CN115373430B - Motion control method of day-by-day device - Google Patents
Motion control method of day-by-day device Download PDFInfo
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Abstract
The invention discloses a motion control method of a day-by-day device, which is characterized in that light intensity voltages of four side surfaces and top surfaces of a quadrangular frustum pyramid of the day-by-day device are collected, a coarse adjustment model and a fine adjustment model are built in the device before delivery, when the device is used after delivery, a coarse adjustment control algorithm coarse adjustment suitable for the current scene is built automatically and temporarily according to the actual application scene and the coarse adjustment model built in equipment, fine adjustment of the fine adjustment model in the device is further used, automatic day-by-day of the device is realized, and the adjustment precision and the speed are high.
Description
Technical field:
the invention relates to the field of information measurement, in particular to a motion control method of a day-by-day device.
The background technology is as follows:
the accurate acquisition of crop growth information is a precondition and a basis of intelligent regulation and control of crop growth, a passive crop growth information sensor taking sunlight as a light source is popularized and applied in production, the upper surface of the sensor receives sunlight, the lower surface receives reflected light of crops, so that the spectral reflectivity of the crops is obtained, the growth information of the crops is further obtained by using model inversion, although a cosine corrector is arranged on the upper surface of the sensor, the upper surface of the sensor receives sunlight and has a certain degree of specular reflection in application, the light inlet amount of the sensor is changed along with the change of the solar height, and finally the solar height influences the accuracy of the information acquisition of the sensor. In addition, the solar energy utilization field also needs to make the lighting surface face the sun as far as possible so as to improve the light energy utilization efficiency, but a portable and flexible sun-following device is lacking at present.
The invention comprises the following steps:
aiming at the problems in the prior art, the invention provides a motion control method of a day-by-day device, and the device controlled by the method has good day-by-day accuracy and high speed.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the upper end of the sun-following device is of a quadrangular frustum pyramid structure, the lower end of the sun-following device is of an azimuth steering engine responsible for horizontal rotation and a vertical rotation altitude steering engine, the horizontal rotation enables the device to track the sun from the azimuth angle, the vertical rotation enables the device to track the sun from the altitude angle, and the top surface and four side surfaces of the quadrangular frustum pyramid structure are respectively provided with a photoelectric sensor for use in the sun-following deviceThe light intensity of different sky positions is collected, the operation parameters are provided for the daily motion control of the device, the photoelectric sensor is electrically connected with the control circuit board, and the steering engine is electrically connected with the control circuit board. The visual angle of the top surface photoelectric sensor is a Top The visual angle of the side photoelectric sensor is a Side of the vehicle The inclination angle of the side surface of the prismatic table is theta.
When the top surface of the prismatic table of the day-by-day device is approximately towards the south and is just opposite to the top surface of the prismatic table, the light intensity voltages collected by the left side and the right side photoelectric sensors are respectively indicated as VL and VR, the light intensity voltages collected by the upper side and the lower side photoelectric sensors are respectively indicated as VU and VD, and the light intensity voltage collected by the top photoelectric sensor is indicated as VC.
1. Construction of control algorithm model before leaving factory of device
S1: adjusting the sun-following device to enable the top surface of the prismatic table to gradually approach to face the sun, and taking the altitude angle and the azimuth angle when the sun-following device faces the sun as initial positions;
s2: adjusting a day-by-day device to an initial position, keeping an azimuth angle unchanged, controlling a steering engine of an altitude to rotate, obtaining M angles DAH deviating from the initial position in the vertical direction, wherein M is more than or equal to 2, collecting VU and VD at each deviating position, calculating H, and constructing linear models M1 and H of DAH and H p1 ＝k h0 ·H-k h0 Calculating k using a nonlinear fitting function of DAH, H and SPSS h0 Obtaining k h0 Writing the linear model M1 into a day-by-day device;
s3: adjusting the sun-following device to an initial position, keeping the height angle unchanged, controlling the azimuth steering engine to rotate, obtaining n angles DAA deviating from the initial position in the horizontal direction, wherein n is more than or equal to 2, collecting VL and VR at each deviating position, calculating A, and constructing a linear model M2 and A of DAA and A p1 ＝k a0 ·A-k a0 Calculating k using a nonlinear fitting function of DAA, a and SPSS a0 Obtaining k a0 Writing the linear model M2 into a day-by-day device;
s4: adjusting a daily device to an initial position, repeatedly measuring VL, VR, VU and VD for a plurality of times, respectively calculating A and H in each measurement, and respectively averaging A and H to obtain A and H;
adjusting the sun-tracking device to an initial position, controlling the rotation of an azimuth steering engine in the range of beta degrees deviated from the horizontal left and right, controlling the rotation of a height steering engine in the range of beta degrees deviated from the vertical upward and downward,there are p rotational positions, and the horizontal deviation angle DAA is recorded at each rotational position i Angle of vertical deviation DAH i VL (VL) i 、VR i 、VU i And VD i I is more than or equal to 1 and less than or equal to p, and A and H of each deviating position are calculated and are marked as A i And H i ，/> Wherein A is PD For every 1 degree deviation of horizontal direction, the average A value is H PD The average H value is corresponding to each 1 DEG deviation in the vertical direction; obtaining a model M3: />Model M4:writing into a daily device;
2. control of daily movement of device after leaving factory and during use
S5: the device was used to measure VL, VR, VU and VD with the top surface of the prismatic table facing approximately the sun, calculate A and H, denoted A 1 、H 1 Calculating a vertical deviation angle H using a model M1 p1 Calculating a horizontal deviation angle A using a model M2 p1 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is already facing the sun; if VU > VD, the altitude angle steering engine rotates upwards H p1 Degree, otherwise, rotate downwardsH p1 A degree; if VL is larger than VR, the azimuth steering engine rotates left A p1 Degree, otherwise, turn A to the right p1 A degree; measuring VL, VR, VU and VD for the second time after the rotation of the altitude steering engine and the azimuth steering engine, calculating A and H, and marking the A as A 2 、H 2 ；
Two measurements, if the size relationship between VU and VD is unchangedIf the size relationship between VU and VD is changed, then +.>Building a new model M5: h p2 ＝k h ·H-k h Wherein H is p2 Vertical deviation angle for field prediction;
two measurements, if the size relationship between VL and VR is unchangedIf the size relationship between VL and VR is changed, then +.>Building a new model M6: a is that p2 ＝k a ·A-k a Wherein A is p2 A horizontal deviation angle for field prediction;
will H 2 Substituting the angle H into the model M5 to obtain the angle H to be adjusted in the vertical direction p2 Will A 2 Substituting the angle A into the model M6 to obtain the angle A to be adjusted in the horizontal direction p2 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is over against the sun, indicating that the model M1 and the model M2 are completely suitable for the current application scene; if VU > VD, the altitude angle steering engine rotates upwards H p2 Degree, otherwise, rotate downwards H p2 If VL is larger than VR, the azimuth steering engine rotates left A p2 Degree, otherwise, turn A to the right p2 A degree;
s6: measuring VL, VR, VU and VD once again, calculating A and H, substituting H into a model M3 to obtain a vertical adjustment angle H p3 Substituting A into the model M4 to obtain waterAngle of flat adjustment A p3 If VU > VD, the altitude angle steering engine rotates upwards H p3 Degree, otherwise, rotate downwards H p3 If VL is larger than VR, the azimuth steering engine rotates left A p3 Degree, otherwise, turn A to the right p3 The device is right against the sun day by day.
Further, the step S1 specifically comprises
S1a: the top surface of the ridge of the day-by-day device is approximately towards the sun;
s1b: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD =vc-VD; if D CL ·D CR If less than 0, a signal is sent to the azimuth steering engine to rotate 0.5-5 degrees, preferably 1 degree, if D CL Turning leftwards if the ratio is less than 0, otherwise turning rightwards; if D CU ·D CD If less than 0, a signal is sent to the steering engine with the altitude angle of 0.5-5 degrees, preferably 1 degree, if D CU If the ratio is less than 0, the rotation is upward, otherwise, the rotation is downward; repeating the above process until D CL ·D CR ＞0，D CU ·D CD ＞0；
S1c: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD =vc-VD; calculation D CL 、D CR Coefficient of variation CV of (C) LR If CV LR If the VL is more than VR, the steering engine transmits a signal to the azimuth steering engine to rotate by 0.1-1 degrees, preferably 0.3 degrees, if the VL is more than VR, the steering engine rotates leftwards, otherwise, the steering engine rotates rightwards; calculation D CU 、D CD Coefficient of variation CV of (C) UD If CV UD If the VU is more than 0.03, a signal is sent to the high-angle steering engine to rotate by 0.1-1 degrees, preferably 0.3 degrees, if the VU is more than VD, the steering engine rotates upwards, otherwise, the steering engine rotates downwards; repeating the above process until CV LR ≤0.03，CV UD Coefficient of variation of less than or equal to 0.03Wherein x is i For observing data, ++>To calculateMean number, n, is the total number of data.
Further, the method comprises the steps of,
s2: adjusting the sun-by-day device to an initial position facing the sun, wherein the altitude angle is represented by AH 0 A representation; the azimuth angle is kept unchanged, the rotation of the elevation angle steering engine is controlled, M angles DAH deviating from the initial position are obtained in the vertical direction, M is preferably 8-16, VU and VD are collected at each deviating position, H is calculated, DAH and H form an approximate linear relation, when the deviating angle DAH=0 DEG, namely the angle is opposite to the sun, VU=VD, H=1, therefore, the function images of DAH and H in a plane rectangular coordinate system pass through (1, 0) points, and a function model M1 of DAH and H is set as H p1 ＝k h0 ·H-k h0 Wherein H is p1 K, the vertical deviation angle is predicted h0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAH, H and SPSS h0 Calculate k h0 At the time, let H p1 =dah, yielding k h0 Then writing the model M1 into a day-by-day device;
from the initial position, the steering engine with the height angle rotates upwards or downwards to obtain the deviated position, DAH is equally spaced, and when the steering engine with the height angle rotates upwards, AH needs to be satisfied 0 +DAH+θ is less than or equal to 90 degrees, and AH needs to be satisfied when the high-angle steering engine rotates downwards 0 -DAH-θ≥0°。
Further, the method comprises the steps of,
s3: adjusting the sun-tracking device to an initial position facing the sun, wherein the azimuth angle is marked with the symbol AA 0 The rotation of the azimuth steering engine is controlled while keeping the altitude angle unchanged, n angles DAA deviating from the initial position are obtained in the horizontal direction, n is preferably 5-10, VL and VR are collected at each deviating position and A, DAA and A are calculated to be approximately linear, when the deviating angle DAA=0 DEG, namely, the angle is opposite to the sun, VL=VR, and A=1, so that a (1, 0) point is crossed by a function image of DAA and A in a plane rectangular coordinate system, and a function model M2 of DAA and A is set as A p1 ＝k a0 ·A-k a0 Wherein A is p1 K is the predicted horizontal deviation angle a0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAA, A and SPSS a0 Calculate k a0 When make A p1 =daa, yielding k a0 Post-moldM2 is written into the day-by-day device;
from the initial position, the azimuth steering engine rotates leftwards or rightwards to obtain a deviation position, DAA is equally spaced, and when the azimuth steering engine rotates leftwards, AA needs to be satisfied 0 +DAA+θ is not more than 180 °, and when the steering engine at a high angle rotates rightward, AA is required to be satisfied 0 -DAA-θ≥0°。
Further, in the step S4, the daily device is adjusted to an initial position, the VL, the VR, the VU and the VD are repeatedly measured for 10 times, A and H are respectively calculated in each measurement, and A and H are respectively averaged to obtain A and H;
adjusting the sun-tracking device to an initial position, controlling the rotation of an azimuth steering engine in the range of beta degrees deviated from the horizontal left and right, controlling the rotation of a height steering engine in the range of beta degrees deviated from the vertical upward and downward, and rotating the steering engine at equal interval angles, wherein the interval angles are preferably 0.5-1 DEG
The beneficial effects are that:
the method comprises the steps of firstly constructing a coarse adjustment model and a fine adjustment model in a device before leaving the factory, firstly adjusting according to the constructed coarse adjustment model in equipment when the device is used after leaving the factory, and then temporarily constructing a coarse adjustment control algorithm suitable for the current scene according to the actual application scene, and then further fine adjusting by using the fine adjustment model in the device, so that the adjustment precision is high and the speed is high.
Drawings
FIG. 1 is a schematic diagram of a day-by-day apparatus;
FIG. 2 is a graph of the linear relationship between DAH and H in S2;
FIG. 3 is a graph of the linear relationship between DAA and A in S3;
FIG. 4 is a 1:1 diagram of the actual deviation angle of azimuth angle and the automatic day-by-day callback angle of the system during performance detection;
FIG. 5 is a 1:1 diagram of the actual deviation angle of the altitude angle and the automatic daily callback angle of the system during performance detection.
Detailed Description
As shown in figure 1, the upper end of the sun-following device is of a quadrangular frustum structure, the lower end of the sun-following device is of an azimuth steering engine responsible for horizontal rotation and a vertical rotation altitude steering engine, the horizontal rotation enables the device to track the sun from the azimuth angle, the vertical rotation enables the device to track the sun from the altitude angle, and the top of the quadrangular frustum structure is provided with a plurality of triangular prisms, wherein the triangular prisms are arranged on the top of the triangular prisms, and the triangular prisms are arranged on the bottom of the triangular prismsThe face and four side are respectively equipped with a photoelectric sensor for gather sky different positions's light intensity, provide operating parameter for the control of device's day by day motion, photoelectric sensor and control circuit board electric connection, steering wheel and control circuit board electric connection. Angle of view a of top surface photosensor Top 28 degrees, the angle of view a of the side photoelectric sensor Side of the vehicle The inclination angle θ of the side surface of the land was 52 °.
When the top surface of the prismatic table of the day-by-day device is approximately towards the south and is just opposite to the top surface of the prismatic table, the light intensity voltages collected by the left side and the right side photoelectric sensors are respectively indicated as VL and VR, the light intensity voltages collected by the upper side and the lower side photoelectric sensors are respectively indicated as VU and VD, and the light intensity voltage collected by the top photoelectric sensor is indicated as VC.
1. Construction of control algorithm model before leaving factory of device
S1: adjusting the sun-following device to enable the top surface of the prismatic table to gradually approach to face the sun, and taking the altitude angle and the azimuth angle when the sun-following device faces the sun as initial positions;
the specific steps are as follows:
s1a: the top surface of the ridge of the day-by-day device is approximately towards the sun;
s1b: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD =vc-VD; if D CL ·D CR If the angle is less than 0, a signal is sent to the azimuth steering engine to rotate by 1 DEG, if D CL Turning leftwards if the ratio is less than 0, otherwise turning rightwards; if D CU ·D CD If the angle is less than 0, a signal is sent to the steering engine at the altitude angle to rotate by 1 DEG, if D CU If the ratio is less than 0, the rotation is upward, otherwise, the rotation is downward; repeating the above process until D CL ·D CR ＞0，D CU ·D CD ＞0；
S1c: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD ＝VC-VD; calculation D CL 、D CR Coefficient of variation CV of (C) LR If CV LR Transmitting a signal to the azimuth steering engine to rotate by 0.3 degrees if the VL is more than 0.03, and rotating leftwards if the VL is more than VR, otherwise, rotating rightwards; calculation D CU 、D CD Coefficient of variation CV of (C) UD If CV UD Transmitting a signal to the high-angle steering engine to rotate by 0.3 degrees if the VU is more than 0.03, and rotating upwards if the VU is more than VD, otherwise rotating downwards; repeating the above process until CV LR ≤0.03，CV UD Coefficient of variation of less than or equal to 0.03Wherein x is i For observing data, ++>N is the total number of data, which is the arithmetic mean.
S2: adjusting the sun-by-day device to an initial position facing the sun, wherein the altitude angle is represented by AH 0 A representation; the steering engine of the altitude is controlled to rotate while the azimuth angle is kept unchanged, M angles DAH deviating from the initial position are obtained in the vertical direction, M is more than or equal to 2, M is preferably 8-16, VU and VD are collected at each deviating position, H is calculated, DAH and H form an approximate linear relation, as shown in figure 2, when the deviating angle DAH=0 DEG, namely the steering engine is opposite to the sun, VU=VD, H=1 at the moment, therefore, a function image of DAH and H passes through (1, 0) points in a plane rectangular coordinate system, and a function model M1 of DAH and H is set as H p1 ＝k h0 ·H-k h0 Wherein H is p1 K, the vertical deviation angle is predicted h0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAH, H and SPSS h0 Calculate k h0 At the time, let H p1 =dah, yielding k h0 ；
From the initial position, the steering engine with the height angle rotates upwards or downwards to obtain the deviated position, DAH is equally spaced, and when the steering engine with the height angle rotates upwards, AH needs to be satisfied 0 +DAH+θ is less than or equal to 90 degrees, and AH needs to be satisfied when the high-angle steering engine rotates downwards 0 -DAH-θ≥0°。
The embodiment keeps the azimuth unchanged and controls the steering engine of the altitude angle to rotate upwards and downwards respectively 6The angle is rotated for 4 degrees at equal intervals, 12 angles DAH deviating from the initial position in the vertical direction are obtained, VU and VD are collected at each deviating position, H is calculated, a linear model M1 of the DAH and the H is constructed, and k is obtained by utilizing the nonlinear fitting function of the DAH, the H and the SPSS h0 =1.09, thereby obtaining H p1 =1.019H-1.019, model M1 was written into a day-by-day device.
S3: adjusting the sun-tracking device to an initial position facing the sun, wherein the azimuth angle is marked with the symbol AA 0 Indicating that the altitude is kept unchanged, controlling the steering engine to rotate, obtaining n angles DAA deviating from the initial position in the horizontal direction, wherein n is more than or equal to 2, n is preferably 5-10, collecting VL and VR at each deviating position and calculating A, wherein DAA and A form approximate linear relation, as shown in figure 3, when the deviating angle DAA=0 DEG, namely the angle DAA is opposite to the sun, VL=VR, wherein A=1, therefore, the function image of DAA and A passes through (1, 0) points in a plane rectangular coordinate system, and the function model M2 of DAA and A is set as A p1 ＝k a0 ·A-k a0 Wherein A is p1 K is the predicted horizontal deviation angle a0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAA, A and SPSS a0 Calculate k a0 When make A p1 =daa, yielding k a0 ；
From the initial position, the azimuth steering engine rotates leftwards or rightwards to obtain a deviation position, DAA is equally spaced, and when the azimuth steering engine rotates leftwards, AA needs to be satisfied 0 +DAA+θ is not more than 180 °, and when the steering engine at a high angle rotates rightward, AA is required to be satisfied 0 -DAA-θ≥0°。
The embodiment keeps the altitude unchanged, respectively controls the azimuth steering engine to rotate leftwards and rightwards for 8 times, rotates at equal intervals for 4 degrees to obtain 16 angles DAA deviating from the initial position in the horizontal direction, collects VL and VR at each deviating position, calculates A, constructs a linear model M2 of the DAA and A, and obtains k by utilizing the nonlinear fitting function of the DAA, A and SPSS a0 =1.012, resulting in a p1 Model M2 was written into the day-by-day device=1.012A-1.012;
s4: adjusting the daily device to an initial position, repeating 10 times of measurement of VL, VR, VU and VD, respectively calculating A and H each time of measurement, and respectively averaging A and H to obtain A=1.023 and H=1.038;
adjusting the sun-tracking device to an initial position, controlling the rotation of an azimuth steering engine in the range of beta degrees deviated from the horizontal left and right, controlling the rotation of a height steering engine in the range of beta degrees deviated from the vertical upward and downward,the steering engine rotates at equal interval angles, the interval angles are preferably 0.5-1 degrees, p rotational positions are provided, and the horizontal deviation angle DAA is recorded at each rotational position i Angle of vertical deviation DAH i VL (VL) i 、VR i 、VU i And VD i I is more than or equal to 1 and less than or equal to p, and A and H of each deviating position are calculated and are marked as A i And H i ，/>
Wherein A is PD For every 1 degree deviation of horizontal direction, the average A value is H PD The average H value is corresponding to each 1 DEG deviation in the vertical direction; obtaining model M3 equation->Model M4 formula->Writing the formulas of the models M3 and M4 into a day-by-day device;
this embodimentThe sun-tracking device is adjusted to face the sun, the azimuth steering engine is controlled to rotate in the range of 4 degrees of deviation from horizontal left and right, the altitude steering engine is controlled to rotate in the range of 4 degrees of deviation from vertical up and down, the altitude steering engine is controlled to rotate at equal interval angles, the interval angles are 0.5 degrees, 16 x 16 = 256 deviation positions are altogether, and p = 256 are calculated to obtain A PD ＝0.106，H PD Is verticalThe average H value corresponding to each 1 degree deviation of the direction is calculated to obtain H PD ＝0.225。
2. Control of daily movement of device after leaving factory and during use
S5: the device was used to measure VL, VR, VU and VD with the top surface of the prismatic table facing approximately the sun, calculate A and H, denoted A 1 、H 1 Calculating a vertical deviation angle H using a model M1 p1 Calculating a horizontal deviation angle A using a model M2 p1 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is already facing the sun; if VU > VD, the altitude angle steering engine rotates upwards H p1 Degree, otherwise, rotate downwards H p1 A degree; if VL is larger than VR, the azimuth steering engine rotates left A p1 Degree, otherwise, turn A to the right p1 A degree; measuring VL, VR, VU and VD for the second time after the rotation of the altitude steering engine and the azimuth steering engine, calculating A and H, and marking the A as A 2 、H 2 ；
Two measurements, if the size relationship between VU and VD is unchangedIf the size relationship between VU and VD is changed, then +.>Building a new model M5: h p2 ＝k h ·H-k h Wherein H is p2 In order to predict the vertical deviation angle in site, k is obtained in the operation process of the embodiment h ＝1.205，H p2 ＝1.205H-1.205；
Two measurements, if the size relationship between VL and VR is unchangedIf the size relationship between VL and VR is changed, then +.>Building a new model M6: a is that p2 ＝k a ·A-k a Wherein A is p2 For the horizontal deviation angle predicted in situ, the present embodiment operates the processIn (1), get k a ＝1.217，A p2 ＝1.217A-1.217；
Will H 2 Substituting the angle H into the model M5 to obtain the angle H to be adjusted in the vertical direction p2 Will A 2 Substituting the angle A into the model M6 to obtain the angle A to be adjusted in the horizontal direction p2 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is over against the sun, indicating that the model M1 and the model M2 are completely suitable for the current application scene; if VU > VD, the altitude angle steering engine rotates upwards H p2 Degree, otherwise, rotate downwards H p2 If VL is larger than VR, the azimuth steering engine rotates left A p2 Degree, otherwise, turn A to the right p2 A degree;
s6: measuring VL, VR, VU and VD once again, calculating A and H, substituting H into a model M3 to obtain a vertical adjustment angle H p3 Substituting A into the model M4 to obtain a horizontal adjustment angle A p3 If VU > VD, the altitude angle steering engine rotates upwards H p3 Degree, otherwise, rotate downwards H p3 If VL is larger than VR, the azimuth steering engine rotates left A p3 Degree, otherwise, turn A to the right p3 The device is right against the sun day by day.
Daily performance test:
the method (S1 a, S1b, S1 c) for adjusting the sun-following device to face the sun before leaving the factory is used, and the altitude angle and the azimuth angle at the moment are used as initial positions. Starting from an initial position, controlling an azimuth steering engine to rotate rightwards by 4 degrees, 8 degrees, 12 degrees, 16 degrees, 20 degrees and 24 degrees respectively, after each azimuth steering engine rotates, controlling an altitude steering engine to rotate upwards by 4 degrees, 8 degrees, 12 degrees, 16 degrees, 20 degrees and 24 degrees sequentially, after each azimuth steering engine and altitude steering engine rotate, automatically and daily by using the method, recording a callback angle, then adjusting the daily device to face the sun by using a method (S1 a, S1b and S1 c) for adjusting the daily device to face the sun before leaving a factory, and sequentially controlling the azimuth steering engine and the altitude steering engine to rotate by the next angle. The experiment was repeated 5 times. The inspection results are shown in a 1:1 diagram of the actual azimuth deviation angle of the system and the automatic daily callback angle of the system in fig. 4, and a 1:1 diagram of the actual azimuth deviation angle of the system and the automatic daily callback angle of the system in fig. 5, the daily accuracy of the daily device is higher, the average absolute error of azimuth is 0.592 degrees, and the average absolute error of altitude is 0.470 degrees.
Claims (8)
1. A motion control method of a day-by-day device is characterized by comprising the following steps of:
the upper end of the sun-following device is of a quadrangular frustum structure, the lower end of the sun-following device is provided with an azimuth steering engine for driving the quadrangular frustum to horizontally rotate and a vertical rotating altitude steering engine, the top surface and four side surfaces of the quadrangular frustum are respectively provided with a photoelectric sensor for collecting light intensity of different sky positions, the sun-following device is used for providing operation parameters for sun-following motion control of the device, the photoelectric sensor is electrically connected with a control circuit board, the steering engine is electrically connected with the control circuit board, and the field angle of the top photoelectric sensor is a Top The visual angle of the side photoelectric sensor is a Side of the vehicle The inclination angle of the side surface of the prismatic table is theta, the top surface of the quadrangular table of the day-by-day device is approximately towards the south, when the top surface of the prismatic table is directly opposite to the observation, the light intensity voltages collected by the left side and the right side photoelectric sensors are respectively indicated as VL and VR, the light intensity voltages collected by the upper side and the lower side photoelectric sensors are respectively indicated as VU and VD, and the light intensity voltage collected by the top photoelectric sensor is indicated as VC;
the method comprises the following steps:
1. construction of control algorithm model before leaving factory of device
S1: adjusting the sun-following device to enable the top surface of the prismatic table to gradually approach to face the sun, and taking the altitude angle and the azimuth angle when the sun-following device faces the sun as initial positions;
s2: adjusting a day-by-day device to an initial position, keeping an azimuth angle unchanged, controlling a steering engine of an altitude to rotate, obtaining M angles DAH deviating from the initial position in the vertical direction, wherein M is more than or equal to 2, collecting VU and VD at each deviating position, calculating H, and constructing linear models M1 and H of DAH and H p1 ＝k h0 ·H-k h0 Non-utilization of DAH, H and SPSSLinear fitting function calculates k h0 Obtaining k h0 Writing the formula of the linear model M1 into a day-by-day device;
s3: adjusting the sun-following device to an initial position, keeping the height angle unchanged, controlling the azimuth steering engine to rotate, obtaining n angles DAA deviating from the initial position in the horizontal direction, wherein n is more than or equal to 2, collecting VL and VR at each deviating position, calculating A, and constructing a linear model M2 and A of DAA and A p1 ＝k a0 ·A-k a0 Calculating k using a nonlinear fitting function of DAA, a and SPSS a0 Obtaining k a0 Writing a linear model M2 formula into the day-by-day device;
s4: adjusting the daily device to the initial position, repeatedly measuring VL, VR, VU and VD for several times, calculating A and H respectively, and averaging A and H respectively to obtainAnd->
Adjusting the sun-tracking device to an initial position, controlling the rotation of an azimuth steering engine in the range of beta degrees deviated from the horizontal left and right, controlling the rotation of a height steering engine in the range of beta degrees deviated from the vertical upward and downward,there are p rotational positions, and the horizontal deviation angle DAA is recorded at each rotational position i Angle of vertical deviation DAH i VL (VL) i 、VR i 、VU i And VD i I is more than or equal to 1 and less than or equal to p, and A and H of each deviating position are calculated and are marked as A i And H i ，/> Wherein A is PD Every 1 degree of deviation in the horizontal directionCorresponding average A value, H PD The average H value is corresponding to each 1 DEG deviation in the vertical direction; obtaining a model M3: />Model M4:writing into a daily device;
2. control of daily movement of device after leaving factory and during use
S5: the device was used to measure VL, VR, VU and VD with the top surface of the prismatic table facing approximately the sun, calculate A and H, denoted A 1 、H 1 Calculating the vertical deviation angle H using the M1 formula p1 Calculating the horizontal deviation angle A using the M2 formula p1 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is already facing the sun; if VU > VD, the altitude angle steering engine rotates upwards H p1 Degree, otherwise, rotate downwards H p1 A degree; if VL is larger than VR, the azimuth steering engine rotates left A p1 Degree, otherwise, turn A to the right p1 A degree; measuring VL, VR, VU and VD for the second time after the rotation of the altitude steering engine and the azimuth steering engine, calculating A and H, and marking the A as A 2 、H 2 ；
Two measurements, if the size relationship between VU and VD is unchangedIf the size relationship between VU and VD is changed, then +.>Building a new model M5: h p2 ＝k h ·H-k h Wherein H is p2 Vertical deviation angle for field prediction;
two measurements, if the size relationship between VL and VR is unchangedIf the size relationship between VL and VR is establishedRaw transition, then->Building a new model M6: a is that p2 ＝k a ·A-k a Wherein A is p2 A horizontal deviation angle for field prediction;
will H 2 Substituting the angle H into the model M5 to obtain the angle H to be adjusted in the vertical direction p2 Will A 2 Substituting the angle A into the model M6 to obtain the angle A to be adjusted in the horizontal direction p2 The method comprises the steps of carrying out a first treatment on the surface of the If vu=vd and vl=vr, the device is over against the sun, indicating that the model M1 and the model M2 are completely suitable for the current application scene; if VU > VD, the altitude angle steering engine rotates upwards H p2 Degree, otherwise, rotate downwards H p2 If VL is larger than VR, the azimuth steering engine rotates left A p2 Degree, otherwise, turn A to the right p2 A degree;
s6: measuring VL, VR, VU and VD once again, calculating A and H, substituting H into a model M3 to obtain a vertical adjustment angle H p3 Substituting A into the model M4 to obtain a horizontal adjustment angle A p3 If VU > VD, the altitude angle steering engine rotates upwards H p3 Degree, otherwise, rotate downwards H p3 If VL is larger than VR, the azimuth steering engine rotates left A p3 Degree, otherwise, turn A to the right p3 The device is right against the sun day by day.
2. The method for controlling the movement of a day-by-day apparatus according to claim 1, wherein,
the S1 step specifically comprises
S1a: the top surface of the ridge of the day-by-day device is approximately towards the sun;
s1b: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD =vc-VD; if D CL ·D CR If the angle is less than 0, a signal is sent to the steering engine of the azimuth angle to rotate 0.5-5 degrees, if D CL Turning leftwards if the ratio is less than 0, otherwise turning rightwards; if D CU ·D CD If the angle is less than 0, a signal is sent to the steering engine at the altitude angle to rotate 0.5-5 degrees, if D CU If the ratio is less than 0, the rotation is upward, otherwise, the rotation is downward; repeating the above process until D CL ·D CR ＞0，D CU ·D CD ＞0；
S1c: VL, VR, VU, VD and VC were measured, D was calculated CL ＝VC-VL，D CR ＝VC-VR，D CU ＝VC-VU，D CD =vc-VD; calculation D CL 、D CR Coefficient of variation CV of (C) LR If CV LR Transmitting a signal to the azimuth steering engine to rotate 0.1-1 degrees if the VL is more than 0.03, and rotating leftwards if the VL is more than VR, otherwise, rotating rightwards; calculation D CU 、D CD Coefficient of variation CV of (C) UD If CV UD If the VU is more than 0.03, a signal is sent to the high-angle steering engine to rotate by 0.1-1 degrees, if the VU is more than VD, the high-angle steering engine rotates upwards, and if the VU is more than VD, the high-angle steering engine rotates downwards; repeating the above process until CV LR ≤0.03，CV UD Coefficient of variation of less than or equal to 0.03 Wherein x is i For observing data, ++>N is the total number of data, which is the arithmetic mean.
3. A method of motion control of a day device according to claim 2, wherein: the rotation angle of the azimuth steering engine and the altitude steering engine in the step S1b is preferably 1 degree, and the rotation angle of the azimuth steering engine and the altitude steering engine in the step S1c is preferably 0.3 degree.
4. The motion control method of a day by day device according to claim 1, wherein:
s2: adjusting the sun-by-day device to an initial position facing the sun, wherein the altitude angle is represented by AH 0 A representation; the azimuth angle is kept unchanged, the rotation of the elevation angle steering engine is controlled, and m deviated initial positions are obtained in the vertical directionPreferably 8-16, and calculating H by taking VU and VD at each offset position, where the relationship between DAH and H is approximately linear, and when the offset angle dah=0°, i.e. facing the sun, vu=vd, where h=1, the function image of DAH and H in a rectangular planar coordinate system passes through the (1, 0) points, the function model M1 of DAH and H is set to H p1 ＝k h0 ·H-k h0 Wherein H is p1 K, the vertical deviation angle is predicted h0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAH, H and SPSS h0 Calculate k h0 At the time, let H p1 =dah, yielding k h0 And writing the model M1 formula into the day-by-day device.
5. The method for controlling the movement of a day by day device according to claim 4, wherein: from the initial position, the steering engine with the height angle rotates upwards or downwards to obtain the deviated position, DAH is equally spaced, and when the steering engine with the height angle rotates upwards, AH needs to be satisfied 0 +DAH+θ is less than or equal to 90 degrees, and AH needs to be satisfied when the high-angle steering engine rotates downwards 0 -DAH-θ≥0°。
6. The motion control method of a day by day device according to claim 1, wherein:
s3: adjusting the sun-tracking device to an initial position facing the sun, wherein the azimuth angle is marked with the symbol AA 0 The rotation of the azimuth steering engine is controlled while keeping the altitude angle unchanged, n angles DAA deviating from the initial position are obtained in the horizontal direction, n is preferably 5-10, VL and VR are collected at each deviating position and A, DAA and A are calculated to be approximately linear, when the deviating angle DAA=0 DEG, namely, the angle is opposite to the sun, VL=VR, and A=1, so that a (1, 0) point is crossed by a function image of DAA and A in a plane rectangular coordinate system, and a function model M2 of DAA and A is set as A p1 ＝k a0 ·A-k a0 Wherein A is p1 K is the predicted horizontal deviation angle a0 For undetermined coefficients, k is calculated using the nonlinear fitting functions of DAA, A and SPSS a0 Calculate k a0 When make A p1 =daa, yielding k a0 The model M2 is then written into the day-by-day device.
7. The method for controlling the movement of a day by day device according to claim 6, wherein: from the initial position, the azimuth steering engine rotates leftwards or rightwards to obtain a deviation position, DAA is equally spaced, and when the azimuth steering engine rotates leftwards, AA needs to be satisfied 0 +DAA+θ is not more than 180 °, and when the steering engine at a high angle rotates rightward, AA is required to be satisfied 0 -DAA-θ≥0°。
8. The motion control method of a day by day device according to claim 1, wherein: s4, adjusting the daily device to an initial position, repeating 10 times of measurement of VL, VR, VU and VD, respectively calculating A and H each time of measurement, respectively averaging A and H to obtainAnd->
The sun-tracking device is adjusted to an initial position, the rotation of the azimuth steering engine is controlled within the range of beta degrees deviated from the horizontal left and right, the rotation of the altitude steering engine is controlled within the range of beta degrees deviated from the vertical upward and downward, the steering engine rotates at equal interval angles, and the interval angles are preferably 0.5-1 degrees.
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| CN111414017A (en) * | 2020-04-10 | 2020-07-14 | 夏彬彬 | Automatic sun-chasing photovoltaic power generation board control system |
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| US9170032B2 (en) * | 2011-11-09 | 2015-10-27 | Michael Gerard Blum | Heliostat tracking and operation for a solar power generation plant |
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| KR20050020318A (en) * | 2003-08-22 | 2005-03-04 | 현웅근 | An intelligent sensor module and controller for precision sun tracking with reconstruction machanisim of faulty signals |
| WO2011049381A2 (en) * | 2009-10-23 | 2011-04-28 | (주)오로라테크놀로지 | Solar tracking apparatus |
| CN102005973A (en) * | 2010-10-21 | 2011-04-06 | 广东海洋大学 | Solar automatic tracking controller for anchored buoy |
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