Photovoltaic tracking bracket and control system and control method thereof

Abstract

The present invention relates to the application field of photovoltaic brackets, and in particular to a photovoltaic tracking bracket and its control system and control method. Through the cooperation of an angle adjustment mechanism and a fixing bracket, the distance between the center of gravity of a photovoltaic panel and a fixing bracket and a rotating axis in a dual-axis photovoltaic tracking bracket is small, and the torque generated is small. Therefore, a large area of ​​photovoltaic panels can be set on a single column, and the elevation angle of the photovoltaic panel can be rotated at a large angle, and can be rotated 80° or even 90°. Therefore, the influence of heavy snow, strong wind and heavy rain on the photovoltaic tracking bracket can be dealt with, and the application and promotion of dual-axis tracking of photovoltaic panels can be realized. At the same time, a control method is provided, and the cooperation of a common controller and a light sensor can realize accurate tracking of sunlight.

Description

Technical Field

[0001] The present invention relates to the application field of photovoltaic brackets, and in particular to a photovoltaic tracking bracket and a control system and a control method thereof. Background Art

[0002] With the development of clean energy, the global photovoltaic installed capacity will maintain a high growth rate. The installation of solar photovoltaic panel brackets and the photovoltaic conversion rate of solar photovoltaic panels have become two key areas of concern in this industry. Existing solar photovoltaic panel brackets include fixed brackets and tracking brackets, and the most common tracking brackets are flat single-axis tracking brackets, which only track the changes in the sun's pitch angle within a day, but do not track the changes in the sun's azimuth angle. Compared with fixed brackets, flat single-axis tracking brackets can improve the sun's photovoltaic conversion efficiency, but there is still room for improvement.

[0003] Chinese invention patent CN117013935A discloses a dual-axis solar tracking bracket, which tracks the solar azimuth angle by means of a rotary drive device arranged on a column; a push rod is arranged between the rotating main axis and the column to track the solar altitude angle. The dual-axis solar tracking bracket can track the changes in the azimuth and pitch angle of the sun, thereby increasing the effective area facing the sun. However, the push rod tracking restricts the angular rotation of the photovoltaic panel to a certain extent. When the angle is large, the push rod is easily locked. In addition, in a windy environment, the photovoltaic bracket is easily shaken, or even resonates, thus damaging the push rod.

[0004] Chinese utility model patent CN220896608U discloses a new type of dual-axis tracking power generation equipment, in which a horizontal rotation adjustment component and a pitch adjustment component are provided at the top of the base, and a fixing is provided for the pitch adjustment component, and the umbrella-mounted bracket is fixed by the fixing. Since the center of gravity of the umbrella-shaped bracket and the photovoltaic panel is relatively large relative to the rotation joint spacing, and the horizontal rotation adjustment component and the pitch adjustment component are fixedly connected by bolts, a large torque is generated between the adjustment components, and the photovoltaic panel area that can be supported on a single column is small, and the overall manufacturing and maintenance costs are relatively high; it is also unable to cope with rainy, snowy and windy weather. When the photovoltaic panel appears at a large angle, the load of the motor is large due to the large deviation of the center of gravity, and it is easy to be damaged. In addition, the control system has an astronomical algorithm, namely the longitude and latitude algorithm. According to the current longitude and latitude and date and time, the pitch angle and rotation angle determined by the algorithm cannot adapt to the changes in the geographical environment and weather environment, and the tracking accuracy is low, which makes the overall economic benefit of the system low and difficult to popularize and apply on a large scale. Summary of the invention

[0005] In order to address one or more problems in existing dual-axis photovoltaic tracking brackets, such as the center of gravity of the photovoltaic panel is higher than the angle adjustment device, the rotation angle of the photovoltaic panel is limited, and the structure is not stable enough, the present invention provides a photovoltaic tracking bracket; in order to further improve the conversion efficiency of the photovoltaic panel, the present application also provides a control system and a control method for the photovoltaic tracking bracket.

[0006] A photovoltaic tracking bracket provided by the present invention includes a column, an angle adjustment mechanism and a fixed frame, the angle adjustment mechanism includes a box body and a first horizontal rotating shaft arranged in the box body, a vertical second rotating shaft and a first drive motor and a second drive motor fixed outside the box body, the fixed frame includes a main shaft and a purlin; the two ends of the first rotating shaft are respectively fixedly connected to a main shaft, and the purlin is fixed on the main shaft for fixing the photovoltaic panel; the lower end of the second rotating shaft is fixedly connected to the upper end of the column; the first drive motor drives the first rotating shaft to rotate to drive the pitch angle of the fixed frame to change; the second drive motor drives the second rotating shaft to drive the azimuth angle of the fixed frame to change.

[0007] In a dual-axis photovoltaic tracking bracket, the rotating main axis of the fixed frame is divided into two sections, which are respectively fixedly connected to the horizontal rotating shaft, thereby avoiding the influence of the box of the angle adjustment mechanism on the main axis setting, so that the center of gravity of the photovoltaic panel and the fixed frame is closer to the rotating shaft, and the torque generated is smaller. Therefore, a large area of ​​photovoltaic panels can be set on a single column, and the pitch angle of the photovoltaic panel can be rotated at a larger angle, which can be rotated 80° or even 90°. Therefore, the influence of heavy snow, strong wind and heavy rain on the photovoltaic tracking bracket can be coped with, and the application and promotion of dual-axis tracking of photovoltaic panels can be realized.

[0008] Preferably, the box body includes a first shell and a second shell, and the first shell and the second shell form an integral structure; the first rotating shaft is arranged in the first shell, and both ends extend out to be fixedly connected to the main shaft, and the center line of the first rotating shaft and the main shaft basically coincide; the second rotating shaft is arranged in the second shell, and its lower end extends out to be fixedly connected to the upper end of the column.

[0009] The present invention increases the connection strength of the shells by connecting the first shell and the second shell to form an integrated structure. At the same time, the lower end of the second shaft extends out and is fixedly connected to the upper end of the column to connect the angle adjustment mechanism, which is convenient and firm. The rotation of the second shaft drives the angle adjustment mechanism to rotate as a whole, making the azimuth rotation of the photovoltaic panel more flexible and with a larger angle. The first shaft is substantially coincident with the center line of the main shaft, which can ensure that the first shaft is subjected to a more uniform force and the drive motor works better.

[0010] Preferably, the first housing comprises a first rotating shaft housing and a first turbine housing, the first rotating shaft is provided with a first turbine, the first turbine is located in the first turbine housing, the first turbine is meshed with a first worm, and one end of the first worm is connected to a first drive motor; the second housing comprises a second rotating shaft housing and a second turbine housing, the second rotating shaft is provided with a second turbine, the second turbine is meshed with a second worm, and one end of the second worm is connected to a second drive motor; the upper end of the second rotating shaft housing is fixedly connected to the first rotating shaft housing.

[0011] The present invention generates reverse self-locking through the cooperation of the worm gear, thereby avoiding the vibration of the photovoltaic panel or the resonance of the bracket, and also avoiding the damage of the drive motor caused by the reverse output of the transmission.

[0012] Preferably, a first cylinder is arranged below the first turbine housing; a second cylinder is arranged on one side of the second turbine housing, the first cylinder and the second cylinder are connected and fixed at both ends or the middle, the first drive motor is fixedly connected to the end of the first cylinder, and the first worm is arranged in the first cylinder; the second drive motor is fixedly connected to the end of the second cylinder, and the second worm is arranged in the second cylinder.

[0013] In the present invention, the first shell and the second shell form an integral structure and do not move with respect to each other. The second cylinder and the first cylinder are further arranged on the outside of a turbine shell with a relatively large diameter. On the one hand, the worm can be directly transmitted to the turbine. On the other hand, the first turbine shell, the two cylinders and the second turbine shell are connected to form a reinforced structure. The structures support each other, which not only reduces the weight of the overall speed change structure and reduces the cost, but also increases stability and durability.

[0014] Preferably, an end plate is provided at the upper end of the second rotating shaft housing, a ball groove is provided at the upper end of the second rotating shaft, a steel ball is provided in the ball groove, and the steel ball is positioned between the end plate and the second rotating shaft.

[0015] In the present invention, the arrangement of the end plate makes the second shaft housing and the second shaft more stable in the vertical support, and does not affect the relative rotation of the two. Compared with the dedicated bearing, the steel ball can not only reduce the cost and installation process, but also be more stable and durable, overcoming the technical prejudice in the art that the connection of the shaft in the reducer can only be achieved through various bearings.

[0016] Preferably, the main shaft is a tubular structure with a mounting plate at the end, the mounting plate comprising a connecting plate and a coupling column protruding from the center of the connecting plate, the coupling column being provided with a coupling hole, the first output end being inserted into the coupling hole for fixed connection, and the axial center of the first rotating shaft substantially coincides with the axial center of the main shaft.

[0017] In the present invention, a connecting plate is arranged on the tubular main shaft, so that the connecting plate can be conveniently connected and fixed with the first rotating shaft, thereby facilitating the installation of the fixing frame.

[0018] Preferably, the fixing frame further comprises a longitudinal rod and a secondary rod, and the other ends of the two main shafts are connected to the longitudinal rod to form an "I" shape; the two ends of the longitudinal rod are respectively connected to the transverse secondary rods.

[0019] In the present invention, the main shaft, the longitudinal rod and the auxiliary rod are connected in the same plane, so that the center of gravity of the fixed bracket is aligned, and no additional torque is generated when the fixed bracket rotates.

[0020] Preferably, a mounting seat is fixed on the top of the column, a mounting hole is arranged in the middle of the mounting seat, the lower end of the second rotating shaft is the second output end, and the second output end is inserted into the mounting hole to form a fixed connection.

[0021] In the present invention, the column and the second rotating shaft are plugged and matched to be fixed, so that the bracket can be installed on site more quickly and the construction cost can be reduced.

[0022] The present invention provides a control system for a photovoltaic tracking bracket, comprising a photovoltaic tracking bracket, a photovoltaic panel and a control device, wherein the control device comprises a light sensor, a sub-controller and a main controller, wherein the light sensor is electrically connected to the sub-controller; the sub-controller communicates with the main controller, and the light sensor is installed on a frame of the photovoltaic panel; upon receiving a signal sent by the main controller and position information and light information sent by the light sensor, the sub-controller outputs a signal through a preset logic operation, and the angle adjustment mechanism adjusts the photovoltaic panel to a corresponding position.

[0023] The present invention adjusts the angle of the photovoltaic tracking bracket through light intensity information, which can improve the control accuracy of the photovoltaic panel facing the sun and improve the light energy conversion efficiency. Preferably, the sub-controller includes a power system, an address dial switch, a motor drive module, and a data transceiver module. The power system supplies power to the drive motor, the data transceiver module communicates with the light sensor and the main controller, and the address dial switch marks the communication address of the sub-controller.

[0024] The present invention codes each bracket by using the address dial switch, which can not only determine the faulty bracket but also independently control the angle of each bracket.

[0025] Preferably, the light sensor includes a magnetic sensor, a gravity sensor, and a photodiode; the magnetic sensor and the gravity sensor sense the position information of the photovoltaic panel; there are at least four photodiodes, which are respectively arranged in at least four directions of the shading column to sense the light information.

[0026] The present invention can determine the facing angle of the sun through the cooperation of the shading column and the photodiode, and track the sun more accurately.

[0027] The present invention also provides a control method for a photovoltaic tracking bracket, including a control system of the photovoltaic tracking bracket, comprising the following steps:

[0028] Step 1: Power on and initialize the main controller;

[0029] Step 2: The main controller obtains the latitude, longitude and time information through Beidou / GPS and calculates the solar azimuth and elevation angle;

[0030] Step 3: The main controller calculates the correction angle of the photovoltaic tracking bracket according to the pre-designed logic, and sends the corrected angle of the sun to each sub-controller, and reads the fault code on the sub-controller and the photovoltaic panel position information of the light sensor accordingly;

[0031] Step 4: After receiving the sun angle sent by the main controller, the sub-controller receives the position information and light information of the light sensor, calculates the motor operation parameters according to the light difference or the actual angle of the photovoltaic tracking bracket and the target sun angle, and controls the motor drive angle adjustment mechanism through the motor drive signal output circuit to rotate the fixed frame of the photovoltaic tracking bracket to the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the photovoltaic tracking system structure;

[0033] Figure 2 It is a schematic diagram of the horizontal position of the photovoltaic tracking system fixed frame;

[0034] Figure 3 This is a schematic diagram of the control structure of the photovoltaic tracking system;

[0035] Figure 4 This is a schematic diagram of the photovoltaic tracking bracket structure;

[0036] Figure 5 It is a structural schematic diagram of another photovoltaic tracking bracket;

[0037] Figure 6 Schematic diagram of the pitch angle change of the photovoltaic tracking bracket Figure 1 ;

[0038] Figure 7 Schematic diagram of the pitch angle change of the photovoltaic tracking bracket Figure 2 ;

[0039] Figure 8 Schematic diagram of the change in the azimuth angle of the photovoltaic tracking bracket Figure 1 ;

[0040] Fig. 9Schematic diagram of the change in the azimuth angle of the photovoltaic tracking bracket Figure 2 ;

[0041] Fig.10 for Figure 4 A magnified schematic diagram of the middle part;

[0042] Fig.11 Schematic diagram of the angle adjustment mechanism structure;

[0043] Fig.12 This is a schematic diagram of the main structure of the angle adjustment mechanism;

[0044] Fig.13 for Fig.12 Cross-sectional view in the middle DD direction;

[0045] Fig.14 for Fig.12 Cross-sectional view in CC direction;

[0046] Fig.15 for Fig.12 Cross-sectional view in the EE direction;

[0047] Fig.16 is a light sensor;

[0048] Fig.17 The figure is a logic block diagram of a control method for a photovoltaic tracking system.

[0049] The numbers in the figure indicate:

[0050] 100-Photovoltaic tracking bracket;

[0051] 1- column; 11- fixing flange; 12- mounting seat; 122- fixing plate; 123- mounting column;

[0052] 2-angle adjustment mechanism; 20-housing; 21-first housing; 22-second housing; 211-first shaft housing; 212-first turbine housing; 213-first cylinder; 214-first end cover; 2141-flange connection plate; 2142-sealing groove; 2143-center through hole; 2144-bearing support; 2145-oil seal; 221-second shaft housing; 222-second turbine housing; 223-second cylinder; 224-second end cover; 2251-end plate; 23-worm gear transmission assembly; 231-first rotating shaft; 2311-first output end; 232-first turbine; 233-first worm; 234-second rotating shaft, 2341-second output end; 2342-steel ball; 2343-pad; 2344-ball groove; 235-second turbine; 236-second worm; 24-first drive motor; 25-second drive motor; 26-reinforcement rib plate; 271-first bearing; 272-second bearing; 273-third bearing;

[0053] 3-fixed frame; 31-main shaft; 311-mounting plate; 312-connecting plate; 313-coupling column; 314-coupling hole; 32-longitudinal rod; 33-secondary rod; 34-purlin; 35-diagonal brace.

[0054] 4-photovoltaic panel; 5-light sensor; 53-photodiode; 531-shading column; 6-sub-controller. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. Example

[0060] like Figure 1-Figure 16 As shown, a photovoltaic tracking bracket 100 includes a column 1, an angle adjustment mechanism 2, and a photovoltaic panel fixing frame 3. A fixing flange 11 is welded at the bottom end of the column 1 for fixing to the ground or a prefabricated pile; the bottom of the angle adjustment mechanism 2 is installed at the top of the column 1, and the upper part is connected to the fixing frame 3, and the photovoltaic panel 4 is installed on the fixing frame 3.

[0061] The angle adjustment mechanism 2 includes a housing 20, in which a worm gear transmission assembly 23 is arranged as a rotation transmission reduction box for transmitting and driving the fixed bracket. Some of the worm gear transmission assemblies 23 have the functions of high transmission efficiency and reverse self-locking, thereby preventing the vibration of the fixed bracket and the photovoltaic panel from impacting the motor and the like.

[0062] The box body 20 includes a first shell 21 and a second shell 22, and the first shell 21 and the second shell 22 are fixed to form an integrated structure, including welding connection, integrated casting, forging, 3D printing, etc. to form an integrated structure.

[0063] The first housing 21 has a first shaft housing 211 that passes through the cavity on the left and right, a first turbine housing 212, and first end covers 214 are fixed to the left and right ends of the first housing 21, respectively, to seal the inner cavities of the first shaft housing 211 and the first turbine housing 212. The diameter of the first turbine housing 212 is larger than the diameter of the first shaft housing 211, and the two are connected as a circular bevel transition. The first end cover 214 includes a flange connection plate 2141 fixed to the first shaft housing 211 and an annular sealing groove 2142 protruding inwardly, and a sealing ring, a sealing member, etc. are arranged in the sealing groove 2142, so that the first end cover 214 includes a seal with the first shaft housing 211.

[0064] The center of the first end cover 214 is provided with a central through hole 2143 through which the output shaft passes, and a bearing support 2144 is provided on the inner side of the periphery of the central through hole 2143, and the bearing support 2144 is used to install and fix the bearing. An oil seal 2145 is directly provided between the central through hole 2143 and the output shaft. A plurality of evenly distributed supporting ribs are directly provided between the sealing groove 2142 and the bearing support 2144.

[0065] The second housing 22 includes a second shaft housing 221 and a second turbine housing 222. The lower end of the second shaft housing 221 is provided with a second end cover 224. The upper end of the second shaft housing 221 is connected to the first shaft housing 211 to form an integral structure. A plurality of reinforcing ribs 26 are arranged at the connection between the first shaft housing 211 and the second shaft housing 221, and connected to the second turbine housing 222. The first housing 21 is fixedly connected to the second end cover 224 by bolts or the like. The structure of the second end cover 224 can be set to be substantially the same as that of the first end cover 214, including a central through hole, a sealing groove and a bearing support.

[0066] The inner cavity of the first rotating shaft housing 211 may be connected with the inner cavity of the second rotating shaft housing 221 or may not be connected. When the two are connected, the inner cavity can form an integrated lubrication structure. However, the present invention preferably has the upper end of the second rotating shaft housing 221 closed and not connected. A boss (not shown) is provided at the upper part of the cavity of the second rotating shaft housing 221, and the boss is inserted into the inner cavity of the first rotating shaft housing 211, so that the angle adjustment mechanism 2 is more secure. A fixed bearing of the second rotating shaft 234 is provided in the boss. The first rotating shaft housing 211 and the second rotating shaft housing 221 are respectively provided with an oil delivery hole 28, and the oil delivery hole 28 is blocked by a bolt.

[0067] The worm gear transmission assembly 23 includes a first rotating shaft 231 arranged horizontally, a first turbine 232 arranged on the first rotating shaft 231, and a first worm 233 meshing with the first turbine 232; it also includes a second rotating shaft 234 arranged vertically, a second turbine 235 arranged on the second rotating shaft 234, and a second worm 236 meshing with the second turbine 235.

[0068] The first rotating shaft 231 passes through the first rotating shaft housing 211 and the first turbine housing 212 and extends from the central through holes of the first end covers 214 at both ends. The first rotating shaft 231 is arranged horizontally. First bearings 271 are arranged near the two ends of the first rotating shaft 231 and are fixed to the first rotating shaft housing 211 and the first turbine housing 212 respectively. The first turbine 232 is arranged in the first turbine housing 212 and fixed to the first rotating shaft 231. The first rotating shaft 231 is fixed to the first turbine housing 212 through another first bearing 271 on the outside of the first turbine 232. The first rotating shaft 231 is rotatably fixedly connected to the first housing 21 through the first bearing 27. A first driving motor 24 is fixed to the lower side of the first turbine housing 212. The output shaft of the first driving motor 24 is in transmission connection with the first worm 233. The first driving motor 24 rotates to drive the first worm 233 to rotate. The first worm 233 meshes with the first turbine 232 to drive the first turbine 232 to rotate, thereby rotating the first rotating shaft 231. Two ends of the first rotating shaft 231 extend out of the cover plate 214 to form two first output ends 2311 to drive the fixing frame 3 to change its pitch angle.

[0069] The upper end of the second rotating shaft housing 221 is integrally formed and fixedly connected with the first rotating shaft housing 211, including welding connection, integral casting, forging, 3D printing and other molding technologies to form an integrated structure.

[0070] The second rotating shaft 234 is located in the cavity of the second rotating shaft housing 221 and the second turbine housing 222 and is vertically arranged. The second turbine 235 is arranged in the second turbine housing 222 and is fixedly connected to the second rotating shaft 234. The second worm 236 is meshed with the second turbine 235. A second driving motor 25 is fixed to the outside of the second turbine housing 222, and the second driving motor 25 drives the second worm 236 to rotate.

[0071] The driving shaft of the second driving motor 25 drives the second worm 236 to rotate, and the second worm 236 is engaged with the second turbine 235, driving the second turbine 235 to rotate, thereby driving the second rotating shaft 234 to rotate. One end of the second rotating shaft 234 extends out of the second cover plate 224 under the second turbine housing 222 to form a second output end 2341, driving the angle adjustment mechanism 2 to rotate relative to the column 1, thereby changing the azimuth angle of the fixed frame 3 and the photovoltaic panel 4 installed thereon.

[0072] The driving motor of the present invention can be a motor or a motor reducer, etc., which are electric driving mechanisms used in the mechanical field.

[0073] The second rotating shaft 234 bears the weight of the fixing frame 3 and the photovoltaic panel 4, and is subjected to a large force in the vertical direction. Therefore, the upper end of the second rotating shaft shell 221 is preferably closed, and the boss is an upward extension of the second rotating shaft shell 221, forming an end plate 2251 of the boss 225. A ball groove 2344 is provided at the upper end of the second rotating shaft 234, and a steel ball 2342 is placed in the ball groove 2344. The steel ball 2342 is pressed against the upper end of the second rotating shaft 234 and the end plate 2251 to form a planar thrust. Furthermore, a pad 2343 is provided on the top of the steel ball 2342. The pad 2343 can be a steel plate made of 65Mn material with a heat treatment hardness of about 60 degrees. The pad 2343 is used to withstand the axial force of the entire bracket, which can improve the stability of the angle adjustment mechanism 2 in harsh environments.

[0074] The top of the column 1 is provided with a mounting seat 12, and a mounting hole 121 is provided in the middle of the mounting seat 12. The second output end 2341 is inserted into the mounting hole (not shown) to form a fixed connection, and the fixing method is the existing shaft-hole fixing method. Specifically, the mounting seat 12 includes a fixing plate 122 and a mounting column 123, and the fixing plate 122 is welded and fixed to the column 1, and the mounting hole 121 is provided in the mounting column 123. The column 1 is fixedly connected to the angle adjustment mechanism 2 by fixing with the second output end 2341.

[0075] The cooperation between the first drive motor 24 and the first worm 233 and the cooperation between the second drive motor 25 and the second worm 236 can be a fixed connection between the motor (motor reducer) output shaft and the worm, or a worm gear can be directly set on the motor output shaft, that is, the motor output shaft and the worm are an integrated structure or integrally formed. The worm gear transmission can be a direct transmission of the worm gear, or a transmission such as a reduction gear pair can be set before the worm. In some embodiments, the second drive motor 25 and the first drive motor 24 are motor reducers, and the output shaft of the reducer is connected to the first worm 233 and the second worm 236.

[0076] The second output end 2341 is fixedly connected to the top of the column 1. Bearings can be arranged below the second shaft housing 221 and at the top of the column 1, so that the angle adjustment mechanism 2 can be well supported while not affecting the rotation of the angle adjustment mechanism 2 relative to the column 1.

[0077] In some embodiments, the first drive motor 24 is arranged below the first rotating shaft housing corresponding to the first turbine, and the second drive motor is fixed to one side of the second rotating shaft housing corresponding to the second turbine. In order to reduce the vertical length of the angle adjustment mechanism 2, the second drive motor and the first drive motor are staggered. The first drive motor is arranged on the right side of the first rotating shaft housing, and the second motor is arranged on the left side of the second rotating shaft housing.

[0078] This embodiment is preferred. A first cylinder 213 is provided below the first shaft housing 211 and directly below the first turbine housing 212. A second cylinder 223 is provided on the left side of the second shaft housing 221 and directly on the left side of the second turbine housing 222 (the left side is the side relative to the first turbine housing 212). The first worm 233 is provided in the first cylinder 213 and fixed to the first cylinder 213 through the third bearing 273. One end of the first drive motor 24 is fixed to one end of the first cylinder 213. The first worm 233 is well supported. The second worm 236 is provided in the second cylinder 223 and fixed to the second cylinder 223 through the fourth bearing 274. The second drive motor 25 is fixed to the end of the second cylinder 223. The second worm 236 is well supported.

[0079] The first cylinder 213 and the second cylinder 223 are connected and fixed at both ends or in the middle to form a reinforcing support for the connection between the first shaft housing 211 and the second shaft housing 221. At the same time, reinforcing plates can be provided on the first cylinder 213, the second cylinder 223 and the first turbine housing 212 to increase the structural strength.

[0080] The fixed frame 3 includes a main shaft 31, a longitudinal rod 32, and a secondary rod 33. One end of the two main shafts 31 is respectively connected to the angle adjustment mechanism 2 to form a transverse long main shaft 31. Specifically, one end of the two main shafts 31 is respectively fixedly connected to the two first output ends 2311, so that the main shaft 31 is located on both sides of the angle adjustment mechanism 2 to form a symmetrically rotating main shaft. The rotation output by the first output end 2311 drives the main shaft 31 to rotate. The main shaft 31 is a tubular structure, and a mounting plate 311 is provided at the end. The mounting plate 311 includes a connecting plate 312 and a coupling column 313 protruding from the center of the connecting plate 312. The coupling column 313 is fixedly connected to the first output end 2311 of the first rotating shaft 231.

[0081] The coupling column 313 is provided with a coupling hole 314 , and the first output end 2311 is inserted into the coupling hole 314 for fixed connection, and the central axis of the first rotating shaft 231 substantially coincides with the central axis of the main shaft 31 .

[0082] The two ends of the main shaft 31 are connected to the longitudinal rod 32 to form an "I" shape; the two ends of the longitudinal rod 32 are respectively connected to the transverse auxiliary rod 33. The connection between the main shaft 31 and the longitudinal rod 32 and the auxiliary rod 33 makes the main support structure and the axis of the first rotating shaft 231 arranged transversely basically on the same plane, so when the photovoltaic panel 4 tracks the sun, the torque change generated by the first rotating shaft 231 is relatively small, and the torque change generated by the angle adjustment mechanism 2 is also small, and the photovoltaic panel 4 can change a large angle.

[0083] The photovoltaic panel fixing frame 3 also includes purlins 34 fixed on the top of the mesh frame body composed of the main axis of the horizontal bar 31 and the longitudinal bars 32 and the auxiliary bars 33; the photovoltaic panel is installed on the purlins 34.

[0084] like Figure 7-Figure 8 As shown, the pitch angle β of the photovoltaic panel 4 can be adjusted within a range of at least 80° to -20°. It is suitable for most longitude and latitude geographical environments and natural environments with weather such as rain, snow, wind and sand. The azimuth angle α of the photovoltaic panel 4 can be adjusted within a range of -135° to 135°.

[0085] Because the center of gravity of the main bearing structure of the fixing frame 3 is located at the center of the first rotating shaft 231 or slightly higher or lower than the center of the first rotating shaft 231, the fixing frame 3 has little change in the force applied to the angle adjustment mechanism 2 during tracking. In addition, the center of gravity of the main photovoltaic panel is relatively close to the center of the first rotating shaft 231, so the force generated at a large angle is not large.

[0086] The fixing frame 3 can fix 8 or even more standard photovoltaic panels 4 through the arrangement of the main shaft 31, the longitudinal rod 32 and the auxiliary rod 33, which can improve the economic benefits of each photovoltaic panel and facilitate promotion and application.

[0087] Embodiment 2 of the fixing frame: Different from the above embodiment, the fixing frame 3 includes a main shaft 31 and a purlin 34, the purlin 34 is longitudinally arranged and directly fixed on the main shaft 31, and the main shaft 31 and the purlin 34 are directly provided with a diagonal brace 35. The main shaft 31 and the purlin 34 simplify the support frame structure, which can meet the needs of 6 photovoltaic panels or more.

[0088] In order to further adapt to the above-mentioned photovoltaic tracking bracket, the present invention also provides a control system of the photovoltaic tracking bracket. The control system of the photovoltaic tracking bracket includes a photovoltaic tracking bracket 100 and a control device.

[0089] The photovoltaic tracking bracket 100 includes a column 1, an angle adjustment mechanism 2, and a photovoltaic panel fixing frame 3. The column 1 is fixed on the bottom surface or the foundation pile, and is used to support the bracket; the angle adjustment mechanism 2 is used as a rotation and pitch angle adjustment mechanism of the bracket; the photovoltaic panel fixing frame 3 includes a crossbar, a longitudinal bar, and a purlin, and one end of the crossbar is connected to the angle adjustment mechanism 2 by bolts; the bottom of the purlin is fixed on the crossbar and the longitudinal bar, and is used to support and fix the photovoltaic panel.

[0090] The control device further comprises a light sensor 5, a sub-controller 6 and a main controller.

[0091] The light sensor 5 is electrically connected to the sub-controller 6 to transmit signals and form communication; the sub-controller 6 is connected to the main controller via RS485 bus or wirelessly to form communication between the two.

[0092] The light sensor 5 is installed on the frame of the photovoltaic panel, and is used to locate the bracket position information and sense the light intensity information, and transmit the information to the sub-controller 6.

[0093] The light sensor 5 includes a magnetic sensor, a gravity sensor, and a photodiode 53 .

[0094] The magnetic sensor 51 determines the bracket azimuth angle by sensing the magnetic field. The gravity sensor 52 senses the bracket pitch angle signal to determine the pitch angle of the photovoltaic panel 4. The magnetic sensor and the gravity sensor determine the current pitch angle and azimuth angle of the photovoltaic panel, and the relationship between the positioning information of the fixing frame 3 (photovoltaic panel).

[0095] The photodiode 53 detects the intensity of sunlight; the photodiode 53 has four photodiodes respectively arranged at four positions of the shading column 531, and according to the different light intensity, it will generate a current signal that is continuously sent to the single chip microcomputer in the light sensor. The single chip microcomputer converts it into a voltage signal and sends it to the sub-controller, which converts it into a light value through a pre-algorithm and compares it with the set value to determine which mode the motor is preferentially operated in. If it is less than the set value, it is in the compass mode, that is, the position information of the fixing frame 3 is based on the magnetic sensor and the gravity sensor, and the sub-controller calculates the motor operation parameters with the purpose of the azimuth and altitude angle sent by the light sensor being the same as the sun angle sent by the main controller; if it is greater than the set value, it is in the light mode, and the controller calculates the motor operation parameters with the purpose of the current signal sent by the photodiode on the light sensor being consistent.

[0096] The four diodes on the light sensor are parallel to the photovoltaic panel. There is a small square tube in the middle of the four diodes, which is a light shielding column 531. If the bracket is not aimed at the sun on a sunny day, the sunlight will shine on the light shielding column 531 to produce a shadow, which will cause the current signal sent by the diode to be different. The sub-controller receives different data sent by the four photosensitive diodes, thereby calculating the motor operating parameters and driving the motor to drive the bracket to rotate. The number of photosensitive diodes can be reasonably selected according to needs.

[0097] When the light intensity is not high, the photovoltaic tracking bracket operates in compass mode. The magnetic sensor and gravity sensor in the light sensor detect the bracket's azimuth and pitch angle and send them to the sub-controller. The sub-controller compares it with the solar azimuth and altitude sent by the main controller, and calculates the motor operation parameters to drive the motor to rotate the bracket until the sub-controller's azimuth and altitude are the same as the solar angle sent by the main controller. Compass mode operation generally does not correct the slight tilt angle error of the column 1 or the fixed frame 3 itself, and may also produce slight angle deviations due to magnetic field interference.

[0098] On sunny days, the azimuth and altitude of the bracket 3 are first determined by the magnetic sensor and gravity sensor in the light sensor. Since the bracket 3 is not aimed at the sun, the photodiodes around the light sensor will be shadowed. When the sub-controller receives the signal sent by the light sensor and it is greater than the set value, it will prioritize the light mode and drive the motor to rotate the bracket to aim the light sensor at the sun to ensure that its photodiode is not shadowed. When the photovoltaic panel 4 is aimed at the sun, the light sensor data is sent to the sub-controller, and the azimuth and altitude of the bracket 3 (and the photovoltaic panel) are automatically corrected to the sun angle sent by the main controller, so that the tracking accuracy can reach <±1° on sunny days.

[0099] The sub-controller 6 is installed on the column 1 or the photovoltaic panel fixing frame 3. The sub-controller 6 includes a power supply system, RS485 communication, an address dial switch, a motor drive module, and a data transceiver module. The sub-controller is provided with a power supply module, which is equipped with a transformer that can convert 80~300DC or 90~240AC into DC12V to power the motor. A DC12V output port is reserved on the controller for use by the main controller.

[0100] When photovoltaic panels are installed in clusters, the main controller can be set on the main control platform and can communicate with multiple sub-controllers 6 by wire or wireless. The main controller locates the current position information and time information through GPS / Beidou, and calculates the solar azimuth and altitude. The main controller sends the solar azimuth and altitude to the sub-controller 6 via RS485 bus / wireless. The main controller includes GPS / Beidou module, power system, 4GCat1 networking module, Lora wireless communication module, environmental sensor, user button, LCD screen, RS485 communication, etc.

[0101] The sub-controller 6 receives the signal sent by the main controller and the position information and light intensity information of the light sensor 5 at the same time, outputs the signal through logical operation, and drives the motor through the motor drive module to adjust the photovoltaic panel to the corresponding position.

[0102] Specific control process:

[0103] The main controller can also send out control signals according to the environment in which the photovoltaic panel is located to control the photovoltaic panel to operate in the corresponding mode. For example, when the light intensity is not high, the photovoltaic tracking bracket operates in compass mode, using magnetic sensors and gravity sensors to detect the bracket azimuth and pitch angle and send them to the sub-controller; on sunny days, the illumination mode will be run first, with the signal of the photodiode as the main drive, and the drive motor will be controlled to rotate the photovoltaic tracking bracket so that the light sensor is aimed at the sun to ensure that there is no shadow on its photodiode. In environments such as strong winds or heavy rain, the risk avoidance or wind and rain shelter mode can be turned on, and the main controller controls the photovoltaic panel to be at a specific angle.

[0104] The coordinated cooperation of the light sensor 5, the sub-controller 6 and the main controller can not only achieve a tracking accuracy of <±1° on sunny days, which improves the unit power generation efficiency by 30% compared to photovoltaic panels using fixed brackets, but also provides convenience and basis for opening various control modes. At the same time, the sub-controller 6 and the main controller are separated to realize dual control and dual insurance, and greatly save the setting cost of the main controller.

[0105] An address dial switch is integrated on the sub-controller 6 to mark the address of the sub-controller. If the sub-controller is damaged or there is a damaged model on the photovoltaic tracking bracket, the maintenance personnel can quickly determine the location of the faulty photovoltaic bracket for easy maintenance and replacement.

[0106] After the sub-controller is powered on, it will first read the state of the DIP switch to determine the communication address. The DIP switches are arranged in binary numbers. The switch state is switched by dialing up and down. The switch down corresponds to bit 0, and the switch up corresponds to bit 1. The left switch No. 1 corresponds to the lowest bit of the binary system, and the right switch No. 8 corresponds to the highest bit of the binary system. For example, the state of the DIP switch from left to right "up-down-up-down-down-down-down" corresponds to the binary number 00001101 (decimal 13), that is, the communication address is configured as 13.

[0107] Specific assembly steps of a control system for a photovoltaic tracking bracket:

[0108] Column 1: Fix the lower flange of the column to the ground or prefabricated pile foundation with bolts.

[0109] Angle adjustment mechanism 2 (reduction box): The reduction box is fixed to the upper end surface of the column by bolts.

[0110] Main shaft 31: Fix it to both ends of the reduction box (connected to the first rotating shaft) with bolts through taper fit or flange connection.

[0111] Longitudinal rod 32: It is fixed to both ends of the main shaft 31 by bolts through the pressure plate.

[0112] Auxiliary rod 33: It is fixed to both ends of the longitudinal rod 32 with bolts.

[0113] Purlin 34: Fix it to the secondary rod 33 through the pressure plate with bolts.

[0114] Photovoltaic panel 4: Fix it on the purlin 34 with bolts, screws or fasteners.

[0115] Light sensor 5: Fix it on the frame of photovoltaic panel 4 or on a specially set mounting piece with bolts.

[0116] Driving motor: including a first driving motor and a second driving motor, which are fixed to the first shell and the second box body with bolts.

[0117] Sub-controller 6: Fix it to the column with bolts.

[0118] Main controller: installed on the master control platform.

[0119] The main controller single-chip computer system obtains positioning information and calculates the current position information through the GPS / Beidou module, obtains the position information of each bracket through the bus / wireless, and calculates the solar angle correction data and sends it to each sub-controller 6. The corresponding sub-controller 6 compares the data of the light sensor with the set value, calculates the motor operation parameters according to the light difference or the actual angle of the bracket and the target solar angle, and controls the motor to rotate the bracket into place through the motor drive signal output circuit.

[0120] When driving the motor, the sub-controller 6 can also detect the motor running current and light sensor data. If it exceeds the set value, the corresponding fault code will be reported. When the main controller obtains the information of each sub-controller, it will upload the fault code to the monitoring background to ensure timely processing of the fault.

[0121] The address of the sub-control dial switch corresponds to the bracket number. When the main control queries which bracket has a fault, the corresponding bracket number will be displayed. When the motor drive current exceeds the set threshold, an alarm will be issued for motor overcurrent fault. After a period of time after the motor is driven, if the bracket angle does not change, an alarm will be issued for motor non-rotation fault. If the light sensor data is not detected, or the angle data is abnormal (for example, greater than 360°), a sensor fault will be reported. If the angle data is detected to exceed the preset angle range, that is, the maximum operating angle range of the bracket, a limit fault will be reported (horizontal clockwise / counterclockwise, pitch up / down, four directions limit).

[0122] like Fig.17 As shown, for the control system of the above photovoltaic tracking bracket, the present invention also provides a control method of the photovoltaic tracking bracket. The control method of the photovoltaic tracking bracket includes the following steps:

[0123] Step 1: Power on and initialize the main controller;

[0124] Step 2: The main controller obtains the latitude, longitude and time information through Beidou / GPS and calculates the solar azimuth and elevation angle;

[0125] Step 3: The main controller calculates the correction angle of the photovoltaic tracking bracket according to the pre-designed logic, and sends the corrected angle of the sun to each sub-controller, and reads the fault code on the sub-controller and the photovoltaic panel position information of the light sensor accordingly;

[0126] Step 4: After receiving the sun angle sent by the main controller, the sub-controller receives the position information and light information of the light sensor, calculates the motor operation parameters according to the light difference or the actual angle of the bracket and the target sun angle, and controls the motor drive angle adjustment mechanism 2 through the motor drive signal output circuit to adjust the fixed frame of the photovoltaic tracking bracket to the target rotation position.

[0127] The main controller single-chip computer system obtains positioning information and calculates the current position information through the GPS / Beidou module, obtains the position information of each bracket through the bus / wireless, and calculates the solar angle correction data and sends it to each sub-controller 6. The corresponding sub-controller 6 compares the data of the light sensor with the set value, calculates the motor operation parameters according to the light difference or the actual angle of the bracket and the target solar angle, and controls the motor to rotate the bracket into place through the motor drive signal output circuit.

[0128] When driving the motor, the sub-controller 6 can also detect the motor running current and light sensor data. If it exceeds the set value, the corresponding fault code will be reported. When the main controller obtains the information of each sub-controller, it will upload the fault code to the monitoring background to ensure timely processing of the fault.

[0129] Compared with the prior art, the present invention has the following better effects:

[0130] The sub-controller has its own power module, which can be powered by the photovoltaic panel, greatly reducing the installation cost. The main controller can be powered by the sub-controller, reducing the cost of the main controller.

[0131] The light sensor provides the sub-controller with the position information of the fixed frame (photovoltaic panel) and the light intensity. The sub-controller then sends the sun angle through the main control and compares it with the data input by the light sensor to obtain the optimal motor operating parameters. The tracking accuracy is <±1° on sunny days, which greatly improves the profit effect of the photovoltaic tracking bracket on sunny days.

[0132] The sub-controller is equipped with a dip switch, which serves as the bracket arrangement number. If there is any damage, the normal sub-controller can be replaced by switching the dip switch to the corresponding position, which greatly reduces the maintenance cost.

[0133] The "transverse" mentioned in this application is the horizontal and perpendicular direction to the "longitudinal" length direction of the pipeline to be installed, and the "front" and "rear" are relative to the front and back of the carrier vehicle, which are generally in the same direction as the "longitudinal" length direction of the pipeline.

[0134] The present invention and its embodiments are described schematically above, which is not restrictive. The drawings show only one embodiment of the method of the present invention, which is not limited thereto. Therefore, if a person skilled in the art is inspired by the invention and creatively designs methods and embodiments similar to the technical solution without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. A photovoltaic tracking bracket, comprising a column (1), an angle adjustment mechanism (2) and a fixing frame (3), wherein the bottom end of the column (1) is fixed to the ground or a prefabricated pile, and the angle adjustment mechanism (2) is installed on the top end of the column (1), characterized in that: The angle adjustment mechanism (2) comprises a box (20), a first rotating shaft (231) arranged horizontally in the box (20), a second rotating shaft (234) arranged vertically in the box (20), and a first driving motor (24) and a second driving motor (25) fixed outside the box (20); the box (20) comprises a first shell (21) and a second shell (22), the first shell (21) and the second shell (22) forming an integral structure, and the two do not move relative to each other; the fixing frame (3) comprises a main shaft (31 ) and purlins (34); the first rotating shaft (231) is arranged in the first shell (21), with both ends extending out to be fixedly connected to the main shaft (31), and the center lines of the first rotating shaft (231) and the main shaft (31) are substantially coincident; the purlin (34) is fixed on the main shaft (31) to fix the photovoltaic panel (4); the second rotating shaft (234) is arranged in the second shell (22), with the lower end extending out to be fixedly connected to the upper end of the column (1); the second shell (22) comprises a second rotating shaft shell (22 1) and a second turbine housing (222); the second rotating shaft (234) is provided with a second turbine (235); the second turbine (235) is meshed with a second worm (236); one end of the second worm (236) is connected to a second drive motor (25); the upper end of the second rotating shaft housing (221) is fixedly connected to the first rotating shaft housing (211); the upper end of the second rotating shaft housing (221) is provided with an end plate (2251); the upper end of the second rotating shaft (234) is provided with a ball groove (2261); 344), a steel ball (2342) is arranged in the ball groove (2344), and the steel ball (2342) is pressed between the end plate (2251) and the second rotating shaft (234); the first driving motor (24) drives the first rotating shaft (231) to rotate, thereby driving the pitch angle of the fixing frame (3) to change; the second driving motor (25) drives the second rotating shaft (234), thereby driving the angle adjustment mechanism (2) to rotate relative to the column (1), thereby driving the azimuth angle of the fixing frame (3) to change.

2. A photovoltaic tracking bracket according to claim 1, characterized in that: The first housing (21) comprises a first rotating shaft housing (211) and a first turbine housing (212); the first rotating shaft (231) is provided with a first turbine (232); the first turbine (232) is located in the first turbine housing (212); the first turbine (232) is meshed with a first worm (233); one end of the first worm (233) is connected to a first drive motor (24).

3. A photovoltaic tracking bracket according to claim 2, characterized in that: A first cylinder (213) is arranged below the first turbine housing (212); a second cylinder (223) is arranged on one side of the second turbine housing (222); the first cylinder (213) and the second cylinder (223) are fixedly connected at both ends and / or in the middle; the first drive motor (24) is fixedly connected to the end of the first cylinder (213); and the first worm (233) is arranged in the first cylinder (213); the second drive motor (25) is fixedly connected to the end of the second cylinder (223); and the second worm (236) is arranged in the second cylinder (223).

4. A photovoltaic tracking bracket according to claim 1, characterized in that: The main shaft (31) is a tubular structure, with a mounting plate (311) disposed at the end thereof, the mounting plate (311) comprising a connecting plate (312) and a coupling column (313) disposed and protruding from the center of the connecting plate (312), the two ends of the first rotating shaft (231) being first output ends (2311), the first output ends (2311) being inserted into coupling holes (314) for fixed connection, and the axis center of the first rotating shaft (231) substantially coincides with the axis center of the main shaft (31).

5. A photovoltaic tracking bracket according to any one of claims 1 to 4, characterized in that: The fixing frame (3) further comprises a longitudinal rod (32) and a secondary rod (33); the other ends of the two main shafts (31) are connected to the longitudinal rod (32) to form an "I" shape; and the two ends of the longitudinal rod (32) are respectively connected to the transverse secondary rod (33).

6. A photovoltaic tracking bracket according to any one of claims 1 to 4, characterized in that: A mounting seat (12) is fixed on the top of the column (1), a mounting hole (121) is arranged in the middle of the mounting seat (12), the lower end of the second rotating shaft (234) is a second output end (2341), and the second output end (2341) is inserted into the mounting hole (121) to form a fixed connection.

7. A control system for a photovoltaic tracking bracket, comprising the photovoltaic tracking bracket according to any one of claims 1 to 6, and further comprising a photovoltaic panel (4) and a control device, characterized in that: The control device comprises a light sensor (5), a sub-controller (6) and a main controller, wherein the light sensor (5) is electrically connected to the sub-controller (6); the sub-controller (6) communicates with the main controller, and the light sensor (5) is mounted on a frame of a photovoltaic panel (4); after receiving a signal sent by the main controller and position information and light information of the photovoltaic panel sent by the light sensor (5), the sub-controller (6) outputs a signal through a preset logical operation, and the angle adjustment mechanism (2) adjusts the photovoltaic panel to a corresponding position.

8. A control system for a photovoltaic tracking bracket according to claim 7, characterized in that: The sub-controller (6) comprises a power supply system, an address dial switch, a motor drive module, and a data transceiver module. The power supply system supplies power to the drive motor. The data transceiver module communicates with the light sensor (5) and the main controller. The address dial switch marks the communication address of the sub-controller (6).

9. A control system for a photovoltaic tracking bracket according to any one of claims 7-8, characterized in that: The light sensor (5) comprises a magnetic sensor, a gravity sensor, and a photodiode; the magnetic sensor and the gravity sensor sense the position information of the photovoltaic panel; the photodiode (53) has at least four components, which are respectively arranged at at least four positions of the shading column (531) to sense the light information.

10. A control method for a photovoltaic tracking bracket, comprising the control system of the photovoltaic tracking bracket according to any one of claims 8 to 9, characterized in that: The following steps are involved: Step 1: Power on and initialize the main controller; Step 2: The main controller obtains the latitude, longitude and time information through Beidou / GPS and calculates the solar azimuth and elevation angle; Step 3: The main controller calculates the correction angle of the photovoltaic tracking bracket (100) according to the pre-designed logic, and sends the corrected angle of the sun to each sub-controller (6), and reads the fault code on the sub-controller and the photovoltaic panel position information of the light sensor (5) accordingly; Step 4: The sub-controller (6) receives the sun angle sent by the main controller, receives the position information and light information of the light sensor (5), calculates the motor operation parameters according to the light difference or the actual angle of the photovoltaic tracking bracket and the target sun angle, and controls the motor drive angle adjustment mechanism (2) through the motor drive signal output circuit to adjust the fixing frame (3) of the photovoltaic tracking bracket (100) to the rotation target position.

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