CN109828613B - Distributed sensing photovoltaic panel sun tracking system - Google Patents
Distributed sensing photovoltaic panel sun tracking system Download PDFInfo
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Abstract
The invention belongs to the technical field of sensors, and relates to a distributed sensing photovoltaic panel sun tracking system which comprises at least three spherical sensors, a vector fitting device, at least one photovoltaic panel and a direction regulator, wherein the spherical sensors are independently arranged; the vector fitting device obtains the altitude angle of the photovoltaic panel according to the light incident vector output by the spherical sensor and the position relation of the spherical sensor, and obtains the azimuth angle of the photovoltaic panel according to the altitude angle of the photovoltaic panel; the direction regulator controls the direction of the photovoltaic panel according to the azimuth angle and the elevation angle. The distributed sensing photovoltaic panel sun tracking system provided by the embodiment of the invention can realize real-time, accurate and complete sun position tracking, overcomes the defects of insufficient precision and light-capturing dead angles of the existing sensors, greatly reduces the number of the sensors, reduces the problems of modulation frequency and over modulation of the photovoltaic panel, and reduces the construction and maintenance costs.
Description
Technical Field
The invention belongs to the technical field of sensors, and relates to a distributed sensing photovoltaic panel sun tracking system.
Background
Solar energy is the green energy that receives the attention at present, and various solar energy collection techniques and equipment are used by being put into use more and more, have also appeared simultaneously various devices of chasing after a day, make the receiving efficiency of receiver improve greatly through tracking the sun, and then improved solar device's solar energy utilization ratio, all can adopt the sensor to sense the sunlight usually in the sunlight pursuit technique.
At present, in the existing sensor sensing system, the mode that the veneer was tracked is mostly adopted, namely all can install the sensor on every photovoltaic board, through having fixed the detection device who is made by photosensitive material around the sensor, can obtain the information that the light changes through the change of detection device, the sensor is fixed in on the sunlight receiving arrangement and in time transmits for data processor to obtain the system error information that follows a day, cooperate appropriate controller to make solar energy receiving equipment follow the sun and move.
On the one hand, the sensor is only a small sensing unit in the component part of the photovoltaic power generation system, and the existing sensing system is too complicated, large in number and space-consuming due to the fact that more sensors are used due to the increase of the number of photovoltaic panels. Meanwhile, problems of troublesome manufacturing and assembling, high cost and the like can occur in the distributed photovoltaic power plant, and the assembly is difficult and the later maintenance is not easy to realize at the position which is not too flat in the geographic position.
On the other hand, the light-capturing range of the existing sensor is limited, light-capturing dead angles exist, detection data are different when detection devices distributed around the sensor receive sensing light, and meanwhile, accurate light direction and direct points cannot be obtained, so that the output accuracy is insufficient.
How to constitute the sensing system that does not account for space, equipment easily through the sensor that design simple structure, can realize synchronous pursuit, make it have no dead angle, the accurate sensing function that the precision is high, make solar cell panel just to the sun at any time, let the light of sunlight perpendicular irradiation solar cell panel's receiving arrangement at any time, show and improve the generating efficiency, reduce the cost and the maintenance degree of difficulty of chasing after the sun system simultaneously, become the technical problem that the urgent need be solved.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a distributed sensing photovoltaic panel sun tracking system.
According to an aspect of the invention, a distributed sensing photovoltaic panel sun tracking system according to an embodiment of the invention comprises at least three spherical sensors independently arranged, a vector fitter, at least one photovoltaic panel and a direction regulator; the vector fitting device obtains the altitude angle of the photovoltaic panel according to the light incident vector output by the spherical sensor and the position relation of the spherical sensor, and obtains the azimuth angle of the photovoltaic panel according to the altitude angle of the photovoltaic panel; the direction regulator controls the direction of a photovoltaic panel (hereinafter, may also be referred to as a "solar panel") according to an azimuth angle and an elevation angle.
According to an exemplary embodiment of the present invention, a spherical sensor includes an inner sphere, a plurality of optical sensors uniformly distributed on a surface of the inner sphere, a selector, a surface fitter, and a light incidence vector generator; the optical sensor is selected by the selector according to the detection value of the optical sensor, the surface fitting device fits a surface perpendicular to the light incidence vector according to the optical sensor selected by the selector, and the light incidence vector generator generates the light incidence vector according to the output of the surface fitting device.
According to an exemplary embodiment of the present invention, the outer side of the inner sphere is provided with a transparent protective cover.
According to an exemplary embodiment of the invention, the optical sensor is a photo resistor.
According to an exemplary embodiment of the present invention, the selector is a CD4051 selector.
According to an exemplary embodiment of the present invention, the spherical sensor further includes a sphere support column, a main control box, and a fixing base, wherein the sphere support column is disposed under the inner sphere, the main control box is disposed under the sphere support column, and the fixing base is disposed around the main control box.
According to an exemplary embodiment of the present invention, the direction regulator is a reduction motor.
According to an exemplary embodiment of the present invention, the azimuth angle A '> max { β } when the elevation angle h' > α1、β2Is } or A' < min [ beta ]1、β2When the solar cell is driven to rotate, the direction of the photovoltaic panel is controlled by the direction regulator according to the azimuth angle and the altitude angle, wherein alpha is a relative altitude angle, and beta is a relative altitude angle1、β2Is the relative azimuth.
The distributed sensing photovoltaic panel sun tracking system has the following beneficial effects: the utility model discloses the spherical sensor of following after a day adopts the embedded full coverage photo resistance mode of taking the degree of depth to catch omnidirectional sunlight, realizes the comprehensive and light source signal's of light source signal source real-time update processing, has solved traditional sensor effectively and has had dead angle and unsafe defect catching the light angle and catch the light precision and exist. With sensing device setting behind the distribution sensing system (for example, triangle distribution sensing system), can the all-round accurate light source information of transmission of full coverage to receiving arrangement, compare with traditional mode, very big reduction sensor use quantity, conveniently monitor and maintain afterwards, promote the protection to sensor components and parts, especially can greatly reduced sensor equipment degree of difficulty and sensing system's cost.
The direct projection direction of the light obtained by the output sensor is controlled to the direction of the photovoltaic panel by the speed reducing motor, the problem that the adjustment of the photovoltaic panel is complicated due to the fact that the feedback adjusting system for adjusting the photovoltaic panel by utilizing the output signal is used in PID control of the existing sensor is effectively avoided, the problem of overshoot which is easy to occur is solved, and the adjusting frequency and the times of the photovoltaic panel are obviously reduced.
Drawings
Fig. 1 is a schematic structural diagram of a distributed sensing photovoltaic panel sun tracking system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a spherical sensor according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a spherical sensor according to an embodiment of the present invention;
FIG. 4 illustrates an embodiment of the present invention for establishing a spatial rectangular coordinate system in a region where a solar power system is installed;
FIG. 5 is a mathematical model of an embodiment of the present invention as it varies along the x-axis;
FIG. 6 is a mathematical model of an embodiment of the present invention as it varies along the y-axis;
FIG. 7 is a mathematical model of an embodiment of the present invention as it varies along the z-axis;
FIG. 8 is a schematic diagram of building block relationships according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Fig. 1 shows an example of the structure of a distributed sensing photovoltaic panel solar tracking system according to an embodiment of the present invention. As shown in fig. 1, the distributed sensing photovoltaic panel sun tracking system includes: 3 spherical sensors 1, a vector fitter, a plurality of photovoltaic panels 3 and a direction regulator 2 which are independently arranged.
The spherical sensors are arranged on the edge of the photovoltaic panel array to be tracked (namely the spherical sensors are arranged on the periphery of the photovoltaic panel array) by utilizing 3 or more spherical sensors, the 3 spherical sensors simultaneously acquire the direction vectors of the sensors relative to sunlight, and the direction vectors are transmitted to a main controller MCU of the whole tracking system through a communication terminal. In this embodiment, the function of the vector fitter may be implemented by the main controller MCU.
And the MCU determines the azimuth angle and the elevation angle of each photovoltaic panel according to the position relation of the spherical sensor and the direction vector of the spherical sensor relative to sunlight, and adjusts each photovoltaic panel according to the azimuth angle and the elevation angle.
As shown in fig. 4, a spatial rectangular coordinate system is established in the region where the solar power generation system is installed. For convenience, let the x-axis point in the south-plus-y direction and the z-axis point in the east-plus direction, the z-axis being perpendicular to the zone plane. It should be noted that in other embodiments of the present invention, the x-axis, the y-axis and the z-axis may be defined otherwise. Thus, the coordinates of each solar panel and the three spherical sun tracking sensors are known.
Suppose O1Is the center of a spherical sun tracking sensor with the coordinate of (x)1，y1，z1). With O1Taking the point as an origin, and establishing a spatial rectangular coordinate system x ' y ' z ' O parallel to the xyz O1. The direction of the light with the maximum light intensity can be known according to the functional characteristics of the spherical sensor and is determined by the azimuth angle A and the solar altitude angle h. The following discusses the variation of the azimuth and elevation angles of the most intense light rays as they vary along the x, y and z axes, respectively.
When the x-axis changes, a mathematical model as shown in fig. 5 is established.
Suppose from O1The distance that starts to vary along the x-axis is Δ x, which is set as point B. Let the light source be C, CA perpendicular to the plane x' O1y', the foot is A. Let < AO1y ' be an azimuth angle Ax1, and an angle formed by CO1 and a plane x ' O1y ' be an elevation angle
CB and planeThe angle formed by x ' O1y ' is hx2, the angle formed by AB and y ' axes is Ax2, and the length of CA is d.
The above conditions can be expressed as:
∠ABC＝V O1B＝Δx CA＝d，
the cosine theorem is written for Δ AO1B and Δ CO1B, respectively:
where d and hx2 are unknowns, the values can be solved by substituting the values by the above two equations. Then, the azimuth angle Ax2 is determined by applying the sine theorem and the angular relationship of the triangle to Δ ABO 1.
Varying along the y-axis, a mathematical model is created as shown in fig. 6.
Suppose from O1The distance that starts to vary along the y-axis is Δ y, which is set as point B. Let the light source be C, CA perpendicular to the plane x' O1y', the foot is A. Let < AO1y ' be the azimuth angle Ax1, the angle formed by CO ' and the plane x ' o1y ' be the height hy2, the angle formed by CB and the plane x ' o1y ' be hy2, the angle formed by AB and the y ' axis be Ay2, and the length of CA be d.
The above conditions can be expressed as:
∠AO1C＝hy1，∠CBA＝hy2，O1B＝Δy，CA＝d，
the cosine theorem is written for Δ AO1B and Δ CO1B, respectively:
where d and hy2 are unknowns, the values can be solved by substituting the values by the above two equations. Then, the azimuth angle Ax2 is determined by applying the sine theorem and the angular relationship of the triangle to Δ ABO 1.
When varied along the z-axis, a mathematical model was created as shown in fig. 7.
Suppose from O1The start has changed along the axis by Δ z, which is set as point a. Let the light source be B. Let BO1With the passing point A and with the plane x' O1y 'parallel plane intersection C, BD perpendicular to plane x' O1y', drop foot D, length D of DO 1.
∠BO1D＝hz1，∠BAC＝hz2，∠AO1D＝AZ1，O1A＝Δz，O1D＝d，
The cosine theorem is written for Δ ABC and Δ ABO1, respectively:
where d and hy2 are unknowns, the values can be solved by substituting the values by the above two equations. Due to the z-axis, the azimuths of a and O1 are the same, i.e., Az2 equals Az 1.
The first model and the second model are all used for firstly solving the altitude angle and then calculating the azimuth angle according to the obtained altitude angle. For the altitude angle, both models each column write a system of equations of two unknowns including the altitude angle and d. In practice, the remaining parameters are constants that are related to the position of the element and can be considered known. After these constants are substituted, the altitude can be solved by a computing device such as a computer or a server, and then the azimuth can be calculated by substituting the formula of the azimuth. The elevation angle of the third mathematical model varying along the z-axis is obtained in the same way as the first and second mathematical models, and the azimuth angle is the same as before the variation.
According to the conclusions of the three models, the change rules of the altitude angle and the azimuth angle along the x axis, the y axis and the z axis are compositely applied, and the azimuth angle and the altitude angle measured by the spherical sensor can be converted into the altitude angle and the azimuth angle of the light source relative to each solar power generation panel with the determined coordinates. For example, the coordinates of the spherical sensor (denoted by O1) are (x1, y1, z1), while the coordinates of the solar panel (denoted by O) need to be determined as (x2, y2, z 2). The difference between the corresponding coordinates of point O and point O1 is readily obtained: Δ x, Δ y, Δ z. By applying the law that the solar altitude and azimuth change along the x-axis, the solar altitude and azimuth of the point P1(x1+ delta x, y1, z1) can be obtained; on the basis of the point P1, the solar altitude angle and the solar azimuth angle of P2(x1+ delta x, y1+ delta y, z1) can be obtained by applying the rule that the solar altitude angle and the solar azimuth angle change along the y axis; on the basis of P2, the solar altitude and azimuth of P3(x1+ Δ x, y1+ Δ y, z1+ Δ z) can be obtained by applying the law that the solar altitude and azimuth change along the z-axis. And according to the coordinate position relationship of the O1 point and the O point, the P3 point is the O point.
By the method, the azimuth angle and the elevation angle of the light source at any point in the coordinate system can be calculated.
For three spherical sun tracking sensors in the areaRepeating the steps with one solar power generation panel to obtain three groups of data of the same solar power generation panel in the coordinate system: (h1, a1), (h2, a2), (h3, A3). Averaging three elevation angles and three azimuth angles respectively
More accurate results can be obtained.
In order to reduce the calculation amount, when the scale of the photovoltaic power generation system is small, the direct averaging method of the three azimuth angles and the three altitude angles simplifies the calculation. Coordinate systems are respectively established by taking the center of a spherical sun tracking sensor installed in the system as an origin, and the coordinate axes of the three coordinate systems are required to be correspondingly parallel. From the functional characteristics of the spherical solar tracking sensor, the azimuth angles a1, a2, A3 and the elevation angles h1, h2, h3 corresponding to the respective three origins can be determined.
The average of the elevation angle and the azimuth angle is obtained
Within the tolerance, A 'and h' are taken as the elevation angle of the solar azimuth angle of each photovoltaic panel in the whole area. By means of the control system, the normal vector of each photovoltaic panel is parallel to the direction, and the strongest illumination can be received in real time.
In a photovoltaic power generation system in a city, photovoltaic panels are arranged at the tops of buildings in a scattered manner, and when the photovoltaic panels are not arranged and distributed at different heights in the face of the buildings, the photovoltaic panels can be shielded by the surrounding high buildings when receiving illumination.
As shown in fig. 8, when the photovoltaic panel enters the triangular distributed sun-tracking system, the building information extracted from the three-dimensional map in real time and around the building as the center includes the coordinate x of two buildings under the map system1、x2The building length s, the building width f, the height difference delta h and the distance d are calculated, and the relative altitude angle alpha and the relative azimuth angle beta of the two buildings are calculated1、β2Assuming the photovoltaic panel is located in the center of the roof platform in the example, the adjustment calculation can be performed according to the distance from the center of the specific photovoltaic panel to the edge of the building, so as to achieve the accurate relative altitude angle range.
The corner relationship of the triangle is used:
the relative azimuth angles beta 1 and beta 2 are the same as the limiting mode alpha of the relative elevation angle, and when the position of the photovoltaic panel is set in the system, the building information around the building as the center can be obtained from the three-dimensional map, wherein the building information comprises the coordinates x of two buildings under the map system1、x2Information such as the building length s, the building width f, the height difference delta h, the distance d and the like can be made into a right-angle triangle, and a right-angle side is the distance between two building boundary points of an XOY plane (namely the ground); a right-angle side is the height difference delta h of two floors, and the height angle under the shielding condition is calculated according to the information of the surrounding floors.
Similarly, in the XOY plane, the critical angle of the occlusion is the case of a diagonal occlusion, and two right triangles can be made as well.
One is as follows: one right-angle side is the minimum distance difference between the two floors on the x axis, and the other right-angle side is the maximum distance difference between the two floors on the y axis.
The second step is as follows: one right-angle side is the maximum distance difference between the two floors on the x axis, and the other right-angle side is the minimum distance difference between the two floors on the y axis.
The angle is complementary to an acute angle of the right triangle. Namely the above formula.
Relative elevation angle alpha and relative azimuth angle beta between each floor1、β2Inputting the data into a data processor in the photovoltaic panel sensing and adjusting system, and carrying out angle comparison in the data processor, namely comparing the solar altitude h 'output by the spherical sensor with alpha and comparing the solar azimuth A' with beta1、β2By comparison, when h '> alpha, A' > max { beta [ [ beta ] ]1、β2Is } or A' < min [ beta ]1、β2And when the sun is in a sun-shading state, adjusting the rotating motor to enable the photovoltaic panel of the receiving equipment to move along with the sun in cooperation with a proper controller. Thereby, the problem that the photovoltaic panel still needs to be adjusted when being shielded can be avoided.
It should be noted that the photovoltaic panel 3 and the reduction motor are arranged in a one-to-one manner in this embodiment. In other embodiments, the direction of a plurality of photovoltaic panels can be controlled simultaneously by one direction regulator. In other embodiments, the vector fitter may be set independently of the master controller MCU. It will be understood by those skilled in the art that the number of spherical sensors may be greater than 3.
The spherical sensor will be described in further detail below in conjunction with fig. 2 and 3. As shown in fig. 2, the spherical sensor 1 includes an inner sphere 11, a plurality of optical sensors 12 uniformly distributed on the surface of the inner sphere, a selector, a surface fitter, and a light incidence vector generator. The spherical sensor 1 further comprises a sphere support column 13, a main control box 14 and a fixing base 15, wherein the sphere support column 13 is arranged below the inner sphere 11, the main control box 14 is arranged below the sphere support column 13, and the fixing base 15 is arranged around the main control box 14. The stationary base 15 is further provided with fixation hole locations 16, the size of the fixation hole locations 16 being dependent on the diameter of the screw passing through the hole location.
As shown in fig. 2, a transparent protective cover 17 may be further provided outside the inner sphere 11.
Specifically, 45 photoresistor embedded positions are arranged on an inner sphere of the spherical sensor, the photoresistor embedded positions are arranged into six layers (the vertex of the inner sphere can be used as a single layer) and are uniformly distributed on the surface of the sphere, and the number of the embedded positions in each layer is 1, 6, 10, 12, 10 and 6 respectively. According to the embodiment of the invention, the photoresistors are arranged in 45 embedded bits, the photoresistors and the divider resistors show different resistance values along with the received illumination intensity, the photoresistors and the divider resistors are combined into a divider circuit, 45 groups of different voltage signals can be output under different illumination intensities, the 45 groups of signals are classified according to the number and the positions of the layers, are respectively I, II, III, IV, V and VI, are respectively connected to input ports of 6 CD4051 selectors (wherein input signals of the I, II and III selectors are 8 groups, and input signals of the IV, V and VI selectors are 7 groups), and the selector output signals are controlled by a three-bit binary code to be one of eight groups of input signals of the selector.
The output signals of the 6 selectors are transmitted to the main controller MCU (for example, DSP28335), and the 45 sets of signals will be alternately input to the main controller MCU, with the replacement of three bits of binary code. According to the embodiment of the invention, the functions of the surface fitter and the light incidence vector generator can be realized by the main controller MCU.
And the main controller MCU determines the position of the photoresistor corresponding to the voltage signal exceeding the threshold value according to the intensity of the voltage signal output by the selector, so as to fit a 'maximum signal surface', the surface is a surface vertical to the sunlight, and the normal direction of the 'maximum signal surface' is the sunlight direction.
According to the embodiment of the invention, the embedded position of the photoresistor arranged on the inner sphere is a round hole with depth or a honeycomb hole position. The sensing device is an MG45 photoresistor. Under illumination, the light projected into the cylindrical embedded position has different intensity of input illumination along with the incident angle of light, the more vertically irradiated photosensitive resistor in the hole receives the most light, the smaller the resistance value represented by the photosensitive resistor, and the design is favorable for realizing the distinguishing of the small difference of illumination by the photosensitive resistor at a closer distance even if the sun illumination is in the process of gradually shifting from east to west.
According to the embodiment of the invention, the selector is arranged in the photoresistor signal of the spherical sensor, and the selected CD4051 is a single-ended 8-channel multi-channel analog switch with extremely low static power consumption and is used for controlling the selective output of six types of signals. By replacing three-bit binary codes, 45 groups of signals are alternately input into the MCU under the control of six groups of selectors in a high-frequency working environment. Therefore, 45 groups of signals are processed in real time and are applied to real-time ray tracing.
According to the embodiment of the invention, the sun tracking sensor is installed and fixed by utilizing the fixing vacant position on the base, so that the later maintenance and the replacement of the damaged sensor are facilitated.
According to the embodiment of the invention, the sun tracking sensor is led out of the pin output port of the MCU outside the main control box, and can be connected with any equipment connected with the pin output port to assist the sun tracking sensor in light ray tracking.
According to the embodiment of the invention, the resistance voltage division circuit and the signal selector are arranged in the inner sphere, the cable channel is arranged in the sphere support column, and the central processing unit MCU and the output interface are integrated in the main control box. The design can effectively protect the components of the sensor and prolong the service life.
While the preferred embodiments and examples of the present invention have been described in detail, the present invention is not limited to the embodiments and examples, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (7)
1. A distributed sensing photovoltaic panel sun tracking system is characterized by comprising at least three spherical sensors, a vector fitter, at least one photovoltaic panel and a direction regulator, wherein the spherical sensors, the vector fitter, the at least one photovoltaic panel and the direction regulator are independently arranged; the vector fitting device obtains the altitude angle of the photovoltaic panel according to the light incident vector output by the spherical sensor and the position relation of the spherical sensor, and obtains the azimuth angle of the photovoltaic panel according to the altitude angle of the photovoltaic panel; the direction regulator controls the direction of the photovoltaic panel according to the azimuth angle and the altitude angle; the spherical sensor comprises an inner sphere, a plurality of optical sensors uniformly distributed on the surface of the inner sphere, a selector, a surface fitter and a light incidence vector generator; the optical sensor is selected by the selector according to the detection value of the optical sensor, the surface fitting device fits a surface perpendicular to the light incidence vector according to the optical sensor selected by the selector, and the light incidence vector generator generates the light incidence vector according to the output of the surface fitting device.
2. The distributed sensing photovoltaic panel solar tracking system of claim 1, wherein a transparent protective cover is provided outside the inner sphere.
3. The distributed sensing photovoltaic panel solar tracking system of claim 1, wherein the optical sensor is a photoresistor.
4. The distributed sensing photovoltaic panel solar tracking system of claim 1, wherein the selector is a CD4051 selector.
5. The distributed sensing photovoltaic panel sun tracking system of claim 1, wherein the spherical sensor further comprises a sphere support post disposed below the inner sphere, a master control box disposed below the sphere support post, and a fixture base disposed around the master control box.
6. The distributed sensing photovoltaic panel solar tracking system of claim 1, wherein the direction regulator is a speed reduction motor.
7. The distributed sensing photovoltaic panel solar tracking system of claim 1, wherein the azimuth angle a '> max { β > when the elevation angle h' > α1、β2Is } or A' < min [ beta ]1、β2When the solar cell is driven to rotate, the direction of the photovoltaic panel is controlled by the direction regulator according to the azimuth angle and the altitude angle, wherein alpha is a relative altitude angle, and beta is a relative altitude angle1、β2Is the relative azimuth.
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