A local controller

Abstract

The present invention relates to an on-site controller, comprising: a CPU; the CPU is used to: receive and determine whether the target control instruction is an automatic tracking control instruction according to a target control instruction sent by a host computer, and obtain a first judgment result; when the first judgment result is no, the hydraulic system corresponding to the heliostat to be controlled is controlled on-site, so that the hydraulic system drives the elevation angle of the heliostat to be controlled to be adjusted to a first target elevation angle, and the azimuth angle of the heliostat to be controlled is adjusted to a first target azimuth angle. Compared with the existing on-site controller, the on-site controller of the present invention reduces most of the components, saves the cost of the control system, and reduces the construction cost of the communication network while realizing the control of the tower heliostat.

Description

Technical Field

[0001] The present invention relates to the technical field of local control, and in particular to a local controller. Background Art

[0002] In a solar thermal power station, heliostats and collectors are the core components of the mirror field. Their purpose is to reflect direct sunlight onto the absorber or collector tube to provide energy for the solar thermal power station. The local control system is the core part of the tower heliostat and trough collector. The operating reliability of the local control system directly affects the efficiency and safety of the mirror field. The traditional tower or trough control system uses PLC as the core control element to complete the local control. The local control system needs to be equipped with a large number of components, resulting in excessively high costs for the local control system. Therefore, it is urgent to provide a local controller to solve the above problems. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a local controller.

[0004] A technical solution of a local controller of the present invention is as follows:

[0005] Includes: CPU;

[0006] The CPU is used to: receive and determine whether the target control instruction is an automatic tracking control instruction according to the target control instruction sent by the host computer, and obtain a first judgment result; when the first judgment result is no, locally control the hydraulic system corresponding to the heliostat to be controlled, so that the hydraulic system drives the elevation angle of the heliostat to be controlled to be adjusted to a first target elevation angle, and the azimuth angle of the heliostat to be controlled to be adjusted to a first target azimuth angle.

[0007] The beneficial effects of a local controller of the present invention are as follows:

[0008] Compared with the existing local controllers, the local controller of the present invention reduces most of the components, saves the cost of the control system, and reduces the construction cost of the communication network while achieving the control of the tower heliostat.

[0009] Based on the above solution, the local controller of the present invention can also be improved as follows.

[0010] Furthermore, it also includes: a LORA wireless communication module; the LORA wireless communication module is used to: receive the target control instruction sent by the host computer, and send the target control instruction to the CPU.

[0011] Further, it also includes: an RS485 communication module, the RS485 communication module is respectively connected to the encoder and the inclinometer corresponding to the heliostat to be controlled; the CPU is also used to: receive the current azimuth angle of the heliostat to be controlled sent by the encoder and the current altitude angle of the heliostat to be controlled sent by the inclinometer through the RS485 communication module;

[0012] The CPU is specifically configured to: when the first judgment result is yes, obtain a second target azimuth angle and a second target altitude angle of the heliostat to be controlled according to the current sun angle value, determine whether the current azimuth angle and the second target azimuth angle exceed a first deviation threshold, obtain a second judgment result, and determine whether the current altitude angle and the second target altitude angle exceed a second deviation threshold, obtain a third judgment result;

[0013] When the second judgment result is yes, the hydraulic system is controlled to adjust the current azimuth angle of the heliostat to be controlled to the second target azimuth angle; when the third judgment result is yes, the hydraulic system is controlled to adjust the current altitude angle to the second target azimuth angle.

[0014] Further, the RS485 communication module is connected to a photovoltaic controller of a photovoltaic power supply system for power supply;

[0015] The CPU is also used to communicate with the photovoltaic controller through the RS485 communication module to obtain current power information of the photovoltaic power supply system through the RS485 communication module, and determine whether to send power warning information to the host computer according to the current power information.

[0016] Furthermore, it also includes: an analog input module, the analog input module is connected to the sensor; the CPU is also used for:

[0017] The current sensing data collected by the sensor is acquired through the analog input module (140), and it is determined whether to send sensing warning information to the host computer according to the current sensing data.

[0018] Further, the sensor is: a temperature sensor or a pressure sensor;

[0019] The CPU is specifically used for: when the sensor is a temperature sensor, obtaining a current temperature value collected by the temperature sensor, and determining whether the current temperature value is within a preset temperature range, and if not, sending the sensor warning information to the host computer;

[0020] The CPU is specifically used for: when the sensor is a pressure sensor, obtaining the current pressure value collected by the pressure sensor, and determining whether the current pressure value is within a preset pressure range, and if not, sending the sensor warning information to the host computer.

[0021] Further, it also includes: a digital input module;

[0022] The CPU 110 is further configured to collect a switch signal of a limit switch of a collector of the photovoltaic power supply system through the digital quantity input module 150 .

[0023] Furthermore, it also includes: an Ethernet communication module; the Ethernet communication module is used to connect to the on-site debugging equipment to perform on-site debugging work.

[0024] Furthermore, it also includes: a PWM output module; the PWM output module is connected to the DC motor driver;

[0025] The PWM output module is used to generate and send a PWM pulse signal to the DC motor driver according to the target control instruction, so as to adjust the current motor speed of the DC motor driver to the target motor speed corresponding to the target control instruction, thereby realizing on-site control of the hydraulic system corresponding to the heliostat to be controlled.

[0026] Furthermore, it also includes: a plurality of digital output modules; each digital output module is connected to a coil, and each solenoid valve corresponds to two coils;

[0027] The two digital output modules corresponding to any solenoid valve are used to respectively control the coils corresponding to the any solenoid valve to realize the control of the extension and retraction of the hydraulic cylinder in the hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure is a schematic structural diagram of an on-site controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] like Figure 1 As shown, a local controller 100 according to an embodiment of the present invention includes: a CPU 110;

[0030] The CPU 110 is used to: receive and determine whether the target control instruction is an automatic tracking control instruction according to the target control instruction sent by the host computer, and obtain a first determination result; when the first determination result is no, locally control the hydraulic system corresponding to the heliostat to be controlled, so that the hydraulic system drives the elevation angle of the heliostat to be controlled to be adjusted to a first target elevation angle, and the azimuth angle of the heliostat to be controlled to be adjusted to a first target azimuth angle.

[0031] The local controller 100 is an embedded development board, which is a photothermal local controller (FPU) for realizing the control of the heliostat; the heliostat to be controlled is a tower heliostat; the CPU 110 adopts a chip of the model: STM32F407.

[0032] Among them, the target control instructions include but are not limited to: automatic tracking control instructions, focusing control instructions, following control instructions, cleaning control instructions and protection control instructions. Each target control instruction corresponds to driving the hydraulic system to realize the control of the operating mode of the heliostat to be controlled. Except for the automatic tracking control instruction, each other target control instruction corresponds to a corresponding first target altitude angle and a first target azimuth angle. For example, when the target control instruction is a cleaning control instruction, the first target altitude angle is 85° and the first target azimuth angle is 0°.

[0033] The hydraulic system is a tower hydraulic station, which is used to control the mechanical structure of the heliostat to be controlled to rotate around the altitude angle axis and the azimuth angle axis through the extension and contraction of the hydraulic cylinder in the hydraulic system, thereby changing the altitude angle and azimuth angle of the heliostat to be controlled.

[0034] It should be noted that the specific process and working principle of controlling the heliostat through the hydraulic system (hydraulic station) are prior art.

[0035] Preferably, it also includes: a LORA wireless communication module 120; the LORA wireless communication module 120 is used to: receive the target control instruction sent by the host computer, and send the target control instruction to the CPU 110.

[0036] Among them, the LORA wireless communication module 120 is used to communicate with the host computer and transmit the target control instructions of the host computer.

[0037] Among them, the host computer is: SCADA or DCS, and can also be set according to user needs, and there is no restriction here.

[0038] It should be noted that the local controller has a communication mechanism with the host computer and can realize wireless communication with the host computer. The communication protocol is modified based on the modbus protocol, and only operates on word type data. The minimum unit of word operation is two bytes. The message data is displayed in hexadecimal. The local controller (FPU) message frame format: address code (1 byte) + function code (1 byte) + data area (0 to 252 bytes) + check code (2 bytes), which can realize the host computer to read and write the local controller (FPU) register.

[0039] Preferably, it further comprises: an RS485 communication module 130, wherein the RS485 communication module 130 is respectively connected to an encoder and an inclinometer corresponding to the heliostat to be controlled.

[0040] The encoder is used to obtain the current azimuth angle of the heliostat to be controlled, and the inclinometer is used to obtain the current altitude angle of the heliostat to be controlled.

[0041] The CPU 110 is further configured to receive, through the RS485 communication module 130 , the current azimuth angle of the heliostat to be controlled sent by the encoder and the current altitude angle of the heliostat to be controlled sent by the inclinometer.

[0042] The CPU 110 is specifically configured to: when the first judgment result is yes, obtain a second target azimuth angle and a second target altitude angle of the heliostat to be controlled according to a current sun angle value, determine whether the current azimuth angle and the second target azimuth angle exceed a first deviation threshold to obtain a second judgment result, and determine whether the current altitude angle and the second target altitude angle exceed a second deviation threshold to obtain a third judgment result.

[0043] The automatic tracking control instruction corresponds to the automatic tracking mode of the heliostat, and is used to calculate the second target azimuth angle and the second target altitude angle of the heliostat to be controlled according to the current sun angle value.

[0044] The process of obtaining the current solar angle value is as follows: by setting the following parameters of the heliostat to be controlled: local time (year, month, day, hour, minute, second), UTC time zone, longitude, latitude, temperature, pressure, altitude, and using the NREL calculation method and formula, the current solar angle value is obtained, and the calculation accuracy of the solar angle value can reach ±0.0003°.

[0045] The process of calculating the second target azimuth and the second target altitude of the heliostat to be controlled according to the current solar angle value is as follows: calculating the pointing vector of the heliostat to be controlled according to the current solar azimuth and altitude, the pointing vector being the pointing vector that causes the sunlight to be reflected onto the heat absorber, and decomposing the pointing vector into the second target azimuth and the second target altitude.

[0046] The first deviation threshold and the second deviation threshold are both set to 0.02° by default, and can also be set according to user needs, and there is no restriction here.

[0047] When the second judgment result is yes, the hydraulic system is controlled to adjust the current azimuth angle of the heliostat to be controlled to the second target azimuth angle; when the third judgment result is yes, the hydraulic system is controlled to adjust the current altitude angle to the second target azimuth angle.

[0048] In addition, when the second judgment result is no, the current azimuth angle of the heliostat to be controlled is not adjusted; when the second judgment result is no, the current altitude angle of the heliostat to be controlled is not adjusted.

[0049] Among them, three electromagnetic reversing valves are arranged in the hydraulic system (tower hydraulic station) of this embodiment; one electromagnetic reversing valve is responsible for controlling the extension and retraction of the elevation angle hydraulic cylinder, and two electromagnetic reversing valves control the extension and retraction of the two azimuth angle hydraulic cylinders.

[0050] It should be noted that only one angle (azimuth or altitude) is controlled each time. When any angle exceeds the deviation threshold first, the hydraulic system is controlled (pump start, electromagnetic reversing valve position) to control the extension and retraction of the hydraulic cylinder to adjust to the angle value until the current altitude angle and current azimuth angle of the heliostat to be controlled are adjusted to the second target altitude angle and the second target azimuth angle.

[0051] Preferably, the RS485 communication module 130 is connected to a photovoltaic controller of a photovoltaic power supply system for power supply;

[0052] The CPU 110 is also used to communicate with the photovoltaic controller through the RS485 communication module 130 to obtain current power information of the photovoltaic power supply system through the RS485 communication module 130, and determine whether to send power warning information to the host computer according to the current power information.

[0053] Among them, the local controller (FPU) can manage the photovoltaic power supply system. The CPU 110 of the local controller (FPU) communicates with the photovoltaic controller through the RS485 communication module 130 to obtain the current power (voltage) information of the photovoltaic power supply system in real time, and divide the battery power information into three levels, namely LEVEL1, LEVEL2, and LEVEL3. When the power information is LEVEL1, a power warning information is sent to the upper computer.

[0054] Preferably, it further comprises: an analog quantity input module 140, wherein the analog quantity input module 140 is connected to the sensor.

[0055] The analog input module 140 is a 3-way analog input interface, which can be connected to components such as pressure sensors and temperature sensors.

[0056] The CPU 110 is also used to obtain current sensing data collected by the sensor through the analog input module (140), and determine whether to send sensing warning information to the host computer according to the current sensing data.

[0057] Wherein, the sensor is a temperature sensor or a pressure sensor. The sensor is installed on the tower hydraulic station, the temperature sensor is used to detect the current temperature of the hydraulic oil, and the pressure sensor is used to detect the current pressure value of the hydraulic station.

[0058] Specifically, the CPU 110 is specifically configured to: when the sensor is a temperature sensor, obtain a current temperature value collected by the temperature sensor, and determine whether the current temperature value is within a preset temperature range, and if not, send the sensor warning information to the host computer;

[0059] The CPU 110 is specifically used for: when the sensor is a pressure sensor, obtaining the current pressure value collected by the pressure sensor, and determining whether the current pressure value is within a preset pressure range, and if not, sending the sensor warning information to the host computer.

[0060] Specifically, CPU 110 obtains sensor data collected by all sensors. Based on the switch quantity information, for example, if the CPU collects a signal from the limit switch of the mechanical position protection, CPU 110 can determine that the heliostat exceeds the limit and issue an alarm, or set a threshold for temperature or pressure, and CPU 110 determines whether to issue an alarm based on the threshold.

[0061] Preferably, it further comprises: a digital quantity input module 150;

[0062] The CPU 110 is further configured to collect a switch signal of a limit switch of a collector of the photovoltaic power supply system through the digital quantity input module 150 .

[0063] Preferably, it further includes: an Ethernet communication module 160; the Ethernet communication module 160 is used to connect to an on-site debugging device to perform on-site debugging work.

[0064] Specifically, the local controller is connected to the on-site debugging device via the Ethernet interface of the Ethernet module 160 to perform on-site debugging work.

[0065] The local controller is installed in a control box of the mirror field, where the field refers to any range of the mirror field near the control box.

[0066] Preferably, it further comprises: a PWM output module 180; the PWM output module 180 is connected to the DC motor driver;

[0067] The PWM output module 180 is used to generate and send a PWM pulse signal to the DC motor driver according to the target control instruction, so as to adjust the current motor speed of the DC motor driver to the target motor speed corresponding to the target control instruction, thereby realizing on-site control of the hydraulic system corresponding to the heliostat to be controlled.

[0068] Preferably, it further comprises: a plurality of digital output modules 170; each digital output module 170 is connected to a coil, and each solenoid valve corresponds to two coils;

[0069] The two digital output modules 170 corresponding to any solenoid valve are used to respectively control the coils corresponding to the any solenoid valve to control the extension and retraction of the hydraulic cylinder in the hydraulic system.

[0070] In this embodiment, the number of digital output modules 170 is 6, the number of solenoid valves is 2, and the number of coils is 6; every two digital output modules 170 correspond to one solenoid valve.

[0071] For example, the plurality of digital output modules 170 include: a first digital output module 171, a second digital output module 172, a third digital output module 173, a fourth digital output module 174, a fifth digital output module 175 and a sixth digital output module 176. The solenoid valve includes: a first solenoid valve (including: a first coil and a second coil), a second solenoid valve (including: a third coil and a fourth coil), and a third solenoid valve (including: a fifth coil and a sixth coil). The first digital output module 171 and the second digital output module 172 correspond to the first solenoid valve, the third digital output module 173 and the fourth digital output module 174 correspond to the second solenoid valve, and the fifth digital output module 175 and the sixth digital output module 176 correspond to the third solenoid valve.

[0072] Specifically, the first digital output module 171 controls the switching of the first solenoid valve by controlling the first coil, and the second digital output module 172 controls the second coil, thereby controlling the extension and retraction of the hydraulic cylinder through the switching of the first solenoid valve; the third digital output module 173 controls the switching of the second solenoid valve by controlling the third coil, and the fourth digital output module 174 controls the fourth coil, thereby controlling the extension and retraction of the hydraulic cylinder through the switching of the second solenoid valve; the fifth digital output module 175 controls the fifth coil, and the sixth digital output module 176 controls the sixth coil, thereby controlling the switching of the third solenoid valve, thereby controlling the extension and retraction of the hydraulic cylinder through the switching of the third solenoid valve.

[0073] In addition, the local controller of this embodiment further includes: a power module 190 adopts 4 24VDC power supplies as power input and supplies power to components such as encoder inclinometers.

[0074] Compared with the existing local controller, the local controller involved in the technical solution of this embodiment reduces most of the components, saves the cost of the control system, and reduces the construction cost of the communication network while realizing the control of the tower heliostat.

[0075] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0076] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0077] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A local controller, characterized in that: include: CPU(110); The CPU (110) is used to: receive and determine whether the target control instruction is an automatic tracking control instruction according to a target control instruction sent by a host computer, and obtain a first determination result; when the first determination result is no, locally control a hydraulic system corresponding to a heliostat to be controlled, so that the hydraulic system drives the heliostat to be controlled to adjust its elevation angle to a first target elevation angle, and adjusts its azimuth angle to a first target azimuth angle; It also includes: a LORA wireless communication module (120); the LORA wireless communication module (120) is used to: receive the target control instruction sent by the host computer, and send the target control instruction to the CPU (110); It also includes: an RS485 communication module (130), the RS485 communication module (130) being respectively connected to an encoder and an inclinometer corresponding to the heliostat to be controlled; the CPU (110) is also used for: Receiving, through the RS485 communication module (130), the current azimuth angle of the heliostat to be controlled sent by the encoder and the current altitude angle of the heliostat to be controlled sent by the inclinometer; When the first judgment result is yes, obtaining a second target azimuth angle and a second target altitude angle of the heliostat to be controlled according to the current sun angle value, determining whether the current azimuth angle and the second target azimuth angle exceed a first deviation threshold to obtain a second judgment result, and determining whether the current altitude angle and the second target altitude angle exceed a second deviation threshold to obtain a third judgment result; When the second judgment result is yes, controlling the hydraulic system to adjust the current azimuth angle of the heliostat to be controlled to the second target azimuth angle; when the third judgment result is yes, controlling the hydraulic system to adjust the current altitude angle to the second target azimuth angle; The RS485 communication module (130) is connected to a photovoltaic controller of a photovoltaic power supply system for power supply; The CPU (110) is further used to communicate with the photovoltaic controller via the RS485 communication module (130) to obtain current power information of the photovoltaic power supply system via the RS485 communication module (130), and determine whether to send power warning information to the host computer based on the current power information.

2. A local controller according to claim 1, characterized in that: Also includes: An analog quantity input module (140), wherein the analog quantity input module (140) is connected to a sensor; The CPU (110) is further used to: obtain current sensing data collected by the sensor through the analog input module (140), and determine whether to send sensing warning information to the host computer according to the current sensing data.

3. A local controller according to claim 2, characterized in that: The sensor is: a temperature sensor or a pressure sensor; The CPU (110) is specifically configured to: when the sensor is a temperature sensor, obtain a current temperature value collected by the temperature sensor, and determine whether the current temperature value is within a preset temperature range; if not, send the sensor warning information to the host computer; The CPU (110) is specifically configured to: when the sensor is a pressure sensor, obtain a current pressure value collected by the pressure sensor, and determine whether the current pressure value is within a preset pressure range; if not, send the sensor warning information to the host computer.

4. A local controller according to claim 1, characterized in that: Also includes: Digital input module (150); The CPU (110) is further used to collect a switch quantity signal of a limit switch of a collector of the photovoltaic power supply system through the digital quantity input module (150).

5. A local controller according to claim 1, characterized in that: Also includes: Ethernet communication module (160); the Ethernet communication module (160) is used to connect to an on-site debugging device to perform on-site debugging work.

6. A local controller according to claim 1, characterized in that: Also includes: PWM output module (180); the PWM output module (180) is connected to a DC motor driver; The PWM output module (180) is used to generate and send a PWM pulse signal to the DC motor driver according to the target control instruction, so as to adjust the current motor speed of the DC motor driver to the target motor speed corresponding to the target control instruction, thereby realizing local control of the hydraulic system corresponding to the heliostat to be controlled.

7. A local controller according to claim 1, characterized in that: Also includes: A plurality of digital output modules (170); each digital output module (170) is connected to a coil, and each solenoid valve corresponds to two coils; The two digital quantity output modules (170) corresponding to any solenoid valve are used to respectively control the coil corresponding to any solenoid valve, so as to control the extension and retraction of the hydraulic cylinder in the hydraulic system.

Images