Offshore flexible wind-resistant photovoltaic support and control method

Abstract

The invention discloses an offshore flexible wind-resistant photovoltaic support and a control method, the offshore flexible wind-resistant photovoltaic support comprises a fixed pile foundation, a first support plate and a second support plate, a photovoltaic plate is arranged on the first support plate, one end of the first support plate is hinged to the second support plate through a hinge rod, and the hinge rod is fixedly connected with the first support plate; the other end of the first supporting plate is connected with the second supporting plate through a plurality of hydraulic damping supporting columns, and the bottoms of the hydraulic damping supporting columns are hinged to the second supporting plate. The fixed pile foundation is provided with a sunny rotating mechanism for driving the second supporting plate to rotate horizontally. The invention further comprises a control method. The photovoltaic support is high in flexibility degree, the photovoltaic panel can rotate according to different illumination conditions, the PID control method is matched, parameters can be automatically adjusted in different levels of strong wind environments, interference of different levels of strong wind is resisted, and control is accurate.

Description

Technical Field

[0001] The present invention relates to the field of offshore photovoltaic technology, and in particular to an offshore flexible wind-resistant photovoltaic bracket and a control method. Background Art

[0002] As an emerging energy utilization method, offshore photovoltaics have the advantages of abundant resources, high efficiency, flexible space utilization, etc., and have broad application prospects. However, it also faces some problems. For example, offshore photovoltaic projects face harsh environments such as strong winds and waves, typhoons, sea ice, high salt fog, high humidity, and frequent temperature changes; and the technical difficulty of offshore photovoltaic projects is much higher than that of land photovoltaics, including technical difficulties such as equipment installation and fixation, cable laying, and storage and transmission of electric energy.

[0003] At present, offshore photovoltaics generally adopt two forms: floating and pile-based fixed. The floating photovoltaic bracket uses a floating tube or buoy combined with a steel structure base and bracket to fix the photovoltaic module and float it on the water. This type of offshore photovoltaic saves a certain amount of land resources, and can also reduce water evaporation and algae reproduction to a certain extent, improve water quality, and the cooling effect of seawater can reduce the temperature loss of photovoltaic modules and increase power generation. However, the existing floating offshore photovoltaics still have the following technical problems: 1. Existing floating offshore photovoltaic systems basically use floating tubes or buoys combined with steel structure bases and brackets to fix photovoltaic modules and float them on the water. When encountering harsh environments such as strong winds, their wind resistance is weak and the photovoltaic panels have a high damage rate.

[0004] 2. The photovoltaic panels of existing floating offshore photovoltaics are generally fixed on photovoltaic brackets. As the lighting conditions change, their energy utilization rate will decrease.

[0005] 3. The existing pile-based fixed photovoltaic brackets are not flexible enough, and the photovoltaic panels will shake violently in harsh environments such as strong winds.

[0006] 4. The existing pile-based fixed photovoltaic bracket has a rigid support structure and the photovoltaic panels are fixed on the photovoltaic bracket, which greatly reduces the energy utilization rate. Summary of the invention

[0007] In view of the above-mentioned deficiencies in the prior art, the present invention provides an offshore flexible wind-resistant photovoltaic bracket and control method with better flexibility and wind resistance, which can enhance the wind resistance and stability of the photovoltaic bracket while improving the energy utilization rate of the device. Combined with a unique control method, the flexibility and wind resistance of the photovoltaic bracket can be further improved.

[0008] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: Provided is an offshore flexible wind-resistant photovoltaic bracket, comprising a fixed pile foundation, a first support plate and a second support plate rotatably mounted on the fixed pile foundation, wherein the first support plate is provided with a photovoltaic panel, one end of the first support plate is hinged to the second support plate via a hinge rod, the hinge rod is fixedly connected to the first support plate, the other end of the first support plate is connected to the second support plate via a plurality of hydraulic damping support columns, the fixed end of the hydraulic damping support column is hinged to the second support plate, the telescopic end of the hydraulic damping support column is hinged to the first support plate, the bottom of the hydraulic damping support column is hinged to the second support plate, and the hydraulic damping support column is used to adjust the sun-facing pitch angle of the first support plate; a sun-facing rotating mechanism for driving the second support plate to rotate horizontally is provided on the fixed pile foundation.

[0009] Furthermore, the hydraulic damping support column includes an upper pressure tube, a lower pressure tube, an upper sealing plug, a piston rod, a square flange, a hydraulic base and a lower piston. Hydraulic oil is filled between the upper pressure tube and the upper sealing plug. The hydraulic base is fixedly nested at the bottom of the lower pressure tube. The upper pressure tube is slidably nested at the top of the upper pressure tube. The upper sealing plug is sealingly fixed at the top of the upper pressure tube. A sliding through hole matching the piston rod is provided on the upper sealing plug. The lower piston is fixed on the piston rod. The lower piston and the lower pressure tube are clearance-matched. The protruding end of the piston rod is hinged to the square flange. The square flange is fixedly connected to the first support plate. The hydraulic base is fixedly connected to the second support plate.

[0010] Furthermore, a floating piston is arranged at the bottom of the lower pressure tube, damping fluid is filled between the lower pressure tube and the floating piston, air is filled between the floating piston and the hydraulic base, and the floating piston is overfitted with the lower pressure tube.

[0011] Furthermore, the Xiangyang rotating mechanism includes a harmonic reducer, a servo motor and a motor bracket. The servo motor is installed on a fixed pile foundation through the motor bracket. The wave generator of the harmonic reducer is connected to the output shaft of the servo motor. The rigid wheel of the harmonic reducer is fixedly connected to the fixed pile foundation. The flexible wheel of the harmonic reducer is fixedly connected to the second support plate.

[0012] Furthermore, the rotating side of the first support plate is connected to the second support plate via three hydraulic damping support columns.

[0013] Furthermore, two hydraulic damping support columns are provided in the middle of the first support plate and the middle of the second support plate.

[0014] Furthermore, a tilt sensor is provided at the bottom of the first support plate.

[0015] Furthermore, a rotation angle sensor is arranged on the top of the second support plate.

[0016] A control method for an offshore flexible wind-resistant photovoltaic support comprises the following steps: S1: Set the expected inclination angle of the first support plate to be adjusted , and use the inclination sensor to collect the actual inclination angle of the current first support plate , and preset fuzzy rules; S2: According to the actual inclination Expected inclination Deviation Calculate the actual inclination Adjust the expected inclination angle The rate of change of deviation ; S3: Deviation and the rate of change of deviation The two-dimensional fuzzy controller is used as the model input variable. The two-dimensional fuzzy controller performs fuzzy processing on the input variable according to the preset fuzzy rules and outputs the proportional coefficient of the PID controller. The corresponding change , integral coefficient The corresponding change , differential coefficient The corresponding change , proportionality coefficient , integral coefficient and the differential coefficient As the original parameters of the PID controller; S4: The change obtained from the output of the two-dimensional fuzzy controller , Change and the amount of change , adjust the parameters of the PID controller to the optimal value; specifically: The change , , Add them to the original parameters of the PID controller and adjust them to get new parameter values , , ; S5: PID controller according to the new parameter value , , , combined with the PID algorithm model, calculate the control output value , control output value is the flow rate of the hydraulic system pump; S6: PID controller controls the output value Control the hydraulic damping support column to move up and down, adjust the inclination of the photovoltaic panel, and make the actual inclination Close to expected inclination ; S7: Repeat steps S2 to S6, using the tilt sensor to continuously monitor the tilt of the photovoltaic panel and make real-time adaptive adjustments until the tilt of the photovoltaic panel is adjusted to the expected tilt. , complete the tilt adjustment of the photovoltaic panel.

[0017] Furthermore, in step S5, the specific PID algorithm model is as follows:

[0018] in is the control output value of the PID controller.

[0019] The beneficial effects of the present invention are: The present invention adopts a combination of a pile foundation fixed bracket and a hydraulic damper, which adds a certain degree of flexibility on the basis of a rigid structure, thereby avoiding violent shaking of the photovoltaic panels in strong winds, increasing their stability, and making the photovoltaic bracket more wind-resistant. The present invention designs the photovoltaic bracket to be rotatable, which can ensure that the lighting conditions of the photovoltaic panels are always maintained at a high level, greatly improving the energy utilization rate of the device.

[0020] The photovoltaic support of the present invention has good wind resistance and adopts a hydraulic damping support column structure, which can play a supporting and shock-absorbing role, reduce the severe vibration of the photovoltaic panel in a windy environment, and increase its stability.

[0021] The photovoltaic bracket of the present invention has strong operability, a small overall footprint, high space utilization, and some internal space is reserved for workers to operate conveniently.

[0022] The photovoltaic bracket of the present invention is combined with a PID control strategy, and the parameters of the PID control strategy are generated by a two-dimensional fuzzy controller. The two-dimensional fuzzy controller structure has one more input variable than the one-dimensional one, namely, the deviation change rate. The two input variables can more comprehensively reflect the dynamic performance of the system, and to a certain extent increase the flexibility and wind resistance of the equipment.

[0023] The photovoltaic bracket of the present invention has high flexibility, and the photovoltaic panel can rotate according to different lighting conditions to maintain the highest energy utilization rate. The fuzzy PID control method is adopted, and the parameters can be automatically adjusted in different levels of strong wind environment, and the interference of strong winds of different levels can be resisted to make the control precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the overall structure diagram of the offshore flexible wind-resistant photovoltaic support of the present invention; Figure 2 It is a cross-sectional view of the offshore flexible wind-resistant photovoltaic support of the present invention; Figure 3 It is a structural schematic diagram of a hydraulic damping support column; Figure 4is a cross-sectional view of a hydraulic damping support column; Figure 5 This is the photovoltaic panel tilt control flow chart; Figure 6 is the fuzzy rule graph of the fuzzy controller; Figure 7 This is the photovoltaic panel corner control process.

[0025] The main components in the figure are described as follows: 1. First support plate; 3. Second support plate; 4. Fixed pile foundation; 5. Photovoltaic panel; 6. Articulated rod; 61. Inclination motor; 62. Driving gear; 63. Fixed rack; 7. Rotation angle sensor; 8. Harmonic reducer; 9. Servo motor; 10. Motor bracket; 11. Inclination sensor; 2. Hydraulic damping support column; 21. Upper pressure pipe; 22. Lower pressure pipe; 23. Upper sealing plug; 24. Piston rod; 25. Square flange; 26. Floating piston; 27. Hydraulic base; 28. Lower piston. DETAILED DESCRIPTION

[0026] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0027] like Figure 1As shown, the offshore flexible wind-resistant photovoltaic support includes a fixed pile foundation 4, a first support plate 1 and a second support plate 3 rotatably mounted on the fixed pile foundation 4, a photovoltaic panel 5 is arranged on the first support plate 1, one end of the first support plate 1 is hinged to the second support plate 3 through a hinge rod 6, the hinge rod 6 is fixedly connected to the first support plate 1, the other end of the first support plate 1 is connected to the second support plate 3 through a plurality of hydraulic damping support columns 2, the fixed end of the hydraulic damping support column 2 is hinged to the second support plate 3, the telescopic end of the hydraulic damping support column 2 is hinged to the first support plate 1, the bottom of the hydraulic damping support column 2 is hinged to the second support plate 3, and the hydraulic damping support column 2 is used to adjust the sun-facing pitch angle of the first support plate 1. On the one hand, the hydraulic damping support column 2 can drive the first support plate 1 to rise and fall, and on the other hand, a damping structure is arranged in the hydraulic damping support column 2 to buffer the violent vibration of the first support plate 1 and the photovoltaic panel 5 above it, thereby increasing its stability. The bottom of the first support plate 1 is provided with an inclination sensor 11, which is used to detect the inclination angle of the first support plate 1 in real time. The rotation angle sensor 7 may preferably be a SINDT inclination sensor. The top of the second support plate 3 is provided with a rotation angle sensor 7, which is used to detect the rotation angle of the second support plate 3. The model of the rotation angle sensor 7 may preferably be HWT101CT.

[0028] like Figure 2 As shown, a sunward rotating mechanism for driving the second support plate 3 to rotate horizontally is arranged on the fixed pile foundation 4. The sunward rotating mechanism comprises a harmonic reducer 8, a servo motor 9 and a motor bracket 10. The servo motor 9 is installed on the fixed pile foundation 4 through the motor bracket 10. The harmonic generator of the harmonic reducer 8 is connected to the output shaft of the servo motor 9. The rigid wheel of the harmonic reducer 8 is fixedly connected to the fixed pile foundation 4. The flexible wheel of the harmonic reducer 8 is fixedly connected to the second support plate 3.

[0029] like Figure 3 and 4As shown, the hydraulic damping support column 2 includes an upper pressure tube 21, a lower pressure tube 22, an upper sealing plug 23, a piston rod 24, a square flange 25, a hydraulic base 27 and a lower piston 28. The upper pressure tube 21 and the upper sealing plug 23 are filled with hydraulic oil. The hydraulic base 27 is fixedly nested at the bottom of the lower pressure tube 22. The upper pressure tube 21 is slidably nested at the top of the upper pressure tube 21. The upper sealing plug 23 is sealed and fixed at the top of the upper pressure tube 21. The upper sealing plug 23 is provided with a sliding through hole matched with the piston rod 24. The lower piston 28 is fixed on the piston rod 24. The lower piston 28 and the lower pressure tube 22 are gap-matched. The extended end of the piston rod 24 is hinged with the square flange 25. The square flange 25 is fixedly connected to the first support plate 1. The hydraulic base 27 is fixedly connected to the second support plate 3. The upper pressure tube 21 is provided with a hydraulic oil inlet and a hydraulic oil outlet, so as to control the inflow and outflow of the hydraulic oil and facilitate the connection of the upper pressure tube 21 with the hydraulic system. A floating piston 26 is provided at the bottom of the lower pressure tube 22 . Damping fluid is filled between the lower pressure tube 22 and the floating piston 26 . Air is filled between the floating piston 26 and the hydraulic base 27 . The floating piston 26 and the lower pressure tube 22 are overfitted.

[0030] The hydraulic damping support rod 2 has two functions. One is to rotate the photovoltaic panel. The principle is: the hydraulic base 27 can push the upper pressure tube 21 upward through hydraulic pressure, and the supporting force is transmitted to the square flange 25 through the upper pressure tube 21, and finally transmitted to the second support plate 3, pushing the second support plate 3 and the photovoltaic panel 5 out to realize their rotation. The second is the wind-resistant function: the damping part of the hydraulic damping support column 2 is composed of an upper pressure tube 21, a lower pressure tube 22, a lower piston 28, and a floating piston 26. The kinetic energy in the vertical direction is transmitted to the lower piston 28, thereby moving to the other end. The movement of the lower piston 28 squeezes the damping fluid in the pressure tube, causing it to be squeezed out from the gap between the lower piston 28 and the lower pressure tube 22 and enter between the bottom of the lower pressure tube 22 and the floating piston 26. The damping fluid between the bottom of the lower pressure tube 22 and the floating piston 26 increases, and the resistance of the floating piston 26 increases, which will give the floating piston 26 a reaction force to reset the damping fluid and complete a vibration reduction action. The hydraulic damping support rod 2 thereby realizes a damping effect on the second support plate 3 and the photovoltaic panel 5.

[0031] In this embodiment, the rotating side of the first support plate 1 is connected to the second support plate 3 via three hydraulic damping support columns 2, and two hydraulic damping support columns 2 are also provided in the middle of the first support plate 1 and the middle of the second support plate 3. The two hydraulic damping support columns 2 in the middle cooperate with the three hydraulic damping support columns 2 at the far end of the rotation, and cooperate with the rotatable first support plate 1 to realize the control and adjustment of the inclination angle of the photovoltaic panel 5.

[0032] In this embodiment, a driving mechanism for driving the hinge rod 6 to rotate is also included, and the driving mechanism includes a driving gear 62 and a fixed rack 63. The hinge rod 6 is fixedly connected to the driving gear 62, and the driving rack 63 is fixed on the second support plate 3. The driving gear 63 is meshed with the driving gear 62. A hinged end that cooperates with the hinge rod 6 is provided on the first support plate 1 and the second support plate 3. A rotation through hole that cooperates with the hinge rod 6 is provided on the hinged end of the first support plate 1, and a bar hole that cooperates with the hinge rod 6 is provided on the hinged end of the second support plate 3. The bar hole can allow the hinge rod 6 to move and rotate, and the hinge rod 6 and the bar hole adopt an over-fit and interference fit. Specifically, the meshing of the driving gear 62 and the fixed rack 63 can initially generate a certain resistance, thereby limiting the hinge rod 6 to a certain extent, so as to achieve the first support plate 1 to fix the inclination angle of the photovoltaic panel 5. In another embodiment, the hinge rod 6 is connected to the driving gear 62 via the inclination motor 61, the driving gear 62 is fixed to the output end of the inclination motor 61, and the outside of the inclination motor 61 is fixedly connected to the hinge rod 6. Specifically, when adjusting the inclination of the first support plate 1, the horizontal moving distance of the inclination motor 61 and the telescopic height of the hydraulic damping support column satisfy the following relationship:

[0033] in, To change the height of the front hydraulic damping support column, is the height of the hydraulic damping support column after the change. is the distance between the front end of the first support plate and the front end of the card slot before the change, is the distance between the front end of the first support plate and the front end of the card slot after the change; The front end of the first support plate and the hydraulic damping support column are The distance in direction, Direction is perpendicular to the horizontal plane of the hinged rod; expected inclination angle , the current actual inclination , is the current actual inclination Expected inclination deviation.

[0034] A control method for an offshore flexible wind-resistant photovoltaic support comprises the following steps: S1: Setting the expected inclination angle of the first support plate 1 to be adjusted , and use the inclination sensor to collect the actual inclination angle of the current first support plate , and preset fuzzy rules; S2: According to the actual inclination Expected inclination Deviation Calculate the actual inclination Adjust the expected inclination angle The rate of change of deviation ; S3: Deviation and the rate of change of deviation The two-dimensional fuzzy controller is used as the model input variable. The two-dimensional fuzzy controller performs fuzzy processing on the input variable according to the preset fuzzy rules and outputs the proportional coefficient of the PID controller. The corresponding change , integral coefficient The corresponding change , differential coefficient The corresponding change , proportionality coefficient , integral coefficient and the differential coefficient As the original parameters of the PID controller; The preset fuzzy rules are as follows Figure 6 , where PB in the fuzzy rule graph is represented by a positive sign that is too large, PS is represented by a positive sign that is too small, ZO is represented by zero, NB is represented by a negative sign that is too large, and NS is represented by a negative sign that is too small; S4: The change obtained from the output of the two-dimensional fuzzy controller , Change and the amount of change , adjust the parameters of the PID controller to the optimal value; specifically: The change , , Add them to the original parameters of the PID controller and adjust them to get new parameter values , , ;; S5: PID controller according to the new parameter value , , , combined with the PID algorithm model, calculate the control output value , control output value is the flow rate of the hydraulic system pump; S6: PID controller controls the output value Control the hydraulic damping support column to move up and down, adjust the inclination of the photovoltaic panel, and make the actual inclination Close to expected inclination ; S7: Repeat steps S2 to S6, using the tilt sensor to continuously monitor the tilt of the photovoltaic panel and make real-time adaptive adjustments until the tilt of the photovoltaic panel is adjusted to the expected tilt. , complete the tilt adjustment of the photovoltaic panel.

[0035] Furthermore, in step S5, the specific PID algorithm model is as follows:

[0036] in is the control output value of the PID controller, is the proportionality coefficient, is the integration coefficient; is the differential coefficient, is the inclination deviation value, is the actual inclination angle, is the desired inclination angle, To change the actual inclination Expected inclination The deviation, The actual inclination Adjust the expected inclination angle When it is necessary to control the first support plate 1 and the photovoltaic panel 5 to rotate to a suitable sun-facing direction in the horizontal plane, the principle is the same as that of forming an inclination angle. Figure 7 As shown, the method is used to control the rotation angle of the servo motor 9, and cooperate with the rotation angle sensor 7 to collect angle feedback, so as to adjust the first support plate 1 and the photovoltaic panel 5 to a suitable sun-facing direction.

Claims

1. An offshore flexible wind-resistant photovoltaic support, characterized in that: The invention comprises a fixed pile foundation (4), a first support plate (1) and a second support plate (3) rotatably mounted on the fixed pile foundation (4), wherein a photovoltaic panel (5) is arranged on the first support plate (1), one end of the first support plate (1) is hinged to the second support plate (3) via a hinge rod (6), the hinge rod (6) is fixedly connected to the first support plate (1), the other end of the first support plate (1) is connected to the second support plate (3) via a plurality of hydraulic damping support columns (2), the fixed end of the hydraulic damping support column (2) is hinged to the second support plate (3), the telescopic end of the hydraulic damping support column (2) is hinged to the first support plate (1), the bottom of the hydraulic damping support column (2) is hinged to the second support plate (3), and the hydraulic damping support column (2) is used to adjust the sun-facing pitch angle of the first support plate (1); The fixed pile foundation (4) is provided with a sunward rotating mechanism for driving the second supporting plate (3) to rotate horizontally.

2. The offshore flexible wind-resistant photovoltaic support according to claim 1, characterized in that: The hydraulic damping support column (2) comprises an upper pressure tube (21), a lower pressure tube (22), an upper sealing plug (23), a piston rod (24), a square flange (25), a hydraulic base (27) and a lower piston (28); hydraulic oil is filled between the upper pressure tube (21) and the upper sealing plug (23); the hydraulic base (27) is fixedly nested at the bottom of the lower pressure tube (22); the upper pressure tube (21) is slidably nested at the top of the upper pressure tube (21); and the upper sealing plug (23) is provided at the bottom of the lower pressure tube (22). ) is sealed and fixed on the top of the upper pressure tube (21), the upper sealing plug (23) is provided with a sliding through hole that cooperates with the piston rod (24), the lower piston (28) is fixed on the piston rod (24), the lower piston (28) and the lower pressure tube (22) are clearance-matched, the protruding end of the piston rod (24) is hinged to the square flange (25), the square flange (25) is fixedly connected to the first support plate (1), and the hydraulic base (27) is fixedly connected to the second support plate (3).

3. The offshore flexible wind-resistant photovoltaic support according to claim 2 is characterized in that: A floating piston (26) is arranged at the bottom of the lower pressure tube (22); damping fluid is filled between the lower pressure tube (22) and the floating piston (26); air is filled between the floating piston (26) and the hydraulic base (27); and the floating piston (26) and the lower pressure tube (22) are overfitted.

4. The offshore flexible wind-resistant photovoltaic support according to claim 1, characterized in that: The sunward rotating mechanism comprises a harmonic reducer (8), a servo motor (9) and a motor bracket (10); the servo motor (9) is mounted on a fixed pile foundation (4) via the motor bracket (10); a wave generator of the harmonic reducer (8) is connected to an output shaft of the servo motor (9); a rigid wheel of the harmonic reducer (8) is fixedly connected to the fixed pile foundation (4); and a flexible wheel of the harmonic reducer (8) is fixedly connected to a second support plate (3).

5. The offshore flexible wind-resistant photovoltaic support according to claim 3, characterized in that: The rotating side of the first support plate (1) is connected to the second support plate (3) via three hydraulic damping support columns (2).

6. The offshore flexible wind-resistant photovoltaic support according to claim 5, characterized in that: Two hydraulic damping support columns (2) are also provided at the middle of the first support plate (1) and the middle of the second support plate (3).

7. The offshore flexible wind-resistant photovoltaic support according to claim 1, characterized in that: A tilt sensor (11) is provided at the bottom of the first support plate (1).

8. The offshore flexible wind-resistant photovoltaic support according to claim 1, characterized in that: A rotation angle sensor (7) is provided on the top of the second support plate (3).

9. A control method for an offshore flexible wind-resistant photovoltaic support as claimed in any one of claims 1 to 8, characterized in that: The steps include: S1: Setting the expected inclination angle of the first support plate (1) to be adjusted , and using the inclination sensor (11) to collect the actual inclination angle of the current first support plate , and preset fuzzy rules; S2: According to the actual inclination Expected inclination Deviation Calculate the actual inclination Adjust the expected inclination angle The rate of change of deviation ; S3: Deviation and the rate of change of deviation The two-dimensional fuzzy controller is used as the model input variable. The two-dimensional fuzzy controller performs fuzzy processing on the input variable according to the preset fuzzy rules and outputs the proportional coefficient of the PID controller. The corresponding change , integral coefficient The corresponding change , differential coefficient The corresponding change , proportionality coefficient , integral coefficient and the differential coefficient As the original parameters of the PID controller; S4: The change obtained from the output of the two-dimensional fuzzy controller , Change and the amount of change , adjust the parameters of the PID controller to the optimal value; specifically: The change , , Add them to the original parameters of the PID controller and adjust them to get new parameter values , , ; S5: PID controller according to the new parameter value , , , combined with the PID algorithm model, calculate the control output value , control output value is the flow rate of the hydraulic system pump; S6: PID controller controls the output value Control the hydraulic damping support column to move up and down, adjust the inclination of the photovoltaic panel, and make the actual inclination Close to expected inclination ; S7: Repeat steps S2 to S6, using the tilt sensor to continuously monitor the tilt of the photovoltaic panel and make real-time adaptive adjustments until the tilt of the photovoltaic panel is adjusted to the expected tilt. , complete the tilt adjustment of the photovoltaic panel.

10. The control method of the offshore flexible wind-resistant photovoltaic support according to claim 9, characterized in that: In step S5, the specific PID algorithm model is as follows: in, is the control output value of the PID controller.

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