Optimal tilt flat single axis photovoltaic tracking system

Abstract

The present application relates to the technical field of single-axis tracking, in particular to a best-inclination flat single-axis photovoltaic tracking system, which comprises a sunshine inflection point capturing module, a shelter change calculation module, a trend linkage judgment module, a turning angle compression control module and a path adjustment execution module.In the present application, key angle deviation features are extracted through dynamic comparison of light deviation and component posture, combined with the direction consistency check of shelter area change trend, a dual condition linkage triggering mechanism is constructed, real light turning events are effectively screened to avoid false triggering interference, a difference increment judgment is introduced in the step adjustment process, a targeted angle compression strategy is formed, the subsequent execution path is calibrated after delay data compression, the inclination adjustment is more directional and continuous and the amplitude is more stable, the response efficiency is maintained while the mechanical impact is reduced, and the photovoltaic component provides a dynamic tracking path output with high responsiveness, low jitter, strong trend perception ability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of single-axis tracking, in particular to an optimal inclination flat single-axis photovoltaic tracking system. BACKGROUND

[0002] The technical field of single-axis tracking relates to the control and structure technology of single-axis adjustment of the orientation of photovoltaic components in a solar photovoltaic power generation system. Through an electric drive mechanism or a mechanical device, the orientation of photovoltaic panels is tracked around a horizontal axis or an inclined axis, so as to continuously optimize the light receiving angle during the day to enhance the photovoltaic power generation efficiency. The key contents include support structure design, tracking algorithm control, orientation positioning mechanism, etc. The functions of light tracking are realized by integrating light angle prediction, mechanical rotation control and component arrangement. Among them, the inclination flat single-axis photovoltaic tracking system refers to a system that rotates the photovoltaic components around an axis parallel to the ground to track the sun's path and improve the utilization rate of sunlight at a fixed inclination of the components. The system is usually formed by a ground-based support structure combined with a linear electric push rod drive device to form a whole rotating mechanism. The component angle is adjusted mainly by presetting the daily running track according to the sun position equation and combining the motor rotation to complete the single-axis response tracking of the sun's orientation.

[0003] The existing flat single-axis photovoltaic tracking technology mainly relies on the preset sun running track and the motor rotation linkage to complete the component angle adjustment. It lacks the ability to perceive the deviation between the critical point of sunlight and the response direction of the component in real operation. In the case of shadow change or complex terrain environment, the rotation strategy is easily affected by the obstruction and produces misadjustment behavior, which leads to the decline of light utilization efficiency. In the edge transition period of sunlight, it cannot identify whether it is the real direction reversal, which causes the rotation mechanism to start frequently, resulting in mechanical impact and energy waste. In the case of local or periodic obstruction of component arrangement, the existing system cannot distinguish whether the direction of obstruction change is consistent with the target rotation direction, and lacks the ability to adjust and trigger based on the real trend judgment, which limits the operation stability and response accuracy of the system in complex environment. SUMMARY

[0004] In order to solve the technical problems existing in the prior art, the embodiments of the present application provide an optimal inclination flat single-axis photovoltaic tracking system. The technical solution is as follows:

[0005] On the one hand, an optimal inclination flat single-axis photovoltaic tracking system is provided, which comprises:

[0006] The sun inflection point capture module obtains the sun azimuth angle and elevation angle of the photovoltaic component in the current period and the last period, calculates the sign change of the direction angle difference value, and judges whether the sign appears first reversal. If it is true, the corresponding time direction angle and the current inclination value are extracted, and the deviation is calculated to generate an inclination deviation judgment record.

[0007] The shading change calculation module calculates the actual light-receiving area and the shading area, calculates the shading area change rate, identifies the shading expansion trend and records the corresponding inclination angle change direction, matches the periodic turning direction and the shading expansion direction for consistency, and generates shading trend consistency data;

[0008] The trend linkage judgment module judges whether the set conditions are met based on the inclination offset judgment record and the shading trend consistency data, and if the set conditions are met, records the current period illumination direction angle value and the current inclination angle value of the component, identifies the synchronous turning period number and the target angle position, and generates a linkage trigger inclination angle node set;

[0009] The turning angle compression control module obtains the node corresponding component current adjustment step angle and the historical adjustment step angle difference value based on the linkage trigger inclination angle node set, judges whether the difference value is continuously increasing in period, and if the difference value is continuously increasing in period, calculates the updated compression turning angle step value combined with the step attenuation coefficient, and obtains step delay control data.

[0010] As a further scheme of the present application, the inclination offset judgment record includes a sign inversion node number, a direction angle deviation value, and an initial inclination angle parameter, the shading trend consistency data includes a shading expansion trend direction, a turning direction consistency identifier, and a shading change rate, the linkage trigger inclination angle node set includes a trigger period number, a target direction angle, and an inclination offset value, and the step delay control data includes an adjustment step compression value, a continuous increasing difference value sequence, and a step attenuation coefficient parameter.

[0011] As a further scheme of the present application, the step attenuation coefficient specifically refers to a factor for reducing the step adjustment amplitude, and the default value is 0.8 according to the standard setting.

[0012] As a further scheme of the present application, the sunshine inflection point capture module includes:

[0013] The angle parameter extraction submodule obtains the solar azimuth angle and elevation angle data of the current period and the previous period of the photovoltaic module, calculates the direction angle difference value based on the azimuth angle values of the current period and the previous period, judges the direction angle change direction according to the positive and negative of the difference value, and generates direction angle change data;

[0014] The sign change identification submodule judges whether a sign inversion occurs based on the direction angle change data according to the comparison of the signs of the direction angle difference value between the current period and the previous period, and if a first inversion is identified, extracts the direction angle value and the current inclination angle value of the component at the corresponding time, and binds the time point and the period index, and generates first inversion time inclination angle combination data;

[0015] The inclination offset judgment submodule calculates the angle difference between the direction angle value extracted from the inclination combination data at the first time of reversing and the current component inclination value, judges the deviation degree interval between the direction angle and the inclination angle in combination with the angle offset judgment threshold, obtains the current component direction offset state division level, and establishes the inclination offset judgment record.

[0016] As a further scheme of the present application, the shielding change calculation module comprises:

[0017] The light receiving area recognition submodule obtains the component actual light receiving area boundary image in the current period and extracts the pixel value matrix, performs shielding area boundary contour difference value calculation in combination with the component total area pixel boundary distribution, determines the difference value corresponding to the shielding area boundary, and calculates the shielding area value and the actual light receiving area value according to the pixel value accumulation quantity in the boundary, to generate the current period shielding area change data;

[0018] The change trend judgment submodule compares the difference value between the current period shielding area change data and the recorded shielding area change quantity in the last period, calculates the difference value divided by the time difference between the two periods to obtain the shielding area change rate difference value, judges whether the shielding trend presents an expanding trend according to the sign of the rate difference value, and if the rate is positive and greater than the set shielding change threshold, records the current period component inclination change direction as the trend trigger direction, and generates the shielding trend trigger direction record;

[0019] The direction matching calculation submodule performs direction consistency determination based on the shielding trend trigger direction record and the current period rotation direction value, adopts a joint calculation method of direction difference value and shielding amplitude offset ratio, calculates the direction difference value and the shielding rate offset correction value, performs matching recognition, and generates the labeled structure record in combination with the period index to obtain the shielding trend consistency data.

[0020] As a further scheme of the present application, the trend linkage judgment module comprises:

[0021] The direction reversing judgment submodule extracts the direction change values of two continuous periods and compares the positive and negative signs based on the direction difference value between the historical direction sequence in the inclination offset judgment record and the current period inclination direction value, judges whether the direction reversing occurs, calculates the period position difference, and confirms whether the time interval between the reversing event and the current period is less than the set period number, to generate the direction reversing state identification record;

[0022] The consistency state recognition submodule extracts the current period consistency value and compares the size with the consistency threshold value according to the direction reversing state identification record and the direction consistency determination value in the shielding trend consistency data, judges as a trend linkage effective period if the consistency value is lower than the consistency threshold value and is in a positive reversing state, and generates the trend linkage effective period group in combination with the current period number and the shielding trend direction angle value.

[0023] The node parameter extraction submodule obtains the current component inclination direction value corresponding to the period and the illumination direction angle value corresponding to the period according to the period number index in the trend linkage effective period group, performs angle difference calculation on the two values, obtains the angle deviation between the current illumination direction and the component inclination, and generates a linkage trigger inclination node set by summarizing and arranging in period order.

[0024] As a further scheme of the present application, the corner compression control module comprises:

[0025] The angle difference value extraction submodule extracts the current period component adjustment step angle and the last period step angle based on the linkage trigger inclination node set, calculates the difference value of the two, records the difference value and sorts it in time sequence as an angle offset sequence, and generates a step angle difference value sequence.

[0026] The period trend determination submodule determines whether the sequence has a difference value increment in consecutive periods according to the step angle difference value sequence, sets a period window, extracts the step difference value sequence values of the front and rear period windows in turn for comparison, confirms that the increment relationship is satisfied, and generates an increment trend determination result.

[0027] The step compression update submodule performs step compression control processing on the current set angle step unit value based on the increment trend determination result, sets a step attenuation coefficient, and dynamically corrects it according to the illumination angle deviation state, calculates the compressed angle step value, replaces the current step angle, and obtains step delay control data.

[0028] As a further scheme of the present application, the system further comprises:

[0029] The path adjustment execution module obtains the current set inclination direction of the component and the target node inclination direction based on the step delay control data and the linkage trigger inclination node set, determines whether there is a consistency deviation, and if there is, takes the corresponding node direction as a new inclination adjustment instruction, records the adjustment period number and the component bit number sequence, and establishes a best inclination dynamic tracking path record.

[0030] As a further scheme of the present application, the best inclination dynamic tracking path record comprises an adjustment period number, a component bit number sequence, and a new set inclination instruction.

[0031] As a further scheme of the present application, the path adjustment execution module comprises:

[0032] The inclination difference detection submodule obtains the step delay control data and the linkage trigger inclination node set, combines the current period component setting inclination direction and the corresponding target node inclination direction, pairs the two groups of angle directions in turn, extracts the direction values of the components and nodes of the same sequence number, calculates the angle difference sequence, and generates the inclination direction difference interval;

[0033] The deviation consistency judgment submodule sequentially judges whether each angle difference value exceeds the set direction deviation consistency threshold value according to the inclination direction difference interval, marks the items greater than the direction deviation consistency threshold value as having deviation, establishes a node and deviation relationship table in combination with the corresponding node number, and obtains the inclination deviation judgment result;

[0034] The inclination instruction updating submodule selects the node direction having consistency deviation as the inclination instruction updating value based on the inclination deviation judgment result, records the current period number and the corresponding component bit number sequence, establishes an updating record set and a target angle correspondence table, and generates the best inclination dynamic tracking path record.

[0035] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0036] By dynamically comparing the light deviation and the component posture to extract key angle deviation features, and by combining the direction consistency check of the change trend of the shading area, a double-condition linkage trigger mechanism is constructed, which effectively filters real light turning events to avoid false trigger interference, introduces difference value incremental judgment in the step adjustment process, forms a targeted angle compression strategy, and calibrates the subsequent execution path through the compressed step delay data, so that the inclination adjustment has better direction continuity and amplitude stability, while maintaining the response efficiency, reduces the mechanical impact, forms a systematic record of the component dynamic adjustment path and the period sequence, and provides a high-response, low-jitter, strong trend perception dynamic tracking path output for the photovoltaic component. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical scheme in the embodiment of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 is a schematic diagram of the best inclination flat single-axis photovoltaic tracking system provided by the embodiment of the present application;

[0039] Figure 2 is a system framework schematic diagram of the present application;

[0040] Figure 3 is a flowchart of the sunlight inflection point capture module in the present application;

[0041] Figure 4 Flow chart of the occlusion change measurement module in the present application;

[0042] Figure 5 Flow chart of the trend linkage judgment module in the present application;

[0043] Figure 6 Flow chart of the corner compression control module in the present application;

[0044] Figure 7 Flow chart of the path adjustment execution module in the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the present application will be described below with reference to the drawings.

[0046] In the embodiments of the present application, the words such as "example", "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two options.

[0047] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent. "Of", "corresponding" and "corresponding" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0048] In the embodiments of the present application, sometimes the subscript such as W1 can be written in the form of non-subscript such as W1. When the distinction is not emphasized, the meanings expressed are consistent.

[0049] To make the technical problems, technical solutions and advantages of the present application clearer, specific embodiments will be described in detail below with reference to the drawings.

[0050] The embodiments of the present application provide a best inclination flat single-axis photovoltaic tracking system, as shown in the best inclination flat single-axis photovoltaic tracking system schematic diagram shown in Figure 1 , 2 The system comprises:

[0051] The sun azimuth and elevation angle of the photovoltaic module in the current period and the last period are obtained by the sun azimuth inflection point capturing module, the sign of the directional angle difference between the two periods is calculated and a transition flag is recorded, it is judged whether the sign appears first reversal, if it is the first reversal, the directional angle and the current tilt angle value at the corresponding time are extracted, the directional angle and the current module tilt angle value are calculated for deviation, and the tilt angle offset judgment record is generated;

[0052] The actual light receiving area and the area of the shading area of the module in the current period are counted by the shading change calculation module, the shading area change rate is calculated, the trend is judged in combination with the shading area change rate of the last period, the shading expansion trend is identified and the corresponding tilt angle change direction is recorded, the turning angle direction in the current period is matched with the shading expansion direction for consistency, and the shading trend consistency data is generated;

[0053] The trend linkage judgment module judges whether the two conditions of reverse rotation of the offset direction and positive consistency of the shading trend are met at the same time based on the tilt angle offset judgment record and the shading trend consistency data, if it is met, the illumination directional angle value and the current tilt angle value of the module in the current period are recorded, the angle deviation value is extracted, and the period number and target angle position where the synchronous turning is located are identified, and the linkage triggered tilt angle node set is generated;

[0054] The turning angle compression control module obtains the difference value between the current adjustment step angle and the historical adjustment step angle of the module corresponding to the node according to the linkage triggered tilt angle node set, judges whether the difference value is continuously increasing in the period, if it is met, the current set angle step unit is multiplied by the step attenuation coefficient (a factor for reducing the adjustment amplitude of the step, which is set to default value 0.8 according to the standard), the compressed turning step value is updated, and the step delay control data is obtained;

[0055] The path adjustment execution module obtains the current set tilt angle direction of the module and the target node tilt angle direction based on the step delay control data and the linkage triggered tilt angle node set, judges whether there is consistency deviation, if there is, the corresponding node direction is taken as the new tilt angle adjustment instruction, the period number and the module position sequence where the adjustment is located are recorded, and the best tilt angle dynamic tracking path record is established.

[0056] The tilt angle offset judgment record includes the sign reversal node number, the directional angle deviation value and the initial tilt angle parameter, the shading trend consistency data includes the shading expansion trend direction, the turning angle direction consistency identifier and the shading change rate, the linkage triggered tilt angle node set includes the trigger period number, the target directional angle and the tilt angle offset value, the step delay control data includes the adjustment step compression value, the continuous incremental difference value sequence and the step attenuation coefficient parameter, and the best tilt angle dynamic tracking path record includes the adjustment period number, the module position sequence and the new set tilt angle instruction.

[0057] Specifically, as shown in Figure 2 , 3 the sun azimuth inflection point capturing module comprises:

[0058] The angle parameter extraction submodule obtains the solar azimuth and elevation angle data of the photovoltaic module in the current period and the previous period, calculates the direction angle difference value based on the azimuth angle values of the current period and the previous period, judges the direction angle change direction according to the positive and negative of the difference value, and generates the direction angle change data;

[0059] The solar azimuth and elevation angle data of the photovoltaic module in the current period and the previous period are obtained. First, the set sampling time points in the current period and the previous period are called, such as 08:00, 08:10, 08:20, etc. The values of the solar azimuth angle α1, α2 and the solar elevation angle h1, h2 at each sampling time point are extracted, for example, at 08:00, the current period α1 is 110.5°, the previous period α2 is 108.2°, and the corresponding elevation angles are 36.8° and 35.9°, respectively. According to the azimuth angle values of the same time points in the two periods, the direction angle difference value is calculated through the angle difference formula Δα=α1-α2. In this example, Δα=110.5°-108.2°=2.3°. Then, based on the difference value Δα, its sign is judged, that is, if Δα>0, the direction angle of the current period moves eastward, and if Δα<0, it means that it moves westward. Further, the sign change of the Δα value of the continuous time points is compared, and it is judged that the direction changes from positive to negative, indicating that the direction angle change trend reverses. Based on the number of sampling points in each period and the index corresponding to the time axis, the change mark is recorded, which is convenient for subsequent identification of the specific reversal position. In the above case, the first reversal time of the positive and negative changes of the direction angle is 08:10. Finally, the direction angle difference value Δα of each sampling time point and its corresponding sign mark are recorded as a sequence array, such as: [(08:00, 2.3, +1), (08:10, -1.8, -1)]. The corresponding time and difference value in the sequence are used for subsequent operation to generate the direction angle change data.

[0060] The sign change recognition submodule judges whether the sign reversal occurs based on the direction angle change data according to the comparison of the signs of the direction angle difference values between the current period and the previous period. If the first reversal is identified, the direction angle value and the current inclination angle value of the module at the corresponding time are extracted, and the time point and the period index are bound to generate the inclination angle combination data at the first reversal time;

[0061] Based on the difference and sign information in the direction angle change data, first, the signs of the two consecutive items in the data sequence are compared and judged, for example, from (08:00, +1) to (08:10, -1), whether there is a positive and negative change between the signs +1 and -1, if there is and it is the first time, mark the time point as the first time of the direction angle reversal, extract and combine the direction angle value and the current inclination angle value of the component at this time, and set the direction angle to be 109.7° and the inclination angle to be 25.6° at 08:10, then construct a combined pair (109.7°, 25.6°) with the two values, and record the time point by indexing, for example, construct a structure (08:10, 109.7°, 25.6°), and the process needs to traverse the direction angle change sequence until the first time of the sign change from positive to negative or negative to positive is found, and the subsequent other reversal information is not recorded again. The variable flag is set to mark whether the first reversal has occurred, and only the record of the first reversal time is kept. Finally, the combined value of the extracted direction angle and inclination angle is used in the subsequent error judgment process to obtain the inclination angle combination data at the first reversal time.

[0062] The inclination angle offset judgment submodule calculates the angle difference between the direction angle value extracted from the inclination angle combination data at the first reversal time and the current component inclination angle value, combines the angle offset judgment threshold, judges the deviation interval between the direction angle and the inclination angle, obtains the component direction offset state classification level, and establishes the inclination angle offset judgment record.

[0063] According to the direction angle and inclination angle data in the inclination angle combination data at the first reversal time, the direction angle is set to be a = 109.7° and the inclination angle is set to be β = 25.6°. First, the difference formula Δθ = |a - β| = |109.7° - 25.6°| = 84.1° is used to calculate the angle difference between the two, and whether the offset degree exceeds the offset judgment threshold θ0 is judged by the angle difference. Set θ0 = 70°, the threshold θ0 is set according to the reference experience value of the measured value that the component and the sun azimuth offset between 50° and 90° in the sunlight adjustment experiment has a large influence on the performance, and the set value is θ0 = 70°. Then, Δθ = 84.1° and θ0 = 70° are compared. Since Δθ > θ0, it is determined that the current component direction offset is too large, and it is classified as offset interval level 3. If Δθ is in [0°, 30°), it is level 1, [30°, 70°) is level 2, and [70°, 90°] is level 3. The level division, direction angle, inclination angle value, and difference value are recorded together to form a record structure (08:10, 109.7°, 25.6°, 84.1°, level 3), which is used for subsequent output, marking, and log generation, and finally the inclination angle offset judgment record is established.

[0064] Specifically, as shown in Figure 2 , 4 The occlusion change measurement module includes:

[0065] The light receiving area recognition sub-module obtains the actual light receiving area boundary image of the component in the current period and extracts the pixel value matrix, combines the total area pixel boundary distribution of the component to calculate the difference value of the occlusion area boundary contour, determines the difference value corresponding to the occlusion area boundary, and calculates the occlusion area value and the actual light receiving area value according to the cumulative number of pixel values in the boundary to generate the occlusion area change data in the current period;

[0066] The actual light receiving area boundary image of the component in the current period is obtained and the pixel value matrix is extracted. Firstly, the image sampling time is set as 08:00, 08:10, 08:20, etc. sampling nodes, and the preliminary occlusion judgment is performed on the image pixel array by using the gray scale distribution threshold value, and the pixels with a gray scale value lower than 90 are regarded as occlusion points. The total pixel area of the component in the current period is set as 250000 pixels. After processing the image matrix, it is found that the pixel points with a gray scale value lower than the threshold value are 36250, so the pixel area of the occlusion area is 36250, and the remaining 213750 pixels are light receiving pixels. Combined with the set pixel area mapping coefficient 1 pixel = 0.0004 m2, the pixel number is converted to obtain the occlusion area in the current period, which is 14.5 m2, and the light receiving area is 85.5 m2. The coefficient is obtained from the component unit area calibration experiment. Referring to the experimental setting, the cross-sectional width of the component is 1.6 meters, the height is 1.5 meters, the total area is 2.4 m2, and the corresponding resolution is 6000 pixels. Therefore, the unit conversion is 2.4 ÷ 6000 = 0.0004 m2 / pixel. This coefficient has been verified by 20 groups of sampling on the standard component, and the maximum error is not more than ± 0.02 m2. The occlusion area of each period is extracted from the collected image and a data sequence is constructed, as shown in the following table:

[0067] Table 1: Occlusion area record table in the current period

[0068]

[0069] As shown in Table 1, the occlusion area of each time node in the current period is directly obtained by image acquisition and pixel conversion, which avoids the error of historical data comparison and provides basic data for subsequent occlusion trend calculation. The occlusion area change data in the current period is obtained.

[0070] The change trend judgment sub-module compares the difference between the occlusion area change data in the current period and the recorded occlusion area change in the last period, calculates the difference divided by the time difference between the two periods to obtain the occlusion area change rate difference, judges whether the occlusion trend is expanding according to the sign of the rate difference, and records the trend triggering direction of the component inclination change direction if the rate is positive and greater than the set occlusion change threshold to generate the occlusion trend triggering direction record.

[0071] According to the current period of shading area change data and the last period of record shading area change, difference comparison, set the current period 08:20 shading area is 15.5 m², the last period 08:20 corresponding shading area is 13.9 m², interval time is 10 minutes, according to the difference divided by time interval formula, calculate the shading area change rate is (15.5-13.9) / 10=0.16 m² / min, set the shading trend identification threshold is 0.12 m² / min, the value is determined by reference to 20 groups of component samples in the upper quartile of shading sharp change 75% level, set the sample mean is 0.10 m² / min, the standard deviation is 0.026 m² / min, the laboratory shading intervention device records the shading area expansion rate under the condition of 9 groups of artificial control, of which 5 groups of growth rate exceeds 0.14 m² / min, after screening, set the threshold value as 0.12 m² / min, as the trend identification lower limit, if the current rate exceeds the value, it is considered that the shading area expands, the direction changes effectively, the current rate is 0.16 m² / min, which is greater than the threshold value, and it is determined that the shading expansion trend is established, at the same time, the current period component inclination direction change direction is marked as 42.5°, and the corresponding turning information is generated, which is used for subsequent comparison and calculation with the current period component inclination direction, to obtain the shading trend trigger direction record.

[0072] The direction matching calculation sub module is based on the shading trend trigger direction record and the current period of corner direction value to determine the consistency of the direction, which adopts the joint calculation method of direction difference and shading amplitude offset ratio, and adopts the formula:

[0073] ;

[0074] The operation obtains the direction difference and the shading rate offset correction value, performs matching recognition, and generates the labeling structure record combined with the period index, to obtain the shading trend consistency data, wherein represents the shading trend consistency data, represents the shading trend trigger direction value (unit: degree °), represents the current period of corner direction value (unit: degree °), represents the current period of shading area change rate (percentage), represents the average of the last period of shading area change rate (percentage);

[0075] The shading trend trigger direction record and the current period of component corner direction value are called to determine the consistency of the direction, set the shading trend trigger direction as , the current period of component inclination corner direction as , the current period of component shading area change rate as , and the average of the last period of shading area change rate as , and the above data is brought into the formula for calculation.

[0076] Firstly, the first term is calculated:

[0077] Secondly, the second term is calculated:

[0078]

[0079]

[0080] The combined calculation is:

[0081]

[0082] The consistency determination value is 12.3834. The consistency threshold of 8.0 is based on the directional adjustment behavior fluctuation range of typical components in multiple sets of shielding response experiments. By comparing the shielding trend change records of 42 sets of components within 5-30 minutes, the distribution data of directional deviation values are extracted. It is observed that more than 90% of the components have a shielding area change rate within ±0.08, and the absolute value of the directional angle change is not more than 8.0 degrees. The influence error of shielding adjustment on the inclination direction is in the stable region. Therefore, 8.0 is selected as the critical judgment value of directional consistency. If the value is significantly increased by the shielding intensity modulation term, the value will be significantly increased with the shielding rate difference and will be offset, showing a positive correlation. If the current consistency determination value is higher than 8.0, it is considered that the trend response is inconsistent, and therefore the current shielding trend direction is not synchronized with the component turning direction, which is marked as inconsistent state, and the shielding trend consistency data is output.

[0083] The consistency determination value represents the comprehensive deviation degree of the current component turning direction and the shielding trend triggering direction in terms of angle change and shielding influence. It is a key indicator to measure whether the two have synchronization in spatial adjustment behavior. The smaller the value, the more consistent the turning direction and the shielding expansion direction. If the value exceeds the set consistency threshold, it means that the component adjustment direction does not effectively respond to the spatial distribution trend of shielding expansion, and there is a phenomenon of directional deviation or improper adjustment. This value considers the pure directional angle difference and the directional gain modulation brought by the change of shielding area, and reflects the structural response coordination of the system under dynamic shielding conditions. Therefore, this value is not only a quantitative expression of the coupling degree of structural action and shielding change, but also a classification basis for trend matching state.

[0084] The operation logic of the formula aims to integrate the deviation amounts of the two dimensions into a unified scale of shielding trend consistency index: the first term represents the absolute angle deviation between the shielding trend triggering direction and the current component turning direction, which is used to measure whether the two directions are consistent, and is a direct directional error term; the second term The degree of deviation of the relative occlusion area change rate is used as the modulation coefficient to amplify or compress the current turning angle direction value to reflect the amplification effect of occlusion change on the angle adjustment response. Both are in angle units, and the directionality is eliminated by the absolute value function, so that it is reflected as a pure offset measure in the evaluation index. The two items are integrated by addition to represent the total degree of inconsistency of the system at the two levels of "direction error" and "occlusion influence adjustment error". Finally, the average is divided by 2 to avoid the excessive bias caused by either item to the index, so that the index has a more balanced trend expression ability when multiple changing factors exist at the same time.

[0085] Specifically, such as Figure 2 , 5 As shown, the trend linkage judgment module includes:

[0086] The direction reversal determination submodule extracts the direction change values ​​of two consecutive cycles based on the direction difference between the historical direction sequence in the tilt offset determination record and the tilt angle direction value of the current cycle, compares the positive and negative signs, determines whether a direction reversal has occurred, calculates the cycle position difference, confirms whether the time interval between the reversal event and the current cycle is less than the set number of cycles, and generates a direction reversal status identifier record.

[0087] Based on the tilt offset determination of the direction difference between the historical direction sequence in the tilt offset record and the tilt angle direction value of the current cycle, the tilt angle value of the previous cycle and the tilt angle value of the current cycle are first retrieved. Let's assume the previous cycle direction is 35.2° and the current cycle is -34.8°. The sign of the two values ​​is determined, and the difference is -70.0°. The sign judgment item is extracted and a signed product operation is performed. If the result is less than zero, the direction is determined to have reversed. This operation is completed using the signed product rule. Next, based on the cycle index number, the previous cycle number where the reversal event occurred is set to N-1=23, and the current cycle number is set to N=24. The difference between the two cycles is calculated as one cycle. Then, it is determined whether the cycle interval is less than or equal to the set maximum reversal value. The allowable range is set with a maximum reversal tolerance of 5 cycles. This value is derived from the 90th percentile of the peak cycle length of directional changes in the operating status data of 60 groups of components. In the test, the stable interval threshold is set to 5 cycles with a 95% confidence interval. After the condition is met, a judgment mark for directional reversal in this cycle is generated. In the judgment criteria for directional reversal, when the angular directions of two adjacent cycles are opposite and the amplitude difference exceeds 20 degrees, directional reversal is considered to be established. The amplitude difference is set based on the distribution of the directional rotation response angle of the component under shading adjustment, and is actually set to 20 degrees. This value is taken from the mean of the lower limit of the turning value of 90% of the samples in the directional fluctuation experiment of 36 groups of components. Thus, it is determined that the current directional change meets the reversal condition, and the directional reversal status mark record is obtained.

[0088] The consistency state identification submodule extracts the current period consistency value and compares it with the consistency threshold according to the direction consistency determination value in the direction reversal state identification record and the occlusion trend consistency data. If it is lower than the consistency threshold and is a positive direction reversal state, it is determined as a trend linkage effective period. Combined with the current period number and the occlusion trend direction angle value, a trend linkage effective period group is generated;

[0089] According to the direction consistency determination value in the direction reversal state identification record and the occlusion trend consistency data, the threshold determination of the occlusion trend consistency value of the current period is performed. Assuming that the current period consistency determination value is 6.7°, the occlusion trend triggering direction is 41.6°, the current period component rotation direction is 36.4°, the current occlusion area change rate is 0.072, and the average of the occlusion area change rate of the previous period is 0.065, the relative change rate is (0.072-0.065) / 0.065=0.1077, that is, the change rate deviates by about 10.77%. Combined with the direction angle deviation calculation value of 5.2°, the comprehensive deviation value after weighted combination is less than the set consistency threshold of 8.0 degrees. The threshold setting is based on the maximum stable response range of the direction adjustment deviation of the sample group in the occlusion trend change process. The setting logic is to select the upper limit of the 85% cumulative frequency interval of the absolute value of the deviation angle. According to the measurement of 36 sample groups, more than 90% of the data is within 8.0 degrees. Therefore, the standard critical value is selected as 8.0. When the consistency value is lower than 8.0, it is determined as an effective occlusion trend response period. Then it is determined that the current period is in the stable response range of the direction reversal and the trend consistency, which meets the linkage period calibration standard. The current period number is recorded as period number 24, corresponding to the direction angle 41.6° and the component inclination angle 36.4°. The trend linkage effective period group is obtained.

[0090] The node parameter extraction submodule obtains the component current inclination direction value corresponding to the period and the illumination direction angle value corresponding to the period according to the period number index in the trend linkage effective period group, calculates the angle difference between the two, obtains the angle deviation between the current illumination direction and the component inclination angle, and generates a linkage triggering inclination node set by summarizing and arranging in period order;

[0091] According to the period number index in the trend linkage effective period group, the component current inclination direction value corresponding to period number 24 and the illumination direction angle value are obtained, which are 36.4° and 41.6° respectively. The angle deviation is calculated by using the formula , wherein represents the illumination direction angle, represents the current component inclination angle, and the actual value is The angle deviation value reflects the difference between the tilt direction of the assembly and the illumination direction in the current period, and provides a basic index for subsequent adjustment direction and verification of the linkage state. Then, the current period number, the illumination direction angle, the assembly tilt angle value, and the calculated angle deviation value are recorded, and the data is archived into the linkage node sequence. The sequence is compared with the previous period number in order to verify the periodicity of the node sequence, confirm that there is no period jump or missing, and arrange the final node data structure in ascending order of period. The structure takes the period number as the primary key field, and contains the period number, illumination direction angle, assembly tilt direction and angle deviation. The final linkage trigger tilt angle node set is generated.

[0092] Specifically, as shown in Figure 2 、 6 , the turn angle compression control module includes:

[0093] The angle difference extraction submodule extracts the current period assembly adjustment step angle and the previous period step angle based on the linkage trigger tilt angle node set, calculates the difference between the two, records the difference and sorts it in time sequence as the angle offset sequence, and generates the step angle difference sequence.

[0094] Based on the linkage trigger tilt angle node set, the current step angle and the previous step angle of each period assembly are extracted. The adjustment angle information of the corresponding period assembly rotation can be directly obtained from the motion record file. If the current step angle of period 24 is 2.4° and the previous step angle is 2.1°, the difference between the two is 0.3°. This operation is continuously performed for each period, and the results are recorded respectively to form the angle difference sequence. After sorting in time sequence, the angle difference value of each period is recorded, such as 0.3°, 0.3°, 0.3°, and 0.3° for periods 21 to 24, respectively. The data is stored in a list structure. To clarify the data structure, it is sorted as follows:

[0095] Table 2: Linkage node angle difference extraction table

[0096]

[0097] As shown in Table 2, the current step angle and the previous period angle difference value in the period sequence are both 0.3°, which can uniquely determine a set of angle difference value data for each period number, and generate the step angle difference value sequence.

[0098] The period trend determination submodule determines whether the sequence has a continuously increasing difference value within a continuous period based on the step angle difference value sequence. A period window is set, and the step difference value sequence values of the front and back period windows are extracted in turn for comparison to confirm that the increasing relationship is satisfied, and the increasing trend judgment result is generated.

[0099] According to the step angle difference value sequence, the time continuous period is judged in the increasing relationship, the period window length is set to 3, the difference value sequence is extracted from the period 21 to 23 and the period 22 to 24 respectively, and whether each segment meets the difference value size increasing is judged, the difference value of the period 21 to 23 is 0.3°, 0.3° and 0.3° in turn, which does not meet the strict increasing, the difference value of the period 22 to 24 is also 0.3°, 0.3° and 0.3°, which also does not meet the judgment condition; if the same judgment is carried out on another data sample group such as 0.2°, 0.3° and 0.4°, the judgment condition can be met; according to the judgment strategy, each item needs to be greater than the previous item to be judged as increasing, the judgment process is carried out in turn in the form of item-by-item comparison, the result is output by the Boolean value judgment, and the output Boolean sequence is [False, False, True], the period group with the value True is used for subsequent processing, and the increasing trend judgment result is generated.

[0100] The step compression update submodule is based on the increasing trend judgment result, combines the current set angle step unit value, carries out step compression control processing, sets the step attenuation coefficient, and dynamically corrects according to the illumination angle deviation state, adopts the formula:

[0101]

[0102] The operation obtains the compressed angle step value, replaces the current step angle, and obtains the step delay control data, wherein, represents the compressed angle step value, represents the step angle of the first period, represents the step angle of the previous period, is the total number of participating periods, is the step attenuation coefficient, which is set to 0.8, represents the maximum value of the illumination direction angle deviation in the current period, represents the average value of the illumination direction angle deviation in the current period;

[0103] Based on the increasing trend judgment result, the current set step unit angle value 3.0° is called, the step value is adjusted after introducing the attenuation coefficient, and the step value is dynamically corrected in combination with the illumination deviation of each period, the step attenuation coefficient is set to 0.8, the angle difference value of the period 21 to 24 is 0.3° in turn, and the step mean value is calculated according to the original sequence length .

[0104]

[0105] The illumination deviation ratio correction factor is introduced, and the period 24 is taken as an example, the maximum illumination deviation is 9.1°, and the average deviation is 7.5°, so the ratio factor is calculated as follows:

[0106]

[0107] Substitute the complete compression step formula:

[0108]

[0109] The results show that, under the current input sequence, the corrected step is compressed to about 0.0511°, which is less than 1 / 50 of the original step setting of 3.0°, indicating that the compression factor has a significant impact on the step strategy control, and the step delay control data is obtained.

[0110] The compressed angle step value refers to the new step value generated after adjusting the original set step angle in the linkage tilt angle control process in response to the change in the component's step trend and the fluctuation characteristics of the light disturbance in the current period. This value is no longer set with a fixed angle unit, but is compressed based on the change rate of the historical step angle and the change amplitude of the environmental light angle deviation. Its essence represents the actual adjustment angle required by the component under the current period conditions. The smaller the value, the more the system enters a high disturbance or continuous increasing trend state, and the adjustment rhythm needs to be reduced to prevent overshoot or drastic changes. The larger the value, the more the system is relatively stable or has a smaller change amplitude, and the original adjustment amplitude can be maintained. This indicator can be used to replace the original set angle as the execution reference when the subsequent control system issues instructions, and is the core embodiment of the adaptive adjustment capability of the tilt angle control strategy.

[0111] The operation logic of the formula is based on the comprehensive linkage adjustment mechanism between the periodic step angle change trend and the environmental light disturbance. First, the step angle difference between each pair of adjacent periods in the continuous period is extracted by This summation term extracts the step angle difference between each pair of adjacent periods in the continuous period, and the average value is obtained by unifying the change trend of multiple periods. This average absolute difference reflects the basic level of the overall adjustment amplitude; then, the value is multiplied by the step attenuation coefficient , which represents the introduction of proportional compression adjustment based on the original step to achieve basic compression scheduling; finally, the fluctuation degree of the light angle deviation is multiplied by the disturbance factor as a dynamic adjustment term affecting the compression strength. The larger the ratio, the more intense the light fluctuation, and the step step needs to be further compressed. This factor acts as a multiplication participant rather than an addition or subtraction term, which directly acts on the step reference strength. In summary, the formula completes the fusion of static and dynamic adjustment through the three mechanisms of "periodic step change average value × fixed compression ratio × light disturbance dynamic factor", ensuring the dimensional unity and logical coherence between parameters.

[0112] Specifically, as shown in Figure 2 , 7 , the path adjustment execution module includes:

[0113] The inclination difference detection submodule obtains step delay control data and a linkage triggered inclination node set, combines the inclination direction set by the component in the current period and the inclination direction of the corresponding target node, pairs the two groups of angle directions in turn, extracts the direction values of the components and nodes in the same sequence number group, calculates the angle difference sequence, and generates the inclination direction difference interval;

[0114] The inclination difference detection submodule obtains step delay control data and a linkage triggered inclination node set, combines the inclination direction set by the component in the current period and the inclination direction of the corresponding target node, pairs the two groups of angle directions in turn, extracts the direction values of the components and nodes in the same sequence number group, calculates the angle difference sequence, and generates the inclination direction difference interval;

[0115] The inclination difference detection submodule obtains step delay control data and a linkage triggered inclination node set, combines the inclination direction set by the component in the current period and the inclination direction of the corresponding target node, pairs the two groups of angle directions in turn, extracts the direction values of the components and nodes in the same sequence number group, calculates the angle difference sequence, and generates the inclination direction difference interval;

[0116] According to the inclination direction difference interval, first set the deviation judgment threshold value to 2.0 degrees, the threshold value comes from the response boundary condition of the component executing the inclination adjustment instruction in the periodic system simulation test, that is, the deviation less than 2.0 degrees does not carry out instruction correction, the data comes from the recorded 75 groups of inclination adjustment periods in the experimental platform, the statistical mean of the component adjustment stable period deviation amplitude in the period is 1.72 degrees, set 2.0 degrees as the error relaxation upper limit, and the artificial intervention optimization is confirmed as a reasonable threshold value, then judge all elements in the inclination difference interval one by one, compare each angle difference value with 2.0 degrees directly, if the difference value is greater than 2.0 degrees, it is recorded that there is a consistency deviation, the judgment method does not involve logical function, only based on numerical judgment operation, a Boolean judgment sequence is generated, for example, for the difference value sequence [5, 3, 2, 4, 1, 6] degrees, the corresponding Boolean sequence can be [True, True, False, True, False, True], the index item with True Boolean value indicates that the inclination of the component in the current period exists larger deviation with the target node direction, then call the corresponding node number and component number to establish the deviation mark table, in order to facilitate the position calibration in the subsequent operation process, the table form is {A: N1, C: N3, D: N4, F: N6}, wherein the key is the component label, and the value is the corresponding node number, the table is used as the input reference structure of the subsequent inclination adjustment instruction, and finally the inclination deviation judgment result is obtained.

[0117] The inclination instruction updating submodule selects the node direction with consistency deviation as the inclination instruction update value based on the inclination deviation judgment result, records the current period number and the corresponding component bit number sequence, establishes the update record set and the target angle corresponding table, and generates the best inclination dynamic tracking path record;

[0118] Based on the inclination deviation judgment result, the component number list in which the deviation exists is read, the inclination direction value of the corresponding number node in the original node set is searched in sequence, and the target inclination direction is extracted. Assuming that components A, C, D, and F have consistent deviation, the target node inclination directions are 140 degrees, 138 degrees, 136 degrees, and 134 degrees, respectively. The target directions are written into a new inclination adjustment instruction table to form a structure {A: 140, C: 138, D: 136, F: 134}. Subsequently, the current period number is recorded, and assuming that the current period is 48, it is the inclination instruction update period of this round. The period number is attached to the adjustment instruction as an execution index to form a structure {A: [48, 140], C: [48, 138],...}. The structure is written into the component control instruction buffer queue. In combination with the bit number of the component in the structure system, dynamic tracking recording is performed. The component bit number sequence is 13, 26, 39, and 52. The target adjustment record table is established as {13: [48, 140], 26: [48, 138], 39: [48, 136], 52: [48, 134]}. The record is written into the path tracking data set and is set as the master control path priority sequence. It is called as an input index basis by subsequent node perception, path correction, and other modules to generate the best inclination dynamic tracking path record.

[0119] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An optimal tilt flat single axis photovoltaic tracking system characterized by, The system includes: The solar inflection point capture module obtains the solar azimuth and elevation angles of the photovoltaic module in the current cycle and the previous cycle, calculates the sign change of the direction angle difference and determines whether the sign has reversed for the first time. If it is true, it extracts the direction angle and the current tilt angle value at the corresponding time, performs deviation calculation, and generates a tilt angle offset judgment record. The occlusion change measurement module calculates the actual light-receiving area and occlusion area of ​​the component, calculates the rate of change of occlusion area, identifies the occlusion expansion trend and records the corresponding tilt angle change direction, matches the periodic corner direction with the occlusion expansion direction to generate consistent occlusion trend data. The trend linkage judgment module determines whether the set conditions are met based on the consistency data between the tilt offset judgment record and the occlusion trend. If the conditions are met, it records the current period illumination direction angle value and the current tilt angle value of the component, identifies the synchronous turning cycle number and the target angle position, and generates a set of linkage trigger tilt angle nodes. The corner compression control module obtains the difference between the current adjustment step angle and the historical adjustment step angle of the corresponding component of the node based on the linkage trigger tilt node set, and determines whether the difference is continuously increasing. If it is, it calculates and updates the corner step value after compression based on the step attenuation coefficient to obtain the step delay control data. The path adjustment execution module obtains the current set tilt direction of the component and the tilt direction of the target node based on the stride delay control data and the linkage trigger tilt node set, determines whether there is a consistency deviation, and if there is, takes the corresponding node direction as a new tilt adjustment command, records the cycle number and component position number sequence of the adjustment, and establishes the optimal tilt dynamic tracking path record. The path adjustment execution module includes: The tilt angle difference detection submodule acquires the stride delay control data and the set of linked trigger tilt angle nodes, combines the tilt angle direction set by the current cycle component with the tilt angle direction of the corresponding target node, pairs the two sets of angle directions in sequence, extracts the direction values ​​of components and nodes with the same sequence number, calculates the angle difference sequence, and generates the tilt angle direction difference interval. The deviation consistency judgment submodule judges whether each angle difference exceeds the set direction deviation consistency threshold according to the tilt angle direction difference range. Items that exceed the direction deviation consistency threshold are marked as having deviations. A node-deviation relationship lookup table is established in combination with the corresponding node number to obtain the tilt angle deviation judgment result. Based on the tilt deviation judgment result, the tilt angle command update submodule selects the node direction with consistency deviation as the tilt angle command update value, records the current cycle number and the corresponding component position number sequence, establishes an update record set and a target angle correspondence table, and generates the optimal tilt angle dynamic tracking path record.

2. The optimum tilt flat single axis photovoltaic tracking system of claim 1, wherein: The tilt offset judgment record includes the sign reversal node number, the azimuth deviation value, and the initial tilt angle parameter. The occlusion trend consistency data includes the occlusion expansion trend direction, the corner direction consistency indicator, and the occlusion change rate. The linkage trigger tilt node set includes the trigger cycle number, the target azimuth angle, and the tilt offset value. The stride delay control data includes the adjusted step compression value, the continuously increasing difference sequence, and the step decay coefficient parameter.

3. The optimum tilt flat single axis photovoltaic tracking system of claim 1, wherein: The step decay coefficient specifically refers to the factor used to reduce the step adjustment range, and the default value is set to 0.8 according to the standard.

4. The optimum tilt flat single axis photovoltaic tracking system of claim 1, wherein: The sunshine inflection point capture module includes: The angle parameter extraction submodule obtains the solar azimuth and elevation angle data of the photovoltaic module in the current cycle and the previous cycle. Based on the azimuth angle values ​​of the current cycle and the previous cycle, it calculates the direction angle difference. The direction of the direction angle change in the current cycle is determined according to the sign of the difference, and the direction angle change data is generated. The sign change recognition submodule, based on the azimuth change data, determines whether a sign reversal has occurred by comparing the sign of the azimuth difference between the current cycle and the previous cycle. If the first reversal is identified, the azimuth value at the corresponding moment and the current tilt angle value of the component are extracted, and the time point is bound to the cycle index to generate tilt angle combination data at the moment of the first reversal. The tilt offset judgment submodule calculates the angle difference between the direction angle value extracted from the tilt angle combination data at the first reversal moment and the current component tilt angle value. Combined with the angle offset judgment threshold, it judges the degree range of deviation between the direction angle and the tilt angle, obtains the magnitude of the current component direction offset status, and establishes a tilt offset judgment record.

5. The optimum tilt flat single axis photovoltaic tracking system of claim 1, wherein: The occlusion change calculation module includes: The light-receiving area recognition submodule acquires the actual light-receiving area boundary image of the component in the current period and extracts the pixel value matrix. It calculates the boundary contour difference of the occluded area by combining the pixel boundary distribution of the total area of ​​the component, determines the boundary of the occluded area corresponding to the difference, and calculates the occluded area value and the actual light-receiving area value based on the cumulative number of pixel values ​​within the boundary, generating the occluded area change data for the current period. The trend judgment submodule compares the difference between the current period's occlusion area change data and the previously recorded occlusion area change, calculates the difference, divides it by the time difference between the two periods, and obtains the occlusion area change rate difference. It judges whether the occlusion trend is expanding based on the sign of the rate difference. If the rate is positive and greater than the set occlusion change threshold, it records the current period's component tilt angle change direction as the trend trigger direction and generates an occlusion trend trigger direction record. The direction matching calculation submodule determines the direction consistency based on the occlusion trend trigger direction record and the current cycle angle direction value. It uses a joint calculation method of direction difference and occlusion amplitude offset ratio to calculate the direction difference and occlusion rate offset correction value, performs matching recognition, and generates labeled structure records in combination with the cycle index to obtain occlusion trend consistency data.

6. The optimum inclination flat single axis photovoltaic tracking system of claim 1, wherein: The trend linkage judgment module includes: The direction reversal determination submodule extracts the direction change values ​​of two consecutive cycles based on the direction difference between the historical direction sequence in the tilt offset determination record and the current cycle tilt angle direction value, compares the positive and negative signs, determines whether a direction reversal has occurred, calculates the cycle position difference, confirms whether the time interval between the reversal event and the current cycle is less than the set number of cycles, and generates a direction reversal status identifier record. The consistency status identification submodule extracts the current cycle consistency value based on the direction reversal status identifier record and the direction consistency judgment value in the occlusion trend consistency data, and compares it with the consistency threshold. If it is lower than the consistency threshold and is in a positive reversal state, it is determined to be a valid cycle of trend linkage. Combining the current cycle number and the occlusion trend direction angle value, a group of valid cycle groups of trend linkage is generated. The node parameter extraction submodule obtains the current tilt angle value of the component corresponding to the cycle and the illumination direction angle value corresponding to the cycle based on the cycle number index in the effective cycle group of the trend linkage. It calculates the angle difference between the two to obtain the angle deviation between the current illumination direction and the component tilt angle, summarizes and arranges them in cycle order to generate a set of linkage trigger tilt angle nodes.

7. The optimum inclination flat single axis photovoltaic tracking system of claim 1, wherein: The corner compression control module includes: The angle difference extraction submodule extracts the current cycle component adjustment step angle and the previous cycle step angle based on the linked trigger tilt node set, calculates the difference between the two, records the difference and sorts them in time order as an angle offset sequence, and generates a step angle difference sequence. The cycle trend determination submodule determines whether the difference in the sequence increases continuously within a cycle based on the step angle difference sequence. It sets a cycle window, extracts the step difference sequence values ​​of the previous and next cycle windows for comparison, confirms that the increasing relationship is met, and generates an increasing trend determination result. The stride compression update submodule performs stride compression control processing based on the increasing trend judgment result and the current set angle step unit value. It sets the step attenuation coefficient and dynamically corrects it according to the illumination angle deviation state. It calculates and obtains the compressed angle step value, replaces the current step angle, and obtains stride delay control data.

8. The optimum inclination flat single axis photovoltaic tracking system of claim 1, wherein: The optimal tilt angle dynamic tracking path record includes the adjustment cycle number, component tag number sequence, and newly set tilt angle command.

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