CN110850899B - Rotation adjusting mechanism and control method for tower type photo-thermal power generation heliostat - Google Patents
Rotation adjusting mechanism and control method for tower type photo-thermal power generation heliostat Download PDFInfo
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Abstract
The invention relates to a rotation adjusting mechanism and a control method of a tower type photo-thermal power generation heliostat, which are characterized in that a double motor is driven simultaneously to increase torque and reduce motor cost, rotation with two degrees of freedom of pitching and rotating is realized through coupling transmission of a gear, and meanwhile, a neural network function relation model of an expected adjusting angle, motor rotating speed and motor rotating time is established based on data, so that the aim of accurate adjustment is fulfilled.
Description
Technical Field
The invention belongs to the technical field of photo-thermal power generation automation, and particularly relates to a rotation adjusting mechanism and a control method for a tower type photo-thermal power generation heliostat.
Background
Solar energy is increasingly used as clean energy in the field of power generation. The tower type solar photo-thermal power generation is a solar energy utilization mode, and the basic principle of the tower type solar photo-thermal power generation is that solar energy is reflected to a heat absorber on a high tower through a heliostat, working media inside the heat absorber are heated, and then power generation is carried out.
The tower-type solar photo-thermal power generation system comprises thousands of heliostats and is huge in number. The heliostat is a plane mirror, and sunlight irradiates the heliostat and is reflected to the heat absorber by the heliostat to play a role of condensing light. Because the position of the sun changes every time, in order to achieve a good light-gathering effect, the heliostat needs to have two degrees of freedom of pitching and overturning, and the angle of the heliostat is adjusted to track the relation between the position change of the sun and the position change reflected to the heat absorber. At present, each degree of freedom of a rotation adjusting mechanism of one heliostat is generally independently controlled by two motors, and because the number of heliostats of a set of tower-type solar photo-thermal power generation system is huge, the design of the rotation adjusting mechanism and the control method of the heliostat with high adjusting precision and low cost is particularly important.
The prior art of the rotation adjusting mechanism for the tower type photo-thermal power generation heliostat is as follows: (1) taking chinese patent 201611240547.4 as an example, a motor drives an electric push rod to make the push rod slide up and down, so that the heliostat makes a pitching motion with one degree of freedom. (2) Taking chinese patent 201610378127.6 as an example, the heliostat is controlled by a worm gear device and a push rod device to move in two movement axes, but the method adopts worm gear transmission, the transmission efficiency is very low, and the movement of the two movement axes is controlled independently.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a rotation adjusting mechanism and a control method of a tower type photo-thermal power generation heliostat, wherein the rotation adjusting mechanism and the control method are characterized in that a torque is increased and the motor cost is reduced by simultaneously driving double motors, rotation with two degrees of freedom of pitching and rotating is realized by coupling transmission of gears, and meanwhile, a neural network function relation model of an expected adjusting angle, the motor rotating speed and the motor rotating time is established based on data, so that the aim of accurate adjustment is fulfilled.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a rotation adjusting mechanism of a tower type photo-thermal power generation heliostat comprises a half-shaft bevel gear component A, a half-shaft bevel gear component B, a bevel gear A, a bevel gear B, a planet wheel shaft and a shell part; the half shaft bevel gear component A is in meshed connection transmission with the bevel gear A; the bevel gear A is meshed with the half shaft bevel gear component B; the half shaft bevel gear component B is meshed with the bevel gear B; the bevel gear B is meshed with the half shaft bevel gear component A; the planet wheel shaft is fixedly connected with the bevel gear A and the bevel gear B and is connected with the shell part through a bearing; two ends of the planetary wheel shaft are connected with the heliostat through connecting rods to drive the heliostat to move in two directions; the shell parts are connected with each other at the outermost layer through bolts.
The half-shaft bevel gear component A comprises a half-shaft bevel gear, a deep groove ball bearing A, a deep groove ball bearing B, a bearing seat, a shaft sleeve, an elastic retainer ring for a shaft and an elastic retainer ring for a hole; the shaft end of the half shaft bevel gear is connected with a motor, and the end of the half shaft bevel gear, which is close to the gear, is connected with a bearing seat through a deep groove ball bearing A, so that the half shaft bevel gear can rotate in the bearing seat; a shaft sleeve is sleeved outside the half-shaft bevel gear and is arranged between the deep groove ball bearing A and the deep groove ball bearing B; the deep groove ball bearing B is connected with the bearing seat and the half-shaft bevel gear to strengthen the stress of the half-shaft bevel gear in the vertical direction; the elastic check ring for the shaft is clamped in a shaft groove of the half-shaft bevel gear to be in contact with an inner ring of the fixed deep groove ball bearing B, and the elastic check ring for the hole is clamped in a groove of the bearing seat to be in contact with an outer ring of the deep groove ball bearing B so as to fix the deep groove ball bearing B.
The half shaft bevel gear component B is completely the same as the half shaft bevel gear component A and is arranged opposite to the half shaft bevel gear component A; the bevel gears A and B are simultaneously meshed with the half shaft bevel gears of the half shaft bevel gear component A and the half shaft bevel gear component B.
The shell part comprises an end cover and a bolt; six end covers are assembled into a cube through bolts, and the whole structure is placed inside; the planet wheel shaft is connected with the end cover through a bearing.
Furthermore, the deep groove ball bearing B is a deep groove ball bearing with sealing rings at two ends, and plays a role in preventing water and dust.
The power transmission process of the tower-type photo-thermal power generation heliostat rotation adjusting mechanism is as follows: the two motors drive the half shaft bevel gear A and the half shaft bevel gear B to rotate; the half shaft bevel gear A and the half shaft bevel gear B transmit power to the bevel gear A and the bevel gear B; power is transmitted to the planet wheel shaft through the difference between the rotating direction and the rotating speed of the bevel gear A and the bevel gear B, so that the planet wheel shaft does motions with two degrees of freedom of pitching and overturning, and the heliostat is driven by the planet wheel shaft to do motions with two degrees of freedom.
The invention also provides a control method of the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat, which adopts the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat as follows:
step 1: establishing a neural network model, and adopting the initial pitching angle before heliostat adjustmentθ 1Transverse turning angleθ 2Adjusted pitch angleθ 1 ’Transverse turning angleθ 2 ’Inputting data; using rotational speeds of two motorsv 1、v 2And timet 1、t 2For outputting data, the rotating speed is positive anticlockwise and negative clockwise;
furthermore, the neural network model is a multilayer perceptron neural network mode and comprises two layers of hidden layer neural networks, and the number of neurons in each layer is 5-10;
step 2: aiming at the neural network model in the step 1, training data are obtained, off-line training of the neural network is carried out, the data are obtained by adopting an acceleration sensor to collect input data and a motor encoder sensor to collect rotating speeds of two motorsv 1、v 2；
Further, the pitch angle of the input dataθ 1Transverse turning angleθ 2Adjusted pitch angleθ 1 ’Transverse turning angleθ 2 ’Before entering a neural network, centralized processing is needed;
and step 3: based on the model trained in the step 2, the controller inputs an initial pitching angle according to the heliostat angle control requirementθ 1Transverse turning angleθ 2Adjusting the pitch angle of the targetθ 1 ’Transverse turning angleθ 2 ’And (3) obtaining the rotating speed and time of the two motors to perform heliostat motion control through the neural network model in the step (2).
The invention has the beneficial effects that:
(1) according to the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat, the bevel gear is engaged with the differential transmission, the final power is transmitted to the planet wheel shaft, and the rotating speed and the direction of the two motors are simultaneously controlled, so that the output of different azimuth angles is realized, and the control function requirements of pitching and transverse overturning of the heliostat are met.
(2) Compared with the traditional method for independently controlling the rotation of the heliostats by the two motors, the method has the advantages that the two motors are adopted for simultaneously controlling the rotation of the heliostats, the output torque is doubled compared with that of the traditional independently controlled motors, the model selection design of the motors can be further reduced, the motors with small power can be selected, and the cost is greatly saved for a tower type photo-thermal power generation system consisting of thousands of heliostats.
(3) The invention adopts gear transmission, has stable transmission, high efficiency and fast dynamic response speed, and is convenient for the precise control of the heliostat.
(4) The method establishes the relation between the required heliostat adjusting angle and the motor rotating speed and time through a neural network model, and can adjust the rotation of the heliostat by using a trained model during actual control; and with long-time operation, the gear of the heliostat rotation adjusting mechanism is abraded, so that the backlash error is increased.
Drawings
Fig. 1 is a cross-sectional view of a rotation adjustment mechanism of a tower-type photo-thermal power generation heliostat of the invention.
Fig. 2 is a left side view of the rotation adjustment mechanism of the tower-type photo-thermal power generation heliostat of the invention.
Fig. 3 is a neural network model diagram of the control method of the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat of the invention.
FIG. 4 is a comparison graph of the validation set truth value and the predicted value in the neural network training process of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, and it should be noted that the detailed description is only for describing the present invention, and should not be construed as limiting the present invention.
The rotation adjusting mechanism of the tower type photo-thermal power generation heliostat comprises a half-shaft bevel gear component A, a half-shaft bevel gear component B, a bevel gear A10, a bevel gear B12, a planet wheel shaft 8 and a shell part, wherein the half-shaft bevel gear component A is connected with the shell part; the half shaft bevel gear component A is in meshing connection with a bevel gear A10 for transmission; the bevel gear A10 is in meshed connection with the half shaft bevel gear component B; the half shaft bevel gear component B is in meshed connection with a bevel gear B12; the bevel gear B12 is in meshing connection with the half shaft bevel gear component A; the planet wheel shaft 8 is fixedly connected with a bevel gear A10 and a bevel gear B12 and is connected with the shell part through a bearing; two ends of the planetary wheel shaft 8 are connected with the heliostat 15 through connecting rods to drive the heliostat 15 to move in two directions; the shell parts are connected with each other at the outermost layer through bolts.
As a preferable mode, the half-shaft bevel gear assembly a comprises a half-shaft bevel gear 4, a deep groove ball bearing a7, a deep groove ball bearing B5, a bearing seat 1, a shaft sleeve 6, a shaft circlip 3 and a hole circlip 2; the shaft end of the half-shaft bevel gear 4 is connected with a motor, and the end, close to the gear, of the half-shaft bevel gear 4 is connected with the bearing seat 1 through a deep groove ball bearing A7, so that the half-shaft bevel gear 4 can rotate in the bearing seat 1; a shaft sleeve 6 is sleeved outside the half-shaft bevel gear 4, and the shaft sleeve 6 is arranged between the deep groove ball bearing A7 and the deep groove ball bearing B5 to play a role in positioning the deep groove ball bearing A7 and the deep groove ball bearing B5; the deep groove ball bearing B5 is connected with the bearing seat 1 and the half-shaft bevel gear 4 to strengthen the stress of the half-shaft bevel gear 4 in the vertical direction; the elastic retainer ring 3 for the shaft is clamped in a groove of a half-shaft bevel gear shaft 4 to be in contact with an inner ring of a fixed deep groove ball bearing B5, and the elastic retainer ring 2 for the hole is clamped in a groove of a bearing seat 1 to be in contact with an outer ring of a deep groove ball bearing B5 so as to fix the deep groove ball bearing B5.
Preferably, the half-shaft bevel gear assembly B is identical to the half-shaft bevel gear assembly A, and is arranged opposite to the half-shaft bevel gear assembly A; the bevel gears A10, B12 are in simultaneous meshing engagement with the side bevel gears of the side bevel gear assemblies A, B.
As a preferred way, the housing part comprises an end cap 13, a bolt 14; six end covers 13 are assembled into a cube through bolts 14, and the whole structure is placed inside; the planet wheel shaft 8 is connected with an end cover 13 through a bearing 9.
As a preferable mode, the deep groove ball bearing B5 is a deep groove ball bearing with sealing rings at two ends, and since the heliostat works outdoors, the deep groove ball bearing with sealing rings at two ends is selected to play a role in preventing water and dust.
The power transmission process of the tower-type photo-thermal power generation heliostat rotation adjusting mechanism is as follows: the two motors drive the half-shaft bevel gear A4 and the half-shaft bevel gear B11 to rotate; the half shaft bevel gear A4 and the half shaft bevel gear B11 transmit power to the bevel gear A10 and the bevel gear B12; the power is transmitted to the planetary wheel shaft 8 through the difference between the rotation direction and the rotation speed of the bevel gear A10 and the bevel gear B12, so that the planetary wheel shaft 8 moves with two degrees of freedom of pitching and overturning, in this example, when the rotation directions of the bevel gear A10 and the bevel gear B12 are the same-direction and same-speed motion, the planetary wheel shaft 8 only moves with the degree of freedom of pitching, and when the rotation directions of the bevel gear A10 and the bevel gear B12 are opposite and same-speed motion, the planetary wheel shaft 8 only moves with the degree of freedom of transverse overturning; when the speeds of the bevel gear A10 and the bevel gear B12 are different, the planet wheel shaft 8 does not only do pitching freedom degree motion, but also have transverse turning freedom degree, and then the planet wheel shaft 8 drives the heliostat 15 to do two-degree-of-freedom motion, so that a mixed motion mode is achieved.
The invention also provides a control method of the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat, which adopts the rotation adjusting mechanism of the tower type photo-thermal power generation heliostat as follows:
step 1: establishing a neural network model, as shown in FIG. 3, using the initial pitch angle of the heliostat before adjustmentθ 1Transverse turning angleθ 2Adjusted pitch angleθ 1 ’Transverse turning angleθ 2 ’Inputting data; using rotational speeds of two motorsv 1、v 2And timet 1、t 2For outputting data, the rotating speed is positive anticlockwise and negative clockwise;
as a preferred mode, the neural network model is a multilayer perceptron neural network mode, and includes two hidden layer neural networks, the number of neurons 16 in each layer is 5-10, the number of neurons 16 in each layer selected in this embodiment is 5, and the activation function adopts a Relu activation function;
step 2: aiming at the neural network model in the step 1, acquiring training data and carrying out neural network off-line training;
as a preferable mode, the data acquisition adopts a six-axis acceleration sensor to acquire an initial pitch angleθ 1Transverse turning angleθ 2Regulating is madeRear pitch angleθ 1 ’Transverse turning angleθ 2 ’Acquiring the rotation speed of the motor by adopting an absolute encoder sensorv 1、v 2；
Preferably, the pitch angle of the data is inputθ 1Transverse turning angleθ 2Adjusted pitch angleθ 1 ’Transverse turning angleθ 2 ’Before entering a neural network, centralized processing is needed;
as a preferred mode, the neural network model training mode is as follows: 3000 groups of data are adopted in the training set, 1000 groups of data are adopted in the verification set for training, and the true value and the predicted value of part of the verification set are compared in the figure 4, so that the established model can be well fitted with the relationship between input and output.
And step 3: based on the model trained in the step 2, the controller inputs an initial pitching angle according to the heliostat angle control requirementθ 1Transverse turning angleθ 2Adjusting the pitch angle of the targetθ 1 ’Transverse turning angleθ 2 ’And (3) obtaining the rotating speed and time of the two motors to perform heliostat motion control through the neural network model in the step (2).
Step 2: performing neural network training aiming at the training data in the step 1;
and step 3: and in the actual use stage, inputting the neural network model obtained in the step 2 according to the angle required to be adjusted, so as to obtain the rotating speeds and the time of the two motors.
Claims (4)
1. A rotation adjusting mechanism of a tower type photo-thermal power generation heliostat is characterized by comprising a half-shaft bevel gear component A, a half-shaft bevel gear component B, a bevel gear A, a bevel gear B, a planet wheel shaft and a shell part; the half shaft bevel gear component A is in meshed connection transmission with the bevel gear A; the bevel gear A is meshed with the half shaft bevel gear component B; the half shaft bevel gear component B is meshed with the bevel gear B; the bevel gear B is meshed with the half shaft bevel gear component A; the planet wheel shaft is fixedly connected with the bevel gear A and the bevel gear B and is connected with the shell part through a bearing; two ends of the planetary wheel shaft are connected with the heliostat through connecting rods to drive the heliostat to move in two directions; the shell parts are connected to the outermost layer through bolts;
the half-shaft bevel gear component A comprises a half-shaft bevel gear, a deep groove ball bearing A, a deep groove ball bearing B, a bearing seat, a shaft sleeve, an elastic retainer ring for a shaft and an elastic retainer ring for a hole; the shaft end of the half shaft bevel gear is connected with a motor, and the end of the half shaft bevel gear, which is close to the gear, is connected with a bearing seat through a deep groove ball bearing A, so that the half shaft bevel gear can rotate in the bearing seat; a shaft sleeve is sleeved outside the half-shaft bevel gear and is arranged between the deep groove ball bearing A and the deep groove ball bearing B; the deep groove ball bearing B is connected with the bearing seat and the half-shaft bevel gear to strengthen the stress of the half-shaft bevel gear in the vertical direction; the elastic retaining ring for the shaft is clamped in a shaft groove of the half-shaft bevel gear to be in contact with an inner ring of the fixed deep groove ball bearing B, and the elastic retaining ring for the hole is clamped in a groove of the bearing seat to be in contact with an outer ring of the deep groove ball bearing B so as to fix the deep groove ball bearing B;
the half shaft bevel gear component B is completely the same as the half shaft bevel gear component A and is arranged opposite to the half shaft bevel gear component A; the bevel gear A and the bevel gear B are simultaneously meshed with half shaft bevel gears of the half shaft bevel gear component A and the half shaft bevel gear component B;
the shell part comprises an end cover and a bolt; six end covers are assembled into a cube through bolts, and the whole structure is placed inside; the planet wheel shaft is connected with the end cover through a bearing;
the two motors drive the half shaft bevel gear A and the half shaft bevel gear B to rotate; the half shaft bevel gear A and the half shaft bevel gear B transmit power to the bevel gear A and the bevel gear B; power is transmitted to the planet wheel shaft through the difference between the rotating direction and the rotating speed of the bevel gear A and the bevel gear B, so that the planet wheel shaft does motions with two degrees of freedom of pitching and overturning, and the heliostat is driven by the planet wheel shaft to do motions with two degrees of freedom.
2. The rotation adjusting mechanism of a tower-type photo-thermal power generation heliostat of claim 1, wherein the deep groove ball bearing B is a deep groove ball bearing with sealing rings at two ends.
3. The method for controlling the rotation adjustment mechanism of a tower-type photo-thermal power generation heliostat as claimed in any one of claims 1-2, comprising the steps of:
step 1: establishing a neural network model, and adopting the initial pitching angle before heliostat adjustmentθ 1Transverse turning angleθ 2Adjusted pitch angleθ 1 ’Transverse turning angleθ 2 ’Inputting data; using rotational speeds of two motorsv 1、v 2And timet 1、t 2For outputting data, the rotating speed is positive anticlockwise and negative clockwise;
step 2: aiming at the neural network model in the step 1, training data are obtained, off-line training of the neural network is carried out, the data are obtained by adopting an acceleration sensor to collect input data and a motor encoder sensor to collect rotating speeds of two motorsv 1、v 2；
And step 3: based on the model trained in the step 2, the controller inputs an initial pitching angle according to the heliostat angle control requirementθ 1Transverse turning angleθ 2Adjusting the pitch angle of the targetθ 1 ’Transverse turning angleθ 2 ’And (3) obtaining the rotating speed and time of the two motors to perform heliostat motion control through the neural network model in the step (2).
4. The method for controlling the rotation adjusting mechanism of the tower-type photo-thermal power generation heliostat of claim 3, wherein the neural network model in the step 1 is a multi-layer perceptron neural network mode and comprises two hidden-layer neural networks, and the number of neurons in each layer is 5-10.
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| CN202010039869.2A CN110850899B (en) | 2020-01-15 | 2020-01-15 | Rotation adjusting mechanism and control method for tower type photo-thermal power generation heliostat |
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| US4021031A (en) * | 1975-12-08 | 1977-05-03 | Butler Automatic, Inc. | Web alignment system |
| CN102467130A (en) * | 2010-11-18 | 2012-05-23 | 天津天高自动化工程有限公司 | Dual-shaft support structure of concentration photovoltaic panel |
| CN203673360U (en) * | 2014-01-08 | 2014-06-25 | 高椿明 | Sunlight directed reflection device based on gear matching structure |
| CN108345320A (en) * | 2018-04-20 | 2018-07-31 | 高克 | Heliostat device |
| CN207867352U (en) * | 2018-01-25 | 2018-09-14 | 青岛中科麦特新能源有限公司 | Novel photovoltaic electrification component |
| CN108549415A (en) * | 2018-06-08 | 2018-09-18 | 南京八度阳光太阳能科技有限公司 | A kind of solar panels of adjustable-angle |
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2020
- 2020-01-15 CN CN202010039869.2A patent/CN110850899B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4021031A (en) * | 1975-12-08 | 1977-05-03 | Butler Automatic, Inc. | Web alignment system |
| CN102467130A (en) * | 2010-11-18 | 2012-05-23 | 天津天高自动化工程有限公司 | Dual-shaft support structure of concentration photovoltaic panel |
| CN203673360U (en) * | 2014-01-08 | 2014-06-25 | 高椿明 | Sunlight directed reflection device based on gear matching structure |
| CN207867352U (en) * | 2018-01-25 | 2018-09-14 | 青岛中科麦特新能源有限公司 | Novel photovoltaic electrification component |
| CN108345320A (en) * | 2018-04-20 | 2018-07-31 | 高克 | Heliostat device |
| CN108549415A (en) * | 2018-06-08 | 2018-09-18 | 南京八度阳光太阳能科技有限公司 | A kind of solar panels of adjustable-angle |
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Address after: 1216, danionggang Road, Jianggan District, Hangzhou City, Zhejiang Province, 310021 Patentee after: Xizi clean energy equipment manufacturing Co.,Ltd. Address before: 1216, danionggang Road, Jianggan District, Hangzhou City, Zhejiang Province, 310021 Patentee before: HANGZHOU BOILER GROUP Co.,Ltd. |
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