WO2023240730A1 - Photovoltaic power generation array angle control method for double-layer control structure - Google Patents

Photovoltaic power generation array angle control method for double-layer control structure Download PDF

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WO2023240730A1
WO2023240730A1 PCT/CN2022/105428 CN2022105428W WO2023240730A1 WO 2023240730 A1 WO2023240730 A1 WO 2023240730A1 CN 2022105428 W CN2022105428 W CN 2022105428W WO 2023240730 A1 WO2023240730 A1 WO 2023240730A1
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power generation
photovoltaic power
generation array
angle
array
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马列生
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杭州伯资企业管理合伙企业(有限合伙)
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/66—Regulating electric power
    • G05F1/67—Regulating electric power to the maximum power available from a generator, e.g. from solar cell
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/18—Manufacturability analysis or optimisation for manufacturability

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  • the invention belongs to the field of photovoltaic power generation, and in particular relates to a photovoltaic power generation array angle control method with a double-layer control structure.
  • the main method of photovoltaic power generation is to use a rotatable bracket to control the angle of the photovoltaic power generation array so that it faces the direction of the sun as much as possible to obtain maximum power generation efficiency.
  • the Chinese patent document with publication number CN108270395A discloses a new type of photovoltaic power generation bracket, which includes a photovoltaic power generation bracket body.
  • the photovoltaic power generation bracket body is connected to an angle conversion control system, and the angle conversion control system is connected to a computer control system.
  • the computer control system is connected with the timing device.
  • This new type of photovoltaic power generation bracket can adjust the angle, track the sun's irradiation in real time, improve the absorption rate of sunlight, and increase power generation.
  • the Chinese patent document with publication number CN105207599A discloses a photovoltaic power generation device and a working method, including: a solar panel, which is composed of at least four power generation chips forming a square array; and an optical component, which is flat-shaped and is located on the light-receiving surface of the solar panel. Directly in front of and parallel to the solar panel, when the sunlight is perpendicular to the light-receiving surface, the optical component is used to focus the sunlight and produce a square light spot on the light-receiving surface, and the shape and area of the light spot are consistent with the light-receiving surface.
  • the power detection unit is used to detect the output power of each power generation chip
  • the driving mechanism is used to control the rotation angle of the solar panel with the sun
  • the processor unit is connected to the power detection unit and the driving mechanism, It is used to generate a corresponding angle control signal according to the received output power value of each power generation chip, and control the driving mechanism to drive the solar panel to rotate at a corresponding angle so that the sunlight is perpendicular to the light-receiving surface.
  • the invention provides a photovoltaic power generation array angle control method with a double-layer control structure.
  • the upper layer obtains the optimal power generation range by calculating the virtual width of the power generation array, and the lower layer further optimizes the power generation array angle within the range so that the power generation array maintains a higher power generation range. Generating power.
  • a photovoltaic power generation array angle control method with a double-layer control structure performs the following steps at certain intervals:
  • every certain period is specifically 1 second to 30 minutes.
  • step (2) the formula for calculating the virtual width of the photovoltaic power generation array is:
  • w l represents the width of the left side of the central axis of the photovoltaic power generation array
  • w r represents the width of the right side of the central axis of the photovoltaic power generation array
  • ⁇ represents the expansion coefficient
  • D l represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the left
  • D r represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the right distance.
  • step (3) the method of calculating the rotation angle ⁇ 1 of the photovoltaic array under the real width is to construct and solve the following optimization problem:
  • ⁇ 1 represents the rotation angle of the power generation array
  • ⁇ represents the tilt angle of the central axis of the power generation array
  • the calculation method of A j and k j is as follows: project the vertex of the power generation array under the real width to the ground according to the position of the sun.
  • the coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
  • x represents the abscissa of any point within the shadow
  • y represents the ordinate of any point within the shadow
  • step (4) the method of calculating the rotation angle ⁇ 2 of the photovoltaic power generation array under the virtual width is to solve the following optimization problem:
  • ⁇ 2 represents the rotation angle of the power generation array under the virtual width
  • ⁇ represents the tilt angle of the central axis of the power generation array
  • the calculation method is: project the vertex of the power generation array under the virtual width to the ground according to the sun position.
  • the coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
  • x represents the abscissa of any point within the shadow
  • y represents the ordinate of any point within the shadow
  • step (5) the conditions for stopping rotation are:
  • ⁇ min represents the smaller of the calculated angles in step (3) and step (4)
  • ⁇ max represents the larger of the calculated angles in step (3) and step (4)
  • P represents the generated power
  • a PID controller is used to control the angle adjustment of the photovoltaic power generation array.
  • the PID controller rotates the photovoltaic power generation array with an initial preset step size ⁇ d .
  • the present invention has the following beneficial effects:
  • the width of the power generation array is expanded to obtain the optimal power generation range.
  • the power generation array angle is fine-tuned with the power generation power as the target, so that The power generation array maintains high power generation.
  • the method of the present invention can be combined with existing photovoltaic power generation array angle optimization methods, can be deployed on various edge computing devices such as industrial computers and microcontrollers, and has high implementability.
  • Figure 1 is a flow chart of a photovoltaic power generation array angle control method with a double-layer control structure according to the present invention
  • Figure 2 is a top view of three photovoltaic power generation arrays in an embodiment of the present invention.
  • Figure 3 is a front view of three photovoltaic power generation arrays in the embodiment of the present invention.
  • Figure 4 is a PID control structure diagram used in the embodiment of the present invention.
  • a photovoltaic power generation array angle control method with a double-layer control structure performs the following steps every certain period (a typical period is 1 second to 30 minutes):
  • S1 Obtain the configuration information of the photovoltaic power generation array, including the length, width, installation height and central axis position of the photovoltaic power generation array.
  • photovoltaic power generation arrays there are three photovoltaic power generation arrays.
  • the length of the photovoltaic power generation array is 50 meters, the width is 2 meters, the installation height is 2 meters, and the north and south central axis positions are (0 ,0,2) and (0,50,2), (6,0,2) and (6,50,2), (15,0,2) and (15,50,2).
  • S2 Calculate the shortest distance between adjacent photovoltaic power generation arrays when placed horizontally, set the expansion coefficient, and calculate the virtual width of the photovoltaic power generation array;
  • the expansion coefficient is set to 0.2 (Typical range 0 ⁇ 0.5)
  • the left virtual width is The virtual width on the right is
  • the first and third photovoltaic power generation arrays are located at the edge, and only the virtual width on the side with adjacent photovoltaic power generation arrays needs to be calculated.
  • For the first photovoltaic power generation array For the second photovoltaic array,
  • ⁇ 1 represents the rotation angle of the power generation array, and ⁇ represents the tilt angle of the central axis of the power generation array;
  • ⁇ , ⁇ > represents the angle between two vectors
  • a j , k j respectively represent the projection matrix and projection vector under the real width of the j-th photovoltaic array;
  • ⁇ j , ⁇ j represent the j-th auxiliary Variable
  • N represents the number of photovoltaic power generation arrays.
  • the calculation method of A j and k j is as follows: project the vertex of the power generation array under the real width to the ground according to the position of the sun.
  • the coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow.
  • the formula is:
  • the sun position is
  • the calculated rotation angles of the three photovoltaic power generation arrays are:
  • ⁇ 2 represents the rotation angle of the power generation array under the virtual width
  • ⁇ represents the tilt angle of the central axis of the power generation array
  • ⁇ , ⁇ > represents the angle between two vectors
  • ⁇ j and ⁇ j indicate the j-th auxiliary variable
  • N indicates the number of photovoltaic power generation arrays.
  • the calculation method is: project the vertex of the power generation array under the virtual width to the ground according to the sun position.
  • the coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
  • the sun position is
  • the calculated rotation angles of the three photovoltaic power generation arrays are:
  • ⁇ min represents the smaller of the calculated angles in steps S3 and S4
  • ⁇ max represents the larger of the calculated angles in steps S3 and S4
  • P represents the generated power
  • PID control is used to achieve angle adjustment.
  • the PID controller rotates the photovoltaic power generation array with an initial step, calculates the power generation differential, and serves as the input of the PID controller, and further calculates the photovoltaic power generation array rotation angle step. Structure The diagram is shown in Figure 4.
  • the method of the present invention can re-optimize the angle of the local power generation array on the basis of global optimization, thereby increasing the overall power generation power of the array and improving economic benefits.

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Abstract

A photovoltaic power generation array angle control method for a double-layer control structure, wherein the following steps are executed every certain period: (1) obtaining configuration information of each photovoltaic power generation array, the configuration information comprising a real length, a real width, a mounting height, and the position of a medial axis of the photovoltaic power generation array; (2) calculating the shortest distance between adjacent photovoltaic power generation arrays during horizontal placement, setting an expansion coefficient, and calculating a virtual width of each photovoltaic power generation array; (3) calculating a rotating angle θ1 of the photovoltaic power generation array at the real width; (4) calculating a rotating angle θ2 of the photovoltaic power generation array at the virtual width; and (5) rotating from the angle θ2 to the angle θ1 at a preset step size, if the generated power rises, continuing to rotate, or otherwise, stopping rotating, to complete angle optimization control of the photovoltaic power generation array. The virtual width of the power generation array is calculated, an optimal generated power interval is obtained, and a power generation array angle is further optimized, such that high generated power of the power generation arrays is kept.

Description

一种双层控制结构的光伏发电阵列角度控制方法A photovoltaic power generation array angle control method with a double-layer control structure 技术领域Technical field
本发明属于光伏发电领域，尤其是涉及一种双层控制结构的光伏发电阵列角度控制方法。The invention belongs to the field of photovoltaic power generation, and in particular relates to a photovoltaic power generation array angle control method with a double-layer control structure.
背景技术Background technique
光伏发电作为新能源的重要组成部分，近年来发展规模不断扩大，如何保证光伏发电站整体运行效率维持在较高水平，给发电阵列控制系统提出了新的挑战。As an important part of new energy, photovoltaic power generation has been expanding in scale in recent years. How to ensure that the overall operating efficiency of photovoltaic power stations is maintained at a high level poses new challenges to the power generation array control system.
目前光伏发电的主要方式为使用可旋转支架控制光伏发电阵列的角度，使其尽量朝向太阳照射方向，以获取最大的发电效率。At present, the main method of photovoltaic power generation is to use a rotatable bracket to control the angle of the photovoltaic power generation array so that it faces the direction of the sun as much as possible to obtain maximum power generation efficiency.
如公开号为CN108270395A的中国专利文献公开了一种新型光伏发电支架，包括光伏发电支架本体，所述光伏发电支架本体与角度变换控制系统连接，所述角度变换控制系统与计算机控制系统连接，所述计算机控制系统与计时装置连接。该新型光伏发电支架可调节角度，实时跟踪太阳的照射，提高太阳光的吸收率，提高发电量。For example, the Chinese patent document with publication number CN108270395A discloses a new type of photovoltaic power generation bracket, which includes a photovoltaic power generation bracket body. The photovoltaic power generation bracket body is connected to an angle conversion control system, and the angle conversion control system is connected to a computer control system. The computer control system is connected with the timing device. This new type of photovoltaic power generation bracket can adjust the angle, track the sun's irradiation in real time, improve the absorption rate of sunlight, and increase power generation.
公开号为CN105207599A的中国专利文献公开了一种光伏发电装置及工作方法，包括：太阳能板，至少由四块发电晶片构成一方形阵列；光学组件，且呈平板状，设于太阳能板的受光面的正前方且与太阳能板平行，当阳光垂直于所述受光面时，光学组件用于将阳光汇聚并在所述受光面上产生一方形光斑，且该光斑的形状、面积与所述受光面的形状、面积一致；功率检测单元，用于检测各发电晶片的输出功率；驱动机构，用于控制所 述太阳能板随太阳转动角度；处理器单元，与所述功率检测单元、驱动机构相连，用于根据接收到的各发电晶片的输出功率值，产生相应角度控制信号，控制所述驱动机构带动所述太阳能板转动相应角度，以使阳光垂直于所述受光面。The Chinese patent document with publication number CN105207599A discloses a photovoltaic power generation device and a working method, including: a solar panel, which is composed of at least four power generation chips forming a square array; and an optical component, which is flat-shaped and is located on the light-receiving surface of the solar panel. Directly in front of and parallel to the solar panel, when the sunlight is perpendicular to the light-receiving surface, the optical component is used to focus the sunlight and produce a square light spot on the light-receiving surface, and the shape and area of the light spot are consistent with the light-receiving surface. The shapes and areas are consistent; the power detection unit is used to detect the output power of each power generation chip; the driving mechanism is used to control the rotation angle of the solar panel with the sun; the processor unit is connected to the power detection unit and the driving mechanism, It is used to generate a corresponding angle control signal according to the received output power value of each power generation chip, and control the driving mechanism to drive the solar panel to rotate at a corresponding angle so that the sunlight is perpendicular to the light-receiving surface.
然而直接建立光伏发电阵列角度和发电功率之间的关系需要获取太阳、云层、气象以及发电站设备等诸多信息，模型复杂度高，难以精确建模。现有的光伏发电阵列角度的优化主要依靠判断发电阵列的朝向与太阳位置的关系来完成，属于间接优化发电功率的方式，无法确保发电阵列的发电功率保持在较高水平。However, directly establishing the relationship between the angle of the photovoltaic power generation array and the power generation requires obtaining a lot of information such as the sun, clouds, weather, and power station equipment. The model is highly complex and difficult to model accurately. The existing optimization of the angle of the photovoltaic power generation array mainly relies on judging the relationship between the orientation of the power generation array and the position of the sun. It is an indirect method of optimizing the power generation power and cannot ensure that the power generation power of the power generation array is maintained at a high level.
因此需要建立一种与发电功率直接联系的发电阵列角度控制方法，以提高发电站的整体运行效益。Therefore, it is necessary to establish a power generation array angle control method that is directly related to the power generation to improve the overall operating efficiency of the power station.
发明内容Contents of the invention
本发明提供了一种双层控制结构的光伏发电阵列角度控制方法，上层通过计算发电阵列虚拟宽度，获取最佳发电功率区间，下层在区间内进一步优化发电阵列角度，使得发电阵列保持较高的发电功率。The invention provides a photovoltaic power generation array angle control method with a double-layer control structure. The upper layer obtains the optimal power generation range by calculating the virtual width of the power generation array, and the lower layer further optimizes the power generation array angle within the range so that the power generation array maintains a higher power generation range. Generating power.
一种双层控制结构的光伏发电阵列角度控制方法，每隔一定周期，执行以下步骤:A photovoltaic power generation array angle control method with a double-layer control structure performs the following steps at certain intervals:
(1)获取光伏发电阵列的配置信息，包括光伏发电阵列的真实长度、真实宽度、安装高度和中轴位置；(1) Obtain the configuration information of the photovoltaic power generation array, including the real length, real width, installation height and central axis position of the photovoltaic power generation array;
(2)计算在水平放置时相邻光伏发电阵列间的最短距离，设置膨胀系数，计算光伏发电阵列的虚拟宽度；(2) Calculate the shortest distance between adjacent photovoltaic power generation arrays when placed horizontally, set the expansion coefficient, and calculate the virtual width of the photovoltaic power generation array;
(3)计算真实宽度下光伏发电阵列转动角度θ 1 (3) Calculate the rotation angle θ 1 of the photovoltaic array under the real width
(4)计算虚拟宽度下光伏发电阵列转动角度θ 2； (4) Calculate the rotation angle θ 2 of the photovoltaic power generation array under the virtual width;
(5)从角度θ 2以预设步长向角度θ 1转动，若发电功率上升，则继续转 动，否则，停止转动，完成光伏发电阵列的角度优化控制。 (5) Rotate from angle θ 2 to angle θ 1 with a preset step size. If the power generation power increases, continue to rotate. Otherwise, stop rotating to complete the angle optimization control of the photovoltaic power generation array.
优选地，每隔一定周期具体为1秒至30分钟。Preferably, every certain period is specifically 1 second to 30 minutes.
步骤(2)中，计算光伏发电阵列虚拟宽度的公式为：In step (2), the formula for calculating the virtual width of the photovoltaic power generation array is:
Figure PCTCN2022105428-appb-000001
Figure PCTCN2022105428-appb-000001
Figure PCTCN2022105428-appb-000002
Figure PCTCN2022105428-appb-000002
其中，w l表示光伏发电阵列中轴左侧宽度，w r表示光伏发电阵列中轴右侧宽度，
Figure PCTCN2022105428-appb-000003
表示光伏发电阵列左侧虚拟宽度，
Figure PCTCN2022105428-appb-000004
表示光伏发电阵列右侧虚拟宽度，α表示膨胀系数，D l表示表示光伏发电阵列与左侧相邻光伏发电阵列的最短距离，D r表示表示光伏发电阵列与右侧相邻光伏发电阵列的最短距离。 Among them, w l represents the width of the left side of the central axis of the photovoltaic power generation array, w r represents the width of the right side of the central axis of the photovoltaic power generation array,
Figure PCTCN2022105428-appb-000003
Represents the virtual width on the left side of the photovoltaic power generation array,
Figure PCTCN2022105428-appb-000004
represents the virtual width on the right side of the photovoltaic power generation array, α represents the expansion coefficient, D l represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the left, and D r represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the right distance.
步骤(3)中，计算真实宽度下光伏发电阵列转动角度θ 1的方法为构建并求解以下优化问题： In step (3), the method of calculating the rotation angle θ 1 of the photovoltaic array under the real width is to construct and solve the following optimization problem:
Figure PCTCN2022105428-appb-000005
Figure PCTCN2022105428-appb-000005
s.t.s.t.
Figure PCTCN2022105428-appb-000006
Figure PCTCN2022105428-appb-000006
Figure PCTCN2022105428-appb-000007
Figure PCTCN2022105428-appb-000007
Figure PCTCN2022105428-appb-000008
Figure PCTCN2022105428-appb-000008
μ j≥0 μj≥0
λ j≥0 λ j ≥0
j＝1,2,...,N-1j＝1,2,...,N-1
其中，
Figure PCTCN2022105428-appb-000009
表示第i个发电阵列真实宽度下的法向，与转动角度θ 1有关，计算方法为： in,
Figure PCTCN2022105428-appb-000009
Represents the normal direction under the true width of the i-th power generation array, which is related to the rotation angle θ 1. The calculation method is:
Figure PCTCN2022105428-appb-000010
Figure PCTCN2022105428-appb-000010
Figure PCTCN2022105428-appb-000011
Figure PCTCN2022105428-appb-000011
Figure PCTCN2022105428-appb-000012
Figure PCTCN2022105428-appb-000012
其中，θ 1表示发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
Figure PCTCN2022105428-appb-000013
分别表示向量
Figure PCTCN2022105428-appb-000014
的第1、2、3个元素； Among them, θ 1 represents the rotation angle of the power generation array, and γ represents the tilt angle of the central axis of the power generation array;
Figure PCTCN2022105428-appb-000013
Represent vectors respectively
Figure PCTCN2022105428-appb-000014
The 1st, 2nd, and 3rd elements;
Figure PCTCN2022105428-appb-000015
表示太阳位置，<·,·>表示两个向量的夹角，A j,k j分别表示第j个光 伏发电阵列真实宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量。
Figure PCTCN2022105428-appb-000015
Represents the position of the sun, <·,·> represents the angle between two vectors, A j , k j respectively represent the projection matrix and projection vector under the real width of the j-th photovoltaic array; μ j , λ j represent the j-th auxiliary Variable, N represents the number of photovoltaic power generation arrays.
A j,k j的计算方式为：将真实宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为： The calculation method of A j and k j is as follows: project the vertex of the power generation array under the real width to the ground according to the position of the sun. The coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
Figure PCTCN2022105428-appb-000016
Figure PCTCN2022105428-appb-000016
式中，x表示阴影内任一点的横坐标，y表示阴影内任一点的纵坐标。In the formula, x represents the abscissa of any point within the shadow, and y represents the ordinate of any point within the shadow.
步骤(4)中，计算虚拟宽度下光伏发电阵列转动角度θ 2的方法为求解以下优化问题： In step (4), the method of calculating the rotation angle θ 2 of the photovoltaic power generation array under the virtual width is to solve the following optimization problem:
Figure PCTCN2022105428-appb-000017
Figure PCTCN2022105428-appb-000017
s.t.s.t.
Figure PCTCN2022105428-appb-000018
Figure PCTCN2022105428-appb-000018
Figure PCTCN2022105428-appb-000019
Figure PCTCN2022105428-appb-000019
Figure PCTCN2022105428-appb-000020
Figure PCTCN2022105428-appb-000020
μ j≥0 μj≥0
λ j≥0 λ j ≥0
j＝1,2,...,N-1j＝1,2,...,N-1
其中，
Figure PCTCN2022105428-appb-000021
表示第i个发电阵列虚拟宽度下的法向，与转动角度θ 2有关，计算方法为： in,
Figure PCTCN2022105428-appb-000021
Represents the normal direction under the virtual width of the i-th power generation array, which is related to the rotation angle θ 2. The calculation method is:
Figure PCTCN2022105428-appb-000022
Figure PCTCN2022105428-appb-000022
Figure PCTCN2022105428-appb-000023
Figure PCTCN2022105428-appb-000023
Figure PCTCN2022105428-appb-000024
Figure PCTCN2022105428-appb-000024
其中，θ 2表示虚拟宽度下发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
Figure PCTCN2022105428-appb-000025
分别表示向量
Figure PCTCN2022105428-appb-000026
的第1、2、3个元素。 Among them, θ 2 represents the rotation angle of the power generation array under the virtual width, and γ represents the tilt angle of the central axis of the power generation array;
Figure PCTCN2022105428-appb-000025
Represent vectors respectively
Figure PCTCN2022105428-appb-000026
The 1st, 2nd, and 3rd elements.
Figure PCTCN2022105428-appb-000027
表示太阳位置，<·,·>表示两个向量的夹角；
Figure PCTCN2022105428-appb-000028
分别表示第j个光伏发电阵列虚拟宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量；
Figure PCTCN2022105428-appb-000027
Represents the position of the sun, <·,·> represents the angle between two vectors;
Figure PCTCN2022105428-appb-000028
Represent the projection matrix and projection vector under the virtual width of the j-th photovoltaic power generation array respectively; μ j and λ j indicate the j-th auxiliary variable, and N indicates the number of photovoltaic power generation arrays;
Figure PCTCN2022105428-appb-000029
的计算方式为：将虚拟宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为：
Figure PCTCN2022105428-appb-000029
The calculation method is: project the vertex of the power generation array under the virtual width to the ground according to the sun position. The coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
Figure PCTCN2022105428-appb-000030
Figure PCTCN2022105428-appb-000030
式中，x表示阴影内任一点的横坐标，y表示阴影内任一点的纵坐标。In the formula, x represents the abscissa of any point within the shadow, and y represents the ordinate of any point within the shadow.
步骤(5)中，停止转动的条件为：In step (5), the conditions for stopping rotation are:
Figure PCTCN2022105428-appb-000031
Figure PCTCN2022105428-appb-000031
其中，θ min表示步骤(3)和步骤(4)中计算角度的较小者，θ max表示步骤(3)和步骤(4)中计算角度的较大者，P表示发电功率。 Among them, θ min represents the smaller of the calculated angles in step (3) and step (4), θ max represents the larger of the calculated angles in step (3) and step (4), and P represents the generated power.
步骤(5)中，使用PID控制器控制实现光伏发电阵列的角度调整，PID控制器以初始的预设步长θ d转动光伏发电阵列。 In step (5), a PID controller is used to control the angle adjustment of the photovoltaic power generation array. The PID controller rotates the photovoltaic power generation array with an initial preset step size θ d .
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明的方法，在上层角度优化中，对发电阵列的宽度进行了膨胀，以获取最佳发电功率区间，在下层角度优化中，以发电功率为目标，对发电阵列角度进行微调，使得发电阵列保持较高的发电功率。1. In the method of the present invention, in the upper layer angle optimization, the width of the power generation array is expanded to obtain the optimal power generation range. In the lower layer angle optimization, the power generation array angle is fine-tuned with the power generation power as the target, so that The power generation array maintains high power generation.
2、本发明的方法能够与现有的光伏发电阵列角度优化方法结合，能够在工控机、单片机等多种边缘计算设备上部署，可实施性高。2. The method of the present invention can be combined with existing photovoltaic power generation array angle optimization methods, can be deployed on various edge computing devices such as industrial computers and microcontrollers, and has high implementability.
附图说明Description of the drawings
图1为本发明一种双层控制结构的光伏发电阵列角度控制方法的流程图；Figure 1 is a flow chart of a photovoltaic power generation array angle control method with a double-layer control structure according to the present invention;
图2为本发明实施例中三个光伏发电阵列的俯视图；Figure 2 is a top view of three photovoltaic power generation arrays in an embodiment of the present invention;
图3为本发明实施例中三个光伏发电阵列的主视图；Figure 3 is a front view of three photovoltaic power generation arrays in the embodiment of the present invention;
图4为本发明实施例中的采用的PID控制结构图。Figure 4 is a PID control structure diagram used in the embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明做进一步详细描述，需要指出的是，以下所述实施例旨在便于对本发明的理解，而对其不起任何限定作用。The present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be noted that the following examples are intended to facilitate the understanding of the present invention and do not limit it in any way.
如图1所示，一种双层控制结构的光伏发电阵列角度控制方法，每隔一定周期(典型周期为1秒至30分钟)，执行以下步骤：As shown in Figure 1, a photovoltaic power generation array angle control method with a double-layer control structure performs the following steps every certain period (a typical period is 1 second to 30 minutes):
S1：获取光伏发电阵列的配置信息，包括光伏发电阵列长度、宽度、安装高度和中轴位置等。S1: Obtain the configuration information of the photovoltaic power generation array, including the length, width, installation height and central axis position of the photovoltaic power generation array.
如图2和图3所示，在本实施例中，共有三个光伏发电阵列，其中光伏发电阵列长度为50米，宽度为2米，安装高度为2米，南北中轴位置分别为(0,0,2)和(0,50,2)，(6,0,2)和(6,50,2)，(15,0,2)和(15,50,2)。As shown in Figures 2 and 3, in this embodiment, there are three photovoltaic power generation arrays. The length of the photovoltaic power generation array is 50 meters, the width is 2 meters, the installation height is 2 meters, and the north and south central axis positions are (0 ,0,2) and (0,50,2), (6,0,2) and (6,50,2), (15,0,2) and (15,50,2).
S2：计算在水平放置时相邻光伏发电阵列间最短距离，设置膨胀系数，计算光伏发电阵列虚拟宽度；S2: Calculate the shortest distance between adjacent photovoltaic power generation arrays when placed horizontally, set the expansion coefficient, and calculate the virtual width of the photovoltaic power generation array;
Figure PCTCN2022105428-appb-000032
Figure PCTCN2022105428-appb-000032
Figure PCTCN2022105428-appb-000033
Figure PCTCN2022105428-appb-000033
在本实施例中，以第二个光伏发电阵列为例，左侧光伏发电阵列间的最短距离为D l＝2m，右侧光伏发电阵列的最短距离为D r＝5m，膨胀系数设置为0.2(典型范围0～0.5)，则左侧虚拟宽度为
Figure PCTCN2022105428-appb-000034
右侧虚拟宽度为
Figure PCTCN2022105428-appb-000035
第一个和第三个光伏发电阵列位于边缘位置，只需要计算有相邻光伏发电阵列一侧的虚拟宽度，对于第一个光伏发电阵列而言，
Figure PCTCN2022105428-appb-000036
对于第二个光伏发电阵列而言，
Figure PCTCN2022105428-appb-000037
In this embodiment, taking the second photovoltaic power generation array as an example, the shortest distance between the photovoltaic power generation arrays on the left is D l =2m, the shortest distance between the photovoltaic power generation arrays on the right is D r =5m, and the expansion coefficient is set to 0.2 (Typical range 0~0.5), then the left virtual width is
Figure PCTCN2022105428-appb-000034
The virtual width on the right is
Figure PCTCN2022105428-appb-000035
The first and third photovoltaic power generation arrays are located at the edge, and only the virtual width on the side with adjacent photovoltaic power generation arrays needs to be calculated. For the first photovoltaic power generation array,
Figure PCTCN2022105428-appb-000036
For the second photovoltaic array,
Figure PCTCN2022105428-appb-000037
S3：计算真实宽度下光伏发电阵列转动角度θ 1，具体方法为构建并求解以下优化问题： S3: Calculate the rotation angle θ 1 of the photovoltaic power generation array under the real width. The specific method is to construct and solve the following optimization problem:
Figure PCTCN2022105428-appb-000038
Figure PCTCN2022105428-appb-000038
s.t.s.t.
Figure PCTCN2022105428-appb-000039
Figure PCTCN2022105428-appb-000039
Figure PCTCN2022105428-appb-000040
Figure PCTCN2022105428-appb-000040
Figure PCTCN2022105428-appb-000041
Figure PCTCN2022105428-appb-000041
μ j≥0 μj≥0
λ j≥0 λ j ≥0
j＝1,2,...,N-1j＝1,2,...,N-1
其中，
Figure PCTCN2022105428-appb-000042
表示第i个发电阵列真实宽度下的法向，与转动角度θ 1有关，计算方法为： in,
Figure PCTCN2022105428-appb-000042
Represents the normal direction under the true width of the i-th power generation array, which is related to the rotation angle θ 1. The calculation method is:
Figure PCTCN2022105428-appb-000043
Figure PCTCN2022105428-appb-000043
Figure PCTCN2022105428-appb-000044
Figure PCTCN2022105428-appb-000044
Figure PCTCN2022105428-appb-000045
Figure PCTCN2022105428-appb-000045
其中，θ 1表示发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
Figure PCTCN2022105428-appb-000046
分别表示向量
Figure PCTCN2022105428-appb-000047
的第1、2、3个元素；
Figure PCTCN2022105428-appb-000048
表示太阳位置，<·,·>表示两个向量的夹角，A j,k j分别表示第j个光伏发电阵列真实宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量。A j,k j的计算方式为：将真实宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为： Among them, θ 1 represents the rotation angle of the power generation array, and γ represents the tilt angle of the central axis of the power generation array;
Figure PCTCN2022105428-appb-000046
Represent vectors respectively
Figure PCTCN2022105428-appb-000047
The 1st, 2nd, and 3rd elements;
Figure PCTCN2022105428-appb-000048
Represents the position of the sun, <·,·> represents the angle between two vectors, A j , k j respectively represent the projection matrix and projection vector under the real width of the j-th photovoltaic array; μ j , λ j represent the j-th auxiliary Variable, N represents the number of photovoltaic power generation arrays. The calculation method of A j and k j is as follows: project the vertex of the power generation array under the real width to the ground according to the position of the sun. The coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
Figure PCTCN2022105428-appb-000049
Figure PCTCN2022105428-appb-000049
在本实施例中，太阳位置为
Figure PCTCN2022105428-appb-000050
计算得到三个光伏发电阵列的转动角度分别为
Figure PCTCN2022105428-appb-000051
In this example, the sun position is
Figure PCTCN2022105428-appb-000050
The calculated rotation angles of the three photovoltaic power generation arrays are:
Figure PCTCN2022105428-appb-000051
S4：计算虚拟宽度下光伏发电阵列转动角度θ 2，具体方法为构建并求解以下优化问题： S4: Calculate the rotation angle θ 2 of the photovoltaic power generation array under the virtual width. The specific method is to construct and solve the following optimization problem:
Figure PCTCN2022105428-appb-000052
Figure PCTCN2022105428-appb-000052
s.t.s.t.
Figure PCTCN2022105428-appb-000053
Figure PCTCN2022105428-appb-000053
Figure PCTCN2022105428-appb-000054
Figure PCTCN2022105428-appb-000054
Figure PCTCN2022105428-appb-000055
Figure PCTCN2022105428-appb-000055
μ j≥0 μj≥0
λ j≥0 λ j ≥0
j＝1,2,...,N-1j＝1,2,...,N-1
其中，
Figure PCTCN2022105428-appb-000056
表示第i个发电阵列虚拟宽度下的法向，与转动角度θ 2有关，计算方法为： in,
Figure PCTCN2022105428-appb-000056
Represents the normal direction under the virtual width of the i-th power generation array, which is related to the rotation angle θ 2. The calculation method is:
Figure PCTCN2022105428-appb-000057
Figure PCTCN2022105428-appb-000057
Figure PCTCN2022105428-appb-000058
Figure PCTCN2022105428-appb-000058
Figure PCTCN2022105428-appb-000059
Figure PCTCN2022105428-appb-000059
其中，θ 2表示虚拟宽度下发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
Figure PCTCN2022105428-appb-000060
分别表示向量
Figure PCTCN2022105428-appb-000061
的第1、2、3个元素；
Figure PCTCN2022105428-appb-000062
表示太阳位置，<·,·>表示两个向量的夹角；
Figure PCTCN2022105428-appb-000063
分别表示第j个光伏发电阵列虚拟宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量。 Among them, θ 2 represents the rotation angle of the power generation array under the virtual width, and γ represents the tilt angle of the central axis of the power generation array;
Figure PCTCN2022105428-appb-000060
Represent vectors respectively
Figure PCTCN2022105428-appb-000061
The 1st, 2nd, and 3rd elements;
Figure PCTCN2022105428-appb-000062
Represents the position of the sun, <·,·> represents the angle between two vectors;
Figure PCTCN2022105428-appb-000063
Represent the projection matrix and projection vector under the virtual width of the j-th photovoltaic power generation array respectively; μ j and λ j indicate the j-th auxiliary variable, and N indicates the number of photovoltaic power generation arrays.
Figure PCTCN2022105428-appb-000064
的计算方式为：将虚拟宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为：
Figure PCTCN2022105428-appb-000064
The calculation method is: project the vertex of the power generation array under the virtual width to the ground according to the sun position. The coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
Figure PCTCN2022105428-appb-000065
Figure PCTCN2022105428-appb-000065
在本实施例中，太阳位置为
Figure PCTCN2022105428-appb-000066
计算得到三个光伏发电阵列的转动角度分别为
Figure PCTCN2022105428-appb-000067
In this example, the sun position is
Figure PCTCN2022105428-appb-000066
The calculated rotation angles of the three photovoltaic power generation arrays are:
Figure PCTCN2022105428-appb-000067
S5：从角度θ 2以预设步长向角度θ 1转动，若发电功率上升，则继续转动，否则，停止转动，停止条件为： S5: Rotate from angle θ 2 to angle θ 1 with a preset step length. If the power generation increases, continue to rotate. Otherwise, stop rotating. The stop condition is:
Figure PCTCN2022105428-appb-000068
Figure PCTCN2022105428-appb-000068
其中，θ min表示步骤S3和S4中计算角度的较小者，θ max表示步骤S3和S4中计算角度的较大者，P表示发电功率。 Among them, θ min represents the smaller of the calculated angles in steps S3 and S4, θ max represents the larger of the calculated angles in steps S3 and S4, and P represents the generated power.
在本实施例中，使用了PID控制实现角度调整，PID控制器以初始步长转动光伏发电阵列，计算发电功率微分，作为PID控制器的输入，并进一步计算光伏发电阵列转动角度步长，结构图如图4所示。In this embodiment, PID control is used to achieve angle adjustment. The PID controller rotates the photovoltaic power generation array with an initial step, calculates the power generation differential, and serves as the input of the PID controller, and further calculates the photovoltaic power generation array rotation angle step. Structure The diagram is shown in Figure 4.
最终，得到三个光伏发电阵列转动角度为
Figure PCTCN2022105428-appb-000069
Finally, the rotation angle of the three photovoltaic power generation arrays is obtained as
Figure PCTCN2022105428-appb-000069
通过上述专利实施例，体现了本发明方法能够在全局优化的基础上，对局部发电阵列的角度进行再优化，从而提高阵列整体发电功率，提高经济效益。Through the above patent embodiments, it is demonstrated that the method of the present invention can re-optimize the angle of the local power generation array on the basis of global optimization, thereby increasing the overall power generation power of the array and improving economic benefits.
以上所述的实施例对本发明的技术方案和有益效果进行了详细说明，应理解的是以上所述仅为本发明的具体实施例，并不用于限制本发明，凡在本发明的原则范围内所做的任何修改、补充和等同替换，均应包含在本发明的保护范围之内。The above-described embodiments describe in detail the technical solutions and beneficial effects of the present invention. It should be understood that the above-mentioned are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, additions and equivalent substitutions should be included in the protection scope of the present invention.

Claims (9)

  1. 一种双层控制结构的光伏发电阵列角度控制方法，其特征在于，每隔一定周期，执行以下步骤:A photovoltaic power generation array angle control method with a double-layer control structure, which is characterized in that the following steps are performed at certain intervals:
    (1)获取光伏发电阵列的配置信息，包括光伏发电阵列的真实长度、真实宽度、安装高度和中轴位置；(1) Obtain the configuration information of the photovoltaic power generation array, including the real length, real width, installation height and central axis position of the photovoltaic power generation array;
    (2)计算在水平放置时相邻光伏发电阵列间的最短距离，设置膨胀系数，计算光伏发电阵列的虚拟宽度；(2) Calculate the shortest distance between adjacent photovoltaic power generation arrays when placed horizontally, set the expansion coefficient, and calculate the virtual width of the photovoltaic power generation array;
    (3)计算真实宽度下光伏发电阵列转动角度θ 1 (3) Calculate the rotation angle θ 1 of the photovoltaic array under the real width
    (4)计算虚拟宽度下光伏发电阵列转动角度θ 2； (4) Calculate the rotation angle θ 2 of the photovoltaic power generation array under the virtual width;
    (5)从角度θ 2以预设步长向角度θ 1转动，若发电功率上升，则继续转动，否则，停止转动，完成光伏发电阵列的角度优化控制。 (5) Rotate from angle θ 2 to angle θ 1 with a preset step size. If the power generation power increases, continue to rotate. Otherwise, stop rotating to complete the angle optimization control of the photovoltaic power generation array.
  2. 根据权利要求1所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，每隔一定周期具体为1秒至30分钟。The photovoltaic power generation array angle control method with a double-layer control structure according to claim 1, characterized in that every certain period is specifically from 1 second to 30 minutes.
  3. 根据权利要求1所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，步骤(2)中，计算光伏发电阵列虚拟宽度的公式为：The photovoltaic power generation array angle control method with a double-layer control structure according to claim 1, characterized in that in step (2), the formula for calculating the virtual width of the photovoltaic power generation array is:
    Figure PCTCN2022105428-appb-100001
    Figure PCTCN2022105428-appb-100001
    Figure PCTCN2022105428-appb-100002
    Figure PCTCN2022105428-appb-100002
    其中，w l表示光伏发电阵列中轴左侧宽度，w r表示光伏发电阵列中轴右侧宽度，
    Figure PCTCN2022105428-appb-100003
    表示光伏发电阵列左侧虚拟宽度，
    Figure PCTCN2022105428-appb-100004
    表示光伏发电阵列右侧虚拟宽度，α表示膨胀系数，D l表示表示光伏发电阵列与左侧相邻光伏发电阵列的最短距离，D r表示表示光伏发电阵列与右侧相邻光伏发电阵列的最短距离。     Among them, w l represents the width of the left side of the central axis of the photovoltaic power generation array, w r represents the width of the right side of the central axis of the photovoltaic power generation array,
    Figure PCTCN2022105428-appb-100003
    Represents the virtual width on the left side of the photovoltaic power generation array,
    Figure PCTCN2022105428-appb-100004
    represents the virtual width on the right side of the photovoltaic power generation array, α represents the expansion coefficient, D l represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the left, and D r represents the shortest distance between the photovoltaic power generation array and the adjacent photovoltaic power generation array on the right distance.
  4. 根据权利要求3所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，步骤(3)中，计算真实宽度下光伏发电阵列转动角度θ 1 的方法为构建并求解以下优化问题： The photovoltaic power generation array angle control method with a double-layer control structure according to claim 3, characterized in that in step (3), the method for calculating the photovoltaic power generation array rotation angle θ 1 under the real width is to construct and solve the following optimization problem:
    Figure PCTCN2022105428-appb-100005
    Figure PCTCN2022105428-appb-100005
    s.t.s.t.
    Figure PCTCN2022105428-appb-100006
    Figure PCTCN2022105428-appb-100006
    Figure PCTCN2022105428-appb-100007
    Figure PCTCN2022105428-appb-100007
    Figure PCTCN2022105428-appb-100008
    Figure PCTCN2022105428-appb-100008
    μ j≥0 μj≥0
    λ j≥0 λ j ≥0
    j＝1,2,...,N-1j＝1,2,...,N-1
    其中，
    Figure PCTCN2022105428-appb-100009
    表示第i个发电阵列真实宽度下的法向，与转动角度θ 1有关，计算方法为：     in,
    Figure PCTCN2022105428-appb-100009
    Represents the normal direction under the true width of the i-th power generation array, which is related to the rotation angle θ 1. The calculation method is:
    Figure PCTCN2022105428-appb-100010
    Figure PCTCN2022105428-appb-100010
    Figure PCTCN2022105428-appb-100011
    Figure PCTCN2022105428-appb-100011
    Figure PCTCN2022105428-appb-100012
    Figure PCTCN2022105428-appb-100012
    其中，θ 1表示发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
    Figure PCTCN2022105428-appb-100013
    分别表示向量
    Figure PCTCN2022105428-appb-100014
    的第1、2、3个元素；     Among them, θ 1 represents the rotation angle of the power generation array, and γ represents the tilt angle of the central axis of the power generation array;
    Figure PCTCN2022105428-appb-100013
    Represent vectors respectively
    Figure PCTCN2022105428-appb-100014
    The 1st, 2nd, and 3rd elements;
    Figure PCTCN2022105428-appb-100015
    表示太阳位置，<·,·>表示两个向量的夹角，A j,k j分别表示第j个光伏发电阵列真实宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量。
    Figure PCTCN2022105428-appb-100015
    Represents the position of the sun, <·,·> represents the angle between two vectors, A j , k j respectively represent the projection matrix and projection vector under the real width of the j-th photovoltaic array; μ j , λ j represent the j-th auxiliary Variable, N represents the number of photovoltaic power generation arrays.
  5. 根据权利要求4所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，A j,k j的计算方式为：将真实宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为： The photovoltaic power generation array angle control method with a double-layer control structure according to claim 4, characterized in that the calculation method of A j and k j is: project the vertex of the power generation array under the real width to the ground according to the sun position, and the projection matrix The coefficients in and projection vectors are calculated from the polygonal outline of the shadow, and the formula is:
    Figure PCTCN2022105428-appb-100016
    Figure PCTCN2022105428-appb-100016
    式中，x表示阴影内任一点的横坐标，y表示阴影内任一点的纵坐标。In the formula, x represents the abscissa of any point within the shadow, and y represents the ordinate of any point within the shadow.
  6. 根据权利要求3所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，步骤(4)中，计算虚拟宽度下光伏发电阵列转动角度θ 2 的方法为求解以下优化问题： The photovoltaic power generation array angle control method with a double-layer control structure according to claim 3, characterized in that in step (4), the method for calculating the photovoltaic power generation array rotation angle θ 2 under the virtual width is to solve the following optimization problem:
    Figure PCTCN2022105428-appb-100017
    Figure PCTCN2022105428-appb-100017
    s.t.s.t.
    Figure PCTCN2022105428-appb-100018
    Figure PCTCN2022105428-appb-100018
    Figure PCTCN2022105428-appb-100019
    Figure PCTCN2022105428-appb-100019
    Figure PCTCN2022105428-appb-100020
    Figure PCTCN2022105428-appb-100020
    μ j≥0 μj≥0
    λ j≥0 λ j ≥0
    j＝1,2,...,N-1j＝1,2,...,N-1
    其中，
    Figure PCTCN2022105428-appb-100021
    表示第i个发电阵列虚拟宽度下的法向，与转动角度θ 2有关，计算方法为：     in,
    Figure PCTCN2022105428-appb-100021
    Represents the normal direction under the virtual width of the i-th power generation array, which is related to the rotation angle θ 2. The calculation method is:
    Figure PCTCN2022105428-appb-100022
    Figure PCTCN2022105428-appb-100022
    Figure PCTCN2022105428-appb-100023
    Figure PCTCN2022105428-appb-100023
    Figure PCTCN2022105428-appb-100024
    Figure PCTCN2022105428-appb-100024
    其中，θ 2表示虚拟宽度下发电阵列的转动角度，γ表示发电阵列的中轴倾斜角度；
    Figure PCTCN2022105428-appb-100025
    分别表示向量
    Figure PCTCN2022105428-appb-100026
    的第1、2、3个元素；     Among them, θ 2 represents the rotation angle of the power generation array under the virtual width, and γ represents the tilt angle of the central axis of the power generation array;
    Figure PCTCN2022105428-appb-100025
    Represent vectors respectively
    Figure PCTCN2022105428-appb-100026
    The 1st, 2nd, and 3rd elements;
    Figure PCTCN2022105428-appb-100027
    表示太阳位置，<·,·>表示两个向量的夹角；
    Figure PCTCN2022105428-appb-100028
    分别表示第j个光伏发电阵列虚拟宽度下的投影矩阵和投影向量；μ j,λ j表示第j个辅助变量，N表示光伏发电阵列的数量；
    Figure PCTCN2022105428-appb-100027
    Represents the position of the sun, <·,·> represents the angle between two vectors;
    Figure PCTCN2022105428-appb-100028
    Represent the projection matrix and projection vector under the virtual width of the j-th photovoltaic power generation array respectively; μ j and λ j indicate the j-th auxiliary variable, and N indicates the number of photovoltaic power generation arrays;
  7. 根据权利要求6所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，
    Figure PCTCN2022105428-appb-100029
    的计算方式为：将虚拟宽度下的发电阵列顶点按照太阳位置投影到地面，投影矩阵和投影向量的中的系数由阴影的多边形轮廓计算得到，公式为：     The photovoltaic power generation array angle control method with a double-layer control structure according to claim 6, characterized in that:
    Figure PCTCN2022105428-appb-100029
    The calculation method is: project the vertex of the power generation array under the virtual width to the ground according to the sun position. The coefficients in the projection matrix and the projection vector are calculated from the polygonal outline of the shadow. The formula is:
    Figure PCTCN2022105428-appb-100030
    Figure PCTCN2022105428-appb-100030
    式中，x表示阴影内任一点的横坐标，y表示阴影内任一点的纵坐标。In the formula, x represents the abscissa of any point within the shadow, and y represents the ordinate of any point within the shadow.
  8. 根据权利要求1所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，步骤(5)中，停止转动的条件为：The photovoltaic power generation array angle control method with a double-layer control structure according to claim 1, characterized in that in step (5), the condition for stopping rotation is:
    Figure PCTCN2022105428-appb-100031
    Figure PCTCN2022105428-appb-100031
    其中，θ min表示步骤(3)和步骤(4)中计算角度的较小者，θ max表示步骤(3)和步骤(4)中计算角度的较大者，P表示发电功率。 Among them, θ min represents the smaller of the calculated angles in step (3) and step (4), θ max represents the larger of the calculated angles in step (3) and step (4), and P represents the generated power.
  9. 根据权利要求1所述的双层控制结构的光伏发电阵列角度控制方法，其特征在于，步骤(5)中，使用PID控制器控制实现光伏发电阵列的角度调整，PID控制器以初始的预设步长θ d转动光伏发电阵列。 The photovoltaic power generation array angle control method with a double-layer control structure according to claim 1, characterized in that in step (5), a PID controller is used to control the angle adjustment of the photovoltaic power generation array, and the PID controller uses an initial preset The step size θ d rotates the photovoltaic power generation array.
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