CN110989697B - Heliostat controller and method thereof - Google Patents
Heliostat controller and method thereof Download PDFInfo
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- CN110989697B CN110989697B CN201911218718.7A CN201911218718A CN110989697B CN 110989697 B CN110989697 B CN 110989697B CN 201911218718 A CN201911218718 A CN 201911218718A CN 110989697 B CN110989697 B CN 110989697B
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- 230000003068 static effect Effects 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 238000004140 cleaning Methods 0.000 claims description 43
- 238000004891 communication Methods 0.000 claims description 9
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 238000010248 power generation Methods 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 abstract 1
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The application provides a heliostat controller and a heliostat controller method, relates to the technical field of photo-thermal power generation, and can meet the requirement of heliostats on motor torque under multiple working conditions under the condition that the output power of a motor does not exceed a rated value; the controller comprises a central processing module and a control module, wherein the central processing module is used for processing data and controlling other modules; the motor driving module is used for driving the direct current motor with static torque; the motor current monitoring module is used for monitoring the current of the motor, and reducing the rotating speed of the motor when the current is larger than a set value, so as to realize the requirement of the heliostat on the motor torque under the constraint condition of the total power of the motor; the mains supply monitoring module is used for monitoring mains supply voltage; and the motor armature power-off short circuit module is used for shorting the motor armature when the voltage of the direct current bus is too low, so that the motor has enough holding torque when passively rotating. The technical scheme provided by the application is suitable for the in-situ control process of the heliostat.
Description
[ field of technology ]
The application relates to the technical field of photo-thermal power generation, in particular to a heliostat controller and a method thereof.
[ background Art ]
The heliostat field investment of the tower type solar photo-thermal power station accounts for more than half of the total investment, the heliostat field consists of thousands of heliostats, and the heliostats are usually controlled by a PLC to drive a motor to work. The scheme of the PLC plus the driver has higher cost. In order to reduce the construction costs of the power station, it is necessary to find a cost-effective controller.
The speed reducer adopted by the heliostat is of various types, and is divided into a speed reducer capable of self-locking and a speed reducer incapable of self-locking according to self-locking capacity, for example: the worm gear reducer can be self-locked, but has lower transmission efficiency. In order to reduce the power consumption of the motor, some power stations begin to use speed reducers with high transmission efficiency, such as: some power stations use RV speed reducers, which have high transmission efficiency but are not self-locking. In order to solve the problem that heliostats cannot be self-locked, some projects adopt motor band-type brake brakes. The characteristics of heliostat sun tracking determine that the motor needs to be started and stopped frequently, so that the service life of the band-type brake is difficult to meet the requirements of the full life cycle of the power station under the working condition. In order to reduce the power consumption of heliostats, it is desirable to find a transmission system that can meet the maximum static torque requirements of the heliostats and that is efficient in transmission.
After the heliostat controller is powered on again, if the controller cannot save the actual position of the heliostat before the heliostat is powered off, the zeroing operation (rotating the heliostat to a zero position and acquiring accurate position information) needs to be performed. The PLC has a power-off maintaining register, so that the actual position of the heliostat in power-off can be saved, but the service life of the built-in battery of the PLC cannot meet the requirements of the full life cycle of the power station.
The heliostat is different in position and rotation direction, the required motor torque is different, the transmission efficiency of the heliostat speed reducer is different, the required motor torque is different under different meteorological conditions, if two rotation shafts of the heliostat are designed according to the maximum rotation speed and the maximum torque, the power of the motor is larger, and meanwhile the power of a power supply for supplying power to the motor is larger, so that the cost of the motor, the cost of a direct-current power supply, the cost of a field transformer of the heliostat and the like are increased. The design scheme that the power of the motor and the power of the power supply are not too large is needed to find out the requirement of heliostats on the motor torque under all working conditions.
Accordingly, there is a need to develop a new heliostat controller and method thereof to address the deficiencies of the prior art to address or mitigate one or more of the problems described above.
[ application ]
In view of the above, the present application provides a heliostat controller and a method thereof, which can meet the requirement of heliostat on motor torque under the condition that the output power of the motor does not exceed the rated value.
In one aspect, the present application provides a heliostat controller, the controller comprising:
the central processing module is used for processing, calculating and controlling the acquired signals and other modules;
the motor driving module is used for driving a motor for driving the heliostat to act; the motor is a direct current brushless motor with static torque;
the motor current monitoring module is used for monitoring current information of the motor and transmitting the monitoring information to the central processing module; when the current is larger than the current threshold, the central processing module controls the motor driving module to reduce the rotating speed of the motor, so that the requirement of the heliostat on the motor torque under the constraint condition of the total power of the motor is realized;
the mains supply monitoring module is used for monitoring the power supply voltage of the controller, and when the voltage is lower than a voltage threshold value, the central processing module controls the motor to stop rotating through the motor driving module;
and the motor armature power-off short circuit module is used for shorting the motor armature when the voltage of the direct current bus is too low, so that the motor has enough holding torque when passively rotating.
The aspects and any possible implementation described above further provide an implementation in which the static torque of the motor matches the self-locking torque required by the heliostat; the motor static torque is the heliostat static torque divided by the heliostat reduction ratio.
In the aspects and any possible implementation manner described above, there is further provided an implementation manner, wherein the heliostat self-locking torque is calculated according to the heliostat area, the wind speed and the attitude of the heliostat.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, in which the static torque of the dc brushless motor is achieved by a reluctance manner or by increasing the cogging torque of the dc brushless motor.
In the aspect and any possible implementation manner as described above, there is further provided an implementation manner, in which the specific manner of implementing the dc brushless motor with the static torque by using the reluctance manner is that: one end of a stator of the DC brushless motor is provided with a layered silicon steel sheet corresponding to the rotor, and static torque of the DC brushless motor is realized through attraction and repulsion of a plurality of pairs of magnets.
In accordance with aspects and any one of the possible implementations described above, there is further provided an implementation, the controller further including a dc supply voltage monitoring module and a power draining module; the direct-current power supply voltage monitoring module is used for monitoring the voltage change of a direct-current power supply bus; when the voltage of the direct current power supply bus is higher than a set value, the central processing module controls the electric energy discharging module to discharge redundant electric energy, so that the controller is protected.
In aspects and any one of the possible implementations described above, there is further provided an implementation, the controller further including a ferroelectric memory module for storing heliostat critical data prior to a power outage; the storage space of the ferroelectric storage module is divided into two parts, and one part of key data is respectively stored, so that data backup is realized.
Aspects and any of the foregoing, further provides an implementation, wherein the key data includes location information, status information, and executed instruction information of the heliostat prior to power-down.
In the aspects and any possible implementation manner described above, there is further provided an implementation manner, where the controller further includes a motor hall signal acquisition module and/or a magnetic grid signal acquisition module, and the hall signal and/or the magnetic grid signal of the motor are acquired and then calculated to obtain the current position of the heliostat.
The aspects and any possible implementation manner as described above further provide an implementation manner, where the controller further includes a heliostat cleaning switch and a 485 communication module, which are respectively used to implement manual cleaning and automatic cleaning of the heliostat;
the manual cleaning is specifically as follows: when the heliostat cleaning switch is closed manually, the central processing module controls the heliostat to rotate to an angle suitable for a cleaning vehicle, so that the heliostat is cleaned manually; after the cleaning is finished, a heliostat cleaning switch is manually opened;
the automatic cleaning specifically comprises the following steps: the superior system issues a cleaning instruction to the controller, communicates with the cleaning robot through the 485 communication module, and controls the robot to automatically clean the heliostat; during automatic cleaning, the central processing module controls the heliostat to rotate to an angle suitable for the cleaning robot to clean the heliostat;
heliostats in either manual or automatic wash states do not receive other instructions from the controller.
In another aspect, the present application provides a heliostat control method, wherein the method is applicable to a heliostat controller as described in any one of the above; a direct current brushless motor with static torque is adopted to drive the heliostat, and the static torque of the motor is matched with the self-locking torque required by the heliostat; shorting the armature of the motor when the voltage of the direct current bus is too low, so that the motor has enough holding torque when passively rotating; when the voltage of the direct-current power supply bus is higher than a set value, the electric energy discharging module discharges excessive electric energy to protect the controller.
Compared with the prior art, the application can obtain the following technical effects: the requirement of the heliostat on the motor torque can be met under the condition that the output power of the motor does not exceed the rated value; the phenomenon that heliostats are out of control due to insufficient static torque of a motor under the limit working condition is avoided; excessive electric energy can be discharged when the voltage of the direct current bus is too high, and the controller is protected; the key data of the heliostat can be stored before power failure, data loss is prevented, and the zeroing action of the heliostat during restarting is avoided; the reliability and the automation degree of the system are improved.
Of course, it is not necessary for any of the products embodying the application to achieve all of the technical effects described above at the same time.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a heliostat controller provided by one embodiment of the application;
FIG. 2 is a schematic diagram of a reluctance brake structure of a brushless DC motor according to an embodiment of the present application;
fig. 3 is a schematic circuit diagram of a power bleed module according to an embodiment of the present application.
[ detailed description ] of the application
For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The heliostat control circuit and the motor drive circuit are integrated on the same circuit board by the controller, and the heliostat control circuit and the motor drive circuit have the advantages of low cost, high reliability and convenience in maintenance.
FIG. 1 is a block diagram of a heliostat controller provided by one embodiment of the application. As shown in fig. 1, the heliostat controller includes a central processing module 1, two motor current monitoring modules 2 and 3, two motor driving modules 4 and 5, two motor armature power-off shorting modules 6 and 7, two motor hall signal acquisition modules 8 and 9, two magnetic grid signal acquisition modules 10 and 11, a ferroelectric memory module 12, an ethernet communication module 13, a 485 communication module 14, a manual operator interface module 15, a mains supply monitoring module 16, an electric energy discharging module 17, and a heliostat cleaning switch interface 18. The two motor armature outage short circuit modules 6 and 7 are respectively arranged in the two motor driving modules 4 and 5.
The central processing module 1 is the only intelligent processing unit of the controller, and the control chip is TI TMS320F28069. The processing, operation and control of the motor driving module are all completed by the chip. The controller communicates with the upper engineer station through the Ethernet communication module 13, receives information such as instructions of the engineer station, and drives the motor to rotate the heliostat to a target position according to the settings and instructions of the engineer station.
The motor driving modules 4 and 5 are for driving motors, including a horizontal motor driving module 4 and a pitch motor driving module 5. The driving chip of the motor driving module is DRV8301, and the chip is communicated with the control chip of the central processing module and controls the MOS tube to work so as to achieve the purpose of driving the motor.
The motor current monitoring modules 2 and 3 monitor the current of the motor at any time and transmit the monitored current information to the central processing module 1. The central processing module 1 judges whether the current information exceeds a preset value, when the current is larger than the set threshold, the central processing module 1 controls the corresponding motor driving module to reduce the rotating speed of the motor, and as the power=rotating speed of the motor is equal to torque and torque=current is equal to torque coefficient, the power of the motor can be adjusted by reducing the rotating speed when the current is increased so as to meet the constraint of the total power, thereby realizing the requirement of heliostats on the motor torque under the constraint of the total power of the motor, namely ensuring that the output power of the motor does not exceed a rated value when the output torque of the motor is increased. The set threshold value of the current may be different according to different motor models and different use conditions.
The motor adopts a special direct current brushless motor with static torque, and the static torque of the motor corresponds to the maximum self-locking torque required by the heliostat. The static torque of the motor can be realized by additionally arranging a reluctance module at the tail end of the motor, and can also be realized by increasing the cogging torque of the motor. The static torque of the motor corresponds to the maximum self-locking torque required by the heliostat, and specifically comprises the following steps: the maximum static torque of the heliostat, namely the maximum self-locking torque, is calculated according to parameters such as the area of the heliostat, the allowed maximum wind speed, various possible postures of the heliostat in high wind and the like, and the maximum static torque of the motor is determined according to the maximum static torque of the heliostat divided by the reduction ratio of the heliostat.
The specific method for realizing the static torque of the motor by adopting the scheme of reluctance braking comprises the following steps: the motor rotor is lengthened, a silicon steel sheet group without a motor coil is arranged at one end of the motor stator, and the static torque of the motor is realized through the attraction and repulsion of a plurality of pairs of layered silicon steel sheets 20 corresponding to the rotor permanent magnets 19, as shown in fig. 2. The layered silicon steel sheets 20 can be layered structures with multiple layers stacked together, and the static torque of the motor can be increased or reduced by increasing or decreasing the number of the silicon steel sheets in the layered structures.
In the motor driving module, a motor armature power-off short circuit module is designed, and the basic working principle is as follows: three power lines ABC of the motor are connected to the normally closed ends of two relays, such as: AB is connected to the normal close end of relay 1, BC is connected to the normal close end of relay 2, and when DC power supply had the electricity, the relay actuation, the normal close end is opened, and the motor can normally work, and when DC power supply did not have the electricity, the normal close end of relay was in the same place ABC short circuit with the motor, and when the external force effect of motor rotated, the electric current that the motor coil produced can produce braking moment to the motor, and the electric current is bigger braking moment is bigger more. The controller monitors the suction condition of the relay, and when the relay is completely sucked, the motor can be driven to work. Therefore, the armature short circuit module can not influence the normal operation of the motor, ensure that the motor has enough holding torque under any condition, and solve the problem that heliostats are out of control due to insufficient static torque of the motor under extreme working conditions such as strong wind.
The utility power monitoring module 16 is configured to monitor a change in utility power voltage, and when the voltage is lower than a certain set value, the controller sends a command to stop rotation of the motor, and the motor is controlled to stop rotation by using residual electric energy of the dc power supply after the utility power is turned off. The working principle of the commercial power monitoring module is as follows: the 220V alternating current is connected to the input end of an optocoupler through a 100K resistor, the output end is connected to the input pin of the control chip through a pull-up resistor, when the 220V alternating current is powered on, the input pin is low level, and when the 220V alternating current is not powered on, the input pin is high level. When the input pin is detected to be high level, the 220V power supply side of the direct current power supply is indicated to be powered off, the direct current power supply is powered off quickly, and the controller controls the motor to stop rotating. When the voltage of the direct current power supply is reduced to be insufficient for starting the relays in the motor armature power-off shorting modules 6 and 7, the relays are automatically closed due to power failure, so that the motor armature is shorted, namely: the four relays respectively short-circuit three-phase lines of the two direct-current brushless motors. The motor after the three-phase line short circuit is equivalent to the motor in a power generation state due to the fact that the power supply short circuit is in a power generation state, the motor can generate large short circuit current due to the fact that the resistance of a winding is small, the kinetic energy of the motor is rapidly released, and accordingly the motor instantaneously generates large braking torque, and the higher the motor speed, the larger the short circuit current and the larger the braking force. Thus, even if the static torque of the motor is insufficient, the heliostat is in an out-of-control state due to the action of external force. After the controller is electrified, a relay in the motor armature outage short circuit module is automatically disconnected after the controller monitors that the relay is completely disconnected, the motor is allowed to be controlled to rotate, and the problem that devices are damaged due to the fact that the armature is still in a short circuit state when the motor is controlled to rotate is avoided.
The controller also includes a dc supply voltage monitoring module and an electrical energy discharge module 17 that automatically discharge excess electrical energy when an excessive voltage is monitored. The working principle is as follows: the voltage of the direct current bus is divided by a resistor to obtain a voltage signal which can be collected by a control chip TMS320F28069, and when the voltage of the direct current power bus is monitored to be higher than a certain set value, a triode connected with a bleeder resistor in series in the electric energy bleeder module is controlled to be conducted to bleeder redundant electric energy, so that the voltage of the bus power supply does not exceed the set value. The electrical circuit of the power bleed module is shown in fig. 3. Due to the high transmission efficiency of the speed reducer, under certain working conditions (such as high wind), the motor may be in a power generation state, which may cause the direct current bus to be too high in voltage, the electric energy discharging module 17 may work under the working conditions, and surplus electric energy is discharged to protect the controller.
The motor hall signal acquisition modules 8 and 9, and the magnetic grid signal acquisition modules 10 and 11 are two different ways to determine the current position of the heliostat. The number of turns and the positions of the rotation of the motor can be calculated by adopting Hall signals HA, HB and HC of the motor, and the current position of the heliostat can be calculated by dividing the motor by the reduction ratio of the speed reducer; the magnetic grating ruler is arranged on the outer ring of the speed reducer, A, B orthogonal pulse signals and Z zero three-phase pulse signals are generated through the relative motion of the magnetic grating head and the magnetic grating ruler, and the current position of the heliostat can be calculated through counting the signals and the diameter of a magnetic ruler disc. The two ways of determining the current position of the heliostat can be used independently or simultaneously, and the reliability of the system can be improved by the simultaneous use.
Before the heliostat is powered off, key data such as current position information, state information, instruction information executed before the heliostat is needed to be stored, so that after the heliostat is powered on again, the heliostat can be quickly rotated to a target position without executing zeroing operation. The ferroelectric memory module 12 is used to store the current position, command and status information of the heliostat. The ferroelectric memory is a high-speed power-down non-loss memory which does not need battery power supply, the type of the ferroelectric memory used by the application is FM25L04, and the memory space is 4K.
Since the user is concerned with the data at the time of power-off, there may be a problem of incomplete preservation of these data. The application divides the space of the ferroelectric memory into two spaces, and writes all data and check codes into the two storage areas of the ferroelectric memory in turn at a certain frequency, namely, each space stores all data to be stored, thereby realizing data backup. After restarting the controller, when the data in the first storage space has a check error, the data in the second storage space is read, so that at least one group of data can be ensured to be complete. The ferroelectric memory has the access speed of the dynamic random access memory and the characteristic that data cannot be lost after power failure. After the heliostat controller is electrified, the information of the ferroelectric memory in the power failure can be directly read, and the problem of data loss caused by battery power shortage of products such as a PLC (programmable logic controller) does not exist.
In order to ensure the specular reflectivity of heliostats, heliostats need to be cleaned frequently, and current practice is: the heliostat is placed in a cleaning mode in advance, and then is cleaned by a cleaning vehicle, and the heliostat cleaning switch interface module 18 is added; and the controller reports the cleaning information to the upper system. Because the heliostat is not communicated with the cleaning vehicle, the automatic cleaning of the heliostat by the cleaning vehicle cannot be realized; the controller is also provided with a 485 communication module 14 which is used for communicating the heliostat with the interface equipment of the field 485, namely with the cleaning robot, so that the automatic cleaning work of the heliostat is conveniently realized. When the automatic cleaning device is used for automatically cleaning, an upper system issues an automatic cleaning instruction, and a central control center controls a motor driving module to drive a heliostat to rotate on one hand, and communicates with a cleaning robot through a 485 communication module on the other hand, so that the cleaning robot and the heliostat are mutually matched in position, angle and posture, and automatic cleaning is completed. In the cleaning state, the heliostat does not receive the instruction issued by the upper engineer station through the controller.
The hand manipulator interface module 15 is used to connect a heliostat hand manipulator by which a user can rotate the heliostat to a position that any heliostat can reach.
The controller is designed according to the maximum power requirement of the motor under the normal running condition, under the conditions of strong wind and the like, the resistance of the heliostat is increased, and under the condition of a certain rotating speed, the output power of the motor can exceed the rated power. The controller provided by the application can realize that the motor power does not exceed the rated value by reducing the motor rotation speed, and can meet the requirement of heliostats on the motor torque.
The heliostat controller and the heliostat controller method provided by the embodiment of the application are described in detail above. The above description of embodiments is only for aiding in the understanding of the method of the present application and its core ideas; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As referred to throughout the specification and claims, the terms "comprising," including, "and" includes "are intended to be interpreted as" including/comprising, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect. The description hereinafter sets forth a preferred embodiment for practicing the application, but is not intended to limit the scope of the application, as the description is given for the purpose of illustrating the general principles of the application. The scope of the application is defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
While the foregoing description illustrates and describes the preferred embodiments of the present application, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as expressed herein, either as a result of the foregoing teachings or as a result of the knowledge or technology of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the application are intended to be within the scope of the appended claims.
Claims (7)
1. A heliostat controller, the controller comprising:
the central processing module is used for processing, calculating and controlling the acquired signals and other modules;
the motor driving module is used for driving a motor for driving the heliostat to act; the motor is a direct current brushless motor with static torque;
the motor current monitoring module is used for monitoring current information of the motor and transmitting the monitoring information to the central processing module; when the current is larger than the current threshold, the central processing module controls the motor driving module to reduce the rotating speed of the motor, so that the requirement of the heliostat on the motor torque under the constraint condition of the total power of the motor is realized;
the mains supply monitoring module is used for monitoring the power supply voltage of the controller, and when the voltage is lower than a voltage threshold value, the central processing module controls the motor to stop rotating through the motor driving module;
the motor armature power-off short circuit module is used for shorting the motor armature when the voltage of the direct current bus is too low, so that the motor has enough holding torque when passively rotating;
the static torque of the motor is matched with the self-locking torque required by the heliostat; the motor static torque is the heliostat static torque divided by the reduction ratio of the heliostat;
the heliostat self-locking torque is determined according to the heliostat area, the wind speed and the attitude of the heliostat;
the static torque of the DC brushless motor is realized by a reluctance mode or by increasing the cogging torque of the DC brushless motor;
the specific mode for realizing static torque of the direct current brushless motor through the magnetic resistance mode is as follows: one end of a stator of the DC brushless motor is provided with a layered silicon steel sheet corresponding to the rotor, and static torque of the DC brushless motor is realized through attraction and repulsion of a plurality of pairs of magnets;
the layered silicon steel sheets are layered structures which are stacked together in multiple layers, and the static torque of the motor is increased or reduced by increasing or decreasing the number of the silicon steel sheets in the layered structures.
2. The heliostat controller of claim 1, wherein the controller further comprises a dc supply voltage monitoring module and a power bleed module; the direct-current power supply voltage monitoring module is used for monitoring voltage change of a direct-current power supply bus, and when the voltage of the direct-current power supply bus is higher than a set value, the central processing module controls the electric energy discharging module to discharge redundant electric energy, so that the controller is protected.
3. The heliostat controller of claim 1, wherein the controller further comprises a ferroelectric memory module for storing heliostat critical data prior to a power outage; the storage space of the ferroelectric storage module is divided into two parts, and one part of key data is respectively stored, so that data backup is realized.
4. The heliostat controller of claim 3, wherein the critical data comprises position information, status information, and executed command information for heliostats prior to a power outage.
5. The heliostat controller of claim 1, further comprising a motor hall signal acquisition module and/or a magnetic grid signal acquisition module configured to acquire hall signals and/or magnetic grid signals of a motor and calculate the current position of the heliostat.
6. The heliostat controller of claim 1, further comprising a heliostat cleaning switch and a 485 communication module for effecting manual cleaning and automatic cleaning of heliostats, respectively;
the manual cleaning is specifically as follows: when the heliostat cleaning switch is closed manually, the central processing module controls the heliostat to rotate to an angle suitable for a cleaning vehicle, so that the heliostat is cleaned manually; after the cleaning is finished, a heliostat cleaning switch is manually opened;
the automatic cleaning specifically comprises the following steps: the superior system issues a cleaning instruction to the controller, communicates with the cleaning robot through the 485 communication module, and controls the robot to automatically clean the heliostat; during automatic cleaning, the central processing module controls the heliostat to rotate to an angle suitable for the cleaning robot to clean the heliostat;
heliostats in either manual or automatic wash states do not receive other instructions from the controller.
7. A heliostat control method, characterized in that the method is applicable to a heliostat controller as in any of claims 1-6; a direct current brushless motor with static torque is adopted to drive the heliostat, and the static torque of the motor is matched with the self-locking torque required by the heliostat; shorting the armature of the motor when the voltage of the direct current bus is too low, so that the motor has enough holding torque when passively rotating; when the voltage of the direct-current power supply bus is higher than a set value, the electric energy discharging module discharges excessive electric energy to protect the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911218718.7A CN110989697B (en) | 2019-12-03 | 2019-12-03 | Heliostat controller and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911218718.7A CN110989697B (en) | 2019-12-03 | 2019-12-03 | Heliostat controller and method thereof |
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| CN101174783A (en) * | 2007-10-31 | 2008-05-07 | 中国科学院国家天文台南京天文光学技术研究所 | Arc driving heavy caliber astronomical telescope |
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