WO2022007370A1 - Heliostat optical path closed-loop control system and method - Google Patents
Heliostat optical path closed-loop control system and method Download PDFInfo
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- WO2022007370A1 WO2022007370A1 PCT/CN2020/142173 CN2020142173W WO2022007370A1 WO 2022007370 A1 WO2022007370 A1 WO 2022007370A1 CN 2020142173 W CN2020142173 W CN 2020142173W WO 2022007370 A1 WO2022007370 A1 WO 2022007370A1
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- 238000010248 power generation Methods 0.000 description 5
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
Definitions
- the invention belongs to the technical field of solar thermal power generation, and in particular relates to a closed-loop control system and method for an optical path of a tower solar middle heliostat.
- the function of the heliostat is to reflect the sunlight that hits its surface to the target heat sink area. Since the position of the sun keeps changing with time, the heliostat needs to have sufficient control accuracy to ensure that the pointing accuracy of the reflected light meets the design requirements, that is, the sunlight reflected by the heliostat can continuously and accurately irradiate the target heat absorber area, so as to ensure the concentration efficiency of solar energy in the heat absorber area and the working efficiency of the solar thermal power station.
- the existing heliostat control methods are based on open-loop control, the core of which is the motion model of the heliostat. Firstly, the heliostat motion model is obtained by iteratively calibrating the whiteboard and image collector, etc., and then the operation information required by the heliostat is estimated according to the calculation result of the sun position and the heliostat motion model, that is, the generation including the time , the operation table of the turning angle, and finally the heliostat transmission control mechanism controls the heliostat to rotate according to the operation table.
- the open-loop control method of the heliostat has the following problems: 1) It needs a long debugging time.
- the open-loop control method relies on the motion model of the heliostat, and the control accuracy is ensured by correcting the motion model.
- the conventional motion model correction method is the calibration whiteboard method, that is, the sun spot of the target heliostat is reflected to the target calibration whiteboard area at different time periods, and then the image is analyzed by the image acquisition system to determine the actual position of the center of the reflected spot, and finally based on the time information. and the center position of the reflected light spot to solve the motion model of the target heliostat.
- Another heliostat motion model correction method is to install an image acquisition system on the heliostat that rotates with the rotation of the heliostat.
- the image acquisition system takes the sun or other celestial bodies with certain brightness as the target,
- the deviation of the position of the plane from the center of the image plane solves the motion model of the target heliostat.
- the existing open-loop control method relies on the motion model to estimate the operation information of the heliostat, and performs unidirectional control based on sequential action on the heliostat, that is, the heliostat is only operated according to the estimated operation table during the actual rotation process. Rotation, it is impossible to give feedback on the accuracy of the actual posture of the heliostat, so it does not have the ability to automatically correct the deviation. Since the motion model is an abstract summary of the actual operation of the heliostat, the estimated result is only close to the actual situation, but cannot fully represent the actual situation. Therefore, the attitude of the heliostat controlled based on the motion model will be different from the actual target attitude. deviation.
- the performance index of the mechanical transmission mechanism has high requirements.
- the heliostat mechanical transmission mechanism needs to have high performance index requirements, including repeatability accuracy requirements, rotation consistency requirements, etc. If the performance index is poor, that is, when the performance parameters such as repeatability accuracy and rotation consistency are poor, the rotation of the heliostat will show no obvious regularity, so that the motion model cannot accurately describe the actual rotation of the heliostat, which makes the opening and closing of the heliostat impossible.
- the attitude of the heliostat in the loop control state is uncontrollable. This will also affect the concentration efficiency of sunlight energy in the heat sink area, and even cause safety hazards due to the uncontrollable direction of the reflected light.
- a high-precision and high-efficiency heliostat optical path closed-loop control system is required to accurately correct the real-time attitude of the heliostat, so that the reflected sunlight spot can be accurately irradiated to the target area and ensure the concentration of solar energy in the heater area.
- the present invention aims at the characteristics of high control precision of the heliostat in the tower solar thermal power generation technology, and uses the principle of optical path reflection to realize the real-time control of the attitude of the heliostat by controlling the direction of the incident light or the direction of the reflected light, which effectively solves the problem.
- the problem that the attitude of the heliostat cannot be corrected in real time based on the optical path feedback in the open-loop control mode is solved, and a high-precision, high-efficiency, real-time closed-loop control system of the heliostat optical path is realized.
- the present invention is a closed-loop control system for the light path of a heliostat, comprising: a light spot sensor, a heliostat rotation controller and a calculation unit.
- the light spot sensor is fixed on the heliostat and rotates synchronously with the rotation of the reflective surface of the target heliostat.
- the calculation unit is used to calculate the actual position of the target heliostat sun spot or sun image, calculate the desired position of the target heliostat sun spot or sun image, calculate the deviation between the actual position of the sun spot and the desired position, or calculate the actual position of the sun image.
- the deviation from the desired position, the sun spot or sun image position deviation is converted into a correction value for the rotation of the heliostat.
- the heliostat rotation controller is fixed on the target heliostat, and its function is to control the rotation of the heliostat. Data is exchanged between the computing unit and the heliostat rotation controller in a wired or wireless form, and data exchange is performed between the heliostat rotation controller and the light spot sensor in a wired or wireless form .
- the heliostat optical path closed-loop control system is classified into a reflective type and a direct type according to the different working modes of the spot sensor.
- the principle of the reflection type is to obtain the reflected light pointing information of the target heliostat at this moment by sensing the actual position of the sun spot;
- the principle of the direct type is to obtain the incident light pointing information of the target heliostat at this moment by sensing the actual position of the sun image.
- the receiving surface of the spot sensor in the reflective heliostat optical path closed-loop control system faces the reflective surface of the target heliostat, and is used to receive the sunlight spot reflected by the reflective surface of the heliostat, and the normal of the receiving surface is reflected by the target heliostat.
- the value range of the angle ⁇ between the surface normals is 90° ⁇ 180°.
- the sunlight is reflected and irradiated to the target area, and a part of it is received by the receiving surface of the spot sensor to form a sun spot; the actual position of the sun spot can be described by the geometric center of the sun spot or the center of mass of the energy distribution, which represents the actual reflection of the target heliostat light points.
- the reflective optical path closed-loop control system senses the actual reflected light direction of the target heliostat through the spot sensor, and according to the deviation from the expected reflected light direction, the heliostat posture is corrected in real time to realize the real-time optical path closed-loop control of the heliostat.
- the receiving surface of the spot sensor in the closed-loop control system of the direct-illuminated heliostat optical path is in the same direction as the reflective surface of the target heliostat (at the same time facing the sun), and the angle ⁇ between the normal of the receiving surface and the normal of the reflective surface of the target heliostat is taken as The value range is 0° ⁇ 90°.
- Part of the sunlight is received by the receiving surface of the spot sensor to form a sun image, and the rest of the sunlight is reflected to the target area through the heliostat reflecting surface; the actual position of the sun image can be described by the geometric center of the sun image or the energy distribution center of mass, which is characterized by The actual incident light pointing to the target heliostat.
- the direct-type optical path closed-loop control system senses the actual incident light direction of the target heliostat through the spot sensor. According to the deviation from the expected incident light direction, the heliostat posture is corrected in real time to realize the real-time optical path closed-loop control of the heliostat.
- the work flow of the heliostat optical path closed-loop control system of the present invention is as follows:
- the spot sensor collects the sun spot or solar image distribution information, and the computing unit calculates the actual position [u ti ,v ti ] n of the sun spot or solar image based on the solar spot or solar image distribution information, where ti represents The i-th time point in a single working day, n represents the number of the heliostat, u ti represents the value of the u-axis direction of the actual position of the sun spot or sun image at time ti , and v ti represents the v of the actual position of the sun spot or sun image at time ti axis direction value;
- the calculation unit calculates the desired position information [Tu ti , Tv ti ] of the sun spot or sun image of the target heliostat at time ti, where Tu ti represents the u-axis direction value of the desired position of the sun spot or sun image at time ti , and Tv ti represents The value of the v-axis direction of the desired position of the sun spot or sun image at time ti;
- ⁇ u ti represents the sun spot or the sun spot at time ti
- ⁇ v ti represents the relative deviation between the expected coordinates and the actual coordinates in the v-axis direction of the sun spot or the sun image at time ti;
- the first rotation mode of the heliostat of the present invention is that the reflection surface of the heliostat rotates around two mutually orthogonal rotation axes X-axis and Y-axis, wherein the position of the Y-axis remains unchanged, and the X-axis rotates around the Y-axis with the reflection surface of the heliostat.
- Rotational deviation value :
- u 1/2 represents the u-axis coordinate of the center of the receiving surface
- v 1/2 represents the v-axis coordinate of the receiving surface center
- d represents the distance from the receiving surface to the heliostat reflective surface
- X-axis Indicates the Y-axis rotational deviation.
- the second rotation mode of the heliostat in the present invention is that the mirror surface of the heliostat rotates around two mutually orthogonal rotation axes, the Y axis and the Z axis, wherein the position of the Z axis remains unchanged, and the Y axis rotates around the Z axis with the heliostat reflecting surface.
- Rotational deviation value :
- the heliostat rotation controller corrects the target heliostat attitude at time ti in real time according to the rotation deviation value, so that the actual position [u ti , v ti ] n of the sun spot or sun image is constantly approaching or overlapping the desired position [Tu ti ] , Tv ti ];
- the calculation unit uses the deviation between the actual position of the sun spot or the sun image and the expected position as feedback, and continuously corrects the posture of the target heliostat in real time, so that at any time The actual position of the sun spot or sun image fluctuates near the desired position, realizing the closed-loop control of the light path of the heliostat to ensure that the reflected light of the heliostat can be directed to the target area correctly.
- the calculation unit is based on the center coordinates of the target heliostat at time ti Calculate the normalized reflection vector at this moment with the target pointing point [tx n ,ty n ,tz n ]:
- the computing unit calculates the normalized sunlight incident vector at time ti Represents the X-axis direction component of the normalized sunlight incident vector at time ti, Represents the Y-axis direction component of the normalized sunlight incident vector at time ti, Represents the Z-axis direction component of the normalized sunlight incident vector at time ti; (3) the computing unit calculates the normalized normal vector of the heliostat reflecting surface at this time:
- the value range of ⁇ in the closed-loop control system is 0° ⁇ 90°; the calculation unit calculates the normal vector of the receiving surface based on the angle ⁇ between the normal vector of the receiving surface of the spot sensor and the normal vector of the reflecting surface of the heliostat:
- n represents the number of the heliostat
- Rot u () represents the rotation matrix around the u-axis
- Rot v () represents the rotation matrix around the v-axis
- Rot n () represents the rotation around the normal vector of the heliostat reflecting surface matrix
- the calculation unit receives the center coordinates of the receiving surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the sunlight reflection vector at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the mirror surface of the heliostat, and solve the coordinates of the intersection point between the reflected light and the receiving surface where k represents the Kth intersection; finally, the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired position coordinates of the sun spot [Tu ti , Tv ti ].
- the calculation unit receives the center coordinates of the surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the incident vector of sunlight at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the reflecting surface of the heliostat, and solve the coordinates of the intersection of the incident light pointing and the receiving surface Where k represents the K-th intersection, and finally the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired position coordinates of the sun image [Tu ti , Tv ti ].
- the spot sensor in the reflective optical circuit closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device, and the image acquisition device is composed of an imaging optical path (lens or small holes, etc.), a light intensity attenuation device and Image sensor composition.
- the sunlight is reflected by the reflecting surface of the heliostat to the image surface of the image acquisition array to form a sun spot.
- the lens of the image collector faces the reflective surface of the heliostat, and the number of image collectors is determined according to the size of the reflective surface of the heliostat, so that the field of view formed by the image acquisition array can cover the area of the reflective surface of the heliostat.
- the actual position recognition of the sun spot with the image acquisition array as the spot sensor includes the following steps:
- the image acquisition array collects the image of the reflective surface of the heliostat
- the light spot sensor may be composed of an array composed of photoelectric sensors and a diaphragm.
- the photoelectric sensors include non-imaging sensors based on photoelectric effect, such as photoresistors, photodiodes, and optical switches.
- the receiving surface of the photoelectric sensor faces the reflective surface of the heliostat, and the number of the photoelectric sensors is determined according to the reflection range of the reflective surface of the heliostat, so that the receiving surface composed of the photoelectric sensor array can cover the sun reflected by the reflective surface area of the heliostat. spot.
- the sunlight is reflected by the reflecting surface of the heliostat to the receiving surface of the photoelectric sensor array, and the electric signal intensity distribution of the receiving surface generated by the sun spot is obtained.
- the diaphragm is used to limit the range of sunlight irradiated to the spot sensor so as to form a sunlight spot.
- the light spot sensor in the reflective optical path closed-loop control system may be composed of an array composed of photoelectric sensors and a standard plane mirror.
- the photoelectric sensors include non-imaging sensors based on photoelectric effect, such as photoresistors, photodiodes, and optical switches.
- the standard plane mirror is installed on the target heliostat and rotates synchronously with the mirror surface of the heliostat.
- the size of the standard plane mirror is determined by the size of the photoelectric sensor and the distance between the photoelectric sensors.
- the mirror reflecting surfaces are in the same direction (facing the sun at the same time) and their relative positions are fixed.
- the receiving surface of the photoelectric sensor faces the reflective surface of the standard flat mirror, and the number of photoelectric sensors is determined according to the reflection range of the standard flat mirror, so that the receiving surface formed by the photoelectric sensor array can cover the sunlight spot reflected by the standard flat mirror .
- the sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the standard plane mirror, and the electric signal intensity distribution of the receiving surface generated by the sun spot is obtained.
- the above-mentioned identification of the actual position of the sun spot using the photoelectric sensor array as the spot sensor includes the following steps:
- the photoelectric sensor array obtains the electrical signal intensity distribution of the receiving surface
- the light spot sensor in the reflective optical path closed-loop control system may be composed of a receiving board, an image acquisition array composed of at least one image acquisition device, and a standard plane mirror.
- the image collector is composed of an imaging optical path and an image sensor.
- the receiving surface of the receiving plate is a diffuse reflection surface, and the receiving surface faces the reflecting surface of the standard plane reflector, and is used for receiving sunlight reflected by the reflecting surface of the standard plane reflector.
- the size of the receiving plate covers the reflection range of a standard flat mirror.
- the standard plane mirror is installed on the target heliostat and rotates synchronously with the rotation of the mirror surface of the heliostat.
- the size of the standard flat mirror is determined by the resolution of the image acquisition array, and the reflective surface of the standard flat mirror and the reflective surface of the heliostat are in the same direction (facing the sun at the same time) and have a fixed relative position.
- the lens in the image acquisition array faces the receiving surface of the receiving plate, and the number of image collectors is determined according to the size of the receiving plate, which is used to identify the actual position of the sun spot on the receiving plate, so that the field of view composed of the image acquisition array can cover the receiving plate area.
- the receiving plate receives the sunlight spot reflected by the reflective surface of the standard plane mirror
- the light spot sensor in the direct-type optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device.
- the image collector consists of an imaging optical path (lens or small hole, etc.), a light intensity attenuation device and an image sensor.
- the field of view formed by the image acquisition array covers the moving range of the sun relative to the target heliostat.
- the lens of the image collector is pointed in the same direction as the reflective surface of the heliostat (at the same time facing the sun), and the sun image is directly collected, which is used to identify the relative position of the actual position of the sun image in the field of view of the image collection array.
- the above-mentioned recognition of the actual position of the sun image using the image acquisition array as the spot sensor includes the following steps:
- the image acquisition array collects images of the sun
- m represents the number of the image collector
- h represents the number of pixels in the u-axis direction of the actual position of the sun image at time ti
- l represents the number of pixels in the v-axis direction of the actual position of the sun image at time ti
- n represents the number of heliostats.
- the present invention is an optical circuit closed-loop control system, which dynamically corrects the posture of the heliostat according to the deviation between the actual position and the desired position of the sun spot or sun image at any time, without the need for a motion model of the heliostat, nor based on motion Operational table for model calculations.
- the present invention utilizes the principle of light path reflection to realize the closed-loop control of the light path of the heliostat by controlling the direction of the incident light or the direction of the reflected light. Since it does not depend on the motion model of the heliostat, it does not require a long debugging time to correct the motion of the heliostat. After the installation of the heliostat is completed, the conventional heat collection and power generation work can be carried out, which can effectively improve the opening efficiency of the tower solar thermal power station.
- the present invention can realize the closed-loop control of the light path of the heliostat, identify the actual position of the sun spot or the sun image based on the spot sensor, and then calculate the center position deviation from the desired position, and use this as feedback to realize the dynamic correction of the heliostat attitude. , which can effectively ensure the heat collection and power generation efficiency of the heliostat.
- the present invention does not drive the heliostat to rotate based on the calculation of the operation table of the heliostat movement model, and does not require a higher performance index of the mechanical transmission mechanism to ensure the open-loop control accuracy of the heliostat. Since the attitude of the heliostat can be corrected in real time according to the actual position of the sun spot or the actual position of the sun image, there is no need to put forward higher requirements on the performance indicators such as repeatability accuracy requirements and rotational consistency requirements of the transmission mechanism, thereby effectively reducing the mechanical properties of heliostats. Transmission manufacturing cost.
- the present invention can correct the deformation of the heliostat mirror surface caused by wind vibration, gravity, etc. by implementing the optical path closed-loop control on the heliostat, thereby effectively improving the adaptability of the heliostat to the environment.
- FIG. 1 is a schematic diagram of a reflective heliostat optical path closed-loop control system of the present invention
- Fig. 2 is the schematic diagram of the closed-loop control system of the direct-illuminated heliostat optical path of the present invention
- Figure 3 is a schematic diagram of the deviation of the sun spot or the sun image from the center
- FIG. 4 is a schematic diagram of a rotation mode of the heliostat according to an embodiment of the present invention.
- Fig. 5 is the rotational deviation numerical decomposition schematic diagram based on heliostat rotation mode 1;
- FIG. 6 is a schematic diagram of a second rotation mode of the heliostat according to the embodiment of the present invention.
- Fig. 7 is the rotational deviation numerical decomposition schematic diagram based on heliostat rotation mode 2;
- FIG. 8 is a schematic diagram of a reflective light spot sensor based on an image acquisition array
- FIG. 9 is a schematic diagram of the actual position of the sun spot of a reflective spot sensor based on an image acquisition array
- FIG. 10 is a schematic diagram of a reflective light spot sensor based on a photoelectric sensor
- Figure 11 is a schematic diagram of a reflective spot sensor based on a photoelectric sensor and a standard mirror
- Figure 12 is a schematic diagram of the actual position of the sun spot based on the photoelectric sensor
- FIG. 13 is a schematic diagram of a reflective light spot sensor based on a receiving plate
- Figure 14 is a schematic diagram of the actual position of the sun spot based on the receiving plate
- FIG. 15 is a schematic diagram of a direct light spot sensor based on an image acquisition array
- FIG. 16 is a schematic diagram of the actual position of the solar image of the direct light spot sensor based on the image acquisition array.
- 1-spot sensor 2-heliostat rotation controller, 3-calculation unit calculation unit, 4-receiving surface, 5-heliostat reflective surface, 6-target area, 7-actual reflected light direction, 8- Desired reflected light direction, 9- Actual incident light direction, 10- Desired incident light direction, 11- Image collector, 12- Photoelectric sensor, 13- Diaphragm, 14- Standard plane mirror, 15- Receiver plate, 16 - Image acquisition array.
- a heliostat optical path closed-loop control system of the present invention includes: a light spot sensor 1 , a heliostat rotation controller 2 and a calculation unit calculation unit 3 .
- the spot sensor 1 is fixed on the heliostat reflective surface 5 and rotates synchronously with the rotation of the target heliostat reflective surface 5 .
- the closed-loop control system of the heliostat light path is divided into reflective type and direct irradiation type according to the working mode of the spot sensor 1.
- the principle of the reflective type is to obtain the reflected light pointing information of the target heliostat at this moment by sensing the actual position of the sun spot, and the direct irradiation
- the principle of the formula is to obtain the incident light pointing information of the target heliostat at this moment by sensing the actual position of the sun image.
- Calculation unit 3 is used to calculate the actual position of the target heliostat sun spot or sun image, calculate the desired position of the target heliostat sun spot or sun image, calculate the deviation between the actual position of the sun spot and the desired position, or calculate the actual position of the sun image.
- the deviation of the position from the expected position, and the position deviation of the sun spot or the sun image is converted into a correction value for the rotation of the heliostat.
- the heliostat rotation controller 2 is fixed on the target heliostat, and its function is to control the rotation of the heliostat.
- Computing Unit The computing unit 3 and the heliostat rotation controller 2 perform data exchange in a wired or wireless form, and the heliostat rotation controller 2 and the light spot sensor 1 perform data exchange in a wired or wireless manner.
- a reflective heliostat optical path closed-loop control system of the present invention wherein the receiving surface 4 of the spot sensor 1 faces the reflective surface of the target heliostat reflective surface 5 , and is used to receive the reflective surface 5 of the heliostat. Reflected sun spots. The sunlight is reflected and irradiated to the target area 6 , a part of which is received by the receiving surface 4 of the spot sensor 1 to form a sunlight spot, and the actual position of the sunlight spot represents the actual reflected light direction 7 of the target heliostat.
- the reflective optical path closed-loop control system senses the actual reflected light direction 7 of the target heliostat through the spot sensor 1, and according to the deviation from the expected reflected light direction 8, the heliostat posture is corrected in real time to realize the real-time optical path of the heliostat. Closed-loop control.
- a direct-type heliostat optical path closed-loop control system of the present invention wherein the receiving surface 4 of the spot sensor 1 and the reflecting surface of the target heliostat reflecting surface 5 are in the same direction (facing the sun at the same time).
- Part of the sunlight is received by the receiving surface 4 of the spot sensor 1 to form a sun image, and the rest of the sunlight is reflected to the target area 6 through the heliostat reflective surface 5.
- the actual position of the sun image represents the actual incident light direction of the target heliostat 9 .
- the direct-type optical path closed-loop control system senses the actual incident light direction 9 of the target heliostat through the spot sensor 1, and according to the deviation from the expected incident light direction 10, the heliostat posture is corrected in real time to realize the real-time optical path of the heliostat. Closed-loop control.
- control method of the heliostat optical path closed-loop control system of the present invention is as follows:
- the spot sensor 1 collects the sun spot or the sun image distribution information at time ti, and the calculation unit 3 calculates the actual position of the sun spot or the sun image based on the sun spot or the sun image distribution information [u ti , v ti ] n , where ti represents the ith time point in a single working day, n represents the number of heliostats, u ti represents the actual coordinates of the u-axis direction of the actual position of the sun spot or sun image at time ti , and v ti represents time ti The actual coordinates of the v-axis direction of the actual position of the sun spot or sun image;
- the calculation unit 3 calculates the desired position information [Tu ti , Tv ti ] of the sun spot or sun image of the target heliostat at time ti, where Tu ti represents the desired coordinate in the u-axis direction of the sun spot or sun image at time ti, Tv ti represents the desired coordinates of the sun spot or sun image in the v-axis direction at time ti;
- the heliostat rotates around at least two axes to realize the function of reflecting sunlight to the target area 6, and the calculation unit 3 calculates the position deviation of the target heliostat sun spot or sun image at time ti according to the rotation mode of the heliostat [ ⁇ u ti , ⁇ v ti ] n is converted into the rotational deviation value of the heliostat.
- the heliostat reflective surface 5 rotates around two mutually orthogonal rotation axes X-axis and Y-axis, wherein the position of the Y-axis remains unchanged, and the X-axis changes with the fixed axis.
- the heliostat reflecting surface 5 rotates around the Y axis.
- the rotational deviation value As shown in Figure 5, the rotational deviation value:
- u 1/2 represents the u-axis coordinate of the center of the receiving surface
- v 1/2 represents the v-axis coordinate of the receiving surface center
- d represents the distance from the receiving surface to the heliostat reflective surface 5
- Indicates the X-axis angle deviation Indicates the Y-axis angle deviation.
- the heliostat reflective surface 5 rotates around two mutually orthogonal rotation axes Y-axis and Z-axis, wherein the position of the Z-axis remains unchanged, and the Y-axis changes with the fixed axis.
- the heliostat reflecting surface 5 rotates around the Z axis.
- the heliostat rotation controller 2 corrects the posture of the target heliostat at time ti in real time according to the rotation deviation value, so that the actual position [u ti , v ti ] n of the sun spot or the sun image continuously approaches or coincides with the desired position [Tu ti , v ti ] n ti , Tv ti ];
- the calculation unit 3 uses the deviation between the actual position of the sun spot or the sun image and the expected position as feedback, and continuously corrects the posture of the target heliostat in real time, so that any The actual position of the sun spot or the sun image fluctuates near the desired position at any time, so as to realize the closed-loop control of the light path of the heliostat, and to ensure that the reflected light of the heliostat can be correctly irradiated to the target area 6 .
- the calculation unit calculation unit 3 calculates the desired position of the target heliostat sun spot or sun image as follows:
- Calculation unit 3 is based on the center coordinates of the target heliostat at time ti Calculate the normalized reflection vector at this moment with the target pointing point [tx n ,ty n ,tz n ]:
- the calculation unit 3 calculates the normalized sunlight incident vector at time ti Represents the X-axis direction component of the normalized sunlight incident vector at time ti, Represents the Y-axis direction component of the normalized sunlight incident vector at time ti, Represents the Z-axis direction component of the normalized sunlight incident vector at time ti;
- calculation unit 3 calculates the normalized normal vector of the heliostat reflecting surface 5 at this moment:
- n represents the number of the heliostat
- Rot u () represents the rotation matrix around the u-axis
- Rot v () represents the rotation matrix around the v-axis
- Rot n () represents the rotation around the normal vector of the heliostat reflecting surface matrix
- the calculation unit 3 receives the center coordinates of the surface 4 according to the time ti and the receiving surface 4 normal vector Establish the three-dimensional equation of the receiving surface 4, and then according to the sunlight reflection vector at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the heliostat reflective surface 5, and solve the coordinates of the intersection point between the reflected light and the receiving surface 4 where k represents the Kth intersection; finally, the coordinates of the intersection are converted to the coordinate system of the receiving surface 4 to obtain the desired coordinates of the sun spot [Tu ti , Tv ti ].
- the calculation unit 3 receives the center coordinates of the surface 4 according to the time ti and the receiving surface 4 normal vector
- the three-dimensional equation of the receiving surface 4 is established, and then according to the incident vector of sunlight at time ti and heliostat center coordinates
- k represents the K-th intersection
- the coordinates of the intersection are converted to the 4 coordinate system of the receiving surface to obtain the desired coordinates [Tu ti , Tv ti ] of the sun image.
- the spot sensor 1 in the reflective optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device 11 . It consists of a light intensity attenuation device and an image sensor.
- the sunlight is reflected by the reflecting surface of the heliostat reflecting surface 5 to the image surface of the image acquisition array to form a sun spot.
- the lens of the image collector 11 faces the reflective surface of the heliostat reflective surface 5 , and the number of image collectors 11 is determined according to the size of the heliostat reflective surface 5 , so that the field of view formed by the image acquisition array can cover the area of the heliostat reflective surface 5 .
- the actual position recognition of the sun spot with the image acquisition array as the spot sensor includes the following steps:
- the image acquisition array acquires the image of the heliostat reflective surface 5;
- the light spot sensor 1 in the reflective optical circuit closed-loop control system may be composed of an array composed of photoelectric sensors 12 and a diaphragm 13 .
- the photoelectric sensor 12 includes non-imaging sensors based on photoelectric effect, such as photoresistor, photodiode, and optical switch.
- the receiving surface of the photoelectric sensor 12 faces the reflective surface of the heliostat reflective surface 5, and the number of the photoelectric sensors 12 is determined according to the reflection range of the heliostat reflective surface 5, so that the receiving surface composed of the photoelectric sensor array can cover the heliostat The sun spot reflected by the reflective surface 5 area.
- the sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the heliostat reflective surface 5, and the intensity distribution of the electrical signal on the receiving surface generated by the sun spot is obtained.
- the diaphragm 13 is used to limit the range of sunlight irradiated to the spot sensor 1 so as to form a sunlight spot.
- the light spot sensor 1 in the reflective optical circuit closed-loop control system may be composed of an array composed of photoelectric sensors 12 and a standard plane mirror 14 .
- the photoelectric sensor 12 includes non-imaging sensors based on photoelectric effect, such as photoresistor, photodiode, and optical switch.
- the standard plane mirror 14 is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface 5.
- the size of the standard plane mirror 14 is determined by the size of the photoelectric sensor 12 and the distance between the photoelectric sensors 12.
- the standard plane reflects The reflecting surface of the mirror 14 is in the same direction as the reflecting surface of the heliostat reflecting surface 5 (at the same time facing the sun).
- the receiving surface of the photoelectric sensor 12 faces the reflective surface of the standard flat mirror 14, and the number of the photoelectric sensors 12 is determined according to the reflection range of the standard flat mirror 14, so that the receiving surface composed of the photoelectric sensor array can cover the standard flat mirror 14 reflected sun spots.
- the sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the standard plane reflector 14 to obtain the electrical signal intensity distribution on the receiving surface generated by the sun spot.
- the actual position recognition of the sun spot with the photoelectric sensor array as the spot sensor includes the following steps:
- the photoelectric sensor array obtains the electrical signal intensity distribution of the receiving surface
- the range of the photoelectric sensor 12 irradiated by the sun spot on the receiving surface of the photoelectric sensor array at time ti is obtained based on a preset threshold, that is, the range of the photoelectric sensor 12 that is lit;
- the spot sensor 1 in the reflective optical path closed-loop control system may be composed of a receiving plate 15 , an image acquisition array 16 composed of at least one image acquisition device, and a standard plane mirror 14 .
- the receiving surface of the receiving plate 15 is a diffuse reflection surface, and the receiving surface faces the reflecting surface of the standard plane reflector 14 for receiving sunlight reflected by the reflecting surface of the standard plane reflector 14 .
- the size of the receiving plate 15 covers the reflection range of the standard flat mirror 14 .
- the standard plane mirror 14 is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface 5 .
- the size of the standard plane mirror 14 is determined by the resolution of the image acquisition array 16, and the reflection surface of the standard plane mirror 14 and the reflection surface of the heliostat reflection surface 5 are in the same direction (and face the sun at the same time).
- the lens in the image acquisition array 16 faces the receiving surface of the receiving plate 15, and the number of image collectors is determined according to the size of the receiving plate 15, and is used to identify the actual position of the sun spot on the receiving plate 15, so that the field of view formed by the image acquisition array 16 can cover Receiving plate 15 area.
- the above-mentioned recognition of the actual position of the sun spot with the receiving plate 15, the image acquisition array 16 and the standard plane mirror 14 as the spot sensor includes the following steps:
- the receiving plate 15 receives the sunlight spot reflected by the reflection surface of the standard plane mirror 14;
- the light spot sensor 1 in the direct-type optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device 11 .
- the image collector 11 is composed of an imaging optical path (lens or a small hole, etc.), a light intensity attenuation device and an image sensor.
- the field of view formed by the image acquisition array covers the moving range of the sun relative to the target heliostat.
- the lens of the image collector 11 points in the same direction as the reflection surface of the heliostat reflective surface 5 (at the same time facing the sun), and directly collects the sun image, which is used to identify the relative position of the actual position of the sun image in the field of view of the image acquisition array.
- the above-mentioned recognition of the actual position of the sun image using the image acquisition array as the spot sensor 1 includes the following steps:
- the image acquisition array collects images of the sun
- m represents the number of the image collector
- h represents the number of pixels in the u-axis direction of the actual position of the sun image at time ti
- l represents the number of pixels in the v-axis direction of the actual position of the sun image at time ti
- n represents the number of heliostats.
- the invention utilizes the principle of optical path reflection to realize the real-time control of the attitude of the heliostat by controlling the direction of the incident light or the direction of the reflected light, and effectively solves the open-loop control method.
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Abstract
A heliostat optical path closed-loop control system and method, comprising a facula sensor (1), a heliostat rotation controller (2), and a computing unit (3); the facula sensor (1) is fixed on the heliostat, and rotates synchronously with the rotation of a target heliostat reflecting surface (5); the computing unit (3) is used to compute the offset between the actual position of the solar facula and the expected position, or to compute the offset between the actual and expected positions of a heliograph; the heliostat rotation controller (2) is fixed on the target heliostat; data exchange is conducted between the computing unit (3) and the heliostat rotation controller (2), and between the heliostat rotation controller (2) and the facula sensor (1). Via the use of the optical path reflection principle, the direction of an incident light or a reflecting light is controlled, achieving real time control of the heliostat orientation, effectively solving the problem of open-loop control methods being unable to make real-time corrections to heliostat orientation based on optical path feedback, realizing a real-time heliostat optical path closed-loop control system that is precise and efficient.
Description
本发明属于太阳能光热发电技术领域,具体涉及一种塔式太阳能中定日镜光路闭环控制系统及方法。The invention belongs to the technical field of solar thermal power generation, and in particular relates to a closed-loop control system and method for an optical path of a tower solar middle heliostat.
作为塔式太阳能光热发电站的核心部件,定日镜的功能是将照射至其表面的太阳光反射至目标吸热器区域。由于太阳随时间不断改变位置,所以定日镜需要拥有足够的控制精度才能保证反射光的指向精度满足设计要求,即经定日镜反射的太阳光能够持续地、准确地照射至目标吸热器区域,从而保证吸热器区域太阳光能量的汇聚效率和太阳能光热发电站的工作效率。As the core component of a tower solar thermal power station, the function of the heliostat is to reflect the sunlight that hits its surface to the target heat sink area. Since the position of the sun keeps changing with time, the heliostat needs to have sufficient control accuracy to ensure that the pointing accuracy of the reflected light meets the design requirements, that is, the sunlight reflected by the heliostat can continuously and accurately irradiate the target heat absorber area, so as to ensure the concentration efficiency of solar energy in the heat absorber area and the working efficiency of the solar thermal power station.
现有的定日镜控制方式是基于开环控制,其核心是定日镜的运动模型。先通过标定白板和图像采集器等方法以迭代的方式校正获得定日镜运动模型,再根据太阳位置的计算结果和定日镜运动模型预估定日镜所需的运营信息,即生成包括时间、转角的运营表,最后定日镜传动控制机构根据运营表控制定日镜进行转动。The existing heliostat control methods are based on open-loop control, the core of which is the motion model of the heliostat. Firstly, the heliostat motion model is obtained by iteratively calibrating the whiteboard and image collector, etc., and then the operation information required by the heliostat is estimated according to the calculation result of the sun position and the heliostat motion model, that is, the generation including the time , the operation table of the turning angle, and finally the heliostat transmission control mechanism controls the heliostat to rotate according to the operation table.
定日镜开环控制方法存在以下问题:1)需要很长的调试时间。开环控制方法依赖于定日镜运动模型,通过对运动模型的校正保证控制精度。常规的运动模型校正方法为标定白板法,即在不同时间段将目标定日镜的太阳光斑反射至目标标定白板区域,再通过图像采集系统分析图像确定反射光斑中心的实际位置,最后基于时间信息和反射光斑中心位置求解目标定日镜的运动模型。另一种定日镜运动模型校正方法是在定日镜上安装随定日镜转动而转动的图像采集系统,该图像采集系统以太阳或其它有一定亮度的天体为目标,基于目标中心在像平面的位置与像平面中心的偏差求解目标定日镜的运动模型。无论采用何种定日镜运动模型校正,都需要很长的调试时间不断对运动模型进行迭代修正。只有当修正后的运动模型精度满足设计要求时,预估的定日镜运营信息与实际运营情况的偏差才能满足设计要求,定日镜开环控制的精度才能够得到有效保障。2)无法获得实时反馈。现有开环控制方法依赖于运动模型预估定日镜的运营信息,并对定日镜进行基于顺序作用的单方向控制,即定日镜在实际转动过程中只按照预估的运营表进行转动,无法对定日镜实际姿态的准确性进行反馈,从而不具备自动纠偏能力。由于运动模型是对定日镜实际运行情况的抽象归纳,所得预估结果只是接近实际情况,而不能完全表征实际情况,所以基于运动模型控制定日镜所处的姿态会与 实际目标姿态存在一定偏差。由于没有实时反馈,定日镜也无法对一些异常情况进行处理,如行程范围部分区域存在模型无法修正的不理想性、风造成的面形改变等。3)机械传动机构性能指标要求较高。为了保证开环控制的精度和稳定性,定日镜机械传动机构需要具有较高的性能指标要求,包括重复性精度要求、转动一致性要求等。如果性能指标较差时,即重复性精度、转动一致性等性能参数较差时,定日镜转动会表现出无明显规律性,导致运动模型无法准确描述定日镜的实际转动情况,使得开环控制状态下的定日镜姿态不可控。这也会影响吸热器区域太阳光能量的汇聚效率,甚至由于反射光指向不可控造成安全隐患。The open-loop control method of the heliostat has the following problems: 1) It needs a long debugging time. The open-loop control method relies on the motion model of the heliostat, and the control accuracy is ensured by correcting the motion model. The conventional motion model correction method is the calibration whiteboard method, that is, the sun spot of the target heliostat is reflected to the target calibration whiteboard area at different time periods, and then the image is analyzed by the image acquisition system to determine the actual position of the center of the reflected spot, and finally based on the time information. and the center position of the reflected light spot to solve the motion model of the target heliostat. Another heliostat motion model correction method is to install an image acquisition system on the heliostat that rotates with the rotation of the heliostat. The image acquisition system takes the sun or other celestial bodies with certain brightness as the target, The deviation of the position of the plane from the center of the image plane solves the motion model of the target heliostat. No matter what kind of heliostat motion model correction is adopted, it takes a long time to debug and iteratively correct the motion model. Only when the accuracy of the corrected motion model meets the design requirements, the deviation between the estimated operation information of the heliostat and the actual operation situation can meet the design requirements, and the accuracy of the open-loop control of the heliostat can be effectively guaranteed. 2) Real-time feedback is not available. The existing open-loop control method relies on the motion model to estimate the operation information of the heliostat, and performs unidirectional control based on sequential action on the heliostat, that is, the heliostat is only operated according to the estimated operation table during the actual rotation process. Rotation, it is impossible to give feedback on the accuracy of the actual posture of the heliostat, so it does not have the ability to automatically correct the deviation. Since the motion model is an abstract summary of the actual operation of the heliostat, the estimated result is only close to the actual situation, but cannot fully represent the actual situation. Therefore, the attitude of the heliostat controlled based on the motion model will be different from the actual target attitude. deviation. Due to the lack of real-time feedback, the heliostat cannot handle some abnormal situations, such as the uncorrectable imperfection of the model in some areas of the travel range, and the change of the surface shape caused by the wind. 3) The performance index of the mechanical transmission mechanism has high requirements. In order to ensure the accuracy and stability of the open-loop control, the heliostat mechanical transmission mechanism needs to have high performance index requirements, including repeatability accuracy requirements, rotation consistency requirements, etc. If the performance index is poor, that is, when the performance parameters such as repeatability accuracy and rotation consistency are poor, the rotation of the heliostat will show no obvious regularity, so that the motion model cannot accurately describe the actual rotation of the heliostat, which makes the opening and closing of the heliostat impossible. The attitude of the heliostat in the loop control state is uncontrollable. This will also affect the concentration efficiency of sunlight energy in the heat sink area, and even cause safety hazards due to the uncontrollable direction of the reflected light.
因此,需要一种高精度、高效率的定日镜光路闭环控制系统能够对定日镜实时姿态进行精确修正,使得反射的太阳光斑能够准确照射至目标区域,保证热器区域太阳光能量的汇聚效率和太阳能光热发电站的光热转换效率。Therefore, a high-precision and high-efficiency heliostat optical path closed-loop control system is required to accurately correct the real-time attitude of the heliostat, so that the reflected sunlight spot can be accurately irradiated to the target area and ensure the concentration of solar energy in the heater area. Efficiency and photothermal conversion efficiency of solar thermal power plants.
发明内容SUMMARY OF THE INVENTION
为解决上述问题,本发明针对塔式太阳能光热发电技术中定日镜控制精度要求高的特点,利用光路反射原理通过控制入射光指向或反射光指向实现定日镜姿态的实时控制,有效解决了开环控制方式中不能基于光路反馈实时修正定日镜姿态的问题,实现了一种高精度、高效率的、实时的定日镜光路闭环控制系统。In order to solve the above problems, the present invention aims at the characteristics of high control precision of the heliostat in the tower solar thermal power generation technology, and uses the principle of optical path reflection to realize the real-time control of the attitude of the heliostat by controlling the direction of the incident light or the direction of the reflected light, which effectively solves the problem. The problem that the attitude of the heliostat cannot be corrected in real time based on the optical path feedback in the open-loop control mode is solved, and a high-precision, high-efficiency, real-time closed-loop control system of the heliostat optical path is realized.
本发明一种定日镜光路闭环控制系统,包括:光斑感应器、定日镜转动控制器和计算单元。所述光斑感应器固定在定日镜上,随目标定日镜反射面转动而同步转动。所述计算单元用于计算目标定日镜太阳光斑或太阳像的实际位置、计算目标定日镜太阳光斑或太阳像的期望位置、计算太阳光斑实际位置与期望位置的偏差或者计算太阳像实际位置与期望位置的偏差、将太阳光斑或者太阳像位置偏差转换成定日镜转动修正数值。所述定日镜转动控制器固定在目标定日镜上,其功能是控制定日镜的转动。所述计算单元与所述定日镜转动控制器之间通过有线或者无线的形式进行数据交换,所述定日镜转动控制器与所述光斑感应器之间通过有线或者无线的形式进行数据交换。The present invention is a closed-loop control system for the light path of a heliostat, comprising: a light spot sensor, a heliostat rotation controller and a calculation unit. The light spot sensor is fixed on the heliostat and rotates synchronously with the rotation of the reflective surface of the target heliostat. The calculation unit is used to calculate the actual position of the target heliostat sun spot or sun image, calculate the desired position of the target heliostat sun spot or sun image, calculate the deviation between the actual position of the sun spot and the desired position, or calculate the actual position of the sun image. The deviation from the desired position, the sun spot or sun image position deviation is converted into a correction value for the rotation of the heliostat. The heliostat rotation controller is fixed on the target heliostat, and its function is to control the rotation of the heliostat. Data is exchanged between the computing unit and the heliostat rotation controller in a wired or wireless form, and data exchange is performed between the heliostat rotation controller and the light spot sensor in a wired or wireless form .
所述定日镜光路闭环控制系统按照光斑感应器工作方式不同分为反射式和直射式。反射式的原理是通过感知太阳光斑的实际位置得到目标定日镜该时刻的反射光指向信息;直射式的原理是通过感知太阳像的实际位置得到目标定日镜该时刻的入射光指向信息。The heliostat optical path closed-loop control system is classified into a reflective type and a direct type according to the different working modes of the spot sensor. The principle of the reflection type is to obtain the reflected light pointing information of the target heliostat at this moment by sensing the actual position of the sun spot; the principle of the direct type is to obtain the incident light pointing information of the target heliostat at this moment by sensing the actual position of the sun image.
所述反射式定日镜光路闭环控制系统中光斑感应器的接收面朝向目标定日镜反 射面,用于接收经过定日镜反射面反射的太阳光斑,接收面法线与目标定日镜反射面法线夹角δ取值范围为90°<δ≤180°。太阳光经过反射后照射至目标区域,其中一部分被光斑感应器的接收面接收形成太阳光斑;太阳光斑实际位置可以通过太阳光斑的几何中心或能量分布质心描述,其表征目标定日镜的实际反射光指向。反射式光路闭环控制系统通过光斑感应器感知目标定日镜的实际反射光指向,根据其与期望反射光指向的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制。The receiving surface of the spot sensor in the reflective heliostat optical path closed-loop control system faces the reflective surface of the target heliostat, and is used to receive the sunlight spot reflected by the reflective surface of the heliostat, and the normal of the receiving surface is reflected by the target heliostat. The value range of the angle δ between the surface normals is 90°<δ≤180°. The sunlight is reflected and irradiated to the target area, and a part of it is received by the receiving surface of the spot sensor to form a sun spot; the actual position of the sun spot can be described by the geometric center of the sun spot or the center of mass of the energy distribution, which represents the actual reflection of the target heliostat light points. The reflective optical path closed-loop control system senses the actual reflected light direction of the target heliostat through the spot sensor, and according to the deviation from the expected reflected light direction, the heliostat posture is corrected in real time to realize the real-time optical path closed-loop control of the heliostat.
所述直射式定日镜光路闭环控制系统中光斑感应器的接收面与目标定日镜反射面同向(同时朝向太阳),接收面法线与目标定日镜反射面法线夹角δ取值范围为0°≤δ<90°。太阳光的一部分被光斑感应器的接收面接收形成太阳像,其余的太阳光经过定日镜反射面反射至目标区域;太阳像实际位置可以通过太阳像的几何中心或能量分布质心描述,其表征目标定日镜的实际入射光指向。直射式光路闭环控制系统通过光斑感应器感知目标定日镜的实际入射光指向,根据其与期望入射光指向的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制。The receiving surface of the spot sensor in the closed-loop control system of the direct-illuminated heliostat optical path is in the same direction as the reflective surface of the target heliostat (at the same time facing the sun), and the angle δ between the normal of the receiving surface and the normal of the reflective surface of the target heliostat is taken as The value range is 0°≤δ<90°. Part of the sunlight is received by the receiving surface of the spot sensor to form a sun image, and the rest of the sunlight is reflected to the target area through the heliostat reflecting surface; the actual position of the sun image can be described by the geometric center of the sun image or the energy distribution center of mass, which is characterized by The actual incident light pointing to the target heliostat. The direct-type optical path closed-loop control system senses the actual incident light direction of the target heliostat through the spot sensor. According to the deviation from the expected incident light direction, the heliostat posture is corrected in real time to realize the real-time optical path closed-loop control of the heliostat.
本发明定日镜光路闭环控制系统的工作流程如下:The work flow of the heliostat optical path closed-loop control system of the present invention is as follows:
(1)ti时刻光斑感应器采集太阳光斑或太阳像分布信息,并由计算单元基于太阳光斑或太阳像分布信息计算太阳光斑或太阳像的实际位置[u
ti,v
ti]
n,其中ti表示单个工作日内的第i个时间点,n表示定日镜编号,u
ti表示ti时刻太阳光斑或太阳像实际位置的u轴方向数值,v
ti表示ti时刻太阳光斑或太阳像实际位置的v轴方向数值;
(1) At time ti, the spot sensor collects the sun spot or solar image distribution information, and the computing unit calculates the actual position [u ti ,v ti ] n of the sun spot or solar image based on the solar spot or solar image distribution information, where ti represents The i-th time point in a single working day, n represents the number of the heliostat, u ti represents the value of the u-axis direction of the actual position of the sun spot or sun image at time ti , and v ti represents the v of the actual position of the sun spot or sun image at time ti axis direction value;
(2)计算单元计算ti时刻目标定日镜太阳光斑或太阳像的期望位置信息[Tu
ti,Tv
ti],Tu
ti表示ti时刻太阳光斑或太阳像期望位置的u轴方向数值,Tv
ti表示ti时刻太阳光斑或太阳像期望位置的v轴方向数值;
(2) The calculation unit calculates the desired position information [Tu ti , Tv ti ] of the sun spot or sun image of the target heliostat at time ti, where Tu ti represents the u-axis direction value of the desired position of the sun spot or sun image at time ti , and Tv ti represents The value of the v-axis direction of the desired position of the sun spot or sun image at time ti;
(3)计算单元计算目标定日镜的太阳光斑或太阳像位置偏差[Δu
ti,Δv
ti]
n=[Tu
ti-u
ti,Tv
ti-v
ti]
n,Δu
ti表示ti时刻太阳光斑或太阳像u轴方向期望坐标与实际坐标的相对偏差,Δv
ti表示ti时刻太阳光斑或太阳像v轴方向期望坐标与实际坐标的相对偏差;
(3) The calculation unit calculates the sun spot or sun image position deviation of the target heliostat [Δu ti ,Δv ti ] n =[Tu ti -u ti ,Tv ti -v ti ] n , Δu ti represents the sun spot or the sun spot at time ti The relative deviation between the expected coordinates and the actual coordinates in the u-axis direction of the sun image, Δv ti represents the relative deviation between the expected coordinates and the actual coordinates in the v-axis direction of the sun spot or the sun image at time ti;
(4)定日镜绕至少两个轴转动以实现将太阳光反射至目标区域的功能,计算单 元依据定日镜的转动方式将ti时刻目标定日镜太阳光斑或太阳像位置偏差[Δu
ti,Δv
ti]
n转换成定日镜的转动偏差数值。
(4) The heliostat rotation about at least two axes to achieve the function of reflected sunlight to the target area, the target calculation unit time ti heliostat sun or sun spot image position deviation mode according to the rotation of the heliostat [[Delta] u ti ,Δv ti ] n is converted into the rotational deviation value of the heliostat.
本发明定日镜转动方式一,定日镜反射面绕两根相互正交的转轴X轴、Y轴转动,其中Y轴位置保持不变,X轴随定日镜反射面绕Y轴转动。转动偏差数值:The first rotation mode of the heliostat of the present invention is that the reflection surface of the heliostat rotates around two mutually orthogonal rotation axes X-axis and Y-axis, wherein the position of the Y-axis remains unchanged, and the X-axis rotates around the Y-axis with the reflection surface of the heliostat. Rotational deviation value:
式中:u
1/2表示接收面中心u轴方向坐标,v
1/2表示接收面中心v轴方向坐标,d表示接收面至定日镜反射面的距离,
表示X轴转动偏差,
表示Y轴转动偏差。
In the formula: u 1/2 represents the u-axis coordinate of the center of the receiving surface, v 1/2 represents the v-axis coordinate of the receiving surface center, d represents the distance from the receiving surface to the heliostat reflective surface, represents the rotational deviation of the X-axis, Indicates the Y-axis rotational deviation.
本发明定日镜转动方式二,定日镜镜面绕两根相互正交的转轴Y轴、Z轴转动,其中Z轴位置保持不变,Y轴随定日镜反射面绕Z轴转。转动偏差数值:The second rotation mode of the heliostat in the present invention is that the mirror surface of the heliostat rotates around two mutually orthogonal rotation axes, the Y axis and the Z axis, wherein the position of the Z axis remains unchanged, and the Y axis rotates around the Z axis with the heliostat reflecting surface. Rotational deviation value:
(5)定日镜转动控制器依据转动偏差数值实时修正ti时刻目标定日镜姿态,使得太阳光斑或太阳像的实际位置[u
ti,v
ti]
n不断逼近或重合于期望位置[Tu
ti,Tv
ti];
(5) The heliostat rotation controller corrects the target heliostat attitude at time ti in real time according to the rotation deviation value, so that the actual position [u ti , v ti ] n of the sun spot or sun image is constantly approaching or overlapping the desired position [Tu ti ] , Tv ti ];
(6)在单个工作日内,重复步骤(1)-(5),计算单元以太阳光斑或太阳像的实际位置与期望位置偏差为反馈,持续地实时修正目标定日镜姿态,使得任意时刻太阳光斑或太阳像的实际位置在期望位置附近波动,实现定日镜光路闭环控制,保证定日镜的反射光指向能够正确地照射至目标区域。(6) In a single working day, repeat steps (1)-(5), the calculation unit uses the deviation between the actual position of the sun spot or the sun image and the expected position as feedback, and continuously corrects the posture of the target heliostat in real time, so that at any time The actual position of the sun spot or sun image fluctuates near the desired position, realizing the closed-loop control of the light path of the heliostat to ensure that the reflected light of the heliostat can be directed to the target area correctly.
本发明定日镜闭环控制系统中计算单元计算目标定日镜太阳光斑或太阳像期望位置的步骤如下:The steps of calculating the desired position of the target heliostat sun spot or sun image by the calculation unit in the heliostat closed-loop control system of the present invention are as follows:
(1)计算单元根据ti时刻目标定日镜中心坐标
和目标指向点[tx
n,ty
n,tz
n]计算该时刻归一化反射矢量:
(1) The calculation unit is based on the center coordinates of the target heliostat at time ti Calculate the normalized reflection vector at this moment with the target pointing point [tx n ,ty n ,tz n ]:
其中||表示取模运算,
表示ti时刻目标定日镜中心坐标X轴方向数值,
表示ti时刻目标定日镜中心坐标Y轴方向数值,
表示ti时刻目标定日镜中心坐标Z轴方向数值,tx
n表示ti时刻目标指向点坐标X轴方向数值,ty
n表示ti时刻目标指向点坐标Y轴方向数值,tz
n表示ti时刻目标指向点坐标Z轴方向数值,
表示ti时刻归一化反射矢量X轴方向分量,
表示ti时刻归一化反射矢量Y轴方向分量,
表示ti时刻归一化反射矢量Z轴方向分量;
where || represents the modulo operation, Represents the value of the X-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Y-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Z-axis direction of the center coordinate of the target heliostat at time ti, tx n represents the value of the X-axis direction of the coordinate of the target pointing point at time ti, ty n represents the value of the Y-axis direction of the coordinate of the target pointing point at time ti , and tz n represents the value of the target pointing point at time ti The value of the coordinate Z-axis direction, represents the X-axis direction component of the normalized reflection vector at time ti, represents the Y-axis direction component of the normalized reflection vector at time ti, Represents the Z-axis direction component of the normalized reflection vector at time ti;
(2)计算单元计算ti时刻归一化太阳光入射矢量
表示ti时刻归一化太阳光入射矢量X轴方向分量,
表示ti时刻归一化太阳光入射矢量Y轴方向分量,
表示ti时刻归一化太阳光入射矢量Z轴方向分量;(3)计算单元计算该时刻定日镜反射面归一化法线矢量:
(2) The computing unit calculates the normalized sunlight incident vector at time ti Represents the X-axis direction component of the normalized sunlight incident vector at time ti, Represents the Y-axis direction component of the normalized sunlight incident vector at time ti, Represents the Z-axis direction component of the normalized sunlight incident vector at time ti; (3) the computing unit calculates the normalized normal vector of the heliostat reflecting surface at this time:
式中:
表示ti时刻定日镜反射面归一化法线矢量X轴方向分量,
表示ti时刻定日镜反射面归一化法线矢量Y轴方向分量,
表示ti时刻定日镜反射面归一化法线矢量Z轴方向分量;
where: represents the X-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti, represents the Y-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti, Represents the Z-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti;
(4)光斑感应器接收面法线矢量与定日镜反射面法线矢量间的夹角δ=[δ
n δ
u δ
v],式中δ
n表示绕定日镜反射面法线矢量的偏差角,δ
u表示绕u轴的偏差角,δ
v表示绕v轴的偏差角;反射式定日镜闭环控制系统中δ取值范围为90°≤δ<180°,直射式定日镜闭环控制系统中δ取值范围为0°≤δ<90°;计算单元基于光斑感应器接收面法线矢量与定日镜反射面法线矢量间的夹角δ计算接收面法线矢量:
(4) The angle δ=[δ n δ u δ v ] between the normal vector of the receiving surface of the spot sensor and the normal vector of the heliostat reflective surface, where δ n represents the distance around the normal vector of the heliostat reflective surface Deviation angle, δ u represents the deviation angle around the u-axis, and δ v represents the deviation angle around the v-axis; in the closed-loop control system of the reflective heliostat, the value of δ is in the range of 90°≤δ<180°. The value range of δ in the closed-loop control system is 0°≤δ<90°; the calculation unit calculates the normal vector of the receiving surface based on the angle δ between the normal vector of the receiving surface of the spot sensor and the normal vector of the reflecting surface of the heliostat:
式中:n表示定日镜编号,Rot
u()表示绕u轴的旋转矩阵,Rot
v()表示绕v轴的 旋转矩阵,Rot
n()表示定日镜反射面法线矢量绕的旋转矩阵,
表示ti时刻光斑感应器接收面归一化法线矢量X轴方向分量,
表示ti时刻光斑感应器接收面归一化法线矢量Y轴方向分量,
表示ti时刻光斑感应器接收面归一化法线矢量Z轴方向分量;
In the formula: n represents the number of the heliostat, Rot u () represents the rotation matrix around the u-axis, Rot v () represents the rotation matrix around the v-axis, and Rot n () represents the rotation around the normal vector of the heliostat reflecting surface matrix, Represents the X-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Y-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Z-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti;
(5)反射式定日镜闭环控制系统中,计算单元根据ti时刻接收面中心坐标
和接收面法线矢量
建立接收面的三维方程,再根据ti时刻太阳光反射矢量
和定日镜中心坐标
建立基于定日镜镜面的三维直线方程组,求解反射光指向与接收面的交点坐标
其中k表示第K个交点;最后将交点坐标转换至接收面坐标系获得太阳光斑的期望位置坐标[Tu
ti,Tv
ti]。
(5) In the closed-loop control system of the reflective heliostat, the calculation unit receives the center coordinates of the receiving surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the sunlight reflection vector at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the mirror surface of the heliostat, and solve the coordinates of the intersection point between the reflected light and the receiving surface where k represents the Kth intersection; finally, the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired position coordinates of the sun spot [Tu ti , Tv ti ].
直射式定日镜闭环控制系统中,计算单元根据ti时刻接收面中心坐标
和接收面法线矢量
建立接收面的三维方程,再根据ti时刻太阳光入射矢量
和定日镜中心坐标
建立基于定日镜反射面的三维直线方程组,求解入射光指向与接收面的交点坐标
其中k表示第K个交点,最后将交点坐标转换至接收面坐标系获得太阳像的期望位置坐标[Tu
ti,Tv
ti]。
In the closed-loop control system of the direct-illuminated heliostat, the calculation unit receives the center coordinates of the surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the incident vector of sunlight at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the reflecting surface of the heliostat, and solve the coordinates of the intersection of the incident light pointing and the receiving surface Where k represents the K-th intersection, and finally the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired position coordinates of the sun image [Tu ti , Tv ti ].
本发明中,所述反射式光路闭环控制系统中光斑感应器是由至少一台图像采集器组成的图像采集阵列构成,图像采集器由成像光路(透镜或小孔等)、光强衰减装置和图像传感器组成。太阳光经过定日镜反射面反射至图像采集阵列的像面,形成太阳光斑。图像采集器的镜头朝向定日镜反射面,图像采集器的数量依据定日镜反射面的尺寸确定,使得图像采集阵列组成的视场能够覆盖定日镜反射面区域。In the present invention, the spot sensor in the reflective optical circuit closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device, and the image acquisition device is composed of an imaging optical path (lens or small holes, etc.), a light intensity attenuation device and Image sensor composition. The sunlight is reflected by the reflecting surface of the heliostat to the image surface of the image acquisition array to form a sun spot. The lens of the image collector faces the reflective surface of the heliostat, and the number of image collectors is determined according to the size of the reflective surface of the heliostat, so that the field of view formed by the image acquisition array can cover the area of the reflective surface of the heliostat.
以图像采集阵列为光斑感应器的太阳光斑实际位置识别包括如下步骤:The actual position recognition of the sun spot with the image acquisition array as the spot sensor includes the following steps:
(1)图像采集阵列采集定日镜反射面的图像;(1) The image acquisition array collects the image of the reflective surface of the heliostat;
(2)通过二值化方法获得ti时刻每台图像采集器中太阳光斑的区域范围;(2) Obtain the area range of the sun spot in each image collector at time ti by the binarization method;
(3)基于二值化图像中太阳光斑区域计算该时刻太阳光斑几何中心,或者基于灰度图像或彩色图像中太阳光斑区域计算该时刻太阳光斑能量分布质心,则太阳 光斑实际位置(几何中心或能量分布质心)的图像坐标表述为
其中m表示图像采集器编号,n表示定日镜编号,h表示ti时刻太阳光斑实际位置的u轴方向像素数,l表示ti时刻太阳光斑实际位置的v轴方向像素数。
(3) Calculate the geometric center of the sun spot at this moment based on the sun spot area in the binarized image, or calculate the centroid of the energy distribution of the sun spot at this moment based on the sun spot area in the grayscale or color image, then the actual position of the sun spot (geometric center or The image coordinates of the energy distribution centroid) are expressed as Where m represents the number of the image collector, n represents the number of the heliostat, h represents the number of pixels in the u-axis direction of the actual position of the sun spot at time ti, and l represents the number of pixels in the v-axis direction of the actual position of the sun spot at time ti.
所述反射式光路闭环控制系统中光斑感应器可以是由光电传感器组成的阵列和光阑构成。所述光电传感器包括光敏电阻、光电二极管、光开关等基于光电效应的非成像用传感器。所述光电传感器的接收面朝向定日镜反射面,所述光电传感器的数量依据定日镜反射面的反射范围确定,使得光电传感器阵列组成的接收面能够覆盖定日镜反射面区域反射的太阳光斑。太阳光经过定日镜反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布。所述光阑用于限制照射至光斑感应器的太阳光范围以便于形成太阳光斑。In the reflective optical path closed-loop control system, the light spot sensor may be composed of an array composed of photoelectric sensors and a diaphragm. The photoelectric sensors include non-imaging sensors based on photoelectric effect, such as photoresistors, photodiodes, and optical switches. The receiving surface of the photoelectric sensor faces the reflective surface of the heliostat, and the number of the photoelectric sensors is determined according to the reflection range of the reflective surface of the heliostat, so that the receiving surface composed of the photoelectric sensor array can cover the sun reflected by the reflective surface area of the heliostat. spot. The sunlight is reflected by the reflecting surface of the heliostat to the receiving surface of the photoelectric sensor array, and the electric signal intensity distribution of the receiving surface generated by the sun spot is obtained. The diaphragm is used to limit the range of sunlight irradiated to the spot sensor so as to form a sunlight spot.
所述反射式光路闭环控制系统中光斑感应器可以是由光电传感器组成的阵列和标准平面反射镜构成。所述光电传感器包括光敏电阻、光电二极管、光开关等基于光电效应的非成像用传感器。所述标准平面反射镜安装在目标定日镜上随定日镜镜面转动而同步转动,所述标准平面反射镜的尺寸由光电传感器尺寸及光电传感器间距确定,标准平面反射镜反射面与定日镜反射面同向(同时朝向太阳)且相对位置固定。所述光电传感器的接收面朝向标准平面反射镜的反射面,光电传感器的数量依据标准平面反射镜的反射范围确定,使得所述光电传感器阵列组成的接收面能够覆盖标准平面反射镜反射的太阳光斑。太阳光经过标准平面反射镜反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布。The light spot sensor in the reflective optical path closed-loop control system may be composed of an array composed of photoelectric sensors and a standard plane mirror. The photoelectric sensors include non-imaging sensors based on photoelectric effect, such as photoresistors, photodiodes, and optical switches. The standard plane mirror is installed on the target heliostat and rotates synchronously with the mirror surface of the heliostat. The size of the standard plane mirror is determined by the size of the photoelectric sensor and the distance between the photoelectric sensors. The mirror reflecting surfaces are in the same direction (facing the sun at the same time) and their relative positions are fixed. The receiving surface of the photoelectric sensor faces the reflective surface of the standard flat mirror, and the number of photoelectric sensors is determined according to the reflection range of the standard flat mirror, so that the receiving surface formed by the photoelectric sensor array can cover the sunlight spot reflected by the standard flat mirror . The sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the standard plane mirror, and the electric signal intensity distribution of the receiving surface generated by the sun spot is obtained.
上述以光电传感器阵列为光斑感应器的太阳光斑实际位置识别包括如下步骤:The above-mentioned identification of the actual position of the sun spot using the photoelectric sensor array as the spot sensor includes the following steps:
(1)光电传感器阵列获取接收面的电信号强度分布;(1) The photoelectric sensor array obtains the electrical signal intensity distribution of the receiving surface;
(2)根据电信号强度分布,基于预设阈值获得ti时刻太阳光斑在光电传感器阵列接收面上照射的光电传感器范围,即被点亮的光电传感器范围;(2) According to the electrical signal intensity distribution, based on a preset threshold, obtain the photoelectric sensor range illuminated by the sun spot on the photoelectric sensor array receiving surface at time ti, that is, the lighted photoelectric sensor range;
(3)基于被点亮的光电传感器范围计算几何中心,或者基于被点亮的光电传感器范围内电信号强度分布计算能量分布质心,则太阳光斑实际位置(几何中心或能量分布质心)坐标表述为[Ou
ti,Ov
ti]
n,其中n表示定日镜编号,Ou表示ti时刻太阳光斑实际位置的光电传感器阵列u轴方向数值,Ov表示ti时刻太阳光斑实际位置的光电传感器阵列v轴方向数值。
(3) Calculate the geometric center based on the range of the illuminated photoelectric sensor, or calculate the energy distribution centroid based on the electrical signal intensity distribution within the illuminated photoelectric sensor range, then the actual position of the sun spot (geometric center or energy distribution centroid) coordinates are expressed as [Ou ti ,Ov ti ] n , where n represents the number of the heliostat, Ou represents the value of the photoelectric sensor array in the u-axis direction of the actual position of the sun spot at time ti, and Ov represents the value of the photoelectric sensor array in the v-axis direction of the actual position of the sun spot at time ti .
所述反射式光路闭环控制系统中光斑感应器可以是由接收板、至少一台图像采集器组成的图像采集阵列和标准平面反射镜构成。所述图像采集器由成像光路和图像传感器组成。接收板的接收面为漫反射面,接收面朝向标准平面反射镜反射面,用于接收经过标准平面反射镜反射面反射的太阳光。接收板的尺寸覆盖标准平面反射镜的反射范围。标准平面反射镜安装在目标定日镜上,随定日镜镜面转动而同步转动。标准平面反射镜的尺寸由图像采集阵列分辨率确定,标准平面反射镜反射面与定日镜反射面同向(同时朝向太阳)且相对位置固定。图像采集阵列中镜头朝向接收板的接收面,图像采集器数量依据接收板尺寸确定,用于识别太阳光斑在接收板上的实际位置,使得图像采集阵列组成的视场能够覆盖接收板区域。本发明上述以接收板、图像采集阵列和标准平面反射镜为光斑感应器的太阳光斑实际位置识别包括如下步骤:The light spot sensor in the reflective optical path closed-loop control system may be composed of a receiving board, an image acquisition array composed of at least one image acquisition device, and a standard plane mirror. The image collector is composed of an imaging optical path and an image sensor. The receiving surface of the receiving plate is a diffuse reflection surface, and the receiving surface faces the reflecting surface of the standard plane reflector, and is used for receiving sunlight reflected by the reflecting surface of the standard plane reflector. The size of the receiving plate covers the reflection range of a standard flat mirror. The standard plane mirror is installed on the target heliostat and rotates synchronously with the rotation of the mirror surface of the heliostat. The size of the standard flat mirror is determined by the resolution of the image acquisition array, and the reflective surface of the standard flat mirror and the reflective surface of the heliostat are in the same direction (facing the sun at the same time) and have a fixed relative position. The lens in the image acquisition array faces the receiving surface of the receiving plate, and the number of image collectors is determined according to the size of the receiving plate, which is used to identify the actual position of the sun spot on the receiving plate, so that the field of view composed of the image acquisition array can cover the receiving plate area. The above-mentioned recognition of the actual position of the sun spot using the receiving plate, the image acquisition array and the standard plane reflector as the spot sensor of the present invention includes the following steps:
(1)接收板接收标准平面反射镜反射面反射的太阳光斑;(1) The receiving plate receives the sunlight spot reflected by the reflective surface of the standard plane mirror;
(2)通过图像采集器阵列采集接收板图像,通过二值化方法识别ti时刻太阳光斑区域;(2) Collect the image of the receiving plate through the image collector array, and identify the sun spot area at time ti by the binarization method;
(3)以接收板中心为原点,基于二值化图像中的太阳光斑区域计算该时刻太阳光斑几何中心,或者基于灰度图像或彩色图像中太阳光斑区域计算该时刻太阳光斑能量分布质心,则太阳光斑实际位置(几何中心或能量分布质心)在接收板上的实际坐标[By
ti,Bx
ti]
n,其中By表示ti时刻太阳光斑实际位置的接收板u轴方向数值,Bx表示ti时刻太阳光斑实际位置的接收板v轴方向数值。
(3) Taking the center of the receiving plate as the origin, calculate the geometric center of the sun spot at this moment based on the sun spot area in the binarized image, or calculate the centroid of the energy distribution of the sun spot at this moment based on the sun spot area in the grayscale image or color image, then The actual coordinates of the actual position of the sun spot (geometric center or energy distribution centroid) on the receiving plate [By ti , Bx ti ] n , where By represents the u-axis value of the receiving plate at the actual position of the sun spot at time ti, and Bx represents the sun at time ti The value of the receiving plate v-axis direction of the actual position of the light spot.
本发明中,所述直射式光路闭环控制系统中光斑感应器是由至少一台图像采集器组成的图像采集阵列构成。图像采集器由成像光路(透镜或小孔等)、光强衰减装置和图像传感器组成。图像采集阵列组成的视场覆盖太阳相对目标定日镜的移动范围。图像采集器的镜头指向与定日镜反射面同向(同时朝向太阳),直接采集太阳图像,用于识别太阳像实际位置在图像采集阵列视场中的相对位置。In the present invention, the light spot sensor in the direct-type optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device. The image collector consists of an imaging optical path (lens or small hole, etc.), a light intensity attenuation device and an image sensor. The field of view formed by the image acquisition array covers the moving range of the sun relative to the target heliostat. The lens of the image collector is pointed in the same direction as the reflective surface of the heliostat (at the same time facing the sun), and the sun image is directly collected, which is used to identify the relative position of the actual position of the sun image in the field of view of the image collection array.
上述以图像采集阵列为光斑感应器的太阳像实际位置识别包括如下步骤:The above-mentioned recognition of the actual position of the sun image using the image acquisition array as the spot sensor includes the following steps:
(1)图像采集阵列采集太阳的图像;(1) The image acquisition array collects images of the sun;
(2)通过二值化方法获得ti时刻每台图像采集器中太阳像的区域;(2) Obtain the area of the sun image in each image collector at time ti by the binarization method;
(3)基于二值化图像中太阳像区域计算该时刻太阳像几何中心,或者基于灰度图像或彩色图像中太阳像区域计算该时刻太阳像能量分布质心,则太阳像实际位 置(几何中心或能量分布质心)的图像坐标表述为
其中m表示图像采集器编号,h表示ti时刻太阳像实际位置的u轴方向像素数,l表示ti时刻太阳像实际位置的v轴方向像素数,n表示定日镜编号。
(3) Calculate the geometric center of the sun image at this moment based on the sun image area in the binarized image, or calculate the centroid of the energy distribution of the sun image at this moment based on the sun image area in the grayscale or color image, then the actual position of the sun image (geometric center or The image coordinates of the energy distribution centroid) are expressed as Among them, m represents the number of the image collector, h represents the number of pixels in the u-axis direction of the actual position of the sun image at time ti, l represents the number of pixels in the v-axis direction of the actual position of the sun image at time ti, and n represents the number of heliostats.
本发明的有益效果:Beneficial effects of the present invention:
(1)本发明是光路闭环控制系统,根据任意时刻太阳光斑或太阳像的实际位置与期望位置间的偏差对定日镜姿态进行动态修正,不需要定日镜运动模型,也不需要基于运动模型计算的运营表。(1) The present invention is an optical circuit closed-loop control system, which dynamically corrects the posture of the heliostat according to the deviation between the actual position and the desired position of the sun spot or sun image at any time, without the need for a motion model of the heliostat, nor based on motion Operational table for model calculations.
(2)本发明利用光路反射原理通过控制入射光指向或反射光指向实现定日镜的光路闭环控制,由于不依赖定日镜运动模型,所以不需要很长的调试时间校正定日镜的运动模型,定日镜安装完成后即可进行常规的集热发电工作,能够有效提高塔式太阳能光热发电站的开通效率。(2) The present invention utilizes the principle of light path reflection to realize the closed-loop control of the light path of the heliostat by controlling the direction of the incident light or the direction of the reflected light. Since it does not depend on the motion model of the heliostat, it does not require a long debugging time to correct the motion of the heliostat. After the installation of the heliostat is completed, the conventional heat collection and power generation work can be carried out, which can effectively improve the opening efficiency of the tower solar thermal power station.
(3)本发明能够实现定日镜的光路闭环控制,基于光斑感应器识别太阳光斑或太阳像的实际位置,再与期望位置计算中心位置偏差,以此为反馈实现定日镜姿态的动态修正,能够有效保证定日镜的集热发电效率。(3) The present invention can realize the closed-loop control of the light path of the heliostat, identify the actual position of the sun spot or the sun image based on the spot sensor, and then calculate the center position deviation from the desired position, and use this as feedback to realize the dynamic correction of the heliostat attitude. , which can effectively ensure the heat collection and power generation efficiency of the heliostat.
(4)本发明不是基于定日镜运动模型计算运营表驱动定日镜转动,不需要较高的机械传动机构性能指标保证定日镜开环控制精度。由于能够根据太阳光斑实际位置或太阳像实际位置实时修正定日镜姿态,所以不需要对传动机构的重复性精度要求、转动一致性要求等性能指标提出较高要求,从而有效降低定日镜机械传动机构制造成本。(4) The present invention does not drive the heliostat to rotate based on the calculation of the operation table of the heliostat movement model, and does not require a higher performance index of the mechanical transmission mechanism to ensure the open-loop control accuracy of the heliostat. Since the attitude of the heliostat can be corrected in real time according to the actual position of the sun spot or the actual position of the sun image, there is no need to put forward higher requirements on the performance indicators such as repeatability accuracy requirements and rotational consistency requirements of the transmission mechanism, thereby effectively reducing the mechanical properties of heliostats. Transmission manufacturing cost.
(5)本发明通过对定日镜实施光路闭环控制,能够修正由风振动、重力等导致的定日镜镜面变形,有效提高定日镜对环境的适应性。(5) The present invention can correct the deformation of the heliostat mirror surface caused by wind vibration, gravity, etc. by implementing the optical path closed-loop control on the heliostat, thereby effectively improving the adaptability of the heliostat to the environment.
图1是本发明反射式定日镜光路闭环控制系统示意图;1 is a schematic diagram of a reflective heliostat optical path closed-loop control system of the present invention;
图2是本发明直射式定日镜光路闭环控制系统示意图;Fig. 2 is the schematic diagram of the closed-loop control system of the direct-illuminated heliostat optical path of the present invention;
图3是太阳光斑或太阳像偏中心偏差示意图;Figure 3 is a schematic diagram of the deviation of the sun spot or the sun image from the center;
图4是本发明实施例定日镜转动方式一示意图;4 is a schematic diagram of a rotation mode of the heliostat according to an embodiment of the present invention;
图5是基于定日镜转动方式一的转动偏差数值分解示意图;Fig. 5 is the rotational deviation numerical decomposition schematic diagram based on heliostat rotation mode 1;
图6是本发明实施例定日镜转动方式二示意图;FIG. 6 is a schematic diagram of a second rotation mode of the heliostat according to the embodiment of the present invention;
图7是基于定日镜转动方式二的转动偏差数值分解示意图;Fig. 7 is the rotational deviation numerical decomposition schematic diagram based on heliostat rotation mode 2;
图8是基于图像采集阵列的反射式光斑感应器示意图;8 is a schematic diagram of a reflective light spot sensor based on an image acquisition array;
图9是基于图像采集阵列的反射式光斑感应器太阳光斑实际位置示意图;9 is a schematic diagram of the actual position of the sun spot of a reflective spot sensor based on an image acquisition array;
图10是基于光电传感器的反射式光斑感应器示意图;10 is a schematic diagram of a reflective light spot sensor based on a photoelectric sensor;
图11是基于光电传感器和标准镜的反射式光斑感应器示意图;Figure 11 is a schematic diagram of a reflective spot sensor based on a photoelectric sensor and a standard mirror;
图12是基于光电传感器的太阳光斑实际位置示意图;Figure 12 is a schematic diagram of the actual position of the sun spot based on the photoelectric sensor;
图13是基于接收板的反射式光斑感应器示意图;13 is a schematic diagram of a reflective light spot sensor based on a receiving plate;
图14是基于接收板的太阳光斑实际位置示意图;Figure 14 is a schematic diagram of the actual position of the sun spot based on the receiving plate;
图15是基于图像采集阵列的直射式光斑感应器示意图;FIG. 15 is a schematic diagram of a direct light spot sensor based on an image acquisition array;
图16是基于图像采集阵列的直射式光斑感应器太阳像实际位置示意图。FIG. 16 is a schematic diagram of the actual position of the solar image of the direct light spot sensor based on the image acquisition array.
以下结合附图对本发明作进一步说明。The present invention will be further described below with reference to the accompanying drawings.
图中:1-光斑感应器,2-定日镜转动控制器,3-计算单元计算单元,4-接收面,5-定日镜反射面,6-目标区域,7-实际反射光指向,8-期望反射光指向,9-实际入射光指向,10-期望入射光指向,11-图像采集器,12-光电传感器,13-光阑,14-标准平面反射镜,15-接收板,16-图像采集阵列。In the figure: 1-spot sensor, 2-heliostat rotation controller, 3-calculation unit calculation unit, 4-receiving surface, 5-heliostat reflective surface, 6-target area, 7-actual reflected light direction, 8- Desired reflected light direction, 9- Actual incident light direction, 10- Desired incident light direction, 11- Image collector, 12- Photoelectric sensor, 13- Diaphragm, 14- Standard plane mirror, 15- Receiver plate, 16 - Image acquisition array.
本发明一种定日镜光路闭环控制系统包括:光斑感应器1、定日镜转动控制器2和计算单元计算单元3。光斑感应器1固定在定日镜反射面5上,随目标定日镜反射面5转动而同步转动。定日镜光路闭环控制系统按照光斑感应器1的工作方式不同分为反射式和直射式,反射式的原理是通过感知太阳光斑的实际位置得到目标定日镜该时刻的反射光指向信息,直射式的原理是通过感知太阳像的实际位置得到目标定日镜该时刻的入射光指向信息。计算单元计算单元3用于计算目标定日镜太阳光斑或太阳像的实际位置、计算目标定日镜太阳光斑或太阳像的期望位置、计算太阳光斑实际位置与期望位置的偏差或者计算太阳像实际位置与期望位置的偏差、将太阳光斑或者太阳像位置偏差转换成定日镜转动修正数值。定日镜转动控制器2固定在目标定日镜上,其功能是控制定日镜的转动。计算单元计算单元3与定日镜转动控制器2间通过有线或者无线的形式进行数据交换,定日镜转动控制器2与光斑感应器1间通过有线或者无线的形式进行数据交换。A heliostat optical path closed-loop control system of the present invention includes: a light spot sensor 1 , a heliostat rotation controller 2 and a calculation unit calculation unit 3 . The spot sensor 1 is fixed on the heliostat reflective surface 5 and rotates synchronously with the rotation of the target heliostat reflective surface 5 . The closed-loop control system of the heliostat light path is divided into reflective type and direct irradiation type according to the working mode of the spot sensor 1. The principle of the reflective type is to obtain the reflected light pointing information of the target heliostat at this moment by sensing the actual position of the sun spot, and the direct irradiation The principle of the formula is to obtain the incident light pointing information of the target heliostat at this moment by sensing the actual position of the sun image. Calculation unit The calculation unit 3 is used to calculate the actual position of the target heliostat sun spot or sun image, calculate the desired position of the target heliostat sun spot or sun image, calculate the deviation between the actual position of the sun spot and the desired position, or calculate the actual position of the sun image. The deviation of the position from the expected position, and the position deviation of the sun spot or the sun image is converted into a correction value for the rotation of the heliostat. The heliostat rotation controller 2 is fixed on the target heliostat, and its function is to control the rotation of the heliostat. Computing Unit The computing unit 3 and the heliostat rotation controller 2 perform data exchange in a wired or wireless form, and the heliostat rotation controller 2 and the light spot sensor 1 perform data exchange in a wired or wireless manner.
实施例1Example 1
如图1所示,本发明一种反射式定日镜光路闭环控制系统,其中光斑感应器1的接收面4朝向目标定日镜反射面5反射面,用于接收经过定日镜反射面5反射的 太阳光斑。太阳光经过反射后照射至目标区域6,其中一部分被光斑感应器1的接收面4接收形成太阳光斑,太阳光斑实际位置表征目标定日镜的实际反射光指向7。反射式光路闭环控制系统通过光斑感应器1感知目标定日镜的实际反射光指向7,根据其与期望反射光指向8的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制。As shown in FIG. 1 , a reflective heliostat optical path closed-loop control system of the present invention, wherein the receiving surface 4 of the spot sensor 1 faces the reflective surface of the target heliostat reflective surface 5 , and is used to receive the reflective surface 5 of the heliostat. Reflected sun spots. The sunlight is reflected and irradiated to the target area 6 , a part of which is received by the receiving surface 4 of the spot sensor 1 to form a sunlight spot, and the actual position of the sunlight spot represents the actual reflected light direction 7 of the target heliostat. The reflective optical path closed-loop control system senses the actual reflected light direction 7 of the target heliostat through the spot sensor 1, and according to the deviation from the expected reflected light direction 8, the heliostat posture is corrected in real time to realize the real-time optical path of the heliostat. Closed-loop control.
实施例2Example 2
如图2所示,本发明一种直射式定日镜光路闭环控制系统,其中光斑感应器1的接收面4与目标定日镜反射面5反射面同向(同时朝向太阳)。太阳光的一部分被光斑感应器1的接收面4接收形成太阳像,其余的太阳光经过定日镜反射面5反射至目标区域6,太阳像实际位置表征目标定日镜的实际入射光指向9。直射式光路闭环控制系统通过光斑感应器1感知目标定日镜的实际入射光指向9,根据其与期望入射光指向10的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制。As shown in FIG. 2 , a direct-type heliostat optical path closed-loop control system of the present invention, wherein the receiving surface 4 of the spot sensor 1 and the reflecting surface of the target heliostat reflecting surface 5 are in the same direction (facing the sun at the same time). Part of the sunlight is received by the receiving surface 4 of the spot sensor 1 to form a sun image, and the rest of the sunlight is reflected to the target area 6 through the heliostat reflective surface 5. The actual position of the sun image represents the actual incident light direction of the target heliostat 9 . The direct-type optical path closed-loop control system senses the actual incident light direction 9 of the target heliostat through the spot sensor 1, and according to the deviation from the expected incident light direction 10, the heliostat posture is corrected in real time to realize the real-time optical path of the heliostat. Closed-loop control.
实施例3Example 3
本发明定日镜光路闭环控制系统的控制方法如下:The control method of the heliostat optical path closed-loop control system of the present invention is as follows:
(1)如图3所示,ti时刻光斑感应器1采集太阳光斑或太阳像分布信息,并由计算单元3基于太阳光斑或太阳像分布信息计算太阳光斑或太阳像的实际位置[u
ti,v
ti]
n,其中ti表示单个工作日内的第i个时间点,n表示定日镜编号,u
ti表示ti时刻太阳光斑或太阳像实际位置的u轴方向实际坐标,v
ti表示ti时刻太阳光斑或太阳像实际位置的v轴方向实际坐标;
(1) As shown in FIG. 3 , the spot sensor 1 collects the sun spot or the sun image distribution information at time ti, and the calculation unit 3 calculates the actual position of the sun spot or the sun image based on the sun spot or the sun image distribution information [u ti , v ti ] n , where ti represents the ith time point in a single working day, n represents the number of heliostats, u ti represents the actual coordinates of the u-axis direction of the actual position of the sun spot or sun image at time ti , and v ti represents time ti The actual coordinates of the v-axis direction of the actual position of the sun spot or sun image;
(2)计算单元计算单元3计算ti时刻目标定日镜太阳光斑或太阳像的期望位置信息[Tu
ti,Tv
ti],Tu
ti表示ti时刻太阳光斑或太阳像的u轴方向期望坐标,Tv
ti表示ti时刻太阳光斑或太阳像的v轴方向期望坐标;
(2) Calculation unit The calculation unit 3 calculates the desired position information [Tu ti , Tv ti ] of the sun spot or sun image of the target heliostat at time ti, where Tu ti represents the desired coordinate in the u-axis direction of the sun spot or sun image at time ti, Tv ti represents the desired coordinates of the sun spot or sun image in the v-axis direction at time ti;
(3)计算单元3计算目标定日镜的太阳光斑或太阳像位置偏差[Δu
ti,Δv
ti]
n=[Tu
ti-u
ti,Tv
ti-v
ti]
n,Δu
ti表示ti时刻太阳光斑或太阳像u轴方向期望坐标与实际坐标的相对偏差,Δv
ti表示ti时刻太阳光斑或太阳像v轴方向期望坐标与实际坐标的相对偏差;
(3) The calculation unit 3 calculates the sun spot or sun image position deviation of the target heliostat [Δu ti ,Δv ti ] n =[Tu ti -u ti ,Tv ti -v ti ] n , where Δu ti represents the sun spot at time ti Or the relative deviation between the expected coordinates and the actual coordinates in the u-axis direction of the sun image, Δv ti represents the relative deviation between the expected coordinates and the actual coordinates of the sun spot or the v-axis direction of the sun image at time ti;
(4)定日镜绕至少两个轴转动以实现将太阳光反射至目标区域6的功能,计算单元3依据定日镜的转动方式将ti时刻目标定日镜太阳光斑或太阳像位置偏差 [Δu
ti,Δv
ti]
n转换成定日镜的转动偏差数值。
(4) The heliostat rotates around at least two axes to realize the function of reflecting sunlight to the target area 6, and the calculation unit 3 calculates the position deviation of the target heliostat sun spot or sun image at time ti according to the rotation mode of the heliostat [ Δu ti ,Δv ti ] n is converted into the rotational deviation value of the heliostat.
如图4所示,本发明一种定日镜转动方式一,定日镜反射面5绕两根相互正交的转轴X轴、Y轴转动,其中Y轴位置保持不变,X轴随定日镜反射面5绕Y轴转动。如图5所示,转动偏差数值:As shown in FIG. 4 , a first rotation method of the heliostat according to the present invention, the heliostat reflective surface 5 rotates around two mutually orthogonal rotation axes X-axis and Y-axis, wherein the position of the Y-axis remains unchanged, and the X-axis changes with the fixed axis. The heliostat reflecting surface 5 rotates around the Y axis. As shown in Figure 5, the rotational deviation value:
式中:u
1/2表示接收面中心u轴方向坐标,v
1/2表示接收面中心v轴方向坐标,d表示接收面至定日镜反射面5的距离,
表示X轴转角偏差,
表示Y轴转角偏差。
In the formula: u 1/2 represents the u-axis coordinate of the center of the receiving surface, v 1/2 represents the v-axis coordinate of the receiving surface center, d represents the distance from the receiving surface to the heliostat reflective surface 5, Indicates the X-axis angle deviation, Indicates the Y-axis angle deviation.
如图6所示,本发明一种定日镜转动方式二,定日镜反射面5绕两根相互正交的转轴Y轴、Z轴转动,其中Z轴位置保持不变,Y轴随定日镜反射面5绕Z轴转。如图7所示,转动偏差数值:As shown in FIG. 6 , a second rotation mode of the heliostat according to the present invention, the heliostat reflective surface 5 rotates around two mutually orthogonal rotation axes Y-axis and Z-axis, wherein the position of the Z-axis remains unchanged, and the Y-axis changes with the fixed axis. The heliostat reflecting surface 5 rotates around the Z axis. As shown in Figure 7, the rotational deviation value:
(5)定日镜转动控制器2依据转动偏差数值实时修正ti时刻目标定日镜姿态,使得太阳光斑或太阳像的实际位置[u
ti,v
ti]
n不断逼近或重合于期望位置[Tu
ti,Tv
ti];
(5) The heliostat rotation controller 2 corrects the posture of the target heliostat at time ti in real time according to the rotation deviation value, so that the actual position [u ti , v ti ] n of the sun spot or the sun image continuously approaches or coincides with the desired position [Tu ti , v ti ] n ti , Tv ti ];
(6)在单个工作日内,重复步骤(1)-(5),计算单元3以太阳光斑或太阳像的实际位置与期望位置偏差为反馈,持续地实时修正目标定日镜姿态,使得任意时刻太阳光斑或太阳像的实际位置在期望位置附近波动,实现定日镜光路闭环控制,保证定日镜的反射光能够正确地照射至目标区域6。(6) In a single working day, repeat steps (1)-(5), the calculation unit 3 uses the deviation between the actual position of the sun spot or the sun image and the expected position as feedback, and continuously corrects the posture of the target heliostat in real time, so that any The actual position of the sun spot or the sun image fluctuates near the desired position at any time, so as to realize the closed-loop control of the light path of the heliostat, and to ensure that the reflected light of the heliostat can be correctly irradiated to the target area 6 .
本发明定日镜闭环控制系统中计算单元计算单元3计算目标定日镜太阳光斑或太阳像期望位置的步骤如下:In the heliostat closed-loop control system of the present invention, the calculation unit calculation unit 3 calculates the desired position of the target heliostat sun spot or sun image as follows:
(1)计算单元计算单元3根据ti时刻目标定日镜中心坐标
和目标指向点[tx
n,ty
n,tz
n]计算该时刻归一化反射矢量:
(1) Calculation unit The calculation unit 3 is based on the center coordinates of the target heliostat at time ti Calculate the normalized reflection vector at this moment with the target pointing point [tx n ,ty n ,tz n ]:
其中||表示取模运算,
表示ti时刻目标定日镜中心坐标X轴方向数值,
表示ti时刻目标定日镜中心坐标Y轴方向数值,
表示ti时刻目标定日镜中心坐标Z轴方向数值,tx
n表示ti时刻目标指向点坐标X轴方向数值,ty
n表示ti时刻目标指向点坐标Y轴方向数值,tz
n表示ti时刻目标指向点坐标Z轴方向数值,
表示ti时刻归一化反射矢量X轴方向分量,
表示ti时刻归一化反射矢量Y轴方向分量,
表示ti时刻归一化反射矢量Z轴方向分量;
where || represents the modulo operation, Represents the value of the X-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Y-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Z-axis direction of the center coordinate of the target heliostat at time ti, tx n represents the value of the X-axis direction of the coordinate of the target pointing point at time ti, ty n represents the value of the Y-axis direction of the coordinate of the target pointing point at time ti , and tz n represents the value of the target pointing point at time ti The value of the coordinate Z-axis direction, represents the X-axis direction component of the normalized reflection vector at time ti, represents the Y-axis direction component of the normalized reflection vector at time ti, Represents the Z-axis direction component of the normalized reflection vector at time ti;
(2)计算单元计算单元3计算ti时刻归一化太阳光入射矢量
表示ti时刻归一化太阳光入射矢量X轴方向分量,
表示ti时刻归一化太阳光入射矢量Y轴方向分量,
表示ti时刻归一化太阳光入射矢量Z轴方向分量;
(2) Calculation unit The calculation unit 3 calculates the normalized sunlight incident vector at time ti Represents the X-axis direction component of the normalized sunlight incident vector at time ti, Represents the Y-axis direction component of the normalized sunlight incident vector at time ti, Represents the Z-axis direction component of the normalized sunlight incident vector at time ti;
(3)计算单元计算单元3计算该时刻定日镜反射面5归一化法线矢量:(3) calculation unit The calculation unit 3 calculates the normalized normal vector of the heliostat reflecting surface 5 at this moment:
式中:
表示ti时刻定日镜反射面5归一化法线矢量X轴方向分量,
表示ti时刻定日镜反射面5归一化法线矢量Y轴方向分量,
表示ti时刻定日镜反射面5归一化法线矢量Z轴方向分量;
where: represents the X-axis direction component of the normalized normal vector of the heliostat reflecting surface 5 at time ti, represents the Y-axis direction component of the normalized normal vector of the heliostat reflecting surface 5 at time ti, Represents the Z-axis direction component of the normalized normal vector of the heliostat reflecting surface 5 at time ti;
(4)光斑感应器接收面4法线矢量与定日镜反射面5法线矢量间的夹角δ=[δ
n δ
u δ
v],式中δ
n表示绕定日镜反射面5法线矢量的偏差角,δ
u表示绕u轴的偏差角,δ
v表示绕v轴的偏差角;反射式定日镜闭环控制系统中δ取值范围为90°≤δ<180°,直射式定日镜闭环控制系统中δ取值范围为0°≤δ<90°;计算单元计算单元3基于光斑感应器1接收面4法线矢量与定日镜反射面5法线矢量间的夹角δ计算接收面4法线矢量:
(4) The angle δ=[δ n δ u δ v ] between the normal vector of the receiving surface 4 of the spot sensor and the normal vector of the heliostat reflective surface 5, where δ n represents the method around the heliostat reflective surface 5 The deviation angle of the line vector, δ u represents the deviation angle around the u axis, δ v represents the deviation angle around the v axis; the value range of δ in the closed-loop control system of the reflection heliostat is 90°≤δ<180°, the direct type The value range of δ in the heliostat closed-loop control system is 0°≤δ<90°; calculation unit Calculation unit 3 is based on the angle between the normal vector of the receiving surface 4 of the spot sensor 1 and the normal vector of the reflective surface 5 of the heliostat δ calculates the normal vector of the receiving surface 4:
式中:n表示定日镜编号,Rot
u()表示绕u轴的旋转矩阵,Rot
v()表示绕v轴的旋转矩阵,Rot
n()表示定日镜反射面法线矢量绕的旋转矩阵,
表示ti时刻光斑感应器接收面归一化法线矢量X轴方向分量,
表示ti时刻光斑感应器接收面归一化法线矢量Y轴方向分量,
表示ti时刻光斑感应器接收面归一化法线矢量Z轴方向分量;
In the formula: n represents the number of the heliostat, Rot u () represents the rotation matrix around the u-axis, Rot v () represents the rotation matrix around the v-axis, and Rot n () represents the rotation around the normal vector of the heliostat reflecting surface matrix, Represents the X-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Y-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Z-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti;
(5)反射式定日镜闭环控制系统中,计算单元计算单元3根据ti时刻接收面4中心坐标
和接收面4法线矢量
建立接收面4的三维方程,再根据ti时刻太阳光反射矢量
和定日镜中心坐标
建立基于定日镜反射面5的三维直线方程组,求解反射光指向与接收面4的交点坐标
其中k表示第K个交点;最后将交点坐标转换至接收面4坐标系获得太阳光斑的期望坐标[Tu
ti,Tv
ti]。
(5) In the closed-loop control system of the reflective heliostat, the calculation unit The calculation unit 3 receives the center coordinates of the surface 4 according to the time ti and the receiving surface 4 normal vector Establish the three-dimensional equation of the receiving surface 4, and then according to the sunlight reflection vector at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the heliostat reflective surface 5, and solve the coordinates of the intersection point between the reflected light and the receiving surface 4 where k represents the Kth intersection; finally, the coordinates of the intersection are converted to the coordinate system of the receiving surface 4 to obtain the desired coordinates of the sun spot [Tu ti , Tv ti ].
其中
分别表示ti时刻编号为n的定日镜接收面4中心坐标x轴、y轴和z轴方向数值;
分别表示ti时刻编号为n的定日镜接收面4法线矢量x轴、y轴和z轴方向分量;
分别表示ti时刻编号为n的定日镜反射光指向与接收面4的交点坐标x轴、y轴和z轴方向数值。
in Respectively represent the values of the x-axis, y-axis and z-axis directions of the center coordinates of the heliostat receiving surface 4 with the number n at time ti; Respectively represent the x-axis, y-axis and z-axis direction components of the normal vector of the heliostat receiving surface numbered n at time ti; Respectively represent the values in the x-axis, y-axis and z-axis directions of the intersection coordinates of the heliostat reflected light at time ti numbered n and the receiving surface 4 .
直射式定日镜闭环控制系统中,计算单元计算单元3根据ti时刻接收面4中心坐标
和接收面4法线矢量
建立接收面4的三维方程,再根据ti时刻太阳光入射矢量
和定日镜中心坐标
建立基于定日镜反射面5的三维直线方程组,求解入射光指向与接收面4的交点坐标
其中k表示第K个交点,最后将交点坐标转换至接收面4坐标系获得太阳像的期望坐标[Tu
ti,Tv
ti]。
In the closed-loop control system of the direct-illuminated heliostat, the calculation unit 3 receives the center coordinates of the surface 4 according to the time ti and the receiving surface 4 normal vector The three-dimensional equation of the receiving surface 4 is established, and then according to the incident vector of sunlight at time ti and heliostat center coordinates Establish a three-dimensional linear equation system based on the heliostat reflecting surface 5, and solve the coordinates of the intersection point between the incident light direction and the receiving surface 4 Where k represents the K-th intersection, and finally the coordinates of the intersection are converted to the 4 coordinate system of the receiving surface to obtain the desired coordinates [Tu ti , Tv ti ] of the sun image.
其中
分别表示ti时刻编号为n的定日镜入射光指向与接收面4 的交点坐标x轴、y轴和z轴方向数值。
in Respectively represent the values in the x-axis, y-axis and z-axis directions of the intersection coordinates of the heliostat incident light with the number n at time ti and the receiving surface 4 .
实施例4Example 4
如图8所示,所述反射式光路闭环控制系统中光斑感应器1是由至少一台图像采集器11组成的图像采集阵列构成,图像采集器11由成像光路(透镜或小孔等)、光强衰减装置和图像传感器组成。太阳光经过定日镜反射面5反射面反射至图像采集阵列的像面,形成太阳光斑。图像采集器11的镜头朝向定日镜反射面5反射面,图像采集器11的数量依据定日镜反射面5的尺寸确定,使得图像采集阵列组成的视场能够覆盖定日镜反射面5区域。As shown in FIG. 8 , the spot sensor 1 in the reflective optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device 11 . It consists of a light intensity attenuation device and an image sensor. The sunlight is reflected by the reflecting surface of the heliostat reflecting surface 5 to the image surface of the image acquisition array to form a sun spot. The lens of the image collector 11 faces the reflective surface of the heliostat reflective surface 5 , and the number of image collectors 11 is determined according to the size of the heliostat reflective surface 5 , so that the field of view formed by the image acquisition array can cover the area of the heliostat reflective surface 5 .
以图像采集阵列为光斑感应器的太阳光斑实际位置识别包括如下步骤:The actual position recognition of the sun spot with the image acquisition array as the spot sensor includes the following steps:
(1)图像采集阵列采集定日镜反射面5的图像;(1) The image acquisition array acquires the image of the heliostat reflective surface 5;
(2)如图9所示,通过二值化方法获得ti时刻每台图像采集器11中太阳光斑的区域范围;(2) As shown in FIG. 9 , the area range of the sun spot in each image collector 11 at time ti is obtained by the binarization method;
(3)基于二值化图像中太阳光斑区域计算该时刻太阳光斑几何中心,或者基于灰度图像或彩色图像中太阳光斑区域计算该时刻太阳光斑能量分布质心,则太阳光斑实际位置(几何中心或能量分布质心)的图像坐标表述为
其中m表示图像采集器编号,n表示定日镜编号,h表示ti时刻太阳光斑实际位置的u轴方向像素数,l表示ti时刻太阳光斑实际位置的v轴方向像素数。
(3) Calculate the geometric center of the sun spot at this moment based on the sun spot area in the binarized image, or calculate the centroid of the energy distribution of the sun spot at this moment based on the sun spot area in the grayscale or color image, then the actual position of the sun spot (geometric center or The image coordinates of the energy distribution centroid) are expressed as Where m represents the number of the image collector, n represents the number of the heliostat, h represents the number of pixels in the u-axis direction of the actual position of the sun spot at time ti, and l represents the number of pixels in the v-axis direction of the actual position of the sun spot at time ti.
实施例5Example 5
如图10所示,所述反射式光路闭环控制系统中光斑感应器1可以是由光电传感器12组成的阵列和光阑13构成。所述光电传感器12包括光敏电阻、光电二极管、光开关等基于光电效应的非成像用传感器。所述光电传感器12的接收面朝向定日镜反射面5反射面,所述光电传感器12的数量依据定日镜反射面5的反射范围确定,使得光电传感器阵列组成的接收面能够覆盖定日镜反射面5区域反射的太阳光斑。太阳光经过定日镜反射面5反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布。所述光阑13用于限制照射至光斑感应器1的太阳光范围以便于形成太阳光斑。As shown in FIG. 10 , the light spot sensor 1 in the reflective optical circuit closed-loop control system may be composed of an array composed of photoelectric sensors 12 and a diaphragm 13 . The photoelectric sensor 12 includes non-imaging sensors based on photoelectric effect, such as photoresistor, photodiode, and optical switch. The receiving surface of the photoelectric sensor 12 faces the reflective surface of the heliostat reflective surface 5, and the number of the photoelectric sensors 12 is determined according to the reflection range of the heliostat reflective surface 5, so that the receiving surface composed of the photoelectric sensor array can cover the heliostat The sun spot reflected by the reflective surface 5 area. The sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the heliostat reflective surface 5, and the intensity distribution of the electrical signal on the receiving surface generated by the sun spot is obtained. The diaphragm 13 is used to limit the range of sunlight irradiated to the spot sensor 1 so as to form a sunlight spot.
实施例6Example 6
如图11所示,所述反射式光路闭环控制系统中光斑感应器1可以是由光电传感器12组成的阵列和标准平面反射镜14构成。所述光电传感器12包括光敏电阻、 光电二极管、光开关等基于光电效应的非成像用传感器。所述标准平面反射镜14安装在目标定日镜上随定日镜反射面5转动而同步转动,所述标准平面反射镜14的尺寸由光电传感器12尺寸及光电传感器12间距确定,标准平面反射镜14反射面与定日镜反射面5反射面同向(同时朝向太阳)。所述光电传感器12的接收面朝向标准平面反射镜14的反射面,光电传感器12的数量依据标准平面反射镜14的反射范围确定,使得所述光电传感器阵列组成的接收面能够覆盖标准平面反射镜14反射的太阳光斑。太阳光经过标准平面反射镜14反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布。As shown in FIG. 11 , the light spot sensor 1 in the reflective optical circuit closed-loop control system may be composed of an array composed of photoelectric sensors 12 and a standard plane mirror 14 . The photoelectric sensor 12 includes non-imaging sensors based on photoelectric effect, such as photoresistor, photodiode, and optical switch. The standard plane mirror 14 is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface 5. The size of the standard plane mirror 14 is determined by the size of the photoelectric sensor 12 and the distance between the photoelectric sensors 12. The standard plane reflects The reflecting surface of the mirror 14 is in the same direction as the reflecting surface of the heliostat reflecting surface 5 (at the same time facing the sun). The receiving surface of the photoelectric sensor 12 faces the reflective surface of the standard flat mirror 14, and the number of the photoelectric sensors 12 is determined according to the reflection range of the standard flat mirror 14, so that the receiving surface composed of the photoelectric sensor array can cover the standard flat mirror 14 reflected sun spots. The sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the standard plane reflector 14 to obtain the electrical signal intensity distribution on the receiving surface generated by the sun spot.
实施例5和6中以光电传感器阵列为光斑感应器的太阳光斑实际位置识别包括如下步骤:In Embodiments 5 and 6, the actual position recognition of the sun spot with the photoelectric sensor array as the spot sensor includes the following steps:
(1)光电传感器阵列获取接收面的电信号强度分布;(1) The photoelectric sensor array obtains the electrical signal intensity distribution of the receiving surface;
(2)如图12所示,根据电信号强度分布,基于预设阈值获得ti时刻太阳光斑在光电传感器阵列接收面上照射的光电传感器12范围,即被点亮的光电传感器12范围;(2) As shown in FIG. 12 , according to the electrical signal intensity distribution, the range of the photoelectric sensor 12 irradiated by the sun spot on the receiving surface of the photoelectric sensor array at time ti is obtained based on a preset threshold, that is, the range of the photoelectric sensor 12 that is lit;
(3)基于被点亮的光电传感器12范围计算几何中心,或者基于被点亮的光电传感器12范围内电信号强度分布计算能量分布质心,则太阳光斑实际位置(几何中心或能量分布质心)坐标表述为[Ou
ti,Ov
ti]
n,其中n表示定日镜编号,Ou表示ti时刻太阳光斑实际位置的光电传感器阵列u轴方向数值,Ov表示ti时刻太阳光斑实际位置的光电传感器阵列v轴方向数值。
(3) Calculate the geometric center based on the range of the illuminated photoelectric sensor 12, or calculate the energy distribution centroid based on the electrical signal intensity distribution within the illuminated photoelectric sensor 12, then the actual position of the sun spot (geometric center or energy distribution centroid) coordinates Expressed as [Ou ti ,Ov ti ] n , where n represents the heliostat number, Ou represents the u-axis value of the photoelectric sensor array at the actual position of the sun spot at time ti, and Ov represents the v-axis of the photoelectric sensor array at the actual position of the sun spot at time ti direction value.
实施例7Example 7
如图13所示,反射式光路闭环控制系统中光斑感应器1可以是由接收板15、至少一台图像采集器组成的图像采集阵列16和标准平面反射镜14构成。接收板15的接收面为漫反射面,接收面朝向标准平面反射镜14反射面,用于接收经过标准平面反射镜14反射面反射的太阳光。接收板15的尺寸覆盖标准平面反射镜14的反射范围。标准平面反射镜14安装在目标定日镜上,随定日镜反射面5转动而同步转动。标准平面反射镜14的尺寸由图像采集阵列16分辨率确定,标准平面反射镜14反射面与定日镜反射面5反射面同向(同时朝向太阳)。图像采集阵列16中镜头朝向接收板15的接收面,图像采集器数量依据接收板15尺寸确定,用于识别太阳光斑在接收板15上的实际位置,使得图像采集阵列16组成的 视场能够覆盖接收板15区域。As shown in FIG. 13 , the spot sensor 1 in the reflective optical path closed-loop control system may be composed of a receiving plate 15 , an image acquisition array 16 composed of at least one image acquisition device, and a standard plane mirror 14 . The receiving surface of the receiving plate 15 is a diffuse reflection surface, and the receiving surface faces the reflecting surface of the standard plane reflector 14 for receiving sunlight reflected by the reflecting surface of the standard plane reflector 14 . The size of the receiving plate 15 covers the reflection range of the standard flat mirror 14 . The standard plane mirror 14 is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface 5 . The size of the standard plane mirror 14 is determined by the resolution of the image acquisition array 16, and the reflection surface of the standard plane mirror 14 and the reflection surface of the heliostat reflection surface 5 are in the same direction (and face the sun at the same time). The lens in the image acquisition array 16 faces the receiving surface of the receiving plate 15, and the number of image collectors is determined according to the size of the receiving plate 15, and is used to identify the actual position of the sun spot on the receiving plate 15, so that the field of view formed by the image acquisition array 16 can cover Receiving plate 15 area.
上述以接收板15、图像采集阵列16和标准平面反射镜14为光斑感应器的太阳光斑实际位置识别包括如下步骤:The above-mentioned recognition of the actual position of the sun spot with the receiving plate 15, the image acquisition array 16 and the standard plane mirror 14 as the spot sensor includes the following steps:
(1)接收板15接收标准平面反射镜14反射面反射的太阳光斑;(1) The receiving plate 15 receives the sunlight spot reflected by the reflection surface of the standard plane mirror 14;
(2)通过图像采集器阵列16采集接收板图像,通过二值化方法识别ti时刻太阳光斑区域;(2) Collect the image of the receiving plate through the image collector array 16, and identify the sun spot area at time ti by the binarization method;
(3)如图14所示,以接收板15中心为原点,基于二值化图像中的太阳光斑区域计算该时刻太阳光斑几何中心,或者基于灰度图像或彩色图像中太阳光斑区域计算该时刻太阳光斑能量分布质心,则太阳光斑实际位置(几何中心或能量分布质心)在接收板15上的实际坐标[By
ti,Bx
ti]
n,其中By表示ti时刻太阳光斑实际位置的接收板u轴方向数值,Bx表示ti时刻太阳光斑实际位置的接收板v轴方向数值。
(3) As shown in FIG. 14 , take the center of the receiving plate 15 as the origin, calculate the geometric center of the sun spot at this moment based on the sun spot area in the binarized image, or calculate the moment based on the sun spot area in the grayscale image or the color image Sun spot energy distribution centroid, then the actual coordinates of the actual position (geometric center or energy distribution centroid) of the sun spot on the receiving plate 15 [By ti , Bx ti ] n , where By represents the receiving plate u-axis of the actual position of the sun spot at time ti The direction value, Bx represents the value of the receiving plate v-axis direction of the actual position of the sun spot at time ti.
实施例8Example 8
如图15所示,直射式光路闭环控制系统中光斑感应器1是由至少一台图像采集器11组成的图像采集阵列构成。图像采集器11由成像光路(透镜或小孔等)、光强衰减装置和图像传感器组成。图像采集阵列组成的视场覆盖太阳相对目标定日镜的移动范围。图像采集器11的镜头指向与定日镜反射面5反射面同向(同时朝向太阳),直接采集太阳图像,用于识别太阳像实际位置在图像采集阵列视场中的相对位置。As shown in FIG. 15 , the light spot sensor 1 in the direct-type optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device 11 . The image collector 11 is composed of an imaging optical path (lens or a small hole, etc.), a light intensity attenuation device and an image sensor. The field of view formed by the image acquisition array covers the moving range of the sun relative to the target heliostat. The lens of the image collector 11 points in the same direction as the reflection surface of the heliostat reflective surface 5 (at the same time facing the sun), and directly collects the sun image, which is used to identify the relative position of the actual position of the sun image in the field of view of the image acquisition array.
上述以图像采集阵列为光斑感应器1的太阳像实际位置识别包括如下步骤:The above-mentioned recognition of the actual position of the sun image using the image acquisition array as the spot sensor 1 includes the following steps:
(1)图像采集阵列采集太阳的图像;(1) The image acquisition array collects images of the sun;
(2)如图16所示,通过二值化方法获得ti时刻每台图像采集器11中太阳像的区域;(2) As shown in FIG. 16 , the area of the sun image in each image collector 11 at time ti is obtained by the binarization method;
(3)基于二值化图像中太阳像区域计算该时刻太阳像几何中心,或者基于灰度图像或彩色图像中太阳像区域计算该时刻太阳像能量分布质心,则太阳像实际位置(几何中心或能量分布质心)的图像坐标表述为
其中m表示图像采集器编号,h表示ti时刻太阳像实际位置的u轴方向像素数,l表示ti时刻太阳像实际位置的v轴方向像素数,n表示定日镜编号。
(3) Calculate the geometric center of the sun image at this moment based on the sun image area in the binarized image, or calculate the centroid of the energy distribution of the sun image at this moment based on the sun image area in the grayscale or color image, then the actual position of the sun image (geometric center or The image coordinates of the energy distribution centroid) are expressed as Among them, m represents the number of the image collector, h represents the number of pixels in the u-axis direction of the actual position of the sun image at time ti, l represents the number of pixels in the v-axis direction of the actual position of the sun image at time ti, and n represents the number of heliostats.
本发明针对塔式太阳能光热发电技术中定日镜控制精度要求高的特点,利用光路 反射原理通过控制入射光指向或反射光指向实现定日镜姿态的实时控制,有效解决了开环控制方式中不能基于光路反馈实时修正定日镜姿态的问题,实现了一种高精度、高效率的、实时的定日镜光路闭环控制系统。Aiming at the characteristics of high control precision of the heliostat in the tower type solar thermal power generation technology, the invention utilizes the principle of optical path reflection to realize the real-time control of the attitude of the heliostat by controlling the direction of the incident light or the direction of the reflected light, and effectively solves the open-loop control method. The problem that the attitude of the heliostat cannot be corrected in real time based on the optical path feedback, a high-precision, high-efficiency, real-time closed-loop control system of the heliostat optical path is realized.
Claims (10)
- 一种定日镜光路闭环控制系统,其特征在于,包括:光斑感应器、定日镜转动控制器和计算单元;所述光斑感应器固定在定日镜上,随目标定日镜反射面转动而同步转动;A heliostat optical path closed-loop control system is characterized by comprising: a light spot sensor, a heliostat rotation controller and a calculation unit; the light spot sensor is fixed on the heliostat and rotates with the reflective surface of the target heliostat and rotate synchronously;所述计算单元用于计算目标定日镜太阳光斑或太阳像的实际位置、计算目标定日镜太阳光斑或太阳像的期望位置、计算太阳光斑实际位置与期望位置的偏差或者计算太阳像实际位置与期望位置的偏差、将太阳光斑或者太阳像位置偏差转换成定日镜转动修正数值;The calculation unit is used to calculate the actual position of the target heliostat sun spot or sun image, calculate the desired position of the target heliostat sun spot or sun image, calculate the deviation between the actual position of the sun spot and the desired position, or calculate the actual position of the sun image. The deviation from the expected position, convert the position deviation of the sun spot or the sun image into the correction value of the heliostat rotation;所述定日镜转动控制器固定在目标定日镜上,其功能是控制定日镜的转动;The heliostat rotation controller is fixed on the target heliostat, and its function is to control the rotation of the heliostat;所述计算单元与所述定日镜转动控制器之间通过有线或者无线的形式进行数据交换,所述定日镜转动控制器与所述光斑感应器之间通过有线或者无线的形式进行数据交换;Data is exchanged between the computing unit and the heliostat rotation controller in a wired or wireless form, and data exchange is performed between the heliostat rotation controller and the light spot sensor in a wired or wireless form ;所述定日镜光路闭环控制系统按照光斑感应器工作方式不同分为反射式和直射式。The heliostat optical path closed-loop control system is classified into a reflective type and a direct type according to the different working modes of the spot sensor.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:反射式定日镜光路闭环控制系统中光斑感应器的接收面朝向目标定日镜反射面,用于接收经过定日镜反射面反射的太阳光线,接收面法线与目标定日镜反射面法线夹角δ取值范围为90°<δ≤180°;太阳光线经过反射后照射至目标区域,其中一部分被光斑感应器的接收面接收形成太阳光斑;太阳光斑实际位置可以通过太阳光斑的几何中心或能量分布质心描述,其表征目标定日镜的实际反射光指向;所述反射式定日镜光路闭环控制系统通过光斑感应器感知目标定日镜的实际反射光指向,根据其与期望反射光指向的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制;The heliostat optical path closed-loop control system according to claim 1, wherein the receiving surface of the spot sensor in the reflective heliostat optical path closed-loop control system faces the target heliostat reflective surface, and is used for receiving the heliostat passing through the heliostat. For the sunlight reflected by the reflecting surface, the angle δ between the normal of the receiving surface and the normal of the reflecting surface of the target heliostat is in the range of 90°<δ≤180°; the sunlight is reflected and irradiated to the target area, part of which is sensed by the light spot The receiving surface of the heliostat receives and forms a sun spot; the actual position of the sun spot can be described by the geometric center or energy distribution centroid of the sun spot, which represents the actual reflected light direction of the target heliostat; the closed-loop control system of the reflective heliostat optical path passes The spot sensor senses the actual reflected light direction of the target heliostat, and according to the deviation from the expected reflected light direction, the heliostat posture is corrected in real time to realize the real-time closed-loop control of the heliostat.直射式定日镜光路闭环控制系统中光斑感应器的接收面与目标定日镜反射面同向,接收面法线与目标定日镜反射面法线夹角δ取值范围为0°≤δ<90°;太阳光的一部分被光斑感应器的接收面接收形成太阳像,其余的太阳光经过定日镜反射面反射至目标区域;太阳像实际位置可以通过太阳像的几何中心或能量分布质心描述,其表征目标定日镜的实际入射光指向;所述直射式定日镜光路闭环控制系统通过光斑感应器感知目标定日镜的实际入射光指向,根据其与期望入射光指向的偏差,对定日镜姿态进行实时修正,实现定日镜的实时光路闭环控制。The receiving surface of the spot sensor in the closed-loop control system of the optical path of the direct heliostat is in the same direction as the reflective surface of the target heliostat, and the angle δ between the normal of the receiving surface and the normal of the reflective surface of the target heliostat is in the range of 0°≤δ <90°; part of the sunlight is received by the receiving surface of the spot sensor to form a sun image, and the rest of the sunlight is reflected to the target area through the heliostat reflective surface; the actual position of the sun image can pass through the geometric center of the sun image or the center of mass of energy distribution description, which represents the actual incident light direction of the target heliostat; the direct-type heliostat optical path closed-loop control system senses the actual incident light direction of the target heliostat through the spot sensor, and according to its deviation from the expected incident light direction, The posture of the heliostat is corrected in real time to realize the real-time closed-loop control of the heliostat.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:反射式定日镜光路闭环控制系统中光斑感应器是由至少一台图像采集器组成的图像采集阵列构成;所述图像采集器由成像光路、光强衰减装置和图像传感器组成;太阳光经过定日镜反射面反射至图像采集阵列的像面,形成太阳光斑;图像采集器的镜头朝向定日镜反射面,图像采集器的数量依据定日镜反射面的尺寸确定,使得图像采集阵列组成的视场能够覆盖定日镜反射面区域。The heliostat optical path closed-loop control system according to claim 1, wherein the light spot sensor in the reflective heliostat optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device; The collector is composed of an imaging optical path, a light intensity attenuation device and an image sensor; the sunlight is reflected by the reflective surface of the heliostat to the image surface of the image acquisition array to form a sun spot; the lens of the image collector faces the reflective surface of the heliostat, and the image captures The number of the heliostats is determined according to the size of the reflecting surface of the heliostat, so that the field of view formed by the image acquisition array can cover the area of the reflecting surface of the heliostat.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:反射式定日镜光路闭环控制系统中光斑感应器是由光电传感器组成的阵列和光阑构成;所述光电传感器的接收面朝向定日镜反射面,所述光电传感器的数量依据定日镜反射面的反射范围确定,使得光电传感器阵列组成的接收面能够覆盖定日镜反射面区域反射的太阳光线;太阳光线经过定日镜反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布;所述光阑用于限制照射至光斑感应器的太阳光范围以便于形成太阳光斑。The heliostat optical path closed-loop control system according to claim 1, wherein the light spot sensor in the reflective heliostat optical path closed-loop control system is composed of an array composed of photoelectric sensors and a diaphragm; the receiving surface of the photoelectric sensor is Facing the reflective surface of the heliostat, the number of the photoelectric sensors is determined according to the reflection range of the reflective surface of the heliostat, so that the receiving surface composed of the photoelectric sensor array can cover the sunlight reflected by the reflective surface area of the heliostat; The mirror reflection surface is reflected to the receiving surface of the photoelectric sensor array to obtain the electric signal intensity distribution on the receiving surface generated by the solar light spot; the diaphragm is used to limit the range of sunlight irradiated to the light spot sensor so as to form the solar light spot.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:反射式定日镜光路闭环控制系统中光斑感应器是由光电传感器组成的阵列和标准平面反射镜构成;所述标准平面反射镜安装在目标定日镜上随定日镜反射面转动而同步转动,所述标准平面反射镜的尺寸由光电传感器尺寸及光电传感器间距确定,标准平面反射镜反射面与定日镜反射面同向且相对位置固定;所述光电传感器的接收面朝向标准平面反射镜的反射面,光电传感器的数量依据标准平面反射镜的反射范围确定,使得所述光电传感器阵列组成的接收面能够覆盖标准平面反射镜反射的太阳光斑;太阳光经过标准平面反射镜反射面反射至光电传感器阵列接收面,获得由太阳光斑产生的接收面电信号强度分布。The heliostat optical path closed-loop control system according to claim 1, wherein the light spot sensor in the reflective heliostat optical path closed-loop control system is composed of an array of photoelectric sensors and a standard plane mirror; the standard plane The mirror is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface. The size of the standard plane mirror is determined by the size of the photoelectric sensor and the distance between the photoelectric sensors. The reflective surface of the standard plane mirror and the heliostat reflective surface are determined. The same direction and fixed relative position; the receiving surface of the photoelectric sensor faces the reflective surface of the standard flat mirror, and the number of photoelectric sensors is determined according to the reflection range of the standard flat mirror, so that the receiving surface composed of the photoelectric sensor array can cover the standard flat mirror. The sun spot reflected by the plane mirror; the sunlight is reflected to the receiving surface of the photoelectric sensor array through the reflective surface of the standard plane mirror, and the electric signal intensity distribution of the receiving surface generated by the sun spot is obtained.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:反射式定日镜光路闭环控制系统中光斑感应器是由接收板、至少一台图像采集器组成的图像采集阵列和标准平面反射镜构成;所述图像采集器由成像光路和图像传感器组成;接收板的接收面为漫反射面,接收面朝向标准平面反射镜反射面,用于接收经过标准平面反射镜反射面反射的太阳光;接收板的尺寸覆盖标准平面反射镜的反射范围;所述标准平面反射镜安装在目标定日镜上,随定日镜反射面转动而同步转动;所述标准平面反射镜的尺寸由图像采集阵列分辨率确定,标准平面反射镜反射面与定日镜反射面同向且相对位置固定;所述图像采集阵列中镜头朝向接收板 的接收面,图像采集器数量依据接收板尺寸确定,用于识别太阳光斑在接收板上的实际位置,使得图像采集阵列组成的视场能够覆盖接收板区域。The heliostat optical path closed-loop control system according to claim 1, wherein the light spot sensor in the reflective heliostat optical path closed-loop control system is an image acquisition array composed of a receiving board and at least one image acquisition device and a standard The image collector is composed of an imaging optical path and an image sensor; the receiving surface of the receiving plate is a diffuse reflection surface, and the receiving surface faces the reflective surface of the standard flat mirror, and is used to receive the reflected surface of the standard flat mirror. Sunlight; the size of the receiving plate covers the reflection range of the standard plane reflector; the standard plane reflector is installed on the target heliostat and rotates synchronously with the rotation of the heliostat reflective surface; the size of the standard plane reflector is determined by The resolution of the image acquisition array is determined, the reflective surface of the standard plane mirror and the reflective surface of the heliostat are in the same direction and the relative positions are fixed; the lens in the image acquisition array faces the receiving surface of the receiving plate, and the number of image collectors is determined according to the size of the receiving plate, It is used to identify the actual position of the sun spot on the receiving plate, so that the field of view composed of the image acquisition array can cover the receiving plate area.
- 根据权利要求1所述的定日镜光路闭环控制系统,其特征在于:直射式定日镜光路闭环控制系统中光斑感应器是由至少一台图像采集器组成的图像采集阵列构成;所述图像采集器由成像光路、光强衰减装置和图像传感器组成;所述图像采集阵列组成的视场覆盖太阳相对目标定日镜的移动范围;所述图像采集器的镜头指向与定日镜反射面同向,直接采集太阳图像,用于识别太阳像在图像采集阵列视场中的相对位置。The heliostat optical path closed-loop control system according to claim 1, wherein the light spot sensor in the direct-illuminated heliostat optical path closed-loop control system is composed of an image acquisition array composed of at least one image acquisition device; The collector is composed of an imaging optical path, a light intensity attenuation device and an image sensor; the field of view formed by the image acquisition array covers the moving range of the sun relative to the target heliostat; the lens of the image collector is directed in the same direction as the reflection surface of the heliostat To directly collect the sun image, it is used to identify the relative position of the sun image in the field of view of the image acquisition array.
- 一种定日镜光路闭环控制方法,其特征在于,步骤如下:A heliostat optical path closed-loop control method, characterized in that the steps are as follows:(1)ti时刻光斑感应器采集太阳光斑或太阳像分布信息,并由计算单元基于太阳光斑或太阳像分布信息计算太阳光斑或太阳像的实际位置[u ti,v ti] n,其中ti表示单个工作日内的第i个时间点,n表示定日镜编号,u ti表示ti时刻太阳光斑或太阳像实际位置的u轴方向数值,v ti表示ti时刻太阳光斑或太阳像实际位置的v轴方向数值; (1) At time ti, the spot sensor collects the sun spot or solar image distribution information, and the computing unit calculates the actual position [u ti ,v ti ] n of the sun spot or solar image based on the solar spot or solar image distribution information, where ti represents The i-th time point in a single working day, n represents the number of the heliostat, u ti represents the value of the u-axis direction of the actual position of the sun spot or sun image at time ti , and v ti represents the v of the actual position of the sun spot or sun image at time ti axis direction value;(2)计算单元计算ti时刻目标定日镜太阳光斑或太阳像的期望位置信息[Tu ti,Tv ti],Tu ti表示ti时刻太阳光斑或太阳像期望位置的u轴方向数值,Tv ti表示ti时刻太阳光斑或太阳像期望位置的v轴方向数值; (2) The calculation unit calculates the desired position information [Tu ti , Tv ti ] of the sun spot or sun image of the target heliostat at time ti, where Tu ti represents the u-axis direction value of the desired position of the sun spot or sun image at time ti , and Tv ti represents The value of the v-axis direction of the desired position of the sun spot or sun image at time ti;(3)计算单元计算目标定日镜的太阳光斑或太阳像位置偏差[Δu ti,Δv ti] n=[Tu ti-u ti,Tv ti-v ti] n,Δu ti表示ti时刻太阳光斑或太阳像u轴方向期望坐标与实际坐标的相对偏差,Δv ti表示ti时刻太阳光斑或太阳像v轴方向期望坐标与实际坐标的相对偏差; (3) The calculation unit calculates the sun spot or sun image position deviation of the target heliostat [Δu ti ,Δv ti ] n =[Tu ti -u ti ,Tv ti -v ti ] n , Δu ti represents the sun spot or the sun spot at time ti The relative deviation between the expected coordinates and the actual coordinates in the u-axis direction of the sun image, Δv ti represents the relative deviation between the expected coordinates and the actual coordinates in the v-axis direction of the sun spot or the sun image at time ti;(4)定日镜绕至少两个轴转动以实现将太阳光反射至目标区域的功能,计算单元依据定日镜的转动方式将ti时刻目标定日镜太阳光斑或太阳像位置偏差[Δu ti,Δv ti] n转换成定日镜的转动偏差数值; (4) The heliostat rotation about at least two axes to achieve the function of reflected sunlight to the target area, the target calculation unit time ti heliostat sun or sun spot image position deviation mode according to the rotation of the heliostat [[Delta] u ti ,Δv ti ] n is converted into the rotational deviation value of the heliostat;(5)定日镜转动控制器依据转动偏差数值实时修正ti时刻目标定日镜姿态,使得太阳光斑或太阳像的实际位置[u ti,v ti] n不断逼近或重合于期望位置[Tu ti,Tv ti]; (5) The heliostat rotation controller corrects the target heliostat attitude at time ti in real time according to the rotation deviation value, so that the actual position [u ti , v ti ] n of the sun spot or sun image is constantly approaching or overlapping the desired position [Tu ti ] , Tv ti ];(6)在单个工作日内,重复步骤(1)-(5),计算单元以太阳光斑或太阳像的实际位置与期望位置偏差为反馈,持续地实时修正目标定日镜姿态,使得任意时 刻太阳光斑或太阳像的实际位置在期望位置附近波动,实现定日镜光路闭环控制,保证定日镜的反射光能够正确地照射至目标区域。(6) In a single working day, repeat steps (1)-(5), the calculation unit uses the deviation between the actual position of the sun spot or the sun image and the expected position as feedback, and continuously corrects the posture of the target heliostat in real time, so that at any time The actual position of the sun spot or sun image fluctuates near the desired position, realizing the closed-loop control of the light path of the heliostat to ensure that the reflected light of the heliostat can be correctly irradiated to the target area.
- 根据权利要求8所述的定日镜光路闭环控制方法,其特征在于,所述步骤(4)中,定日镜转动方式一:定日镜反射面绕两根相互正交的转轴X轴、Y轴转动,其中Y轴位置保持不变,X轴随定日镜反射面绕Y轴转动;转动偏差数值:The closed-loop control method of the heliostat optical path according to claim 8, wherein in the step (4), the first rotation mode of the heliostat is: The Y-axis rotates, the position of the Y-axis remains unchanged, and the X-axis rotates around the Y-axis with the reflection surface of the heliostat; the rotation deviation value:式中:u 1/2表示接收面中心u轴方向坐标,v 1/2表示接收面中心v轴方向坐标,d表示接收面至定日镜反射面的距离, 表示X轴转动偏差, 表示Y轴转动偏差; In the formula: u 1/2 represents the u-axis coordinate of the center of the receiving surface, v 1/2 represents the v-axis coordinate of the receiving surface center, d represents the distance from the receiving surface to the heliostat reflective surface, represents the rotational deviation of the X-axis, Indicates the Y-axis rotation deviation;定日镜转动方式二:定日镜反射面绕两根相互正交的转轴Y轴、Z轴转动,其中Z轴位置保持不变,Y轴随定日镜反射面绕Z轴转;转动偏差数值:Heliostat rotation mode 2: The heliostat reflective surface rotates around two mutually orthogonal rotation axes, Y-axis and Z-axis, where the position of the Z-axis remains unchanged, and the Y-axis rotates around the Z-axis with the heliostat reflective surface; rotation deviation Value:
- 根据权利要求8所述的定日镜光路闭环控制方法,其特征在于,所述步骤(1)中,计算单元计算目标定日镜太阳光斑或太阳像期望位置的步骤如下:The heliostat optical path closed-loop control method according to claim 8, wherein in the step (1), the calculation unit calculates the desired position of the target heliostat sun spot or sun image as follows:(1)计算单元根据ti时刻目标定日镜中心坐标 和目标指向点[tx n,ty n,tz n]计算该时刻归一化反射矢量: (1) The calculation unit is based on the center coordinates of the target heliostat at time ti Calculate the normalized reflection vector at this moment with the target pointing point [tx n ,ty n ,tz n ]:其中| |表示取模运算, 表示ti时刻目标定日镜中心坐标X轴方向数值, 表示ti时刻目标定日镜中心坐标Y轴方向数值, 表示ti时刻目标定日镜中心坐标Z轴方向数值,tx n表示ti时刻目标指向点坐标X轴方向数值,ty n表示ti时刻 目标指向点坐标Y轴方向数值,tz n表示ti时刻目标指向点坐标Z轴方向数值, 表示ti时刻归一化反射矢量X轴方向分量, 表示ti时刻归一化反射矢量Y轴方向分量, 表示ti时刻归一化反射矢量Z轴方向分量; where | | represents the modulo operation, Represents the value of the X-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Y-axis direction of the center coordinate of the target heliostat at time ti, Represents the value of the Z-axis direction of the center coordinate of the target heliostat at time ti, tx n represents the value of the X-axis direction of the coordinate of the target pointing point at time ti, ty n represents the value of the Y-axis direction of the coordinate of the target pointing point at time ti , and tz n represents the value of the target pointing point at time ti The value of the coordinate Z-axis direction, represents the X-axis direction component of the normalized reflection vector at time ti, represents the Y-axis direction component of the normalized reflection vector at time ti, Represents the Z-axis direction component of the normalized reflection vector at time ti;(2)计算单元计算ti时刻归一化太阳光入射矢量 表示ti时刻归一化太阳光入射矢量X轴方向分量, 表示ti时刻归一化太阳光入射矢量Y轴方向分量, 表示ti时刻归一化太阳光入射矢量Z轴方向分量; (2) The computing unit calculates the normalized sunlight incident vector at time ti Represents the X-axis direction component of the normalized sunlight incident vector at time ti, Represents the Y-axis direction component of the normalized sunlight incident vector at time ti, Represents the Z-axis direction component of the normalized sunlight incident vector at time ti;(3)计算单元计算该时刻定日镜反射面归一化法线矢量:(3) The computing unit calculates the normalized normal vector of the reflection surface of the heliostat at this moment:式中: 表示ti时刻定日镜反射面归一化法线矢量X轴方向分量, 表示ti时刻定日镜反射面归一化法线矢量Y轴方向分量, 表示ti时刻定日镜反射面归一化法线矢量Z轴方向分量; where: represents the X-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti, represents the Y-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti, Represents the Z-axis direction component of the normalized normal vector of the heliostat reflecting surface at time ti;(4)光斑感应器接收面法线矢量与定日镜反射面法线矢量间的夹角δ=[δ n δ u δ v],式中δ n表示绕定日镜反射面法线矢量的偏差角,δ u表示绕u轴的偏差角,δ v表示绕v轴的偏差角;反射式定日镜闭环控制系统中δ取值范围为90°≤δ<180°,直射式定日镜闭环控制系统中δ取值范围为0°≤δ<90°; (4) The angle δ=[δ n δ u δ v ] between the normal vector of the receiving surface of the spot sensor and the normal vector of the heliostat reflective surface, where δ n represents the distance around the normal vector of the heliostat reflective surface Deviation angle, δ u represents the deviation angle around the u-axis, and δ v represents the deviation angle around the v-axis; in the closed-loop control system of the reflective heliostat, the value of δ is in the range of 90°≤δ<180°. The value range of δ in the closed-loop control system is 0°≤δ<90°;计算单元基于光斑感应器接收面法线矢量与定日镜反射面法线矢量间的夹角δ计算接收面法线矢量:The calculation unit calculates the normal vector of the receiving surface based on the angle δ between the normal vector of the receiving surface of the spot sensor and the normal vector of the reflecting surface of the heliostat:式中:n表示定日镜编号,Rot u()表示绕u轴的旋转矩阵,Rot v()表示绕v轴的旋转矩阵,Rot n()表示定日镜反射面法线矢量绕的旋转矩阵, 表示ti时刻光斑感应器接收面归一化法线矢量X轴方向分量, 表示ti时刻光斑感应器接收面归一化法线矢量Y轴方向分量, 表示ti时刻光斑感应器接收面归一化法线矢量Z轴方向分量; In the formula: n represents the number of the heliostat, Rot u () represents the rotation matrix around the u-axis, Rot v () represents the rotation matrix around the v-axis, and Rot n () represents the rotation around the normal vector of the heliostat reflecting surface matrix, Represents the X-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Y-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti, Represents the Z-axis direction component of the normalized normal vector of the receiving surface of the spot sensor at time ti;(5)反射式定日镜闭环控制系统中,计算单元根据ti时刻接收面中心坐标 和接收面法线矢量 建立接收面的三维方程,再根据ti时刻太阳光反射矢量 和定日镜中心坐标 建立基于定日镜反射面的三维直线方程组,求解反射光指向与接收面的交点坐标 其中k表示第K个交点;最后将交点坐标转换至接收面坐标系获得太阳光斑的期望位置坐标[Tu ti,Tv ti]; (5) In the closed-loop control system of the reflective heliostat, the calculation unit receives the center coordinates of the receiving surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the sunlight reflection vector at time ti and heliostat center coordinates Establish a three-dimensional linear equation system based on the reflecting surface of the heliostat, and solve the coordinates of the intersection point between the reflected light and the receiving surface where k represents the K-th intersection; finally, the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired position coordinates of the sun spot [Tu ti , Tv ti ];直射式定日镜闭环控制系统中,计算单元根据ti时刻接收面中心坐标 和接收面法线矢量 建立接收面的三维方程,再根据ti时刻太阳光入射矢量 和定日镜中心坐标 建立基于定日镜反射面的三维直线方程组,求解入射光指向与接收面的交点坐标 其中k表示第K个交点,最后将交点坐标转换至接收面坐标系获得太阳像的期望坐标[Tu ti,Tv ti]。 In the closed-loop control system of the direct-illuminated heliostat, the calculation unit receives the center coordinates of the surface according to the time ti and the receiving surface normal vector Establish the three-dimensional equation of the receiving surface, and then according to the incident vector of sunlight at time ti and heliostat center coordinates Establish a three-dimensional straight line equation system based on the reflecting surface of the heliostat, and solve the coordinates of the intersection of the incident light pointing and the receiving surface Where k represents the K-th intersection, and finally the coordinates of the intersection are converted to the coordinate system of the receiving surface to obtain the desired coordinates of the sun image [Tu ti , Tv ti ].
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