CN109308078A - Heliostat control method, device and computer readable storage medium and terminal device - Google Patents
Heliostat control method, device and computer readable storage medium and terminal device Download PDFInfo
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- CN109308078A CN109308078A CN201710624258.2A CN201710624258A CN109308078A CN 109308078 A CN109308078 A CN 109308078A CN 201710624258 A CN201710624258 A CN 201710624258A CN 109308078 A CN109308078 A CN 109308078A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The present invention relates to solar light-heat power-generation field, a kind of heliostat control method, device and computer readable storage medium and terminal device are provided, to improve the tracking precision of heliostat, to accurately be controlled that can flow.The described method includes: obtaining current time heliostat h according to position of sun algorithm2Normal vector；According to heliostat h2Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of the heliostat that adjacent four points of current time position measure and current time heliostat h2Elevation angle β2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse；Indicate heliostat h2Servo motor run calculated azimuth axis umber of pulse and height umber of pulse so that heliostat h2It is moved to target position.One aspect of the present invention can quickly, reliably, efficiently solve the systematic error due to generating in production and fixing link；On the other hand it is not necessarily to carry out the measurement of various errors, reduces the cost of heliostat installation and processing.
Description
Technical field
The invention belongs to solar light-heat power-generation field more particularly to a kind of heliostat control methods, device and computer
Readable storage medium storing program for executing and terminal device.
Background technique
Heliostat (heliostat) refers to that the light by the sun or other celestial bodies is reflected into the Optical devices of fixed-direction,
Also known as siderostat uses one piece of plane mirror to be placed in equatorial mounting, can make the movement in declination direction.Compared with coelostat,
The major advantage of heliostat is not have to guide rail, simple and compact for structure.Angle of incidence of light varies less during tracking, one day with
Interior instrument polarization is bordering on constant, is conducive to the measurement of sun Surface field cross stream component.
Heliostat it is widely used, a common application scenarios be applied to solar light-heat power-generation (solar thermal
electric power generation).So-called solar light-heat power-generation refers to and utilizes large scale array parabolic or dish-shaped mirror
Solar thermal energy is collected in face, steam is provided by heat-exchanger rig, in conjunction with the technique of traditional steam turbine generator, to reach the mesh of power generation
's.Using solar light-heat power-generation technology, expensive silicon wafer photoelectric conversion technique is avoided, solar power generation can be substantially reduced
Cost.Moreover, the Solar use of this form converts incomparable advantage there are one the solar energy of other forms,
The water that i.e. solar energy is heated can be stored in huge container, and several hours still are able to drive steamer after the sun sets
Power generation.
In existing tower solar-thermal generating system, the umber of pulse of servo-control system is calculated, it is necessary first to by too
Positive position algorithm (Solar Position Algorithm, SPA) input time, date, longitude, latitude, poster, temperature etc. one
Parameters in series calculates sunny zenith angle and azimuth, then the coordinate further according to heliostat in mirror field, with space to
The principle of amount calculates the normal vector (i.e. the elevation angle of heliostat and azimuth) of heliostat, is then closed by trigonometric function
System, calculates separately out altitude axis push rod length and azimuth axis push rod length, finally according to push rod flight lead, planetary reducer reduction ratio
With the parameters such as servo motor electronic gear proportion, the umber of pulse of two axis is calculated.
The defect of existing tower solar-thermal generating system is can only be for mirror holder ideally, however, actually answering
Used time, mirror holder can make some parameters of mirror holder because can generate error during processing and installation, for example, column can tilt,
Planar delta where azimuth axis and altitude axis out of plumb, push rod and corresponding axis out of plumb etc. change.Due to error
Measurement is difficult, and the algorithm compensated calculates complicated, therefore it is inaccurate to frequently result in heliostat tracking precision, thus cannot be accurate
Ground carries out can flow control.
Urgently industry solves above-mentioned technical problem.
Summary of the invention
The present invention provides a kind of heliostat control method, device and computer readable storage medium and terminal device, to mention
The tracking precision of high heliostat, to accurately be controlled that can flow.
First aspect present invention provides a kind of heliostat control method, which comprises
According to position of sun algorithm, current time heliostat h is obtained2Normal vector, the normal vector includes described
Current time heliostat h2Elevation angle β2And azimuth angle alpha2；
According to the heliostat h2The altitude axis for the heliostat that adjacent four points of current time position measure pushes away
Pole length, azimuth axis push rod length, elevation angle and azimuth and the current time heliostat h2Elevation angle β2The azimuth and
α2, calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and height umber of pulse with
Make the heliostat h2It is moved to target position.
Second aspect of the present invention provides a kind of settled date mirror control device, and described device includes:
Module is obtained, for obtaining current time heliostat h according to position of sun algorithm2Normal vector, the normal direction
Vector includes the current time heliostat h2Elevation angle β2And azimuth angle alpha2；
Umber of pulse computing module, according to the heliostat h2What adjacent four points of current time position measured determines
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of solar eyepiece and the current time heliostat h2's
Elevation angle β2And azimuth angle alpha2, calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicating module is used to indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and
Height umber of pulse is so that the heliostat h2It is moved to target position.
Third aspect present invention provides a kind of terminal device, including memory, processor and storage are in memory
And the computer program that can be run on a processor, processor perform the steps of when executing computer program
According to position of sun algorithm, current time heliostat h is obtained2Normal vector, the normal vector includes described
Current time heliostat h2Elevation angle β2And azimuth angle alpha2；
According to the heliostat h2The altitude axis for the heliostat that adjacent four points of current time position measure pushes away
Pole length, azimuth axis push rod length, elevation angle and azimuth and the current time heliostat h2Elevation angle β2The azimuth and
α2, calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and height umber of pulse with
Make the heliostat h2It is moved to target position.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, computer readable storage medium
It is stored with computer program, is performed the steps of when computer program is executed by processor
According to position of sun algorithm, current time heliostat h is obtained2Normal vector, the normal vector includes described
Current time heliostat h2Elevation angle β2And azimuth angle alpha2；
According to the heliostat h2The altitude axis for the heliostat that adjacent four points of current time position measure pushes away
Pole length, azimuth axis push rod length, elevation angle and azimuth and the current time heliostat h2Elevation angle β2The azimuth and
α2, calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and height umber of pulse with
Make the heliostat h2It is moved to target position.
The technical solution provided from aforementioned present invention is it is found that due to can be according to the phase of heliostat current time position
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of the heliostat that adjacent four points measure and current
The elevation angle β of moment heliostat2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse, therefore, this
Invent the technical solution that provides on the one hand can quickly, it is reliable, efficiently solve due to being generated in production and fixing link
Systematic error；On the other hand it is not necessarily to carry out the measurement of various errors, so that the installation of heliostat or the requirement of machining accuracy
Decline greatly reduces the cost of heliostat installation and processing.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art, can also be according to these attached drawings under the premise of not making the creative labor
Obtain other attached drawings.
Fig. 1 is the implementation process schematic diagram of heliostat control method provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of settled date mirror control device provided in an embodiment of the present invention；
Fig. 3 be another embodiment of the present invention provides settled date mirror control device structural schematic diagram；
Fig. 4 be another embodiment of the present invention provides settled date mirror control device structural schematic diagram；
Fig. 5 is the structural schematic diagram of terminal device provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solution of the present invention, the following is a description of specific embodiments.
Attached drawing 1 is the implementation process schematic diagram of heliostat control method provided in an embodiment of the present invention, mainly includes following
Step S101 to S103, described further below:
S101 obtains current time heliostat h according to position of sun algorithm2Normal vector, wherein normal vector packet
Include current time heliostat h2Elevation angle β2And azimuth angle alpha2。
Position of sun algorithm (Solar Position Algorithm, SPA) issues (open source) by american energy office, calculates
Solar zenith angle and azimuth are calculated from B.C. 2000 to 6000 Christian eras based on time, date, position of the earth,
Computational solution precision is up to ± 0.0003 degree.Current time is obtained according to position of sun algorithm as one embodiment of the invention
Heliostat h2Normal vector S1011 and S1012 can realize as follows:
S1011 calculates current time solar zenith angle and azimuth according to position of sun algorithm.
Specifically, input time, date, longitude, latitude, time zone, height above sea level, atmospheric pressure, temperature, air index etc. are joined
Number calls spa_calculate (spa_data*spa) function, can calculate solar zenith angle and azimuth, wherein spa_
Data*spa is the structural body of the parameter comprising above-mentioned input.
S1012, according to heliostat h2Coordinate in mirror field calculates heliostat h2Normal vector.
Specifically, according to the principle that coordinate of the heliostat in mirror field calculates the normal direction of heliostat with space vector
Vector.
S102, according to heliostat h2The altitude axis for the heliostat that adjacent four points of current time position measure pushes away
Pole length, azimuth axis push rod length, elevation angle and azimuth and current time heliostat h2Elevation angle β2And azimuth angle alpha2,
Calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse.
As one embodiment of the invention, according to heliostat h2What adjacent four points of current time position measured
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of heliostat and current time heliostat h2Height
Spend angle beta2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse can S1021 be extremely as follows
S1023 is realized:
S1021 finds heliostat h by inquiring Hash table2Adjacent four points of current time position measure
Heliostat altitude axis push rod length, azimuth axis push rod length, elevation angle and azimuth.
It should be noted that in embodiments of the present invention, heliostat h2Adjacent four points of current time position
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of the heliostat measured can be calculated in advance to breathe out
The mode of uncommon table stores.Specifically, altitude axis push rod length, the azimuth axis push rod that can detecte the heliostat of any point are long
Degree, elevation angle and azimuth, obtain one group of altitude axis push rod length, the azimuth axis push rod length, height of the heliostat of each point
Angle and bearing data are spent, is a unit by each group of obtained data, is saved in the form of Hash table to each heliostat
Controller memory in, that is, for any point S, by equipment such as electronic compass and obliquity sensors, detect the point
Heliostat altitude axis push rod lengthAzimuth axis push rod lengthElevation angle βSAnd azimuth angle alphaS, this group is detected
Data four-tuple S of the parameter out as one group of data, i.e. at point SIn the form of Hash table
It saves into the memory of the controller of each heliostat；When the altitude axis push rod of the heliostat of all points in detection mirror field is long
Behind degree, azimuth axis push rod length, elevation angle and azimuth, the data four-tuple at all points can be obtained.For example, detectable
A, the altitude axis push rod length of the heliostat of six points of B, C, D, E, FA、
B, the azimuth axis push rod length of the heliostat of six points of C, D, E, FA、B、
C, the elevation angle β of the heliostat of six points of D, E, FA、βB、βC、βD、βE、βFAnd the settled date of six points of A, B, C, D, E, F
The azimuth angle alpha of mirrorA、αB、αC、αD、αE、αF, saved in the form of Hash table into the memory of the controller of each heliostat six
Data four-tuple at a point is A respectivelyBCDEF
S1022, by heliostat h2The altitude axis for the heliostat that adjacent four points of current time position measure pushes away
Pole length, azimuth axis push rod length, elevation angle and azimuth calculate current time institute as known parameters, using linear interpolation method
State heliostat h2Altitude axis push rod lengthWith azimuth axis push rod length
With heliostat h2Adjacent four points of current time position are step for A, B, C and D point respectively
S1022 S1 to S3 can specifically be realized as follows:
S1, according to formulaAnd formula
Seek the azimuth axis push rod length of E point heliostatWith altitude axis push rod length
Wherein, E point is by heliostat h2One endpoint of the line segment of current time position,And αAPoint
Not Wei A point altitude axis push rod length, azimuth axis push rod length and the azimuth of the heliostat that measure,And αBRespectively
Altitude axis push rod length, azimuth axis push rod length and the azimuth for the heliostat that B point measures, A, B and E point are on same weft.
S2, according to formulaAnd formula
Seek the azimuth axis push rod length of F point heliostatWith altitude axis push rod length
Wherein, F point is by heliostat h2Another endpoint of the line segment of current time position, i.e. E point and F point are
By heliostat h2Two endpoints of the line segment of current time position,And αCThe heliostat that respectively C point measures
Altitude axis push rod length, azimuth axis push rod length and azimuth,And αDThe height for the heliostat that respectively D point measures
Axis push rod length, azimuth axis push rod length and azimuth are spent, C, D and F point are on same weft.
S3, according to formulaAnd formula
Current time heliostat h is sought respectively2Azimuth axis push rod lengthWith altitude axis push rod length
Wherein, βEFor the elevation angle for the heliostat that E point measures, βFFor the elevation angle for the heliostat that F point measures, and βE=
βA=βB, βF=βC=βD, βA、βB、βCAnd βDThe respectively elevation angle of heliostat that measures of A, B, C and D point.
S1023, according to formulaFind out heliostat h2Azimuth axis umber of pulseAnd according to formulaFind out heliostat h2Altitude axis umber of pulse
Wherein, KαFor heliostat h2Azimuth axis length-pulses switch coefficient, KβFor heliostat h2Altitude axis length
Degree-pulses switch coefficient.
S103 indicates heliostat h2Servo motor run through the calculated azimuth axis umber of pulse of step S102 and height arteries and veins
Number is rushed, so that heliostat h2It is moved to target position.
In embodiments of the present invention, target position, that is, heliostat h2Servo motor run through the calculated side of step S102
Position axis umber of pulseWith height umber of pulseAfterwards, heliostat h2The position being moved to.
From the exemplary heliostat control method of above-mentioned attached drawing 1 it is found that by can be in place according to heliostat current time institute
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth for the heliostat that adjacent four points set measure with
And the elevation angle β of current time heliostat2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse, because
This, on the one hand technical solution provided by the invention quickly, reliably, can be solved efficiently due to producing in production and fixing link
Raw systematic error；On the other hand it is not necessarily to carry out the measurement of various errors, so that the installation of heliostat or the requirement of machining accuracy
It can decline, greatly reduce the cost of heliostat installation and processing；The third aspect, the debugging efforts such as acquisition data have software
It is completed with related equipment automatic running, is not necessarily to manual intervention, it can 24 hours Task of Debugging；Fourth aspect acquires corresponding
When Hash table, the step pitch of setting is shorter, and the precision that linear difference method calculates is higher, meets actual required precision in each, even if
Larger sedimentation occurs for many years groundwork, also automatic running equipment is only needed to acquire data again.
Fig. 2 is the schematic diagram of settled date mirror control device provided in an embodiment of the present invention, and main includes obtaining module 201, arteries and veins
Number computing module 202 and indicating module 203 are rushed, detailed description are as follows:
Module 201 is obtained, for obtaining current time heliostat h according to position of sun algorithm2Normal vector, currently
Moment heliostat h2Normal vector include current time heliostat h2Elevation angle β2And azimuth angle alpha2。
Further, obtaining module 201 includes sun angle computing unit and vector calculation unit, wherein sun angle
Computing unit is used to calculate current time solar zenith angle according to position of sun algorithm and azimuth, vector calculation unit are used for
According to heliostat h2Coordinate in mirror field calculates heliostat h2Normal vector.
Umber of pulse computing module 202, according to heliostat h2What adjacent four points of current time position measured determines
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of solar eyepiece and current time heliostat h2Height
Angle beta2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height umber of pulse.
Indicating module 203 is used to indicate heliostat h2Servo motor run the calculated side of umber of pulse computing module 202
Position axis umber of pulse and height umber of pulse, so that heliostat h2It is moved to target position.
It should be noted that device provided in an embodiment of the present invention, due to being based on same structure with embodiment of the present invention method
Think, bring technical effect is identical as embodiment of the present invention method, and particular content can be found in embodiment of the present invention method
Narration, details are not described herein again.
The exemplary umber of pulse computing module 202 of attached drawing 2 may include searching unit 301, linear interpolation unit 302 and calculate
Unit 302, such as the exemplary settled date mirror control device of attached drawing 3, in which:
Searching unit 301, for finding heliostat h by inquiry Hash table2Adjacent the four of current time position
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth for the heliostat that a point measures；
Linear interpolation unit 302 is used for heliostat h2What adjacent four points of current time position measured determines
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of solar eyepiece are as known parameters, using linear interpolation method
Calculate current time heliostat h2Altitude axis push rod lengthWith azimuth axis push rod length
Computing unit 303, for according to formulaFind out heliostat h2Azimuth axis umber of pulseAnd root
According to formulaFind out heliostat h2Altitude axis umber of pulseWherein, KαFor heliostat h2Azimuth axis length
Degree-pulses switch coefficient, KβFor heliostat h2Altitude axis length-pulses switch coefficient.
The exemplary linear interpolation unit 302 of attached drawing 3 may include first seeking unit 401, second seeking unit 402 and
Three seek unit 403, such as the exemplary settled date mirror control device of attached drawing 4, in which:
First seeks unit 401, for according to formulaAnd public affairs
FormulaSeek the azimuth axis push rod length of E point heliostatAnd altitude axis
Push rod lengthWherein, E point is by heliostat h2One endpoint of the line segment of current time position,With
αAAltitude axis push rod length, azimuth axis push rod length and the azimuth for the heliostat that respectively A point measures,And αBPoint
Not Wei B point altitude axis push rod length, azimuth axis push rod length and the azimuth of the heliostat that measure, A, B and E point are in same weft
On；
Second seeks unit 402, for according to formulaAnd public affairs
FormulaSeek the azimuth axis push rod length of F point heliostatAnd height
Axis push rod lengthF point is by heliostat h2Another endpoint of the line segment of current time position,And αC
Altitude axis push rod length, azimuth axis push rod length and the azimuth for the heliostat that respectively C point measures,And αDRespectively
For altitude axis push rod length, azimuth axis push rod length and the azimuth of the heliostat that D point measures, C, D and F point are in same weft
On；
Third seeks unit 403, for according to formulaAnd formulaCurrent time heliostat h is sought respectively2Azimuth axis push rod lengthWith altitude axis push rod lengthβEFor the elevation angle for the heliostat that E point measures, βFFor the elevation angle for the heliostat that F point measures,
And βE=βA=βB, βF=βC=βD, βA、βB、βCAnd βDThe respectively elevation angle of heliostat that measures of A, B, C and D point.
Attached drawing 2 to 4 any example of attached drawing settled date mirror control device can also include detection module and preserving module,
In:
Detection module, altitude axis push rod length, the azimuth axis push rod length, height of the heliostat for detecting any point
Angle and azimuth obtain one group of altitude axis push rod length, azimuth axis push rod length, elevation angle and the side of the heliostat of each point
Azimuth data；
Preserving module, will test each group of data that module detects is a unit, saved in the form of Hash table to
In the memory of the controller of each heliostat.
Fig. 5 is the structural schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 5, the end of the embodiment
End equipment 5 includes: processor 50, memory 51 and is stored in the computer that can be run in memory 51 and on processor 50
Program 52, such as the program of heliostat control method.Processor 50 realizes above-mentioned heliostat control when executing computer program 52
Step in embodiment of the method, such as step S101 to S103 shown in FIG. 1.Alternatively, processor 50 executes computer program 52
The function of each module/unit in the above-mentioned each Installation practice of Shi Shixian, such as module 201, umber of pulse calculating mould are obtained shown in Fig. 2
The function of block 202 and indicating module 203.
Illustratively, the computer program 52 of heliostat control method specifically includes that, according to position of sun algorithm, acquisition is worked as
Preceding moment heliostat h2Normal vector, wherein normal vector includes current time heliostat h2Elevation angle β2The azimuth and
α2；According to heliostat h2Altitude axis push rod length, the orientation for the heliostat that adjacent four points of current time position measure
Axis push rod length, elevation angle and azimuth and current time heliostat h2Elevation angle β2And azimuth angle alpha2, calculate heliostat h2
Azimuth axis umber of pulse and height umber of pulse；Indicate heliostat h2Servo motor run calculated azimuth axis umber of pulse and height
Umber of pulse is spent so that heliostat h2It is moved to target position.Computer program 52 can be divided into one or more modules/mono-
Member, one or more module/unit is stored in memory 51, and is executed by processor 50, to complete the present invention.One
Or multiple module/units can be the series of computation machine program instruction section that can complete specific function, the instruction segment is for retouching
It states computer program 52 and is calculating the implementation procedure in equipment 5.For example, computer program 52 can be divided into acquisition module
201, the function (module in virtual bench) of umber of pulse computing module 202 and indicating module 203, each module concrete function is such as
Under: module 201 is obtained, for obtaining current time heliostat h according to position of sun algorithm2Normal vector, wherein normal direction
Vector includes current time heliostat h2Elevation angle β2And azimuth angle alpha2；Umber of pulse computing module 202, for according to heliostat
h2The altitude axis push rod length of the heliostat that adjacent four points of current time position measure, azimuth axis push rod length,
Elevation angle and azimuth and current time heliostat h2Elevation angle β2And azimuth angle alpha2, calculate heliostat h2Azimuth axis arteries and veins
Rush number and height umber of pulse；Indicating module 203 is used to indicate heliostat h2Servo motor run calculated azimuth axis pulse
Several and height umber of pulse is so that heliostat h2It is moved to target position.
Terminal device 5 may include, but are not limited to processor 50, memory 51.It will be understood by those skilled in the art that Fig. 5
The only example of terminal device 5 does not constitute the restriction to terminal device 5, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as terminal device can also connect including input-output equipment, network
Enter equipment, bus etc..
Alleged processor 50 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Memory 51 can be the internal storage unit of terminal device 5, such as the hard disk or memory of terminal device 5.Storage
Device 51 is also possible to the plug-in type hard disk being equipped on the External memory equipment of terminal device 5, such as terminal device 5, intelligent storage
Block (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card (Flash Card) etc..
Further, memory 51 can also both including terminal device 5 internal storage unit and also including External memory equipment.Memory
51 for storing other programs and data needed for computer program and terminal device.Memory 51 can be also used for temporarily
Store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of device are divided into different functional unit or module, to complete above description
All or part of function.Each functional unit in embodiment, module can integrate in one processing unit, be also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units, above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.In addition, each functional unit, mould
The specific name of block is also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.It is single in above system
Member, the specific work process of module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
Unit may or may not be physically separated as illustrated by the separation member, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple networks
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If integrated module/unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, heliostat controlling party by computer program
The computer program of method can be stored in a computer readable storage medium, which, can when being executed by processor
The step of realizing above-mentioned each embodiment of the method, that is, according to position of sun algorithm, obtain current time heliostat h2Normal direction to
Amount, wherein normal vector includes current time heliostat h2Elevation angle β2And azimuth angle alpha2；According to heliostat h2Current time
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the side for the heliostat that adjacent four points of position measure
Parallactic angle and current time heliostat h2Elevation angle β2And azimuth angle alpha2, calculate heliostat h2Azimuth axis umber of pulse and height
Umber of pulse；Indicate heliostat h2Servo motor run calculated azimuth axis umber of pulse and height umber of pulse so that heliostat h2
It is moved to target position.Wherein, computer program includes computer program code, and computer program code can be source code shape
Formula, object identification code form, executable file or certain intermediate forms etc..Computer-readable medium may include: that can carry meter
Any entity or device of calculation machine program code, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, only
Read memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electricity load
Wave signal, telecommunication signal and software distribution medium etc..It should be noted that the content that computer-readable medium includes can root
Increase and decrease appropriate is carried out according to the requirement made laws in jurisdiction with patent practice, such as in certain jurisdictions, according to vertical
Method and patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.Above embodiments are only to illustrate this
The technical solution of invention, rather than its limitations；Although the present invention is described in detail referring to the foregoing embodiments, this field
Those of ordinary skill it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or
Equivalent replacement of some of the technical features；And these are modified or replaceed, and do not make the essence of corresponding technical solution de-
Spirit and scope from technical solution of various embodiments of the present invention, should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of heliostat control method, which is characterized in that the described method includes:
According to position of sun algorithm, current time heliostat h is obtained2Normal vector, when the normal vector includes described current
Carve heliostat h2Elevation angle β2And azimuth angle alpha2；
According to the heliostat h2The altitude axis push rod for the heliostat that adjacent four points of current time position measure is long
Degree, azimuth axis push rod length, elevation angle and azimuth and the current time heliostat h2Elevation angle β2And azimuth angle alpha2,
Calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and height umber of pulse so that described
Heliostat h2It is moved to target position.
2. heliostat control method as described in claim 1, which is characterized in that it is described according to position of sun algorithm, it obtains current
Moment heliostat h2Normal vector, comprising:
According to the position of sun algorithm, current time solar zenith angle and azimuth are calculated；
According to the heliostat h2Coordinate in mirror field calculates the heliostat h2Normal vector.
3. heliostat control method as described in claim 1, which is characterized in that described according to the heliostat h2Current time institute
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the orientation for the heliostat that adjacent four points in position measure
Angle and the current time heliostat h2Elevation angle β2And azimuth angle alpha2, calculate the heliostat h2Azimuth axis umber of pulse
With height umber of pulse, comprising:
By inquiring Hash table, the heliostat h is found2The settled date that adjacent four points of current time position measure
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of mirror；
By the heliostat h2The altitude axis push rod length for the heliostat that adjacent four points of current time position measure,
Azimuth axis push rod length, elevation angle and azimuth calculate the settled date described in current time as known parameters, using linear interpolation method
Mirror h2Altitude axis push rod lengthWith azimuth axis push rod length
According to formulaFind out the heliostat h2Azimuth axis umber of pulseAnd according to formula
Find out the heliostat h2Altitude axis umber of pulseThe KαFor the heliostat h2Azimuth axis length-pulses switch
Coefficient, the KβFor the heliostat h2Altitude axis length-pulses switch coefficient.
4. heliostat control method as claimed in claim 3, which is characterized in that the heliostat h2Current time position
Adjacent four points are respectively A, B, C and D point, described by the heliostat h2Adjacent four points of current time position
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth of the heliostat measured are as known parameters, using line
Heliostat h described in property interpolation calculation current time2Altitude axis push rod lengthWith azimuth axis push rod lengthInclude:
According to formulaAnd formulaIt asks
Take the azimuth axis push rod length of E point heliostatWith altitude axis push rod lengthThe E point is to pass through the heliostat h2When
One endpoint of the line segment of preceding moment position, it is describedAnd αAThe height for the heliostat that the respectively described A point measures
Axis push rod length, azimuth axis push rod length and azimuth, it is describedAnd αBThe heliostat that the respectively described B point measures
Altitude axis push rod length, azimuth axis push rod length and azimuth, A, B and E point is on same weft；
According to formulaAnd formula
Seek the azimuth axis push rod length of F point heliostatWith altitude axis push rod lengthThe F point is another of the line segment
Endpoint, it is describedAnd αCAltitude axis push rod length, the azimuth axis push rod length for the heliostat that the respectively described C point measures
And azimuth, it is describedAnd αDThe altitude axis push rod length for the heliostat that the respectively described D point measures, azimuth axis push rod
Length and azimuth, C, D and F point is on same weft；
According to formulaAnd formulaPoint
Heliostat h described in current time is not sought2Azimuth axis push rod lengthWith altitude axis push rod lengthThe βEFor the E
The elevation angle for the heliostat that point measures, the βFFor the elevation angle for the heliostat that the F point measures, and βE=βA=βB, βF=
βC=βD, the βA、βB、βCAnd βDThe elevation angle for the heliostat that respectively described A, B, C and D point measures.
5. the heliostat control method as described in Claims 1-4 any one, which is characterized in that described to be calculated according to position of sun
Method obtains current time heliostat h2Normal vector before, the method also includes:
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth for detecting the heliostat of any point, obtain
To one group of altitude axis push rod length, azimuth axis push rod length, elevation angle and the bearing data of the heliostat of each point；
It is a unit by each group of data, the memory of the controller to each heliostat is saved in the form of Hash table
In.
6. a kind of settled date mirror control device, which is characterized in that described device includes:
Module is obtained, for obtaining current time heliostat h according to position of sun algorithm2Normal vector, the normal vector
Including the current time heliostat h2Elevation angle β2And azimuth angle alpha2；
Umber of pulse computing module, according to the heliostat h2The heliostat that adjacent four points of current time position measure
Altitude axis push rod length, azimuth axis push rod length, elevation angle and azimuth and the current time heliostat h2Height
Angle beta2And azimuth angle alpha2, calculate the heliostat h2Azimuth axis umber of pulse and height umber of pulse；
Indicating module is used to indicate the heliostat h2Servo motor run the calculated azimuth axis umber of pulse and height
Umber of pulse is so that the heliostat h2It is moved to target position.
7. settled date mirror control device as claimed in claim 6, which is characterized in that the umber of pulse computing module includes:
Searching unit, for finding the heliostat h by inquiry Hash table2Adjacent four points of current time position
Altitude axis push rod length, azimuth axis push rod length, elevation angle and the azimuth for the heliostat that position measures；
Linear interpolation unit is used for the heliostat h2The heliostat that adjacent four points of current time position measure
Altitude axis push rod length, azimuth axis push rod length, elevation angle and azimuth as known parameters, calculated using linear interpolation method
Heliostat h described in current time2Altitude axis push rod lengthWith azimuth axis push rod length
Computing unit, for according to formulaFind out the heliostat h2Azimuth axis umber of pulseAnd according to
FormulaFind out the heliostat h2Altitude axis umber of pulseThe KαFor the heliostat h2Azimuth axis
Length-pulses switch coefficient, the KβFor the heliostat h2Altitude axis length-pulses switch coefficient.
8. settled date mirror control device as claimed in claim 7, which is characterized in that the linear interpolation unit includes:
First seeks unit, for according to formulaAnd formulaSeek the azimuth axis push rod length of E point heliostatIt is pushed away with altitude axis
Pole lengthThe E point is to pass through the heliostat h2One endpoint of the line segment of current time position, it is describedAnd αAAltitude axis push rod length, azimuth axis push rod length and the azimuth for the heliostat that the respectively described A point measures,
It is describedAnd αBAltitude axis push rod length, azimuth axis push rod length and the orientation for the heliostat that the respectively described B point measures
Angle, A, B and E point is on same weft；
Second seeks unit, for according to formulaAnd formulaSeek the azimuth axis push rod length of F point heliostatAnd altitude axis
Push rod lengthThe F point is another endpoint of the line segment, describedAnd αCWhat the respectively described C point measured
Altitude axis push rod length, azimuth axis push rod length and the azimuth of heliostat, it is describedAnd αDThe respectively described D point is surveyed
Altitude axis push rod length, azimuth axis push rod length and the azimuth of the heliostat obtained, C, D and F point is on same weft；
Third seeks unit, for according to formulaAnd formulaHeliostat h described in current time is sought respectively2Azimuth axis push rod
LengthWith altitude axis push rod lengthThe βEFor the elevation angle for the heliostat that the E point measures, the βFFor the F point
The elevation angle of the heliostat measured, and βE=βA=βB, βF=βC=βD, the βA、βB、βCAnd βDRespectively described A, B, C and
The elevation angle for the heliostat that D point measures.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realization is such as the step of claim 1 to 5 any one the method when the computer program is executed by processor.
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| CN110209205A (en) * | 2019-06-06 | 2019-09-06 | 浙江中控太阳能技术有限公司 | A kind of heliostat bearing calibration based on mirror surface label |
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