WO2014102420A1 - Método para la determinación de la corrección de errores de seguimiento de la plataforma de un seguidor solar, unidad central de proceso adaptada para llevar a cabo dicho método y seguidor solar que comprende dicha unidad central de proceso - Google Patents
Método para la determinación de la corrección de errores de seguimiento de la plataforma de un seguidor solar, unidad central de proceso adaptada para llevar a cabo dicho método y seguidor solar que comprende dicha unidad central de proceso Download PDFInfo
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- WO2014102420A1 WO2014102420A1 PCT/ES2013/070893 ES2013070893W WO2014102420A1 WO 2014102420 A1 WO2014102420 A1 WO 2014102420A1 ES 2013070893 W ES2013070893 W ES 2013070893W WO 2014102420 A1 WO2014102420 A1 WO 2014102420A1
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- platform
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- sun
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- 238000012937 correction Methods 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 89
- 238000012545 processing Methods 0.000 title claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 79
- 239000013598 vector Substances 0.000 claims description 46
- 230000008569 process Effects 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 18
- 230000005855 radiation Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000014509 gene expression Effects 0.000 claims description 7
- 230000017105 transposition Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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- 238000011156 evaluation Methods 0.000 description 1
- 229940050561 matrix product Drugs 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
-
- 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
-
- 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
- G01S3/7861—Solar tracking systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- 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
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/45—Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
-
- 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
-
- 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
- Y02E10/50—Photovoltaic [PV] energy
Definitions
- the present invention is directed to a method for determining the correctness of the platform of a solar tracker that mainly compensates for the deviation in azimuth and the inclination of the follower. According to embodiments of this method it is also possible to carry out an additional correction in elevation.
- the invention has a central processing unit that acts on drive means giving orders that take into account the corrections calculated to generate the appropriate instructions to the drive means getting a correct direction of the platform.
- An example of an auxiliary device consists of a pointing sensor that makes use of a plurality of areas sensitive to solar radiation located on a plane and distributed around a point; and, an opaque element located on said point, distanced from the plane, intended to cast shadow on the plane where the sensitive areas are.
- the shadow of the element on it plane casts the shadow at the point around which sensitive areas are distributed without any of them seeing the radiation reading reduced.
- the shadow covers some of the sensitive areas. Depending on which sensitive area is the one that is totally or partially covered, it is possible to determine the degree of deviation from the plane orientation of this auxiliary device.
- the present invention is a method that determines the correction of tracking errors of the platform of a solar tracker due to causes such as deformations of the structure, clearances, mounting errors and others.
- the deviations in elevation and azimuth, which are considered constant, are commonly known through the English term "offset"; that is, elevation offset, azimuth offset.
- offset is, elevation offset, azimuth offset.
- the use throughout the description of the term deviation or error should be interpreted with the same meaning as indicated by the English term offset as used in the field of the technique of the invention.
- the method according to the invention allows, established the initial reference positions from the calculation of solar ephemeris, new corrected reference positions are generated so that the platform is properly oriented despite the deviations indicated above.
- the invention establishes a method of determining error correction. Once the new corrected reference positions have been established, according to embodiments of the invention, a control system based on a hybrid control strategy is available in which to obtain the correction factors, the resolution of non-linear mathematical models is dispensed with. , so that with several calibrations it is possible to substantially improve the performance with respect to an open loop control.
- the present invention is a method of determining the correction of tracking errors of a solar tracker platform.
- the device on which the correction is determined is a solar tracker comprising: a) a structural support element of the platform arranged on a fixed base where this fixed base has associated a first orthogonal coordinate system (x, y, z) with the z coordinate preferably oriented towards the zenith. It is considered a fixed base, preferably an ideal surface corresponding to the ground, which in turn serves to establish the first coordinate system, the so-called first coordinate system (x, y, z).
- coordinate systems will be Cartesian and orthonormal.
- the coordinate system is not orthonormal, it will be enough to establish the change of basis so that the same vector can be expressed in the orthonormal system (x, y, z).
- a coordinate system is adopted in which the x and y coordinates correspond to axes parallel to the ground and the z-coordinate oriented towards the zenith.
- the preferred example takes the axis that corresponds to the x coordinate facing south and the axis corresponding to the coordinate and facing east.
- the structural element On the ground is the structural element and it is on this structural element on which the platform with movement capacity is installed.
- the bond endowed with one or more degrees of freedom is not necessarily a punctual link but can be constituted by a kinematic chain with consecutive links where for example each of them provides an additional degree of freedom.
- the platform is the mobile element and this can comprise according to different examples of embodiment photovoltaic panels or be a reflector of a heliostat.
- a particular example of a structural element is a pedestal on which the platform is located where it contains a plurality of photovoltaic concentrator modules.
- said structural element has associated a second orthogonal coordinate system ( ⁇ ', y', z ') linked to the structural element at a point located before the link provided with one or more degrees of freedom, this second coordinate system being essentially parallel to the first coordinate system (x, y, z) except for deviations, which include, in a non-limiting manner, inclination deviations, azimuth deviations, elevation deviations, deviations due to gaps or other mounting errors or any combination of the previous ones, with respect to the fixed base.
- the objective of the invention is to properly orientate the platform in spite of the deviations due to the aforementioned causes: clearances, assembly errors, inclinations of inclination or azimuth ... among others.
- These errors are mainly due to the element structural, hence a second coordinate system is taken ( ⁇ ', ⁇ ', ⁇ ') also linked to the structural element and that said coordinate system is located at a point arranged before the link provided with one or more degrees of freedom .
- That the first coordinate system is linked to the ground and that this second coordinate system is linked to a point on the platform that accumulates the different deviations that affect the platform should not be interpreted as that the coordinate system is a reference system in the space.
- This coordinate system should be interpreted as the expressible coordinates in a vector base on which free vectors are represented that determine orientations and are manipulable with the mathematical tools used in the treatment of vector spaces.
- the first coordinate system and the second coordinate system are essentially parallel.
- the purpose of determining the tracking errors is to determine a change such that, when a certain platform pointing direction is established, said change corrects the deviations that give rise to the tracking errors of said platform.
- the change is expressible by means of a rotation matrix that transforms the direction of aiming in a second direction, the direction commanded to the means of impulsion of the platform compensating the errors of aiming due to the deviations.
- the inclination deviations, azimuth deviations, elevation deviations, deviations due to clearances, deviations due to mounting errors, or any combination of the above are not limited .
- the method of the invention proposes the use of a rotation matrix that allows the direction of corrected aiming to be determined in such a way that at least the error due to the inclination deviation of the structural element and the error due to the deviation in azimuth is eliminated. Although this rotation matrix is able to determine the correction of the deviation in inclination and the deviation in azimuth, it is not able to correct the elevation error.
- a correction of the elevation is carried out as will be described in the detailed description of the invention.
- measuring means to determine the orientation p (p x , p y , p z ) of the platform with respect to the sun, particularly expressible in the second coordinate system
- Each pair of points has a point that corresponds to the coordinates of the sun, expressed in the coordinate system (x, y, z), to be adopted by the follower platform and another point that corresponds to the coordinates to be used.
- This second point is the result of a measurement of the orientation of the platform with respect to the sun, carried out from the so-called "measuring means".
- the measuring means for determining the orientation of the platform can be point sensors or they can be more complex means.
- the control means that allow to establish the orientation of the platform by applying a set of trajectories, for example in a spiral, to determine the correct direction depending on the energy captured along each displacement.
- a process unit connected to at least the measuring means.
- the method of determining the correction of platform tracking errors carries out a set of evaluations, in particular, the coordinate treatment and the resolution of a system of equations, which is evaluated in a process unit. Examples of process units are programmable microprocessors.
- This process unit does not have to be a unit solely dedicated to carrying out the different stages of the method but can also carry out other tasks associated with other methods or even carry out corrections determinations for more than one solar tracker.
- the most interesting example is the case where the process unit is also in charge of managing the platform's drive means so that, once the correction of the tracking error of the platform, the appropriate orders are given to orient said platform according to the corrected coordinates.
- the process unit is adapted to execute instructions for the determination of the correction of tracking errors of the platform to at least correct inclination deviations and azimuth deviations and does so according to the following steps:
- the objective of the solar tracker is for the platform to carry out a sun tracking movement as faithful as possible.
- the solar tracker platform has already been indicated that it can be a structure with photovoltaic panels, a solar concentrator or at least a mirror (or set of mirrors) that redirects the incident radiation where these are just a few examples.
- the platform In the first two cases the platform must be oriented towards the radiation source, the sun. In the latter case, the orientation must be such that the reflection of the incident radiation coming from the sun reaches the solar receiver. This direction is not that of the sun but is determined by the position of the mirror with respect to the heliostat and the coordinates of the sun.
- the "correct form" for a heliostat will be the one that allows the correct reflection.
- This particular stage of the method is expressed for clarity by arranging the vectors p ⁇ and the vectors s ⁇ by rows; However, it is possible to express the same turn by using an equivalent system where the p ⁇ and s ⁇ vectors are arranged by columns. Moreover, the system of equations that derives from this matrix expression can also be represented by developing the matrix product. In all cases, the same system of equations as the one used in the identification of the stage is being established since it is only a different form of expression of the same mathematical conditions. The use of any of the forms of expression of this system of equations is considered equivalent.
- the determination of the correction of tracking errors is independent of the correction action of said errors.
- the determination of the correction provides a rotation matrix that in turn provides the vector that is used as a reference vector by the drive means that move the platform to carry out its correct or corrected orientation.
- the trajectory of the platform following the sun requires a sequence of steps or advances taken from time to time throughout the day.
- the determination of the correction can be carried out, for example, at a certain time throughout the day, or even at more times throughout the day, by calculating the rotation matrix R which allows each of the steps to be calculated in the following steps.
- the correction will be carried out in each of the steps given that, given the coordinates of the sun (s x , s y , s z ) at each instant of time, the coordinates will be used ⁇ p x , p y , p z ) that take into account the deviations that give rise to errors corrected by the rotation matrix R.
- the matrix R can be recalculated according to the method of the invention from pairs of points p ⁇ ys ⁇ .
- the set of pairs of points can be:
- Figure 1 This figure shows a scheme that allows a Cartesian coordinate system to be related to a cylindrical coordinate system.
- Figure 2 This figure shows a scheme of a solar tracker according to an embodiment of the invention.
- Figure 4 This figure represents a graph of evolution in time of the aiming error of a solar tracker using a correction using a rotation matrix calculated using 2 real measurements and a virtual point (Curve A); and, the correction by 3 real measurements without virtual points (Curve B), assuming errors generally not null in the calibration process. Both real point and virtual point will be defined in the description of the embodiment example.
- Figure 5 This figure represents a graph of the evolution in time of the aiming error of a solar tracker (Curve C) as well as the aiming error when a correction has been applied by means of a rotation matrix without correction of elevation error (Curve D), assuming null errors in the calibration process.
- the present invention is a method of determining the correction of tracking errors of a solar tracker platform.
- a diagram with the basic elements of an embodiment is shown in Figure 2.
- the invention comprises a structural element (2) that is integral with the ground (1).
- the structural element (2) is shown as a vertical pedestal.
- the ground allows to establish an orthogonal Cartesian coordinate system (x, y, z) where in this example the z axis is vertical and is oriented towards the zenith, the y axis is horizontal and extends to the right representing the east, and the The x-axis is perpendicular to the previous ones, although it is oblique in the perspective used, facing south.
- the platform (3) is a structure equipped with photovoltaic panels that must be oriented towards the sun throughout the day to maximize the incident solar radiation.
- the orientation of the platform (3) that contains the reflective surface is not towards the sun but is the appropriate orientation to achieve the correct reflection of the solar radiation towards the receiver central.
- the solar tracker has drive means (not shown graphically) that allow the platform (3) to be moved according to its two degrees of freedom.
- These drive means are commanded by a process unit (6) which is also entrusted with other tasks and functionalities.
- a second coordinate system ( ⁇ ', ⁇ ', ⁇ ') is established.
- the deviations give rise to the fact that the second coordinate system ( ⁇ ', ⁇ ', coinc ') does not coincide with the first coordinate system (x, y, z), although the deviations do not necessarily have to be large ;
- small deviations can drastically reduce the performance of a solar energy capture device or even render it inoperative, as is the case with the use of solar concentrators that can lose focus.
- a structural element (2) on which a platform (3) that has been oriented towards the zenith according to the coordinates (0,0,1) is schematically shown in Figure 3.
- the inclination deviations of the structural element (2) and azimuth translate into turns of the second coordinate system ( ⁇ ', ⁇ ', ⁇ ') with respect to the first
- the first coordinate system (x, y, z) associated with the ground is represented on the ground and also next to the second coordinate system ( ⁇ ', ⁇ ', ⁇ ') to highlight each of the elementary turns given that each system of coordinates, when establishing a vector base on which to express a free vector, said vector base does not have a point of space defined as origin.
- the first coordinate system (x, y, z) is associated with the ground and the second coordinate system ( ⁇ ', ⁇ ', ⁇ ') is associated with a near point of the kinematic chain that gives movement to the platform (3) it must be interpreted that the first coordinate system (x, y, z) has an orientation defined mainly by the ground plane and that the second coordinate system ( ⁇ ', ⁇ ' , ⁇ ') has an orientation defined by the changes in orientation imposed by the different deviations suffered by the structural element (2).
- Figure 3a shows the inclination of the structural element (2) in the east-west direction. This inclination is a positive turn around the x axis. As a result of this elementary turn, the x 'axis is coincident with the x axis while the y' and z 'axes are rotated with respect to the y and z axes respectively. The axes around which the rotation occurs are represented in a broken line and with a double circular arrow.
- Figure 3b shows the inclination of the structural element (2) according to a second elementary angle, which corresponds to the north-south direction.
- the platform (3) has been represented according to a schematic perspective that shows said platform leaving the plane of the paper contained in the plane defined by the y and z axes.
- This turn is a turn around the axis and in such a way that y 'is coincident with y.
- the x 'axis is slightly offset downwards from the horizontal direction defined by the x axis; and, the z 'axis is slightly inclined outside the paper with respect to the vertical defined by the z axis.
- FIG. 3c A rotation of the platform with respect to the vertical axis z is shown in Figure 3c. Being strict with the perspective, the upper surface of the platform would not be observable but for didactic purposes it is shown to indicate the change of orientation of its rectangular configuration. According to this rotation, the z axis' coincides with the z axis and the x 'e y' axes are rotated and contained in the horizontal plane parallel to the ground.
- the method already described according to the invention proposes a matrix R which turns out to be an expressible rotation matrix as the composition of the three consecutive turns applied now described.
- R x , R y and R z represent the elementary rotation matrices
- the determination of the rotation matrix R allows a correction of the inclination errors of the structural element (2) and also of the azimuth errors (or azimuth offset using the term in English). The latter is also possible since the axis perpendicular to the platform (3) is the axis around which the azimuth angle is defined.
- This second vector p (p *, p y , p z ) is calculated using measuring means (5) that are shown in Figure 2 connected to the process unit (6).
- a common procedure is to order movements according to a spiral formed by straight sections.
- Each advance is carried out according to a straight section within a certain rectangle that defines a window in which the coordinates of the sun are contained (for example, advances in azimuth and elevation are alternated thus generating the spiral increasing its size) is verified along said section where the maximum of captured radiation has been obtained.
- a new major search rectangle is defined and iterated until the position of the sun is found.
- the minimum condition to build the system of equations is to have at least 3 pairs of points. If he The number of points is 3, the system is determined and if it is more than three, the system is overdetermined by what is considered the solution of the system that minimizes the residue.
- the preferred method of minimization is the least squares method. Of particular relevance is the case in which measures are known that are more relevant than others. In these cases the invention incorporates the use of W weighting matrices whose components are all positive.
- the method according to the independent claim makes use of 3 or more pairs of points p and s.
- one or more pairs of points do not come directly from a measurement obtained through the measurement means (5) but are virtual points, that is, obtained by calculation from mathematical operations to from other points that have been measured.
- a second alternative method is to generate intermediate matrices P 'and S' not necessarily square from three or more existing measures.
- the pairs of virtual points are obtained through the following expressions:
- Figure 4 represents a graph of evolution in time of the aiming error of a solar tracker using a correction by means of a rotation matrix calculated using 2 real measurements and a virtual point (Curve A continuous) compared to the correction by 3 real measurements without virtual points (B curve discontinuous).
- FIG. 1 schematically shows the relationship between a cylindrical coordinate system and a Cartesian coordinate system where the radius is the unit radius since for our purposes where the module of the position vector is being taken as a unit only the angle of azimuth a and the elevation angle EL.
- the change of spherical coordinates to Cartesian coordinates allows both angles to be related to the coordinates in Cartesian.
- the invention proposes to carry out the correction of the elevation before proceeding to the correction by means of the rotation matrix R according to any of the ways previously considered.
- the matrix R ' k would be the rotation matrix that corrects the rest of the deviations.
- the matrix R ' k is an approximation to a rotation matrix. If it is a spin matrix, verify that it is an orthonormal matrix. The matrices usually obtained will not be orthonormal and will move away from the orthonormality the more the higher the values of the deviations due to elevation errors.
- the metric e () ⁇ M x M T - 1 ⁇ has been adopted where / is the identity matrix to establish the degree of distance from the matrix M from the orthonormality condition, understanding that it is a continuous function in its arguments and that given an orthonormal M matrix the value of the metric is zero.
- / is the identity matrix to establish the degree of distance from the matrix M from the orthonormality condition, understanding that it is a continuous function in its arguments and that given an orthonormal M matrix the value of the metric is zero.
- Another method is to define an interval [a, b] in which it is known that the elevation correction value is found.
- This graph does not represent a third curve E which is the result obtained from applying the correction by means of the matrix R as it is applied in the curve D as well as the elevation correction. It is said that it is not represented since it has been proven that the result is null and would result in a straight line corresponding to the zero value. In the latter case, it has also been considered that calibration errors are zero.
- the solar tracker carries out a determination of the correction of the tracking error according to any of the methods described every certain day.
- Each determination provides a rotation matrix R to be applied and optionally the elevation correction.
- the method of determining the correction as well as the method of correction using the matrix R and optionally the elevation correction are carried out in a process unit (6) which is also the object of this invention. It is also the object of the invention process units (6) adapted to carry out the control over more than one follower. It is also possible to store the R rotation matrices, the corrections in a memory in elevation or both in such a way that the correction of the platform (3) throughout the year makes use of certain previously calculated corrections by changing the matrix also in pre-established moments of time.
- the evolution without human intervention of the platform (3) by means of corrections carried out by the process unit (6) according to any of the examples described provides an automatic solar tracker.
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Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201380073740.1A CN105074347A (zh) | 2012-12-26 | 2013-12-18 | 用于确定太阳跟踪平台的跟踪误差的修正的方法、适配为执行该方法的中央处理单元以及包括该中央处理单元的太阳跟踪器 |
EP13868787.6A EP2940400A1 (en) | 2012-12-26 | 2013-12-18 | Method for determining the correction of tracking errors of solar tracking platforms, central processing unit adapted to perform said method and solar tracker comprising said central processing unit |
US14/655,275 US20150357966A1 (en) | 2012-12-26 | 2013-12-18 | Method for determining the correction of tracking errors of solar tracking platforms, central processing unit adapted to perform said method and solar tracker comprising said central processing unit |
MA38297A MA38297B1 (fr) | 2012-12-26 | 2013-12-18 | Procédé de détermination de la correction d'erreurs de suivi de la plate-forme d'un suiveur solaire, unité centrale conçue pour la mise en oeuvre dudit procédé et suiveur solaire comprenant ladite unité centrale |
MX2015008219A MX2015008219A (es) | 2012-12-26 | 2013-12-18 | Metodo para la determinacion de la correcion de errores de seguimiento de la plataforma de un seguidor solar, unidad central de proceso adaptada para llevar a cabo el metodo y seguidor solar que comprende la unidad central de proceso. |
ZA2015/04607A ZA201504607B (en) | 2012-12-26 | 2015-06-25 | Method for determining the correction of tracking errors of solar tracking platforms, central processing unit adapted to perform said method and solar tracker comprising said central processing unit |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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ES201232030A ES2482240B1 (es) | 2012-12-26 | 2012-12-26 | Método para la determinación de la corrección de errores de seguimiento de la plataforma de un seguidor solar, unidad central de proceso adaptada para llevar a cabo dicho método y seguidor solar que comprende dicha unidad central de proceso |
ES201232030 | 2012-12-26 |
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US (1) | US20150357966A1 (es) |
EP (1) | EP2940400A1 (es) |
CN (1) | CN105074347A (es) |
CL (1) | CL2015001810A1 (es) |
ES (1) | ES2482240B1 (es) |
MA (1) | MA38297B1 (es) |
MX (1) | MX2015008219A (es) |
WO (1) | WO2014102420A1 (es) |
ZA (1) | ZA201504607B (es) |
Families Citing this family (10)
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US11063553B2 (en) * | 2008-11-17 | 2021-07-13 | Kbfx Llc | Solar carports, solar-tracking carports, and methods |
US10277159B2 (en) | 2008-11-17 | 2019-04-30 | Kbfx Llc | Finished multi-sensor units |
WO2015146723A1 (ja) * | 2014-03-27 | 2015-10-01 | 三菱日立パワーシステムズ株式会社 | ヘリオスタットのキャリブレーション装置および方法 |
CN106802673B (zh) * | 2017-02-27 | 2019-11-05 | 浙江工业大学 | 一种碟式Stirling太阳能碟面立柱几何校准方法 |
ES2898974T3 (es) * | 2017-02-28 | 2022-03-09 | C Dos Consulting & Eng S L | Faceta autónoma para concentradores solares y concentrador solar que comprende dicha faceta |
EP3804122B1 (en) * | 2018-05-28 | 2022-01-26 | Soltec Energías Renovables, SL | Method to reduce shading in a photovoltaic plant |
MA52155B1 (fr) * | 2018-07-31 | 2021-09-30 | Carrascosa Perez Marco Antonio | Facette autonome pour concentrateurs solaires et concentrateur solaire comprenant ladite facette |
CN109062265B (zh) * | 2018-08-29 | 2021-12-14 | 中国电力工程顾问集团西北电力设计院有限公司 | 一种太阳光热发电定日镜安装误差校正方法 |
US11630179B2 (en) * | 2020-08-07 | 2023-04-18 | Light Manufacturing, Inc. | Systems and methods of calibrating a heliostat |
CN112325874B (zh) * | 2020-10-21 | 2023-02-14 | 中国科学院上海光学精密机械研究所 | 基于蛇形光路的星体角位置强度关联测量系统及方法 |
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US20110231031A1 (en) * | 2010-03-17 | 2011-09-22 | National Central University | Pointing Error Correcting System and Method Thereof |
US20120152313A1 (en) * | 2010-12-17 | 2012-06-21 | Greenvolts, Inc | Various tracking algorithms and apparatus for a two axis tracker assembly in a concentrated photovoltaic system |
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US4226502A (en) * | 1978-07-24 | 1980-10-07 | Thomas Gunzler | Self-contained solar tracking device |
US4519382A (en) * | 1983-06-14 | 1985-05-28 | Gerwin Harry L | Control system for heliostats and method |
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JP5098678B2 (ja) * | 2008-02-06 | 2012-12-12 | 大同特殊鋼株式会社 | 太陽追尾装置および太陽追尾装置の追尾方法 |
TWI451577B (zh) * | 2008-07-02 | 2014-09-01 | Sunplus Mmedia Inc | 太陽追跡裝置及其追跡方法 |
AU2010206766A1 (en) * | 2009-01-22 | 2011-08-11 | Kenneth Oosting | Actuated feedforward controlled solar tracking system |
CN101930236A (zh) * | 2009-06-26 | 2010-12-29 | 陈大彤 | 一轴和双轴式太阳跟踪装置 |
KR101195740B1 (ko) * | 2009-06-29 | 2012-11-01 | 오쏠라 유한회사 | 태양광 발전 장치 및 그의 태양광 추적 방법 |
KR20110000895A (ko) * | 2009-06-29 | 2011-01-06 | 오쏠라 유한회사 | 태양광 발전 장치 및 그의 태양광 추적 방법 |
-
2012
- 2012-12-26 ES ES201232030A patent/ES2482240B1/es not_active Expired - Fee Related
-
2013
- 2013-12-18 CN CN201380073740.1A patent/CN105074347A/zh active Pending
- 2013-12-18 US US14/655,275 patent/US20150357966A1/en not_active Abandoned
- 2013-12-18 EP EP13868787.6A patent/EP2940400A1/en not_active Withdrawn
- 2013-12-18 MX MX2015008219A patent/MX2015008219A/es unknown
- 2013-12-18 WO PCT/ES2013/070893 patent/WO2014102420A1/es active Application Filing
- 2013-12-18 MA MA38297A patent/MA38297B1/fr unknown
-
2015
- 2015-06-23 CL CL2015001810A patent/CL2015001810A1/es unknown
- 2015-06-25 ZA ZA2015/04607A patent/ZA201504607B/en unknown
Patent Citations (4)
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US4564275A (en) * | 1984-06-21 | 1986-01-14 | Mcdonnell Douglas Corporation | Automatic heliostat track alignment method |
US20030045949A1 (en) * | 2001-05-21 | 2003-03-06 | Stone Kenneth Wayne | Method and apparatus for controllably positioning a solar concentrator |
US20110231031A1 (en) * | 2010-03-17 | 2011-09-22 | National Central University | Pointing Error Correcting System and Method Thereof |
US20120152313A1 (en) * | 2010-12-17 | 2012-06-21 | Greenvolts, Inc | Various tracking algorithms and apparatus for a two axis tracker assembly in a concentrated photovoltaic system |
Also Published As
Publication number | Publication date |
---|---|
EP2940400A1 (en) | 2015-11-04 |
CN105074347A (zh) | 2015-11-18 |
ES2482240A1 (es) | 2014-08-01 |
ES2482240B1 (es) | 2015-05-14 |
MA38297A1 (fr) | 2017-01-31 |
MX2015008219A (es) | 2015-12-03 |
MA38297B1 (fr) | 2017-10-31 |
ZA201504607B (en) | 2016-06-29 |
CL2015001810A1 (es) | 2015-10-02 |
US20150357966A1 (en) | 2015-12-10 |
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