5. The single tower multiple dish solar tracking control system of claim 1 further comprising a touch screen in communication with the programmable controller via an ethernet interface.
6. The single-tower multi-dish solar tracking control system of claim 1, wherein the programmable controller is connected with the mirror field DCS system via an industrial ethernet interface.
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