ES2558847B1 - SYSTEM AND CONTROL METHOD IN CLOSED LOOP FOR HELIOSTATOS IN TORRE THERMOSOLAR POWER STATIONS - Google Patents
SYSTEM AND CONTROL METHOD IN CLOSED LOOP FOR HELIOSTATOS IN TORRE THERMOSOLAR POWER STATIONS Download PDFInfo
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- ES2558847B1 ES2558847B1 ES201431026A ES201431026A ES2558847B1 ES 2558847 B1 ES2558847 B1 ES 2558847B1 ES 201431026 A ES201431026 A ES 201431026A ES 201431026 A ES201431026 A ES 201431026A ES 2558847 B1 ES2558847 B1 ES 2558847B1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
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Abstract
Sistema y método de control en lazo cerrado para heliostatos en centrales termosolares de torre.#La presente invención se refiere a un sistema y a un método de control, en tiempo real, de la orientación de los espejos de heliostatos pertenecientes a una central termosolar de torre. El sistema comprende, preferentemente, un módulo de generación de señales electromagnéticas moduladas dispuesto en uno o más heliostatos, que comprende un subsistema de modulación de la amplitud de dichas señales; un módulo de detección y procesamiento de dispuesto en la torre, que comprende un subsistema de análisis de la frecuencia de modulación de la amplitud de las señales electromagnéticas, donde dicho módulo de detección y procesamiento está localizado en la torre; y un módulo de comunicación entre el módulo de detección y procesamiento y uno o más subsistemas de orientación de los heliostatos. La invención proporciona un medio de control de orientación fiable y de sencilla implementación, que resulta de aplicación a centrales con un número elevado de heliostatos.Closed loop control system and method for heliostats in tower solar thermal power plants. # The present invention relates to a system and a method, in real time, of the orientation of heliostat mirrors belonging to a tower solar thermal power plant. . The system preferably comprises a module for generating modulated electromagnetic signals arranged in one or more heliostats, which comprises a subsystem for modulating the amplitude of said signals; a detection and processing module arranged in the tower, which comprises a subsystem for analyzing the frequency of modulation of the amplitude of the electromagnetic signals, where said detection and processing module is located in the tower; and a communication module between the detection and processing module and one or more heliostat orientation subsystems. The invention provides a means of reliable orientation control and simple implementation, which is applicable to plants with a high number of heliostats.
Description
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DESCRIPCIONDESCRIPTION
SISTEMA Y METODO DE CONTROL EN LAZO CERRADO PARA HELIOSTATOS EN CENTRALES TERMOSOLARES DE TORRESYSTEM AND CONTROL METHOD IN CLOSED LOOP FOR HELIOSTATS IN TORRE THERMOSOLAR POWER STATIONS
CAMPO DE LA INVENCIONFIELD OF THE INVENTION
La presente invencion se encuadra dentro de las tecnologfas de control de dispositivos de captacion de energfa solar, mediante sistemas de comunicacion basados en principios opticos. Mas concretamente, la invencion se refiere a un sistema y a un metodo de control, en tiempo real, de la orientacion de los espejos de los heliostatos pertenecientes a una central termosolar de torre.The present invention falls within the control technologies of solar energy collection devices, through communication systems based on optical principles. More specifically, the invention relates to a system and a method of controlling, in real time, the orientation of the mirrors of the heliostats belonging to a solar thermal tower.
ANTECEDENTES DE LA INVENCIONBACKGROUND OF THE INVENTION
Dentro del campo tecnico relacionado con la obtencion de energfas renovables, es conocida la captacion de energfa solar termica (conocida tambien como energfa termosolar), que resulta de gran importancia tecnologica y economica tanto en ambito domestico como el industrial. Dentro de los medios de generacion termosolar, son conocidos los sistemas de generacion de energfa solar termoelectrica, que producen electricidad con un ciclo termoelectrico que precisa del calentamiento de un fluido a alta temperatura, mediante la absorcion de energfa radiante. En este ambito, en un gran numero de sistemas de generacion termoelectrica se requiere maximizar la concentracion de energfa solar en el punto o puntos de absorcion de la misma, mediante el uso de espejos orientados adecuadamente. No obstante, la necesidad de maxima concentracion solar para un mejor aprovechamiento del recurso energetico es comun tambien a otros sistemas de generacion de energfa termosolar.Within the technical field related to obtaining renewable energies, it is known to capture solar thermal energy (also known as solar thermal energy), which is of great technological and economic importance in both domestic and industrial fields. Within the means of thermosolar generation, thermoelectric solar energy generation systems are known, which produce electricity with a thermoelectric cycle that requires the heating of a high temperature fluid, by absorbing radiant energy. In this area, in a large number of systems of thermoelectric generation it is required to maximize the concentration of solar energy at the point or points of absorption thereof, through the use of properly oriented mirrors. However, the need for maximum solar concentration for a better use of the energy resource is also common to other systems for generating solar thermal energy.
En el caso concreto de las tecnologfas basadas en centrales de torre, existe un numero alto de elementos reflectores o heliostatos (tfpicamente, centenares o miles segun los tipos de instalaciones actuales), cada uno de los cuales necesita alinearse de manera precisa con una torre central donde se produce el calentamiento del fluido. En consecuencia, el rendimiento de una central de este tipo depende altamente de la correcta orientacion de los heliostatos con relacion a la torre. Dicha orientacion depende de la posicion del sol y, por tanto, idealmente debe ser modificada de forma continua, segun la hora del dfa y tambien la epoca del ano para un aprovechamiento energetico optimo.In the specific case of technologies based on tower plants, there is a high number of reflector elements or heliostats (typically hundreds or thousands depending on the types of current installations), each of which needs to align precisely with a central tower where the heating of the fluid occurs. Consequently, the performance of such a plant depends highly on the correct orientation of the heliostats in relation to the tower. This orientation depends on the position of the sun and, therefore, should ideally be modified continuously, according to the time of day and also the time of year for optimal energy use.
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En lo que respecta a los sistemas conocidos de alineamiento de heliostatos, es posible distinguir entre dos grandes grupos dependiendo de su modo de funcionamiento, dividiendose comunmente entre sistemas “de lazo abierto” y sistemas “de lazo cerrado”. Los sistemas de control de lazo abierto mueven los heliostatos de acuerdo a informacion previamente suministrada sobre la posicion del sol en un momento dado, pero no reciben realimentacion acerca de la efectividad real de ese alineamiento. En consecuencia, con ellos no es posible corregir errores en el alineamiento inicial de un heliostato, de forma que estos se mantendran, si no se produce intervencion posterior, a lo largo del tiempo. Tampoco es posible utilizar estos sistemas para realizar la orientacion inicial de la central termosolar en el momento de su puesta en marcha, por lo que habitualmente se recurre a la comprobacion manual e individual de la posicion del haz reflejado por cada uno de los heliostatos. Estos sistemas resultan muy lentos y costosos, y pueden llegar a ser inviables dada la tendencia actual a utilizar cada vez mas heliostatos y de menor tamano, donde una sola central solar puede tener varios miles de elementos reflectores a orientar.With regard to known heliostat alignment systems, it is possible to distinguish between two large groups depending on their mode of operation, commonly dividing between "open loop" and "closed loop" systems. Open loop control systems move the heliostats according to information previously provided on the position of the sun at a given time, but do not receive feedback about the actual effectiveness of that alignment. Consequently, with them it is not possible to correct errors in the initial alignment of a heliostat, so that these will be maintained, if no subsequent intervention occurs, over time. It is also not possible to use these systems to perform the initial orientation of the solar thermal power plant at the time of its start-up, so that the manual and individual check of the beam position reflected by each of the heliostats is usually used. These systems are very slow and expensive, and can become unfeasible given the current tendency to use more and less heliostats and smaller, where a single solar power plant can have several thousand reflector elements to target.
Por su parte, en los sistemas de control en lazo cerrado, se proporciona en todo momento informacion actualizada de la posicion real de los heliostatos al sistema encargado de su movimiento, lo que soluciona ambos problemas: es posible, por una parte, detectar y corregir cualquier desviacion en la posicion objetivo de un heliostatos y, ademas, realizar una alineacion inicial de toda la central de manera practicamente automatica. El valor que esta aportacion tiene en la explotacion y mantenimiento de una instalacion de produccion de energfa electrica termosolar es innegable.For its part, in closed loop control systems, updated information of the actual position of heliostats is provided at all times to the system in charge of their movement, which solves both problems: it is possible, on the one hand, to detect and correct any deviation in the objective position of a heliostat and, in addition, to perform an initial alignment of the entire plant in a practically automatic way. The value that this contribution has in the operation and maintenance of an installation of solar thermal electricity production is undeniable.
Para que un sistema de control en lazo cerrado funcione de forma adecuada, es necesario que, en un instante determinado, el dispositivo que proporciona la informacion acerca de la orientacion de un heliostato se comporte de manera similar al mismo. La orientacion de interes, en consecuencia, no es tanto la de la superficie del heliostato en si, sino la del haz de luz reflejado en el, que segun la ley de Snell dependera del angulo de incidencia y, por tanto, de la posicion del sol con respecto al espejo. Esto hace que los sistemas de control basados en una fuente de luz externa situada en el heliostato se vean, en sus realizaciones practicas, limitados en cuanto al maximo aprovechamiento del recurso solar.For a closed-loop control system to function properly, it is necessary that, at a given time, the device that provides information about the orientation of a heliostat behaves similarly to it. The orientation of interest, therefore, is not so much that of the surface of the heliostat itself, but that of the beam of light reflected in it, which according to Snell's law will depend on the angle of incidence and, therefore, on the position of the sun with respect to the mirror. This means that control systems based on an external light source located in the heliostat are, in their practical embodiments, limited in terms of maximum use of the solar resource.
Otro requisito importante en un sistema de alineamiento para una central de torre es que debe ser capaz de controlar, de manera simultanea o practicamente simultanea, un numero elevado de elementos reflectores (varios cientos, o incluso miles), por lo que la senal queAnother important requirement in an alignment system for a tower center is that it must be able to control, simultaneously or practically simultaneously, a large number of reflector elements (several hundred, or even thousands), so that the signal that
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proviene de cada uno de los heliostatos debera incorporar algun sistema de marcado que permita distinguirla de otras muchas similares que proceden del resto de los espejos.comes from each of the heliostats should incorporate some marking system that allows distinguishing it from many other similar that come from the rest of the mirrors.
La mayorfa de las patentes existentes relacionadas con el control de heliostatos en lazo cerrado se basa en la utilizacion de camaras, bien situadas en el receptor de torre u otra posicion conocida, para procesar la imagen proveniente de la reflexion de la luz en los espejos, o bien en el propio heliostato para deducir su posicion y orientacion. En este sentido, la solicitud de patente WO2011066190 y la patente CN102175066 utilizan la primera opcion, situando una camara o un conjunto de camaras en el receptor y distintas tecnicas para tratar de identificar que parte de la imagen corresponde a cada espejo.Most of the existing patents related to the control of closed loop heliostats are based on the use of cameras, well located in the tower receiver or other known position, to process the image from the reflection of the light in the mirrors, or in the heliostat itself to deduce its position and orientation. In this sense, patent application WO2011066190 and patent CN102175066 use the first option, placing a camera or a set of cameras in the receiver and different techniques to try to identify which part of the image corresponds to each mirror.
Por su parte, la solicitud de patente WO2009055624 divulga la utilizacion de dos camaras situadas en posiciones bien determinadas hacia las que se dirige el heliostato a alinear. Una vez el heliostato apunta a la camara, se redirige a la torre basandose en el conocimiento preciso de las posiciones relativas de la camara y la torre. Este sistema exige desalinear periodicamente los heliostatos, con la perdida de rendimiento que ello supone, y requiere una determinacion muy exacta de las posiciones relativas de todos los elementos implicados.For its part, patent application WO2009055624 discloses the use of two cameras located in well-determined positions towards which the heliostat to be aligned is directed. Once the heliostat points to the camera, it is redirected to the tower based on the precise knowledge of the relative positions of the camera and the tower. This system requires periodically misaligning the heliostats, with the loss of performance that this entails, and requires a very accurate determination of the relative positions of all the elements involved.
La solicitud de patente WO2008121335 describe un sistema en que la camara esta montada sobre el propio heliostato, que posee tambien un sistema de procesamiento de imagen para reconocer las posiciones del sol y la torre y orientar el espejo en consecuencia. Cada heliostato funciona de forma autonoma, por lo que este sistema no esta limitado por el numero de heliostatos ni precisa de coordinacion centralizada. El principal problema de esta aproximacion es el coste de incluir este sistema en cada elemento reflectante, mas aun cuando la tendencia actual es utilizar cada vez mayor numero de heliostatos y de menor tamano. Asimismo, la solicitud de patente WO2005098327 describe un sistema similar al anterior, utilizando ademas unos blancos situados en posiciones conocidas, para determinar la orientacion del heliostato.Patent application WO2008121335 describes a system in which the camera is mounted on the heliostat itself, which also has an image processing system to recognize the positions of the sun and the tower and orient the mirror accordingly. Each heliostat operates autonomously, so this system is not limited by the number of heliostats or requires centralized coordination. The main problem with this approach is the cost of including this system in each reflective element, especially when the current trend is to use more and more heliostats and smaller sizes. Also, patent application WO2005098327 describes a system similar to the previous one, also using targets located in known positions, to determine the orientation of the heliostat.
Ninguno de los sistemas citados, ni otros semejantes divulgados en el estado de la tecnica, cumplen los requisitos necesarios para el control en lazo cerrado y tiempo real de una central solar de torre con un numero elevado de heliostatos, ya sea por coste, tiempo de medida o numero de reflectores controlable.None of the aforementioned systems, or other similar ones disclosed in the state of the art, meet the necessary requirements for the control in closed loop and real time of a tower solar power plant with a high number of heliostats, either by cost, time of measure or number of reflectors controllable.
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En este contexto, la presente invencion propone una solucion a los problemas tecnicos antes citados, a traves de un novedoso sistema y un metodo de control en lazo cerrado que permiten su aplicacion a cualquier cantidad de heliostatos, proporcionando una gran precision en la orientacion en tiempo real de sus espejos, con la consiguiente mejora en el aprovechamiento del recurso solar en centrales de torre.In this context, the present invention proposes a solution to the aforementioned technical problems, through a novel system and a closed loop control method that allow its application to any amount of heliostats, providing great precision in time orientation. real of its mirrors, with the consequent improvement in the use of the solar resource in tower plants.
DESCRIPCION BREVE DE LA INVENCIONBRIEF DESCRIPTION OF THE INVENTION
Un objeto de la presente invencion es, pues, un medio de control de heliostatos para centrales de torre que resulte fiable, robusto y que sea generalizable a un numero elevado de heliostatos, resolviendo asf los principales problemas existentes en los sistemas del estado de la tecnica.An object of the present invention is, therefore, a means of controlling heliostats for tower plants that is reliable, robust and that is generalizable to a large number of heliostats, thus solving the main problems existing in the state of the art systems. .
Dicho objeto se realiza, preferentemente, mediante un sistema de control de heliostatos para centrales termosolares de torre que comprende:Said object is preferably carried out by means of a heliostat control system for tower solar thermal power plants comprising:
- un modulo de generacion de senales electromagneticas moduladas, situado en al menos un heliostato y alineado con la superficie reflectante del mismo, que comprende uno o varios elementos reflectores auxiliares, externos a la superficie reflectante del heliostato y equipados con un subsistema de modulacion de la amplitud de la luz reflejada en dichos elementos. Preferentemente, los elementos reflectores auxiliares de este modulo estan orientados de acuerdo a la direccion de reflexion de la superficie reflectante del heliostato.- a module for the generation of modulated electromagnetic signals, located on at least one heliostat and aligned with the reflective surface thereof, which comprises one or several auxiliary reflector elements, external to the reflective surface of the heliostat and equipped with a modulation subsystem of the amplitude of the light reflected in said elements. Preferably, the auxiliary reflector elements of this module are oriented according to the reflection direction of the reflective surface of the heliostat.
- un modulo de deteccion y procesamiento de las senales electromagneticas moduladas provenientes del heliostato, que comprende un subsistema de analisis de la frecuencia de modulacion de la amplitud de dichas senales, estando dicho modulo de deteccion localizado en o junto a la torre.- a module for detecting and processing the modulated electromagnetic signals from the heliostat, which comprises a subsystem for analyzing the frequency of modulation of the amplitude of said signals, said detection module being located at or next to the tower.
- un modulo de comunicacion configurado para intercambiar informacion entre el modulo de deteccion y procesamiento y uno o mas subsistemas de orientacion del heliostato.- a communication module configured to exchange information between the detection and processing module and one or more heliostat orientation subsystems.
Se consigue con ello un sistema que, mediante la modulacion de la luz emitida desde los heliostatos a la torre, con una frecuencia conocida y unica para cada heliostato, permita identificar dicho heliostato de forma unfvoca cuando la torre recibe la senal correspondiente en el modulo de deteccion y procesamiento. Como se vera a continuacion, dadas las actuales tecnologfas de modulacion de senales, es posible obtener, en la practica, un numero casi ilimitado de frecuencias diferentes para las senales generadas, lo que seThis achieves a system that, by modulating the light emitted from the heliostats to the tower, with a known and unique frequency for each heliostat, allows to identify said heliostat in a sudden way when the tower receives the corresponding signal in the module of detection and processing. As will be seen below, given the current signal modulation technologies, it is possible to obtain, in practice, an almost unlimited number of different frequencies for the generated signals, which is
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traduce en un numero de identificadores que permite adaptarse a cualquier dimension de centrales termosolares de torre.translates into a number of identifiers that can be adapted to any size of tower solar thermal power plants.
Otra de las ventajas y avances que aporta la presente invencion es que los modulos generadores de senal pueden fabricarse e instalarse con un coste reducido, al no requerir camaras ni sistemas de procesado de senal en cada heliostato. Este hecho es importante, dado que el numero requerido de modulos de este tipo puede ser muy alto, tantos como el numero de heliostatos de la central.Another of the advantages and advances provided by the present invention is that the signal generating modules can be manufactured and installed at a reduced cost, as no cameras or signal processing systems are required in each heliostat. This fact is important, given that the required number of modules of this type can be very high, as many as the number of heliostats in the plant.
Una ventaja adicional de la invencion es que permite realizar el control de lazo cerrado en tiempo real, ya que no requiere analizar la posicion de cada heliostato mediante un procedimiento separado y no simultaneo. Es suficiente con analizar la frecuencia de modulacion caracterfstica de cada heliostato. Ademas, ello se logra sin que ninguno de los heliostatos tenga que dejar de contribuir a la produccion de energfa en ningun momento del proceso.An additional advantage of the invention is that it allows real-time closed loop control to be performed, since it does not require analyzing the position of each heliostat by a separate and non-simultaneous procedure. It is sufficient to analyze the frequency of characteristic modulation of each heliostat. In addition, this is achieved without any of the heliostats having to stop contributing to energy production at any time during the process.
Otra ventaja de la invencion es que, mediante su realizacion y tal como se vera mas adelante en el presente documento, es posible colocar el modulo de deteccion y procesamiento en una zona suficientemente alejada de la region central del receptor de la torre, de forma que se eviten las altas temperaturas del mismo.Another advantage of the invention is that, by means of its realization and as will be seen later in this document, it is possible to place the detection and processing module in an area sufficiently far from the central region of the tower receiver, so that Avoid high temperatures.
Preferentemente, el modulo de generacion de senales comprende uno o mas elementos reflectantes rotatorios y, mas preferentemente, dicho modulo incluye un subsistema de control de la velocidad de rotacion de los elementos reflectantes rotatorios, incluyendo el subsistema al menos un bucle de seguimiento de fase o PLL (del ingles, “phase-locked loop”). Dicho subsistema permiten generar frecuencias con una estabilidad del orden de centesimas de hertzio, con lo que serfa posible asignar, sin error, frecuencias a los heliostatos separadas unicamente por una decima de hertzio. Por tanto, con un ancho de banda de modulacion de tan solo 1 kHz, es posible controlar hasta 10.000 heliostatos.Preferably, the signal generation module comprises one or more rotary reflective elements and, more preferably, said module includes a rotation speed control subsystem of the rotary reflective elements, including the subsystem at least one phase tracking loop or PLL (from English, “phase-locked loop”). Said subsystem allows to generate frequencies with a stability of the order of hundredths of hertz, with which it would be possible to assign, without error, frequencies to heliostats separated only by one tenth of hertz. Therefore, with a modulation bandwidth of only 1 kHz, it is possible to control up to 10,000 heliostats.
Aun mas preferentemente, el modulo de generacion de senales comprende medios de generacion de, al menos, dos lfneas de luz sustancialmente perpendiculares entre si, siendo a su vez dichas lfneas de luz perpendiculares a la direccion en que el heliostato refleja la luz solar. Para ello, los elementos reflectantes rotatorios del modulo comprenden, al menos, dos prismas poligonales y/o cilindros rotatorios dispuestos ortogonalmente, con una o varias de sus caras espejadas. Para poder aprovechar la propia luz reflejada por las superficies de losEven more preferably, the signal generation module comprises means for generating at least two lines of light substantially perpendicular to each other, said light lines being perpendicular to the direction in which the heliostat reflects sunlight. For this, the rotary reflective elements of the module comprise at least two polygonal prisms and / or rotary cylinders arranged orthogonally, with one or more of their mirrored faces. In order to take advantage of the light itself reflected by the surfaces of the
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heliostatos, los elementos reflectantes rotatorios estan ubicados, preferentemente, en uno o mas puntos junto a la superficie reflectora de los heliostatos.heliostats, the rotating reflective elements are preferably located at one or more points next to the reflecting surface of the heliostats.
En otra realizacion preferente de la invencion, el modulo de deteccion y procesamiento del sistema dispone de dos o mas lfneas de detectores situadas en la torre termosolar, siendo al menos una lfnea paralela al plano del suelo, y al menos una lfnea perpendicular al plano del suelo. Se consigue con ello obtener superficies efectivas para la correcta deteccion y evaluacion de la orientacion de los heliostatos con relacion a sus dos ejes principales (correspondientes a sus coordenadas de azimut/elevacion).In another preferred embodiment of the invention, the system detection and processing module has two or more detector lines located in the solar thermal tower, at least one line being parallel to the ground plane, and at least one line perpendicular to the plane of the ground. This achieves effective surfaces for the correct detection and evaluation of the orientation of heliostats in relation to their two main axes (corresponding to their azimuth / elevation coordinates).
Preferentemente, el modulo de deteccion y procesamiento del sistema de la invencion comprende medios para realizar la transformacion de Fourier de las senales detectadas o, en su caso, comprende medios para realizar deteccion sfncrona de las senales generadas por el modulo de generacion de senales. La deteccion de las senales puede realizarse, por ejemplo, mediante fotodiodos PIN o termopilas, y el analisis de la frecuencia puede realizarse utilizando medios de hardware y software que implementan algoritmos de deteccion sfncrona (“lock-in”) o transformada de Fourier de la senal, tales como ordenadores, FPGA, microcontroladores, circuitos especfficamente disenados implementando la logica de este tipo de calculos, o cualquier otro medio seleccionado de entre los empleados habitualmente en tecnicas de procesado de senal.Preferably, the detection and processing module of the system of the invention comprises means for performing Fourier transformation of the detected signals or, where appropriate, comprises means for performing synchronous detection of the signals generated by the signal generation module. The detection of the signals can be performed, for example, by PIN or thermopile photodiodes, and the frequency analysis can be performed using hardware and software means that implement synchronous detection algorithms ("lock-in") or Fourier transform of the signal, such as computers, FPGA, microcontrollers, circuits specifically designed by implementing the logic of this type of calculation, or any other means selected from among those commonly used in signal processing techniques.
Asimismo, los detectores del sistema de la invencion comprenden, preferentemente, un subsistema mecanico que permite alinear la direccion de deteccion de dichos detectores hacia diferentes zonas del campo de heliostatos. Se consigue con ello una mayor adaptabilidad del sistema, lo que resulta especialmente ventajoso en campos de heliostatos de grandes dimensiones.Likewise, the detectors of the system of the invention preferably comprise a mechanical subsystem that allows the direction of detection of said detectors to be aligned towards different areas of the heliostat field. This achieves greater system adaptability, which is especially advantageous in large heliostat fields.
En una realizacion adicional de la invencion, los detectores de la invencion pueden comprender un sistema optico para limitar la cantidad de luz ambiente que llega hasta el modulo de deteccion y procesamiento, mejorando asf la relacion entre dicha luz ambiente y la luz detectada procedente del modulo de generacion de senales electromagneticas moduladas. Se consigue con ello una precision aun mayor en la medicion de la orientacion de los heliostatos. Como ejemplo, esta limitacion podrfa realizarse mediante un sistema de lentes o un diafragma que disminuya la apertura del sistema de deteccion.In a further embodiment of the invention, the detectors of the invention may comprise an optical system to limit the amount of ambient light that reaches the detection and processing module, thereby improving the relationship between said ambient light and the light detected from the module. of generation of modulated electromagnetic signals. This achieves even greater precision in measuring the orientation of heliostats. As an example, this limitation could be done by means of a lens system or a diaphragm that decreases the opening of the detection system.
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Un segundo objeto de la invencion se refiere a un metodo de control de heliostatos en centrales termosolares, que comprende el uso de un sistema segun cualquiera de las realizaciones descritas en el presente documento.A second object of the invention relates to a heliostat control method in solar thermal power plants, which comprises the use of a system according to any of the embodiments described herein.
Preferentemente, dicho metodo comprende las siguientes etapas:Preferably, said method comprises the following steps:
- procesar la senal detectada por una o mas lfneas de detectores horizontales o verticales del modulo de deteccion, para identificar que heliostatos estan enviando luz segun las frecuencias de las senales generadas por el modulo de generacion;- process the signal detected by one or more lines of horizontal or vertical detectors of the detection module, to identify which heliostats are sending light according to the frequencies of the signals generated by the generation module;
- calcular el giro que hay que realizar en cada heliostato, segun su posicion en el campo relativa a la torre, para que su alineacion sea la correcta;- calculate the turn to be performed in each heliostat, according to its position in the field relative to the tower, so that its alignment is correct;
- enviar ordenes a los motores de los subsistemas de orientacion de los heliostatos para corregir su posicion.- send orders to the engines of the heliostats orientation subsystems to correct their position.
DESCRIPCION DE LAS FIGURASDESCRIPTION OF THE FIGURES
Con objeto de ayudar a una mejor comprension de las caracterfsticas principales de la invencion, acompana a esta memoria descriptiva una serie de figuras que se aportan con caracter ilustrativo y no limitativo.In order to help a better understanding of the main features of the invention, a series of figures that are provided with an illustrative and non-limiting character are attached to this specification.
La Figura 1 muestra un esquema tfpico de un sistema sol-heliostato-torre, representando el problema general de alineacion a resolver por la presente invencion.Figure 1 shows a typical scheme of a sol-heliostat-tower system, representing the general alignment problem to be solved by the present invention.
La Figura 2 muestra un esquema de un elemento modulador de la luz segun una realizacion preferente de la invencion, basada dicha realizacion en elementos reflectores rotatorios externos al heliostato.Figure 2 shows a diagram of a light modulator element according to a preferred embodiment of the invention, said embodiment based on rotary reflector elements external to the heliostat.
La Figura 3 muestra un esquema del funcionamiento del modulo de generacion de senales electromagneticas moduladas para un heliostato, segun una realizacion preferente de la presente invencion.Figure 3 shows a diagram of the operation of the module for generating electromagnetic signals modulated for a heliostat, according to a preferred embodiment of the present invention.
La Figura 4 muestra un esquema de las lfneas de deteccion perpendiculares detectables por el modulo de deteccion en torre de la invencion, segun una realizacion preferente de la misma.Figure 4 shows a diagram of the perpendicular detection lines detectable by the tower detection module of the invention, according to a preferred embodiment thereof.
REFERENCIAS NUMERICAS DE LAS FIGURAS 1-4:NUMERICAL REFERENCES OF FIGURES 1-4:
1 - Sol.1 - Sun
2 - Heliostato.2 - Heliostat.
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3 - Torre.3 - Tower.
4 - Prisma reflector rotatorio horizontal.4 - Horizontal rotary reflector prism.
5 - Prisma reflector rotatorio vertical.5 - Vertical rotary reflector prism.
6 - Eje de giro del prisma reflector rotatorio horizontal.6 - Rotational axis of the horizontal rotary reflector prism.
7 - Eje de giro del prisma reflector rotatorio vertical.7 - Rotational axis of the vertical rotary reflector prism.
8 - Eje horizontal del elemento modulador que define el plano del mismo.8 - Horizontal axis of the modulator element that defines its plane.
9 - Eje vertical del elemento modulador que define el plano del mismo.9 - Vertical axis of the modulator element that defines its plane.
10 - Haz de luz incidente.10 - Incident beam of light.
11 - Lfnea horizontal de haz de luz generado por el reflector rotatorio vertical.11 - Horizontal line of beam of light generated by the vertical rotary reflector.
12 - Lfnea vertical de haz de luz generado por el reflector rotatorio horizontal.12 - Vertical line of beam of light generated by the horizontal rotary reflector.
13 - Elemento modulador.13 - Modulator element.
14 - Eje horizontal del heliostato.14 - Horizontal axis of the heliostat.
15 - Eje vertical del heliostato.15 - Vertical axis of the heliostat.
16 - Haz de luz reflejada por el heliostato.16 - Beam of light reflected by the heliostat.
17 - Haz de luz reflejada por el modulador y modulada en amplitud.17 - Light beam reflected by the modulator and amplitude modulated.
18 - Eje optico del heliostato.18 - Optical axis of the heliostat.
19 - Fila horizontal de detectores del sistema de deteccion en torre.19 - Horizontal row of detectors of the tower detection system.
20 - Fila vertical de detectores del sistema de deteccion en torre.20 - Vertical row of detectors of the tower detection system.
21 - Receptor de la torre.21 - Tower receiver.
DESCRIPCION DETALLADA DE LA INVENCIONDETAILED DESCRIPTION OF THE INVENTION
La Figura 1 del presente documento representa el problema tecnico general que se resuelve mediante la invencion propuesta. En la Figura se muestra como la luz proveniente del sol (1) refleja en los espejos de los heliostatos (2), que deben estar correctamente alineados en el sistema optico que forman sol-heliostato-torre para que esa luz reflejada incida en el receptor de la torre central (3).Figure 1 of this document represents the general technical problem that is solved by the proposed invention. In the Figure it is shown how the light coming from the sun (1) reflects in the mirrors of the heliostats (2), which must be correctly aligned in the optical system that form sol-heliostat-tower so that that reflected light affects the receiver from the central tower (3).
Asimismo, para facilitar la comprension de las caracterfsticas principales de la invencion, se describe a continuacion una realizacion preferente de la misma, donde el modulo de generacion de las senales electromagneticas se disena con el objetivo de que la deteccion en la torre sea sencilla y requiera de un numero pequeno de detectores.Likewise, in order to facilitate the understanding of the main features of the invention, a preferred embodiment thereof is described below, where the module for generating electromagnetic signals is designed so that the detection in the tower is simple and requires of a small number of detectors.
En la Figura 2 se representa un elemento modulador de la luz que esta formado por dos prismas poligonales rotatorios (4, 5) que tienen una o varias de caras reflectoras, donde dichos prismas estan dispuestos de forma que sus ejes de rotacion (6, 7) tengan orientacionFigure 2 shows a light modulating element that is formed by two rotary polygonal prisms (4, 5) that have one or several reflecting faces, where said prisms are arranged so that their axes of rotation (6, 7 ) have orientation
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perpendicular entre si y paralela al plano del elemento modulador, plano que esta definido por su eje horizontal (8) y su eje vertical (9). Uno de los prismas (4) esta orientado de acuerdo al eje horizontal de ese plano (8), y el otro (5) de acuerdo a su eje vertical (9).perpendicular to each other and parallel to the plane of the modulator element, a plane that is defined by its horizontal axis (8) and its vertical axis (9). One of the prisms (4) is oriented according to the horizontal axis of that plane (8), and the other (5) according to its vertical axis (9).
Estos dos prismas rotatorios (4, 5), al reflejar la luz solar incidente (10), producen dos lfneas de luz (11, 12) perpendiculares entre si: una lfnea vertical (12) generada por el prisma reflector rotatorio horizontal (4) y que es perpendicular al eje horizontal del modulador (8) y otra horizontal (11) generada por el prisma reflector rotatorio vertical (5) y que es perpendicular al eje vertical del modulador (9). Cada una de esas lfneas corresponde a un haz giratorio que, sobre los detectores, generara una senal modulada en amplitud con una frecuencia igual a la de giro del prisma, multiplicada por el numero de caras espejadas.These two rotary prisms (4, 5), reflecting the incident sunlight (10), produce two lines of light (11, 12) perpendicular to each other: a vertical line (12) generated by the horizontal rotary reflector prism (4) and that is perpendicular to the horizontal axis of the modulator (8) and another horizontal (11) generated by the vertical rotary reflector prism (5) and that is perpendicular to the vertical axis of the modulator (9). Each of these lines corresponds to a rotating beam that, on the detectors, will generate a signal modulated in amplitude with a frequency equal to that of the prism's rotation, multiplied by the number of mirrored faces.
La rotacion se consigue mediante un motor cuya frecuencia de giro esta controlada por un PLL, lo que permite asegurar que la frecuencia del haz reflejado sera siempre la asignada inicialmente a ese heliostato, “etiquetando” la senal que proviene de cada heliostato (2) concreto.The rotation is achieved by a motor whose rotation frequency is controlled by a PLL, which ensures that the frequency of the reflected beam will always be that initially assigned to that heliostat, "labeling" the signal that comes from each specific heliostat (2) .
En la Figura 3 se representa como un elemento modulador de la luz (13) se situa junto al heliostato (2), alineado de forma que el plano del modulador y el plano del heliostato sean paralelos, haciendo que los ejes horizontal (8) y vertical (9) del modulador coincidan respectivamente con los ejes horizontal (14) y vertical (15) del heliostato (2). Este plano del heliostato es el plano perpendicular al eje optico del sistema reflector concavo que forman el conjunto de espejos (18) del heliostato. Asf, una parte del haz de luz (10) proveniente del sol e incidente al plano del heliostato se refleja en el heliostato (2) y genera un haz (16) en una determinada direccion. Al mismo tiempo, otra parte del haz de luz (10) proveniente del sol e incidente al plano del heliostato se refleja en el elemento modulador (13) y genera un haz modulado en amplitud (17). Este haz modulado, como se muestra en la Figura 2, esta formado por dos lfneas (11, 12): una lfnea de luz horizontal (11) que sera perpendicular al eje vertical del heliostato (15), y otra lfnea de luz vertical (12) que sera perpendicular al eje horizontal del heliostato (14), de forma que la direccion en que se cruzan de estas dos lfneas de luz vertical y horizontal (11, 12) coincide con la direccion en que se refleja la luz en el heliostato (16).Figure 3 shows how a light modulator element (13) is located next to the heliostat (2), aligned so that the modulator plane and the heliostat plane are parallel, making the axes horizontal (8) and Vertical (9) of the modulator coincide respectively with the horizontal (14) and vertical (15) axes of the heliostat (2). This plane of the heliostat is the plane perpendicular to the optical axis of the concave reflector system formed by the mirror assembly (18) of the heliostat. Thus, a part of the light beam (10) coming from the sun and incident to the heliostat plane is reflected in the heliostat (2) and generates a beam (16) in a certain direction. At the same time, another part of the light beam (10) coming from the sun and incident to the heliostat plane is reflected in the modulator element (13) and generates an amplitude modulated beam (17). This modulated beam, as shown in Figure 2, is formed by two lines (11, 12): a horizontal light line (11) that will be perpendicular to the vertical axis of the heliostat (15), and another vertical light line ( 12) which will be perpendicular to the horizontal axis of the heliostat (14), so that the direction in which these two vertical and horizontal lines of light intersect (11, 12) coincides with the direction in which the light is reflected in the heliostat (16).
En la Figura 4 se muestra el aspecto que tienen las dos lfneas (11, 12) generadas sobre la superficie de la torre (3). Para determinar la direccion en que se produce la reflexion de la luz en el heliostato (16) se ubican dos filas (19, 20) de detectores en la cara de la torre en laThe appearance of the two lines (11, 12) generated on the surface of the tower (3) is shown in Figure 4. To determine the direction in which the reflection of the light occurs in the heliostat (16) two rows (19, 20) of detectors are located on the face of the tower in the
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que se ubica el receptor de torre (21), preferentemente fuera de la zona de dicho receptor (21) para evitar las altas temperaturas. Una fila horizontal (19) de detectores que se coloca en un eje paralelo al plano del suelo y otra fila vertical (20) de detectores que se coloca en un eje perpendicular al plano del suelo. El detector de la fila horizontal (19) de detectores sobre el que incide la lfnea de luz vertical (12) permite conocer el desalineamiento del heliostato en su eje azimutal, mientras que el detector de la fila vertical (20) iluminado por la lfnea de luz horizontal (11) determina su desalineamiento en elevacion.that the tower receiver (21) is located, preferably outside the zone of said receiver (21) to avoid high temperatures. A horizontal row (19) of detectors that is placed on an axis parallel to the ground plane and another vertical row (20) of detectors that is placed on an axis perpendicular to the ground plane. The detector of the horizontal row (19) of detectors on which the vertical light line (12) strikes allows to know the misalignment of the heliostat in its azimuthal axis, while the detector of the vertical row (20) illuminated by the line of horizontal light (11) determines its elevation misalignment.
La generacion de estas dos lfneas sobre la superficie de la torre tiene dos efectos positivos adicionales: por un lado, el numero de detectores se reduce respecto a una disposicion matricial de detectores (2n para configuracion en dos lfneas con n detectores por cada lfnea, frente a n2 en una configuracion tipo matriz). Por otra parte, las filas de detectores pueden situarse fuera de la zona del receptor, lo que simplifica notablemente el proceso de deteccion de las senales en cuanto a relacion senal/ruido y a problemas con altas temperaturas.The generation of these two lines on the surface of the tower has two additional positive effects: on the one hand, the number of detectors is reduced with respect to a matrix array of detectors (2n for configuration on two lines with n detectors for each line, opposite to n2 in a matrix type configuration). On the other hand, the rows of detectors can be located outside the receiver zone, which greatly simplifies the process of signal detection in terms of signal / noise ratio and problems with high temperatures.
La senal de cada detector se procesa, preferentemente, mediante transformacion de Fourier, lo que permite obtener el espectro de frecuencias en recepcion. Como cada heliostato (2) esta etiquetado por la frecuencia de modulacion que le corresponde, resulta sencillo identificar que reflectores estan incidiendo sobre que detectores en todo momento.The signal of each detector is preferably processed by Fourier transformation, which allows to obtain the frequency spectrum in reception. Since each heliostat (2) is labeled by its corresponding modulation frequency, it is easy to identify which reflectors are affecting which detectors at all times.
El sistema de comunicacion entre el modulo de deteccion y procesamiento y los motores de orientacion de los heliostatos (2) comprende preferentemente una red de comunicaciones inalambrica o de cable implementada por hardware/software y elementos de conexion, que conecte todos los reflectores con la torre central. El sistema puede aprovechar la misma red que habitualmente existe en las centrales solares de este tipo para permitir mover los heliostatos remotamente.The communication system between the detection and processing module and the heliostat orientation motors (2) preferably comprises a wireless or cable communications network implemented by hardware / software and connection elements, connecting all the reflectors with the tower central. The system can take advantage of the same network that usually exists in solar power plants of this type to allow moving the heliostats remotely.
El metodo de funcionamiento del sistema comprende, preferentemente, las siguientes etapas para el alineamiento correcto de cada heliostato (2):The method of operation of the system preferably comprises the following steps for the correct alignment of each heliostat (2):
a) Generar mediante los moduladores las senales de luz a frecuencias bien definidas para los heliostatos (2) que se quieren alinear.a) Generate through the modulators the light signals at well defined frequencies for the heliostats (2) that you want to align.
b) Procesar mediante transformada de Fourier la senal de los detectores para calcular el desalineamiento azimutal y en elevacion de los heliostatos (2).b) Process by means of Fourier transform the signal of the detectors to calculate the azimuthal misalignment and elevation of the heliostats (2).
c) Calcular el giro que hay que realizar en cada heliostato (2), segun su posicion en el campo relativa a la torre, para que la alineacion sea la correcta.c) Calculate the turn to be performed in each heliostat (2), according to its position in the field relative to the tower, so that the alignment is correct.
d) Enviar a los motores de los heliostatos (2) correspondientes las ordenesd) Send the corresponding orders to the heliostat engines (2)
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necesarias para corregir su posicion.necessary to correct your position.
e) Cuando se haya terminado, puede volver a comenzarse inmediatamente el proceso por la etapa a), si la frecuencia deseada de revision de la posicion asf lo requiere.e) When it is finished, the process can be started again immediately by step a), if the desired frequency of review of the position so requires.
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Este procedimiento puede modificarse para optimizar su coste temporal, por ejemplo realizando movimientos parciales de los heliostatos en el mismo momento en que se conozca su presencia en uno de los detectores.This procedure can be modified to optimize its temporary cost, for example by performing partial movements of the heliostats at the same time when its presence in one of the detectors is known.
10 Aunque la aplicacion principal de esta invencion es el control en lazo cerrado de heliostatos en centrales termosolares de torre, tambien resulta posible su extension a otros campos de la industria que requieran un sistema de orientacion de caracterfsticas similares.10 Although the main application of this invention is the closed loop control of heliostats in tower solar thermal power plants, it is also possible to extend them to other fields of the industry that require an orientation system of similar characteristics.
Claims (15)
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| PCT/ES2015/000072 WO2016005620A1 (en) | 2014-07-08 | 2015-06-08 | Closed-loop control system and method for heliostats in solar power towers |
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