CN112241184A - Single-row multi-point supported photovoltaic tracking and adjusting system and control method thereof - Google Patents
Single-row multi-point supported photovoltaic tracking and adjusting system and control method thereof Download PDFInfo
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Abstract
The invention discloses a single-row multi-point supported photovoltaic tracking adjusting system and a control method thereof. The photovoltaic tracking system is used for decoupling and decomposing key elements influencing tracking control from the perspective of field application of the photovoltaic tracking system, and independently controlling the electric push rods corresponding to the sub-controllers. And the invention does not significantly increase hardware costs and installation costs.
Description
Technical Field
The invention relates to the field of photovoltaic tracking, in particular to a single-row multipoint-supported photovoltaic tracking adjusting system and a control method thereof.
Background
With the rapid development of solar photovoltaic, the photovoltaic industry has been promoted to be refined, intelligent and digital through the previous extensive development. The cost of a manufacturing end of the whole industry is more and more difficult to compress, ways for improving the efficiency of a power station at a system end are less and less, a photovoltaic tracking system is expected in recent years, and particularly a 1500V photovoltaic power generation system with the tracking system combined with a double-sided double-glass assembly and a string-type inverter is considered to be one of the most effective ways for reducing the electricity consumption cost. The single-column tracking support system has unique advantages in the aspects of terrain adaptability, networking flexibility, power generation quantity improvement and the like. In order to solve the problems of tracking the pile foundation of the support and controlling the cost electrically, the single-row long-row support becomes a new trend of industry development. The traditional structure form of one driving support per column is difficult to satisfy the dual advantages of reliability and cost, so that the multi-point support becomes a preferred direction. The traditional tracking control device and the control method are applied to single-row single-point support or linkage type tracking supports, and the traditional tracking control device and the control method are directly applied to single-row multi-point support and have a plurality of defects.
For single-row multipoint supports, the existing control schemes are mostly simple closed-loop control of the inclination angle. There are two main ways: one is to directly connect a plurality of motors in a single row to a driving module, share a master control, a feedback and the like. The main advantages of the mode are simple control, one set of control system can control a plurality of transmission motors, and the defects are quite obvious. Because of centralized and unified control and drive, when differences occur among a plurality of transmission devices, adjustment cannot be performed. As a single-row long-row structure, the torsion of the cross beam is unavoidable, the initial angles of the transmission supports are also inconsistent, and the problems are frequently encountered on the site and cannot be solved by the scheme, so that the scheme can only be used as a relatively extensive tracking scheme and cannot meet the requirements on equipment reliability and electric quantity improvement; the other type is that the same main control is shared, and each transmission device is independently controlled by a sensor, so that the closed-loop control of each transmission device is realized. The main advantage of this mode is that can each transmission of independent control, can the inconsistent problem of a plurality of strong point angle that can automatic adjustment bring because of the crossbeam twists reverse, can compensate the angle error when initial installation to a certain extent, also can solve partial square pipe and twist reverse the problem. However, the defects are also obvious, especially, the operation is carried out only by means of feedback of the sensor, the multiple supporting points are controlled independently, in the operation process, the speed of each transmission device is inconsistent due to various factors (such as inconsistent transmission speed, inconsistent load among transmission parts, inconsistent installation angle, inconsistent output rotating speed of the motor and the like), the angle of the support assembly is inconsistent due to the difference of the installation angle, the problem cannot be solved if special treatment is not carried out, and the control strategy cannot meet the control requirement of single-row multi-point supporting transmission. The long-term operation can cause different drive arrangement to have the angle difference in the operation process, causes the support to twist reverse, reduces the reliability of support.
Disclosure of Invention
The invention provides a photovoltaic tracking adjustment system suitable for single-row multi-point support, which overcomes the defects and comprises a main controller and at least one sub-controller, wherein the main controller and the sub-controller are respectively arranged on different tracking brackets 1, the main controller and the sub-controller are in one-to-one correspondence with an electric push rod 2, the bottom of the electric push rod 2 is fixed, a telescopic rod in the electric push rod 2 is connected with the tracking brackets 1, the electric push rod is used for supporting and driving, the tracking brackets adjust the angle through the push-out/contraction of the telescopic rod,
the sub-controller comprises an angle sensor, a voltage and current sensor, a signal transmission module and an adjusting module,
the angle sensor is used for detecting the angle of the tracking bracket corresponding to the mounting point position of the sub-controller,
the voltage and current sensor is used for detecting the voltage and the current of the corresponding electric push rod,
the signal transmission module is used for transmitting the information detected by the angle sensor and the voltage and current sensor to the main controller and receiving the instruction sent by the main controller,
the adjusting module is used for controlling the motor voltage of the corresponding electric push rod according to an instruction sent by the main controller so as to realize speed regulation;
the main controller comprises an angle sensor, a voltage and current sensor, a signal receiving module, an information processing module and an instruction transmission module, wherein the angle sensor is used for detecting the angle of a tracking bracket of a main controller mounting point position, the voltage and current sensor is used for detecting the voltage and the current of the main controller corresponding to the electric push rod,
the signal receiving module is used for receiving angle, voltage and current information given by each sub-controller,
the information processing module is used for calculating the stroke of the telescopic rod in each electric push rod according to the information of current, voltage and angle given by each sub-controller and the information of current, voltage and angle detected by the voltage and current sensor of the main controller, which is received by the signal receiving module, and calculating the voltage required by the electric push rod corresponding to each sub-controller to enable the tracking bracket to reach the reference angle by taking the angle detected by the main controller and the stroke of the telescopic rod corresponding to the main controller as references,
and the instruction transmission module is used for transmitting the calculated voltage instruction required to be adjusted by each motor to each corresponding sub-controller.
Preferably, the bottom of the electric push rod 2 is fixed on the ground or the bottom of a vertical column 3 supporting the tracking bracket 1, and the telescopic rod is in pin joint or hinge joint with the tracking bracket 1. When the telescopic rod extends or contracts, the tracking support rotates by taking the main shaft as a center to realize angle adjustment.
In order to realize the control, the invention also provides a control method for the photovoltaic tracking adjustment system supported by the single-row multiple points, which comprises the following steps:
1) measuring a fixed value, comprising: the device comprises a vertical distance A from the bottom of an upright post for supporting a tracking support to the central point of a main shaft of the tracking support, a distance D from a connecting point of a push rod and the tracking support to the central point of the main shaft of the tracking support, a mounting error E of the connecting point, a distance B from the bottom of the upright post to a fixed point at the bottom of the push rod, and a fixed length C of the push rod;
2) the main control unit and each sub-controller collect the information corresponding to the electric push rod in real time, and the method comprises the following steps: tracking the angle theta and voltage U of the bracket, and setting the length between the fixed point and the connection point of the push rod as C, wherein C is the fixed section C of the push rodFixing deviceLength C of extension/contraction of telescopic rodBecomeSum by calculation formula
Calculating the length of the electric push rod corresponding to the main controller and each sub-controller, and calculating the angle theta corresponding to the main controllerMaster and slaveThe length of the telescopic rod is changed by CBecomeMainly as a reference, the length C of the telescopic rod of each sub-controller is calculatedTransformerAnd CBecome ownerThe difference between them, if CTransformer-CBecome ownerIf yes, turning to the step 3; if CTransformer-CBecome ownerIf the voltage is negative, turning to the step 4;
3) k is the ratio of the rotating speed of the motor to the stroke of the telescopic rod, the ratio is a fixed value, and the k values of the electric push rods of the same type are equal, and the electric push rods adopted in the technical scheme are all of the same type; t is the operating time of the telescopic rod, all values of t are equal because all tracking brackets need to be adjusted in place within the same time, and the specific duration can be set according to the actual condition; v is the ratio of the motor speed to the motor voltage, the v values of the motors with the same model are equal, and the v values are calculated through a calculation formula
Calculating the voltage required to be adjusted by the motor of each sub-controller corresponding to the electric push rod, and calculating the calculated URegulating deviceAnd the motor reverse rotation instruction is sent to the corresponding sub-controller;
4) k is the ratio of the motor rotating speed to the stroke of the telescopic rod, t is the operating time of the telescopic rod, v is the ratio of the motor rotating speed to the motor voltage, and the calculation formula is used
Calculating the electricity required to be adjusted by the motor of each sub-controller corresponding to the electric push rodPressing and calculating URegulating deviceSending the instruction to a corresponding sub-controller;
5) and the sub-controller adjusts the motor voltage and the steering of the corresponding electric push rod according to the received instruction.
The invention has the beneficial effects that:
the photovoltaic tracking system is used for decoupling and decomposing key elements influencing tracking control from the perspective of field application of the photovoltaic tracking system, independently controlling the electric push rods corresponding to the sub-controllers, and meanwhile, the photovoltaic tracking system is different from the traditional independent control. When the voltage and current sensors are adopted, in the process of realizing each supporting transmission, the used motor voltage and current detection is required to be configured originally because of the protection of the motor, and the tilt angle sensor is required by a closed-loop feedback lock, so that the hardware cost and the installation cost are not obviously increased.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic representation of the geometry of the present invention;
fig. 2 is a schematic diagram of the control method.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
The photovoltaic tracking and adjusting system with single-row multi-point support as shown in fig. 1 and fig. 2 comprises a main controller and at least one sub-controller, wherein the main controller and the sub-controller are respectively installed on different tracking supports 1, specifically, the main controller is installed on the middle tracking support, the sub-controllers are generally more than two, the sub-controllers are installed on the tracking supports on two sides in a one-to-one correspondence manner, and every three columns 3 support two tracking supports. The main controller and the sub-controller correspond to one electric push rod 2 one by one, the bottom of the electric push rod 2 is fixed on the ground or supports the bottom of an upright post 3 of the tracking support 1, a telescopic rod in the electric push rod 2 is in pin joint or hinge joint with the tracking support 1, the electric push rod is used for supporting and transmitting, when the telescopic rod extends/contracts, the tracking support rotates by taking a main shaft of the tracking support as a center to realize angle adjustment, namely, the tracking support adjusts the angle by the pushing out/contracting of the telescopic rod.
The sub-controller comprises an angle sensor, a voltage and current sensor, a signal transmission module and an adjusting module,
the angle sensor is used for detecting the angle of the tracking support corresponding to the installation position of the sub-controller, the voltage and current sensor is used for detecting the voltage and the current corresponding to the electric push rod, the signal transmission module is used for transmitting the information detected by the angle sensor and the voltage and current sensor to the main controller and receiving the instruction sent by the main controller, and the adjusting module is used for controlling the motor voltage of the electric push rod corresponding to the instruction sent by the main controller to realize speed regulation.
The main controller comprises an angle sensor, a voltage and current sensor, a signal receiving module, an information processing module and an instruction transmission module, wherein the angle sensor is used for detecting the angle of a tracking support of a main controller installation point position, the voltage and current sensor is used for detecting the voltage and the current of an electric push rod corresponding to the main controller, the signal receiving module is used for receiving the angle, the voltage and the current information given by each sub-controller, the information processing module is used for calculating the stroke of a telescopic rod in each electric push rod by using the current, the voltage and the angle information given by each sub-controller and the current, the voltage and the angle information detected by the voltage and current sensor of the main controller, which are received by the signal receiving module, and calculating the voltage required by the electric push rod corresponding to each sub-controller to enable the tracking support to reach a reference angle by taking the angle detected by the main controller and the stroke, and the instruction transmission module is used for transmitting the calculated voltage instruction required to be adjusted by each motor to each corresponding sub-controller.
In the invention, the solar panel on the tracking bracket converts solar energy into electric energy for the whole system to use, and simultaneously stores part of the electric energy in the storage battery which is used as a standby power supply for supplying power to all devices in the system.
Example 2
The embodiment is a control method for a single-row multipoint-supported photovoltaic tracking adjustment system in embodiment 1, and the method includes the following steps:
1) measuring a fixed value, comprising: the device comprises a vertical distance A from the bottom of an upright post for supporting a tracking support to the central point of a main shaft of the tracking support, a distance D from a connecting point of a push rod and the tracking support to the central point of the main shaft of the tracking support, a mounting error E of the connecting point, a distance B from the bottom of the upright post to a fixed point at the bottom of the push rod, and a fixed length C of the push rod;
2) main control unit and each sub-controller gather the information that corresponds electric putter, include: tracking the angle theta of the bracket and the voltage U of the push rod motor, and setting the length between the fixed point and the connection point of the push rod as C, wherein C is the fixed section C of the push rodFixing deviceLength C of extension/contraction of telescopic rodBecomeSum by calculation formula
Calculating the length of the electric push rod corresponding to the main controller and each sub-controller, and calculating the angle theta corresponding to the main controllerMaster and slaveStretching and drawing deviceLength C of telescopic rodBecome ownerCalculating the extension/contraction length C of the telescopic rod of each sub-controller as a referenceTransformerAnd CBecome ownerThe difference between them, if CTransformer-CBecome ownerIf yes, turning to the step 3; if CTransformer-CBecome ownerIf the voltage is negative, turning to the step 4;
3) k is the ratio of motor speed and telescopic link stroke, this ratio is the fixed value, the electric putter k value of the same model equals, the electric putter who adopts among this technical scheme is same model, t is telescopic link operating time, because all tracking support need adjust in place in the same time, therefore all t values equal, concrete time length can be set for according to actual conditions, v is the ratio of motor speed and motor voltage, the motor v value of the same model equals, through the formula of calculating
Calculating the voltage required to be adjusted by the motor of each sub-controller corresponding to the electric push rod, and calculating the calculated URegulating deviceAnd the motor reverse rotation instruction is sent to the corresponding sub-controller;
4) k is the ratio of the motor rotating speed to the stroke of the telescopic rod, t is the operating time of the telescopic rod, v is the ratio of the motor rotating speed to the motor voltage, and the calculation formula is used
Calculating the voltage required to be adjusted by the motor of each sub-controller corresponding to the electric push rod, and calculating the calculated URegulating deviceSending the instruction to a corresponding sub-controller;
5) and the sub-controller adjusts the motor voltage and the steering of the corresponding electric push rod according to the received instruction.
The photovoltaic tracking system is used for decoupling and decomposing key elements influencing tracking control from the perspective of field application of the photovoltaic tracking system, independently controlling the electric push rods corresponding to the sub-controllers, and meanwhile, the photovoltaic tracking system is different from the traditional independent control. In addition, in the process of realizing each supporting transmission, the detection of the voltage and the current of the used motor is originally necessary to configure the controller for the protection of the motor, and the tilt angle sensor is necessary to be a closed-loop feedback lock, so that the hardware cost and the installation cost are not obviously increased.
And along with the construction topography of photovoltaic power plant is more and more poor, and uneven topography of fluctuation and mountain land topography are more, and the application of two-sided subassembly is more and more popular, and the structural style that single row double subassembly was put vertically must use more and more, and the geometric relation and the load relation that every drive strutting arrangement corresponds are inevitable different, consequently adds geometric computation and the feedforward control of motor load and becomes an economical and practical's scheme.
Experiments show that the test is carried out on an actual prototype with the distance between the two push rods being 30m in a 5-degree terrain of a north-south downslope, and compared with the traditional algorithm without the algorithm, after the algorithm is adopted, the maximum angle difference of the support points of the push rods is 0.2 degrees in the whole tracking process, the angle difference of the support points of the push rods without the algorithm is 2.6 degrees, and the actual application effect is very obvious.
Example 3
In this embodiment, a rotation speed sensor is used to replace an angle sensor and a voltage/current sensor, the rotation speed sensor is installed at a position corresponding to the motor of the electric push rod 2, and is used to detect the rotation speed of the motor, the signal transmission module of the sub-controller transmits the rotation speed and the angle information of the motor to the main controller, the information processing module of the main controller uses the rotation speed and the angle of the motor detected by the main controller as a reference, the electric push rod corresponding to each sub-controller is calculated to enable the tracking support to reach the rotation speed of the motor respectively required by the reference angle and then is issued to each corresponding sub-controller, and the sub-controller controls the voltage of the push rod motor to be.
When a rotating speed sensor is adopted, k is the ratio of the rotating speed of the motor to the stroke of the telescopic rod, t is the operating time of the telescopic rod, S is the stretching/shrinking speed of the telescopic rod, n is the rotating speed, and the calculation formula is used for calculating the rotating speed
Calculating the length of the electric push rod corresponding to the main controller and each sub-controller, and calculating the length of the electric push rod according to a calculation formula
The voltage required to be adjusted by the motor of each sub-controller corresponding to the electric push rod is calculated, the calculated amount is greatly reduced, and the hardware cost and the installation cost are increased.
In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. The photovoltaic tracking and adjusting system supported by single-row and multiple points is characterized by comprising a main controller and at least one sub-controller, wherein the main controller and the sub-controller are respectively arranged on a tracking bracket (1), the main controller and the sub-controller correspond to one electric push rod (2) one by one, the bottom of the electric push rod (2) is fixed, a telescopic rod in the electric push rod (2) is connected with the tracking bracket (1),
the sub-controllers comprise angle sensors, voltage and current sensors, a signal transmission module and an adjusting module, the angle sensors are used for detecting the angles of the tracking brackets corresponding to the mounting positions of the sub-controllers, the voltage and current sensors are used for detecting the voltage and the current corresponding to the electric push rods,
the signal transmission module is used for transmitting the information detected by the angle sensor and the voltage and current sensor to the main controller and receiving the instruction sent by the main controller,
the adjusting module is used for controlling the motor voltage of the corresponding electric push rod according to an instruction sent by the main controller;
the main controller comprises an angle sensor, a voltage and current sensor, a signal receiving module, an information processing module and an instruction transmission module, wherein the angle sensor is used for detecting the angle of a tracking bracket of a main controller mounting point position, the voltage and current sensor is used for detecting the voltage and the current of the main controller corresponding to the electric push rod,
the signal receiving module is used for receiving angle, voltage and current information given by each sub-controller, the information processing module is used for calculating the stroke of the telescopic rod in each electric push rod according to the information of the current, the voltage and the angle given by each sub-controller and the information of the current, the voltage and the angle detected by the voltage and current sensor of the main controller, which are received by the signal receiving module, and the stroke of the telescopic rod corresponding to the main controller, which is taken as a reference, calculating the voltage which is respectively required by the electric push rod corresponding to each sub-controller to enable the tracking bracket to reach the reference angle,
and the instruction transmission module is used for transmitting the calculated voltage instruction required to be adjusted by each motor to each corresponding sub-controller.
2. The photovoltaic tracking adjustment system with single row and multi-point support according to claim 1, characterized in that the bottom of the electric push rod (2) is fixed on the ground or supports the upright (3) of the tracking bracket (1), and the telescopic rod is pin-jointed or hinged with the tracking bracket (1).
3. The photovoltaic tracking adjustment system with single column and multi-point support according to claim 1, characterized in that a rotation speed sensor is used to replace an angle sensor and a voltage/current sensor, the rotation speed sensor is installed at the position of the motor corresponding to the electric push rod (2) and is used to detect the rotation speed of the motor, a signal transmission module of each sub-controller transmits the rotation speed and angle information of the motor to a main controller, and an information processing module of the main controller calculates the rotation speed of the motor required by the electric push rod corresponding to each sub-controller to make the tracking support reach the reference angle and then sends the calculated rotation speed to each corresponding sub-controller.
4. Control method for a single-file multipoint-supported photovoltaic tracking adjustment system according to claim 1, characterized in that it comprises the following steps:
1) measuring a fixed value, comprising: the vertical distance A from the bottom of an upright post for supporting a tracking support to the central point of a main shaft of the tracking support, the distance D from a connecting point of a push rod and the tracking support to the central point of the main shaft of the tracking support, the installation error E of the connecting point, the distance B from the bottom of the upright post to a fixed point at the bottom of the push rod, and the length C of a fixed segment of the push rodFixing device；
2) The main control unit and each sub-controller collect the information corresponding to the electric push rod in real time, and the method comprises the following steps: tracking the angle theta of the bracket and the voltage U of the push rod motor, and setting the length between the fixed point and the connection point of the push rod as C, wherein C is the fixed section C of the push rodFixing deviceLength C of extension/contraction of telescopic rodBecomeSum by calculation formula
Calculating the length of the electric push rod corresponding to the main controller and each sub-controller, and calculating the angle theta corresponding to the main controllerMaster and slaveThe length of the telescopic rod is changed by CBecome ownerCalculating the extension/contraction length C of the telescopic rod of each sub-controller as a referenceTransformerAnd CBecome ownerThe difference between them, if CTransformer-CBecome ownerIf yes, turning to the step 3; if CTransformer-CBecome ownerIf the voltage is negative, turning to the step 4;
3) k is the ratio of the motor rotating speed to the stroke of the telescopic rod, t is the operating time of the telescopic rod, v is the ratio of the motor rotating speed to the motor voltage, and the calculation formula is used
Calculating the corresponding electric push rod of each sub-controllerThe voltage required to be adjusted by the motor, and calculating the URegulating deviceAnd the motor reverse rotation instruction is sent to the corresponding sub-controller;
4) k is the ratio of the motor rotating speed to the stroke of the telescopic rod, t is the operating time of the telescopic rod, v is the ratio of the motor rotating speed to the motor voltage, and the calculation formula is used
Calculating the voltage required to be adjusted by the motor of each sub-controller corresponding to the electric push rod, and calculating the calculated URegulating deviceSending the instruction to a corresponding sub-controller;
5) and the sub-controller adjusts the motor voltage and the steering of the corresponding electric push rod according to the received instruction.
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| CN113219881A (en) * | 2021-05-21 | 2021-08-06 | 浙江正泰新能源开发有限公司 | Driving device and method for photovoltaic tracking support |
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| CN105527982A (en) * | 2016-01-11 | 2016-04-27 | 上海紫竹新兴产业技术研究院 | Double-shaft automatic sunlight tracking device |
| CN107885235A (en) * | 2017-11-17 | 2018-04-06 | 苏州聚晟太阳能科技股份有限公司 | Suitable for the intelligent-tracking control device and method of photovoltaic tracking |
| CN108508923A (en) * | 2018-07-06 | 2018-09-07 | 驰鸟智能科技（上海）有限公司 | A kind of solar tracking system and its control method that two-sided tracking can be achieved |
| CN211044024U (en) * | 2020-01-19 | 2020-07-17 | 中国华能集团清洁能源技术研究院有限公司 | Double-sided photovoltaic tracking universal controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113219881A (en) * | 2021-05-21 | 2021-08-06 | 浙江正泰新能源开发有限公司 | Driving device and method for photovoltaic tracking support |
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