Solar power generation tracking control system and control method

Abstract

The invention belongs to the technical field of solar power generation equipment control, and particularly discloses a solar power generation tracking control system and method. The system comprises a double-shaft movement support and a control mechanism. The double-shaft movement bracket is used for supporting and fixing the photovoltaic panel; comprising a photovoltaic panel mounting rack, a lug, a rotating shaft, a rotating stand column, a slewing mechanism, a fixed stand column and an electric push rod, the control mechanism comprises a controller, a photosensitive sensor, a thermal induction sensor and a six-axis attitude sensor; the control mechanism further comprises a satellite positioning module, a wind speed sensor and a rainfall sensor. The electric push rod, the slewing mechanism, the sensors and the positioning module are in control connection with the controller. The control method comprises a strong wind control mode, a photovoltaic power generation tracking control mode and a raining climate control mode. The invention provides the automatic tracking control system and the automatic tracking control method for the double-shaft driving light irradiation solar photovoltaic panel for the mobile equipment, wherein the automatic tracking control system and the automatic tracking control method are multi-modal and higher in adaptability.

Description

Technical Field

[0001] The present invention belongs to the field of solar power generation equipment control technology, in particular to the field of solar power generation equipment dynamic tracking control technology, and specifically relates to a dual-axis driving light irradiation dynamic solar power generation tracking control system and control method for mobile equipment. Background Art

[0002] As the global demand for clean energy increases, solar energy, as a green and environmentally friendly energy source, has received widespread attention. The efficiency of solar photovoltaic systems depends on the angle of sunlight irradiation. The dual-axis light irradiation tracking system can adjust the position of photovoltaic panels in real time to receive light irradiation at the best angle, which can improve the efficiency of solar energy conversion.

[0003] Currently, the commonly used photovoltaic tracking technologies include photoelectric tracking technology driven by changes in light intensity, and time-controlled tracking technology driven by astronomical calculation results based on longitude and latitude coordinates and time. When installing a dual-axis photovoltaic tracking system on mobile equipment, it is necessary to manually update the longitude and latitude data and time information in the control system, which increases the manual workload. Photoelectric tracking technology is also limited by weather conditions. In cloudy weather, the sun is temporarily blocked, resulting in system misjudgment, driving the photovoltaic panel to move incorrectly, and wasting electricity. Summary of the invention

[0004] The present invention discloses a solar power generation tracking control system and control method based on the deficiencies of the prior art. The purpose of the present invention is to provide a multi-modal, more adaptable dual-axis driven light irradiation solar photovoltaic panel automatic tracking control system and control method for mobile equipment.

[0005] The present invention is achieved through the following technical solutions:

[0006] A solar power generation tracking control system, characterized by: comprising a dual-axis motion bracket and a control mechanism;

[0007] The dual-axis motion bracket is used to support and fix the photovoltaic panel; it includes: a photovoltaic panel mounting frame, an ear seat, a rotating shaft, a rotating column, a rotating mechanism, a fixed column, and an electric push rod; one end of the fixed column is vertically fixed, and the other end is connected to the rotating column through the rotating mechanism; the top of the rotating column is hinged to a horizontally arranged rotating shaft through the ear seat, and the two ends of the rotating shaft are supported and fixed to the two sides of the photovoltaic panel mounting frame; a cross bar is also arranged on the bottom surface of the photovoltaic panel mounting frame on one side of the rotating shaft, and the middle part of the cross bar is hinged to the electric push rod through the ear seat, and the other end of the electric push rod is hinged and supported on the rotating column;

[0008] The control mechanism includes: a controller arranged on a fixed column, a photosensitive sensor and a thermal sensor respectively arranged on the four corner end faces of the photovoltaic panel mounting frame, and the photovoltaic panel mounting frame is also provided with a six-axis attitude sensor; the control mechanism also includes a satellite positioning module, a wind speed sensor and a rainfall sensor; the electric push rod, the slewing mechanism, the sensors, the positioning module and the controller are controlled and connected.

[0009] Furthermore, the satellite positioning module is used to receive Beidou, GPS, GLONASS or Galileo satellite positioning signals to obtain longitude, latitude and time information.

[0010] Furthermore, the satellite positioning module, wind speed sensor and rainfall sensor communicate with the controller via Bluetooth, LoRa or serial port, and the photosensitive sensor, thermal sensor, electric push rod and rotary mechanism communicate and are powered by cables.

[0011] The present invention also discloses a control method using the above solar power generation tracking control system, including a strong wind control mode, a photovoltaic power generation tracking control mode, and a rainy climate control mode;

[0012] The high wind control mode is the highest priority control mode. The wind speed sensor issues the highest priority command when the wind speed value exceeds the threshold. When the wind speed exceeds the threshold, the photovoltaic panel is driven to a horizontal state to protect the photovoltaic panel from damage.

[0013] Photovoltaic power generation tracking control mode is the second priority instruction, which controls the tracking of solar power generation when the time and light conditions are met;

[0014] Rainy climate control mode is the lowest level control mode, which controls the cleaning of dust on the photovoltaic panel surface by rain at the specified time and when the light conditions are below the threshold.

[0015] The present invention arranges the wind speed sensor to issue the highest priority instruction when it exceeds the threshold value. Regardless of the time and sunshine conditions, once the wind speed is too large, the photovoltaic panel is immediately driven to a horizontal state to protect the photovoltaic panel from damage; the photovoltaic power generation tracking control is the second priority instruction, which tracks solar power generation when the time and light conditions are met; the lowest level instruction is the rainy day cleaning function in idle time, which cleans the dust on the photovoltaic panel surface only when the time and light conditions are not met.

[0016] The high wind and rain climate control mode is:

[0017] (21) After powering on, the controller reads data through the wind speed sensor, rain sensor, and light sensor;

[0018] (22) When the wind speed is higher than the threshold, it is judged that strong winds have arrived, and the electric push rod and the rotary mechanism are driven to move in the horizontal direction of the photovoltaic panel. At the same time, the six-axis sensor data is read and the movement position is corrected until the destination position is reached and the process is restarted;

[0019] When the wind speed is lower than the threshold, it is determined whether the current light intensity meets the power generation demand. If the rainfall is higher than the threshold, it is determined that it is raining, and the electric push rod and the rotary mechanism are driven to move in the direction of the maximum inclination angle of the photovoltaic panel. At the same time, the six-axis sensor data is read to correct the movement position until the destination position is reached and the process is restarted;

[0020] (23) If the conditions are not met, re-read the data of the speed sensor, rain sensor, and light sensor; and return to step (22).

[0021] The photovoltaic power generation tracking control mode is:

[0022] (11) After powering on, the controller determines whether it is in working time by reading the data from the satellite positioning module. After determining the working time, it enters the next process. Otherwise, it reads the time data again until it reaches the working time.

[0023] (12) Read the current data of the photosensor and thermal sensor to determine whether the current light intensity meets the power generation requirements. If it is determined that the power generation requirements are met, enter the next process. Otherwise, re-read the data of the photosensor and thermal sensor until the power generation requirements are met.

[0024] Including: judging whether the light intensity is sufficient, if the light intensity is higher than the threshold, the photoelectric mode is turned on, otherwise the time control mode is turned on; after entering the photoelectric mode, judging whether the temperature difference at both ends of the XZ direction is higher than the threshold, if it is higher than the threshold, it is determined as the sun's incident angle offset, and judging the light intensity at both ends of the XZ direction at the same time. When the difference is higher than the threshold, the electric push rod is driven to extend and retract to the side with high light intensity. If it is judged that the temperature difference and light intensity are lower than the threshold, the mechanism waits and re-reads the photosensitivity and thermal sensing data;

[0025] The judgment method of the XY direction is consistent with that of the XZ direction, and finally the rotary mechanism is driven to rotate toward the light intensity side. After achieving the purpose, it returns to step (11) and restarts the process;

[0026] (13) After entering the time control mode, the controller reads the longitude and latitude data of the satellite positioning module, and calculates the solar position data based on the data through the apparent solar motion trajectory algorithm; drives the electric push rod and the rotary mechanism to move in the direction of the photovoltaic panel directly exposed to sunlight, and at the same time reads the six-axis sensor data to correct the movement position until the destination position is reached and the process is restarted.

[0027] In the further step (13), the apparent solar motion trajectory algorithm includes a declination angle algorithm, an hour angle algorithm, a Fourier fitting algorithm, and a tilt attitude analysis algorithm.

[0028] Compared with the existing technology, the technical solution of the present invention has the following beneficial effects:

[0029] The control system of the present invention is suitable for mobile equipment. The present invention is provided with a satellite positioning module, which can quickly obtain longitude and latitude and time information, and is convenient for outdoor mobile equipment photovoltaic panels to track the sun through time control.

[0030] The control system of the present invention can reduce the impact of weather reasons on photovoltaic tracking. The control system is provided with modes such as stopping during non-working hours, tracking the sun in a time-controlled mode during working hours with low light intensity, and tracking the sun in a light-sensing mode during working hours with high light intensity.

[0031] In order to avoid system misjudgment due to temporary obstruction of the sun in cloudy weather, the control system of the present invention is provided with a thermal sensor. When the temperature on only one side changes, the controller determines that it is temporarily blocked by clouds and the motion mechanism stops; when the ambient temperature changes at the same time, the controller determines that the sun's incident angle is offset and the drive mechanism moves to achieve tracking.

[0032] The control system of the present invention is provided with a strong wind protection function. When strong wind weather is sensed through the wind speed sensor data, the photovoltaic panels are automatically leveled to reduce the risk of damage, and a self-locking device is used to reduce the impact of strong winds on the system.

[0033] The control system of the present invention is provided with an automatic cleaning function in rainy days during idle time. By using the data from the wind speed sensor, the photosensor and the rainfall sensor, it is determined that it is a rainy working condition with low wind and no power generation. The driving mechanism moves in the direction of the maximum inclination angle of the photovoltaic panel, and the photovoltaic panel surface is cleaned by rainwater, thereby improving the power generation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is the daily working logic block diagram of the controller of the present invention;

[0035] Figure 2 This is the working logic block diagram of the controller of the present invention in strong wind and rainy weather;

[0036] Figure 3 It is a schematic front view of the dual-axis drive light irradiation installation structure of the present invention;

[0037] Figure 4 It is a schematic side view of the dual-axis drive light irradiation installation structure of the present invention;

[0038] Figure 5 It is a three-dimensional schematic diagram of the dual-axis driven light irradiation installation structure of the present invention.

[0039] In the figure, 1 is a photovoltaic panel mounting frame, 2 is an ear seat, 3 is a rotating shaft, 4 is a rotating column, 5 is a slewing mechanism, 6 is a fixed column, 7 is a controller, 8 is an electric push rod, 9 is a light sensor, 10 is a thermal sensor, and 11 is a cross bar. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with specific implementation methods. The specific implementation methods are further descriptions of the principles of the present invention and do not limit the present invention in any way. Technologies that are the same or similar to the present invention do not exceed the scope of protection of the present invention.

[0041] Combined with the attached pictures.

[0042] The present invention discloses a solar power generation tracking control system, comprising a dual-axis motion bracket and a control mechanism;

[0043] The dual-axis motion bracket is used to support and fix the photovoltaic panel; it includes: a photovoltaic panel mounting frame, an ear seat, a rotating shaft, a rotating column, a slewing mechanism, a fixed column, and an electric push rod; one end of the fixed column is vertically fixed, and the other end is connected to the rotating column through the slewing mechanism; a rotating shaft is hinged on the top of the rotating column through the ear seat, and both ends of the rotating shaft are supported and fixed to the two sides of the photovoltaic panel mounting frame; a cross bar is also arranged on the bottom surface of the photovoltaic panel mounting frame on one side of the rotating shaft, and the middle part of the cross bar is hinged to the electric push rod through the ear seat, and the other end of the electric push rod is hinged and supported on the rotating column;

[0044] The control mechanism includes: a controller arranged on a fixed column, four photosensitive sensors and four thermal sensors respectively arranged on the four corner end surfaces of the photovoltaic panel mounting frame and connected to the controller signal, and the photovoltaic panel mounting frame is also provided with a six-axis attitude sensor and connected to the controller signal; the control mechanism also includes a satellite positioning module, a wind speed sensor and a rainfall sensor; the electric push rod, the slewing mechanism, various sensors, the positioning module and the controller are controlled and connected.

[0045] As shown in the figure, a photosensitive sensor and a thermal sensor are respectively arranged on the four end faces of the dual-axis motion bracket of the present invention, and a six-axis attitude sensor is arranged at the motion end of the bracket to assist in adjusting the posture of the bracket. Each sensor is connected to a controller, and the controller drives the electric push rod and the rotary mechanism to move according to the data of each sensor. In order to solve the problem of misjudgment of the photosensitive sensor system due to temporary obstruction of the sun in cloudy weather, a thermal sensor is introduced to detect the temperature difference between the two ends. If the temperature difference exceeds the threshold, the feedback controller drives the bracket to move, otherwise it remains stopped.

[0046] The electric push rod retracts and pushes the bracket to move in the XZ direction (sun altitude angle), and the slewing mechanism drives the bracket to rotate to move in the XY direction (sun direction angle). The electric push rod and the slewing mechanism are equipped with encoders, which are connected to the controller to provide real-time feedback on the movement position.

[0047] A satellite positioning module, wind speed sensor and rainfall sensor are installed outside the bracket and connected to the controller. The satellite positioning module can receive satellite signals such as Beidou, GPS, GLONASS, Galileo, etc., and obtain information such as longitude, latitude and time. The wind speed sensor will output a signal when the wind speed reaches above the threshold, and the rainfall sensor will output a signal when the rainfall reaches above the threshold. All information signals are transmitted to the controller for judgment.

[0048] Photovoltaic power generation tracking control mode: After starting up, the controller determines whether it is in working time by reading the data of the satellite positioning module. After determining the working time, it enters the next process, otherwise it re-reads the time data until it reaches the working time. The next process reads the current photosensor and thermal sensor data to determine whether the current light intensity meets the power generation requirements. After determining that it meets the power generation requirements, it enters the next process, otherwise it re-reads the photosensor and thermal sensor data until the light intensity meets the power generation requirements. The next process determines whether the light intensity is sufficient. If the light intensity is higher than the threshold, the photoelectric mode is turned on, otherwise the time control mode is turned on. After entering the photoelectric mode, it determines whether the temperature difference at both ends of the XZ direction is higher than the threshold. If it is higher than the threshold, it is determined that the solar incident angle is offset. At the same time, the light intensity at both ends of the XZ direction is determined. When the difference is higher than the threshold, the electric push rod is driven to extend and retract to the side with high light intensity. If it is determined that the temperature difference and light intensity value are lower than the threshold, the mechanism waits and re-reads the photosensor and thermal sensor data. The judgment method of the XY direction is the same as that of the XZ direction. Finally, the rotary mechanism is driven to rotate to the light intensity side, and the process is restarted after reaching the destination. After entering the time control mode, the controller reads the longitude and latitude data of the satellite positioning module, and calculates the solar azimuth data based on the data through the apparent solar motion trajectory algorithm; the apparent solar motion trajectory algorithm includes declination angle algorithm, hour angle algorithm, Fourier fitting algorithm, tilt attitude analysis algorithm, etc., drives the electric push rod and rotary mechanism to move in the direction of direct sunlight on the photovoltaic panel, and at the same time reads the six-axis sensor data, corrects the movement position, and restarts the process until it reaches the destination position.

[0049] Strong wind and rainy weather control mode: After starting up, the controller reads data through the wind speed sensor, rain sensor, and photosensor. When the wind speed is higher than the threshold, it is judged that strong wind weather has arrived, and the electric push rod and the rotary mechanism are driven to move in the horizontal direction of the photovoltaic panel. At the same time, the six-axis sensor data is read, and the movement position is corrected until the destination position is reached and the process is restarted. When the wind speed is lower than the threshold, it is judged whether the current light intensity meets the power generation demand. If the rainfall is higher than the threshold, it is judged that rainy weather has arrived, and the electric push rod and the rotary mechanism are driven to move in the direction of the maximum inclination angle of the photovoltaic panel. At the same time, the six-axis sensor data is read, and the movement position is corrected until the destination position is reached and the process is restarted. If the conditions are not met, the speed sensor, rain sensor, and photosensor data are read again.

[0050] like Figure 3 , Figure 4 , Figure 5 As shown, the solar power generation tracking control system according to the embodiment of the present invention. The photovoltaic panel mounting frame 1 is connected to the rotating column 4 through the ear seat 2 and the rotating shaft 3, the rotating column 4 is connected to the fixed column 6 through the slewing mechanism 5, the electric push rod 8 is connected to the photovoltaic panel mounting frame 1 and the rotating column 4 through the ear seat 2, the photosensitive sensor 9 and the thermal sensor 10 are arranged in the middle of the four sides of the photovoltaic panel mounting frame 1, the controller 7 is installed on the fixed column 6, the satellite positioning module, the wind speed sensor and the rainfall sensor are arranged outside the bracket and communicate with the controller 7 through Bluetooth, LoRa, serial port and other methods, and the photosensitive sensor 9, the thermal sensor 10, the electric push rod 8 and the slewing mechanism 5 communicate and power supply through cables.

[0051] like Figure 5 As shown, the upper mechanism is driven to rotate by the rotation of the slewing mechanism 5 to realize the tracking of the solar azimuth angle in the XY direction; the electric push rod 8 is telescopically moved to drive the photovoltaic panel mounting frame 1 to rotate around the rotating shaft 3 to realize the tracking of the solar altitude angle in the XZ direction.

Claims

1. A solar power generation tracking control system, characterized in that: Includes a dual-axis motion bracket and a control mechanism; The dual-axis motion bracket is used to support and fix the photovoltaic panel; it includes: a photovoltaic panel mounting frame, an ear seat, a rotating shaft, a rotating column, a rotating mechanism, a fixed column, and an electric push rod; one end of the fixed column is vertically fixed, and the other end is connected to the rotating column through the rotating mechanism; the top of the rotating column is hinged to a horizontally arranged rotating shaft through the ear seat, and the two ends of the rotating shaft are supported and fixed to the two sides of the photovoltaic panel mounting frame; a cross bar is also arranged on the bottom surface of the photovoltaic panel mounting frame on one side of the rotating shaft, and the middle part of the cross bar is hinged to the electric push rod through the ear seat, and the other end of the electric push rod is hinged and supported on the rotating column; The control mechanism includes: a controller arranged on a fixed column, a photosensitive sensor and a thermal sensor respectively arranged on the four corner end faces of the photovoltaic panel mounting frame, and the photovoltaic panel mounting frame is also provided with a six-axis attitude sensor; the control mechanism also includes a satellite positioning module, a wind speed sensor and a rainfall sensor; the electric push rod, the slewing mechanism, the sensors, the positioning module and the controller are controlled and connected.

2. The solar power generation tracking control system according to claim 1, characterized in that: The satellite positioning module is used to receive Beidou, GPS, GLONASS or Galileo satellite positioning signals to obtain latitude, longitude and time information.

3. The solar power generation tracking control system according to claim 1, characterized in that: The satellite positioning module, wind speed sensor and rainfall sensor communicate with the controller via Bluetooth, LoRa or serial port, and the light sensor, thermal sensor, electric push rod and rotary mechanism communicate and are powered via cables.

4. A solar power generation tracking control method, characterized in that: The solar power generation tracking control system according to claim 1, 2 or 3 includes a strong wind control mode, a photovoltaic power generation tracking control mode and a rainy climate control mode; The high wind control mode is the highest priority control mode. The wind speed sensor issues a highest priority command when the wind speed value exceeds the threshold. When the wind speed exceeds the threshold, the photovoltaic panel is driven to a horizontal state to protect the photovoltaic panel from damage. Photovoltaic power generation tracking control mode is the second priority instruction, which controls the tracking of solar power generation when the time and light conditions are met; Rainy climate control mode is the lowest level control mode, which controls the cleaning of dust on the photovoltaic panel surface by rain at the specified time and when the light conditions are below the threshold.

5. The solar power generation tracking control method according to claim 4, characterized in that: The high wind control mode and rain climate control mode include the following steps: (21) After powering on, the controller reads data through the wind speed sensor, rain sensor, and light sensor; (22) When the wind speed is higher than the threshold, it is judged that strong winds have arrived, and the electric push rod and the rotary mechanism are driven to move in the horizontal direction of the photovoltaic panel. At the same time, the six-axis sensor data is read and the movement position is corrected until the destination position is reached and the process is restarted; When the wind speed is lower than the threshold, it is determined whether the current light intensity meets the power generation demand. If the rainfall is higher than the threshold, it is determined that it is raining, and the electric push rod and the rotary mechanism are driven to move in the direction of the maximum inclination angle of the photovoltaic panel. At the same time, the six-axis sensor data is read to correct the movement position until the destination position is reached and the process is restarted; (23) If the conditions are not met, re-read the data of the speed sensor, rain sensor, and light sensor; and return to step (22).

6. The solar power generation tracking control method according to claim 5, characterized in that: The photovoltaic power generation tracking control mode is: (11) After powering on, the controller determines whether it is in working time by reading the data from the satellite positioning module. After determining the working time, it enters the next process. Otherwise, it reads the time data again until it reaches the working time. (12) Read the current data of the photosensor and thermal sensor to determine whether the current light intensity meets the power generation requirements. If it is determined that the power generation requirements are met, enter the next process. Otherwise, re-read the data of the photosensor and thermal sensor until the power generation requirements are met. Including: judging whether the light intensity is sufficient, if the light intensity is higher than the threshold, the photoelectric mode is turned on, otherwise the time control mode is turned on; after entering the photoelectric mode, judging whether the temperature difference at both ends of the XZ direction is higher than the threshold, if it is higher than the threshold, it is determined as the sun's incident angle offset, and judging the light intensity at both ends of the XZ direction at the same time. When the difference is higher than the threshold, the electric push rod is driven to extend and retract to the side with high light intensity. If it is judged that the temperature difference and light intensity value are lower than the threshold, the mechanism waits and re-reads the photosensitivity and thermal sensing data; The judgment method of the XY direction is consistent with that of the XZ direction, and finally the rotary mechanism is driven to rotate toward the light intensity side. After achieving the purpose, it returns to step (11) and restarts the process; (13) After entering the time control mode, the controller reads the longitude and latitude data of the satellite positioning module, and calculates the solar position data based on the data through the apparent solar motion trajectory algorithm; drives the electric push rod and the rotary mechanism to move in the direction of the photovoltaic panel directly exposed to sunlight, and at the same time reads the six-axis sensor data to correct the movement position until the destination position is reached and the process is restarted.

7. The solar power generation tracking control method according to claim 6, characterized in that: In the step (13), the apparent solar motion trajectory algorithm includes a declination angle algorithm, an hour angle algorithm, a Fourier fitting algorithm, and a tilt attitude analysis algorithm.

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