Automatic control photovoltaic system and control method thereof

Abstract

The invention discloses an automatic control photovoltaic system and a control method thereof. The system comprises a photovoltaic panel assembly, an electrical detection system, a double-shaft driving system and a control system. The photovoltaic panel assembly is used for converting light energy into electric energy and outputting the electric energy; the electrical detection system is used for detecting electrical signals output by the photovoltaic panel assembly, and the electrical signals comprise voltage and / or current; the double-shaft driving system is used for driving the photovoltaic panel assembly to rotate around two intersecting axes. And the control system is used for receiving a detection signal from the electrical detection system and outputting a signal to control the action of the double-shaft driving system, so that the posture of the photovoltaic panel assembly is adjusted along with the change of the detection signal. The photovoltaic panel assembly can be controlled to rotate around the two intersecting axes to track the incident light of the light source, the structure and the control method are simple, the photovoltaic panel assembly can automatically adjust the light angle, and more light energy utilization is achieved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic technology, and in particular to an automatic control photovoltaic system and a control method thereof. Background Art

[0002] Solar energy is one of the most widely used energy sources in the world. Its theoretical annual power generation can reach more than 6,000 times the human demand. It is not restricted by geographical location, and its resources are abundant and widely distributed. Photovoltaic power generation directly converts solar energy into electrical energy through semiconductor materials. Each kilowatt of photovoltaic system reduces carbon dioxide emissions by about 1 ton per year, which is equivalent to planting 50 more trees for the earth. Photovoltaic power generation does not rely on fuel combustion, and there is no greenhouse gas, exhaust gas or noise emission throughout the process. It is a truly green energy. Photovoltaic power generation supports centralized power stations, distributed rooftop installations (such as distributed photovoltaic power stations on rural roofs) and building integration. Thanks to its clean energy characteristics and fast installation speed, photovoltaic power generation has developed rapidly around the world.

[0003] At present, most of the installed photovoltaics use fixed brackets, that is, the photovoltaic panels can only face one direction. As the sun rises in the east and sets in the west every day, it is almost impossible for the photovoltaic panels with fixed brackets to maintain a posture perpendicular to the sunlight, resulting in insufficient light utilization and low power generation efficiency. Although there are automatic light-chasing photovoltaic systems, they have many sensors, complex algorithms, and multiple calibrations to make the photovoltaic panels close to the state of being perpendicular to the sunlight. Summary of the invention

[0004] The present invention provides an automatic control photovoltaic system and a control method thereof to solve the technical problems existing in the known technology.

[0005] The technical solution adopted by the present invention to solve the technical problems existing in the known technology is:

[0006] An automatic control photovoltaic system, including a photovoltaic panel assembly, an electrical detection system, a dual-axis drive system and a control system;

[0007] Photovoltaic panel components are used to convert light energy into electrical energy and output it;

[0008] The electrical detection system is used to detect the electrical signal output by the photovoltaic panel assembly, and the electrical signal includes voltage and / or current;

[0009] The dual-axis drive system is used to drive the photovoltaic panel assembly to rotate around two intersecting axes respectively;

[0010] The control system is used to receive detection signals from the electrical detection system and output signals to control the action of the dual-axis drive system so that the photovoltaic panel assembly adjusts its posture as the detection signal changes.

[0011] Furthermore, the dual-axis drive system includes a photovoltaic panel mounting frame, an upper support column, an articulated power center and a lower support column arranged in sequence from top to bottom; the lower end of the lower support column is fixedly connected to the fixed base;

[0012] Photovoltaic panel mounting frame, which is used to fix the photovoltaic panel assembly, is rectangular, and its center is ball-hinged with the upper end of the upper support column, and it is provided with four articulated seats A on the diagonal line; the articulated seats A are arranged in groups of two and are centrally symmetrically arranged;

[0013] The articulated power center includes a spherical shell, a motor A, a motor B, four short pendulums, four vertical connecting rods and a long pendulum; the motor A is an outer rotor motor, and its outer rotor is fixedly embedded in the spherical shell; the four short pendulums, two by two, have their axes coincident, and each group of short pendulums is symmetrically arranged with the center of the spherical shell as the center, and the two groups of short pendulums are respectively called the first and second groups of short pendulums; the axis of the first group of short pendulums is parallel to a diagonal of the photovoltaic panel mounting frame; the axis of the second group of short pendulums is parallel to the other diagonal of the photovoltaic panel mounting frame; the first group One end of the two short swing arms in the short swing arms is fixedly connected to the stator of motor A, and the other end is hinged to two connecting rods; one end of the two short swing arms in the second group of short swing arms is fixedly connected to the spherical shell, and the other end is hinged to the other two connecting rods; the four connecting rods are hinged to the four hinge seats A one by one; the center of the long swing arm is hinged to the lower support column, and the two connecting rods connected to the first group of short swing arms are hinged to the two ends of the long swing arm; the center of the long swing arm is fixedly connected to the output shaft of motor B, and the housing of motor B is relatively fixed to the lower support column;

[0014] The lower end of the upper supporting column and the upper end of the lower supporting column are hinged to the spherical shell.

[0015] Furthermore, the four connecting rods are correspondingly articulated with the articulation seat A by balls.

[0016] Furthermore, the connecting rod connected to the long swing rod is ball-jointed with the long swing rod, and the middle part thereof is hinged with the corresponding short swing rod in the second group of short swing rods through a hinge pin; the first group of short swing rods are hinged with the corresponding connecting rod by ball joint.

[0017] Furthermore, the dual-axis drive system also includes a limit device for limiting the movement of the spherical shell in a direction perpendicular to the axis of the lower support column; the limit device includes four vertical limit columns fixed between the upper and lower support columns; the four vertical limit columns surround the spherical shell, and four short rocker arms extend from the gaps between the four vertical limit columns accordingly.

[0018] Furthermore, a long hole is opened on the upper part of the lower support column for passing the long swing rod; and a through hole is opened on the side wall of the long hole for passing the output shaft of the motor B.

[0019] Furthermore, the photovoltaic panel mounting frame includes a square frame and diagonal supporting bars arranged diagonally in the square frame; a hinge seat C is provided at the center of the lower surface of the oblique supporting bar, and four hinge seats A are fixedly connected to the lower surface of the oblique supporting bar; the hinge centers of the hinge seat C and the hinge seat A are in the same plane; a horizontal slot is provided on one side of the photovoltaic panel mounting frame, and a fixed baffle is provided on the other side, one side of the photovoltaic panel assembly is horizontally inserted into the slot, and the photovoltaic panel assembly on the other side is replaced by disassembling and assembling the fixed baffle.

[0020] Furthermore, the fixed base adopts a composite spiral-prefabricated base foundation structure, which includes a prefabricated base, a connecting section and a spiral steel pipe connected in sequence from top to bottom, wherein:

[0021] The prefabricated base is made of high-strength concrete mixed with glass fiber or carbon fiber, and its shape is a prism or truncated cone with annular grooves or spiral grooves on the circumferential side surface; a circular hole is reserved on the upper part for installing the lower support column;

[0022] The spiral steel pipe has a flange A on the top and spiral blades on the surface;

[0023] The connecting section comprises a pre-buried steel casing pre-buried in the bottom of the prefabricated base, a cross rib is arranged on the peripheral side of the pre-buried steel casing, and a flange B connected to the flange A is arranged at the bottom of the pre-buried steel casing.

[0024] The present invention also provides a control method for automatically controlling a photovoltaic system as described above, the method comprising the following steps:

[0025] Step 1, initialize the dual-axis drive system to make the photovoltaic panel assembly in a horizontal state; assume that among the two diagonals of the photovoltaic panel mounting frame, the diagonal parallel to the axis of the first group of short swing rods is the first diagonal, and the diagonal parallel to the axis of the second group of short swing rods is the second diagonal;

[0026] Step 2, the control system outputs a signal to control the motor B to work, so that the output shaft of the motor B rotates relative to its housing, driving the long swing rod to rotate relative to the lower support column, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the second diagonal line through the connecting rod, and at the same time the control system receives a detection signal from the electrical detection system;

[0027] If the detected current or voltage increases, the control system outputs a signal to make the motor B continue to rotate, driving the photovoltaic panel assembly to continue to rotate in that direction until the detected current or voltage begins to decrease, causing the motor B to stop rotating;

[0028] If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor B, driving the photovoltaic panel assembly to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor B to stop rotating;

[0029] At this time, the first diagonal line of the photovoltaic panel mounting frame is perpendicular to the incident light;

[0030] Step 3, the control system outputs a signal to control the motor A to work, so that the housing of the motor A rotates relative to its stator, driving the second group of short swing rods to rotate relative to the first group of short swing rods, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the first diagonal line via the connecting rod, and at the same time the control system receives a detection signal from the electrical detection system;

[0031] If the detected current or voltage increases, the control system outputs a signal to make motor A continue to rotate, driving the photovoltaic panel assembly to continue to rotate in that direction until the detected current or voltage begins to decrease, causing motor A to stop rotating;

[0032] If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor A, driving the photovoltaic panel assembly to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor A to stop rotating;

[0033] At this time, the first diagonal line and the second diagonal line of the photovoltaic panel mounting frame are both perpendicular to the incident light.

[0034] Furthermore, motor A and motor B are servo motors or stepper motors; the control system outputs a signal to control motor A and motor B to rotate according to a set step angle.

[0035] The advantages and positive effects of the present invention are:

[0036] (1) Based on the principle that two intersecting axes determine a plane, two motors are used to control the photovoltaic panel to rotate around its two intersecting axes respectively, so that the plane where the photovoltaic panel is located after rotation is perpendicular to the light, thereby achieving the purpose of tracking the incident light from the light source, thereby realizing more light energy utilization and improving power generation efficiency.

[0037] (2) The electrical detection system detects changes in current or voltage through only one type of sensor, provides commands for the rotation of the two motor control panels, and realizes automatic control through control methods such as random rotation and trial and error correction. There is no need to set up angle sensors to detect the solar incidence angle and the rotation angle of the photovoltaic panel assembly. The number of sensors is reduced while getting rid of the dependence on complex algorithms and geographical data of the installation site.

[0038] (3) An articulated power center structure consisting of a spherical shell, motor A, motor B, four short swing arms, four vertical connecting rods and one long swing arm is adopted; motor A and motor B drive the corresponding short swing arms and long swing arms to rotate, thereby driving the photovoltaic panel assembly to rotate around two intersecting axes respectively; two short swing arms, two vertical connecting rods and one long swing arm are hingedly connected to form a double parallelogram planar connecting rod linkage mechanism, so that when motor B drives the photovoltaic panel assembly to rotate around one of the two intersecting axes, it simultaneously drives the rotation axis of motor A to rotate, ensuring that the other axis of the two intersecting axes of the photovoltaic panel assembly is parallel to the rotation axis of motor A. When motor A drives the photovoltaic panel assembly to rotate around the other axis, it will not affect the rotation angle of the rotation axis of motor A itself. By rotating around the two intersecting axes respectively in the above manner, the plane where the photovoltaic panel is located can be perpendicular to the light without the need for multiple corrections.

[0039] (4) By setting four vertical limit posts fixedly connected between the upper and lower support posts, the upper and lower support posts can be relatively fixed, so that the upper support post supports the photovoltaic panel assembly; the spherical shell can also be located within the four corners enclosed by the four vertical limit posts. The four vertical limit posts are respectively located within the angle formed by two adjacent short swing arms among the four short swing arms. Due to the mutual restriction of the four vertical limit posts and the four short swing arms, the spherical shell is restricted when moving in the plane direction perpendicular to the axis of the lower support post 4. The four vertical limit posts can be connected by welding, threaded connection, etc., with a simple structure and easy assembly.

[0040] (5) The photovoltaic panel can be repaired, maintained and replaced by removing and installing the fixed baffle of the photovoltaic panel bracket, thereby reducing the subsequent use cost.

[0041] (6) The overall structure of the present invention is simple and the control method is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of an automatic control photovoltaic system of the present invention;

[0043] Figure 2 An exploded diagram of the overall structure of an automatic control photovoltaic system of the present invention;

[0044] Figure 3 Exploded diagram of photovoltaic panel mounting frame and photovoltaic panel assembly;

[0045] Figure 4 It is a top view schematic diagram of the photovoltaic panel mounting frame;

[0046] Figure 5 This is a schematic diagram of a photovoltaic panel mounting frame viewed from above;

[0047] Figure 6 This is a schematic diagram of the fixed baffle structure of the photovoltaic panel assembly;

[0048] Figure 7 It is a schematic diagram of the inverted upper support column structure;

[0049] Figure 8 It is a schematic diagram of the connection structure between the spherical shell and four short pendulum rods;

[0050] Fig. 9 This is a schematic diagram of the half-section three-dimensional structure of motor A;

[0051] Fig.10 It is a schematic diagram of the lower support column and the foundation structure;

[0052] Fig.11 It is a schematic diagram of the connection structure between the long swing rod and the output shaft of the motor B;

[0053] Fig.12 This is a schematic diagram of the explosion of the basic structure;

[0054] Fig.13 is a schematic diagram of a connecting rod structure connected to a second set of short swing rods;

[0055] Fig.14 is a schematic diagram of a connecting rod structure connected to the first set of short swing rods;

[0056] Fig.15 The present invention is a flowchart of a control method for automatically controlling a photovoltaic system.

[0057] In the figure:

[0058] 1. Photovoltaic panel assembly; 2. Upper support column; 3. Rotation drive structure around the first diagonal; 4. Lower support column; 5. Rotation drive structure around the second diagonal; 6. Vertical limit column; 7. Fixed base; 8A. Second set of connecting rods; 8B. First set of connecting rods.

[0059] 11. Photovoltaic panel mounting frame; 12. Fixed baffle; 13. Photovoltaic panel; 14. Fixed bolts.

[0060] 21. Upper hinge joint of upper support column; 22. Upper support column; 23. Lower hinge joint of upper support column. ;

[0061] 31. Spherical shell; 32. The third short pendulum; 33. The fourth short pendulum; 34. The first short pendulum; 35. The second short pendulum; 36. Articulated seat D; 37. Articulated seat E; 311. The outer rotor of motor A; 312. The stator of motor A.

[0062] 41. Lower supporting column; 42. Hinge joint on lower supporting column; 43. Long hole through which long swing rod passes; 44. Bearing hole.

[0063] 51. Long rocker arm; 52. Motor B; 53. Articulated seat F; 54. Motor B output shaft.

[0064] 71. Prefabricated base; 72. Flange A; 73. Flange bolts; 74. Spiral steel pipe; 75. Flange B.

[0065] 8A1, the third connecting rod; 8A1-1, the upper hinged joint of the third connecting rod; 8A2, the fourth connecting rod; 8B1, the first connecting rod; 8B1-1, the lower hinged joint of the first connecting rod; 8B1-2, the hinge pin shaft hole; 8B2, the second connecting rod.

[0066] 111. Frame skeleton; 112. Frame panel support; 113. Articulated seat C; 114. Oblique support bar; 115. Articulated seat A; 115-1. First articulated seat A; 115-2. Second articulated seat A; 115-3. Third articulated seat A; 115-4. Fourth articulated seat A; 116. Screw hole; 117. Horizontal slot.

[0067] 121. Bolt through hole. DETAILED DESCRIPTION

[0068] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0069] In the description of the present invention, the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "connected" and "connection" used in the present invention should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can also be an electrical connection or signal transmission; for those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0070] See also Figures 1 to 15 , an automatic control photovoltaic system, comprising a photovoltaic panel assembly 1, an electrical detection system, a dual-axis drive system and a control system;

[0071] The photovoltaic panel assembly 1 is used to convert light energy into electrical energy and output it.

[0072] The electrical detection system is used to detect the electrical signal output by the photovoltaic panel assembly 1, and the electrical signal includes voltage and / or current.

[0073] The dual-axis drive system is used to drive the photovoltaic panel assembly 1 to rotate around two intersecting axes respectively; the two axes are parallel to the surface of the photovoltaic panel assembly 1 and intersect at the center of the photovoltaic panel assembly 1.

[0074] The control system is used to receive the detection signal from the electrical detection system, and output a signal to control the action of the dual-axis drive system, so that the photovoltaic panel assembly 1 adjusts its posture as the detection signal changes. That is, the control system adjusts the output signal according to the detection signal of the electrical detection system, so that the dual-axis drive system drives the photovoltaic panel assembly 1 to rotate around one of the two intersecting axes, thereby adjusting the posture of the photovoltaic panel assembly 1.

[0075] The posture of the photovoltaic panel assembly 1 refers to the rotation state of the photovoltaic panel assembly 1 in three-dimensional space.

[0076] The photovoltaic panel assembly 1 changes its posture by rotating around two intersecting axes as the detection signal changes.

[0077] The electrical detection system may include a current sensor for measuring the output current of the photovoltaic panel assembly 1 , a voltage sensor for measuring the open circuit voltage of the photovoltaic panel assembly 1 , and a power meter for measuring the output electrical energy of the photovoltaic panel assembly 1 .

[0078] The control system may include devices and systems with microprocessors such as PLC and single-chip microcomputers, which can process and calculate the detection signals of the electrical detection system and output corresponding electrical signals to control the action of the dual-axis drive system.

[0079] A plurality of photovoltaic panels 13 are integrated together to form a photovoltaic panel assembly 1 .

[0080] Preferably, the dual-axis drive system may include a photovoltaic panel mounting frame 11 , an upper support column 2 , an articulated power center and a lower support column 4 arranged in sequence from top to bottom; the lower end of the lower support column 4 is fixedly connected to the fixed base 7 .

[0081] The photovoltaic panel mounting frame 11 is used to fix the photovoltaic panel assembly 1, which can be a rectangle, including a square, and its center is ball-hinged with the upper end of the upper support column 2. Four articulated seats A115 can be arranged on the diagonal of the photovoltaic panel mounting frame 11; the articulated seats A115 are arranged in groups of two and are symmetrically arranged around the center.

[0082] The articulated power center may include a spherical shell 31, a motor A, a motor B52, four short pendulums, four vertical connecting rods and a long pendulum 51; the motor A is an outer rotor motor, and the outer rotor 311 of the motor A is fixedly embedded in the spherical shell 31; the four short pendulums, two by two, have their axes coincident, and each group of short pendulums is symmetrically arranged around the body center of the spherical shell 31, and the two groups of short pendulums are respectively called the first and second groups of short pendulums; the axis of the first group of short pendulums is parallel to a diagonal of the photovoltaic panel mounting frame 11; the axis of the second group of short pendulums is parallel to the other diagonal of the photovoltaic panel mounting frame 11; one end of the two short pendulums in the first group of short pendulums is fixedly connected to the stator 312 of the motor A, and the two short pendulums are fixedly connected to the stator 312 of the motor A. The other end is hinged to two of the connecting rods, and the connecting rods connected to the first group of short rocker rods are the I connecting rod 8B1 and the II connecting rod 8B2 respectively; the two short rocker rods in the second group of short rocker rods have one end fixed to the ball shell 31, and the other end is hinged to the other two connecting rods, and the connecting rods connected to the second group of short rocker rods are the III connecting rod 8A1 and the IV connecting rod 8A2 respectively; the four connecting rods are hinged to the four articulated seats A115 one by one; the center of the long rocker rod 51 is hinged to the lower support column 4, and the two connecting rods connected to the first group of short rocker rods are hinged to the two ends of the long rocker rod 51 accordingly; the center of the long rocker rod 51 is fixed to the output shaft 54 ​​of the motor B; the outer casing of the motor B52 is relatively fixed to the lower support column 4.

[0083] The lower end of the upper support column 2 and the upper end of the lower support column 4 are spherically hinged to the spherical shell 31 .

[0084] The lower end surface of the upper support column 2 and the upper end surface of the lower support column 4 may be a spherical concave surface A that matches the spherical surface of the spherical shell 31 .

[0085] Assume that among the two diagonal lines of the photovoltaic panel mounting frame 11, the diagonal line parallel to the axis of the first group of short swing rods is the first diagonal line, and the diagonal line parallel to the axis of the second group of short swing rods is the second diagonal line.

[0086] The ball shell 31, the motor A, four short swing rods and two vertical connecting rods are combined to form a driving structure 3 that rotates around the first diagonal line.

[0087] The motor B52, two vertical connecting rods and a long swing rod 51 are combined to form a driving structure 5 that rotates around the second diagonal line.

[0088] Motor A may be an outer rotor motor with a stator shaft. One end of two short swing arms in the first group of short swing arms is fixedly connected to the stator shaft of motor A via a coupling.

[0089] Motor A can also be a dual-output shaft inner rotor motor. When motor A is a dual-output shaft inner rotor motor, its outer shell is fixedly embedded in the spherical shell 31; the two short rocker arms in the first group of short rocker arms have one end fixedly connected to the two output shafts of motor A through a coupling, and the other end is hinged to two of the connecting rods.

[0090] The dual-axis drive system may also adopt other structures to enable the photovoltaic panel assembly 1 to rotate around two diagonals.

[0091] Preferably, the four connecting rods can be correspondingly articulated with the articulated seat A115 ball, or can be articulated by a hinge connection or a universal hinge.

[0092] Preferably, the connecting rod connected to the long swing rod 51 can be ball-jointed with the long swing rod 51, and the middle part thereof can be hinged with the corresponding short swing rod in the second group of short swing rods through a hinge pin. The hinge connection between the connecting rod and the long swing rod 51 can also be a hinge connection mode or a universal hinge mode.

[0093] Preferably, the first group of short swing rods and the corresponding connecting rods can be articulated in a ball articulated manner. The first group of short swing rods and the corresponding connecting rods can be articulated in a hinge connection manner or a universal hinge manner.

[0094] Preferably, the dual-axis drive system may further include a limiting device for limiting the movement of the ball shell 31 in a direction perpendicular to the axis of the lower support column 4; the limiting device may include four vertical limiting columns 6 fixed between the upper support column 2 and the lower support column 4; the four vertical limiting columns 6 surround the ball shell 31, that is, the four vertical limiting columns 6 are arranged along the circumference of the ball shell 31; and the four short swing rods extend from the gaps between the four vertical limiting columns 6. The four vertical limiting columns 6 may be evenly distributed along the circumference of the ball shell 31.

[0095] The two ends of the four vertical limit columns 6 are respectively connected to the upper support column 2 and the lower support column 4, so that the ball shell 31 can rotate, and the upper support column 2 and the lower support column 4 are firmly connected. The connection form of the vertical limit column 6 and the upper support column 2 and the lower support column 4 can be welding or bolt connection.

[0096] The side surfaces of the four vertical limiting columns 6 facing the spherical shell 31 may be arc-shaped surfaces, so as to limit the spherical center of the spherical shell 31 from deviating from the axis of the upper supporting column 2 and the lower supporting column 4 .

[0097] Preferably, the housing of the motor B52 is fixed relative to the lower support column 4, and a long hole 43 for passing the long swing rod can be opened on the upper part of the lower support column 4; a through hole for passing the output shaft 54 ​​of the motor B can be opened on the side wall of the long hole. The output shaft 54 ​​of the motor B is parallel to a diagonal line of the photovoltaic panel assembly 1.

[0098] Preferably, the photovoltaic panel mounting frame 11 may include a square frame and diagonal support bars 114 arranged diagonally in the square frame; a hinge seat C113 is provided at the center of the lower surface of the diagonal support bar 114, and four hinge seats A115 are fixedly connected to the lower surface of the diagonal support bar 114; the hinge center of the hinge seat C113 and the hinge centers of the four hinge seats A115 are located in the same plane; a transverse slot 117 is provided on one side of the photovoltaic panel mounting frame 11, and a fixed baffle 12 is provided on the other side, one side of the photovoltaic panel assembly 1 is inserted into the transverse slot 117, and the other side is replaced by disassembling and assembling the fixed baffle 12 to realize replacement of the photovoltaic panel assembly.

[0099] Preferably, the fixed base 7 may adopt a composite spiral-prefabricated base foundation structure, which may include a prefabricated base 71, a connecting section and a spiral steel pipe 74 connected in sequence from top to bottom, wherein:

[0100] The prefabricated base 71 can be prefabricated with high-strength concrete mixed with glass fiber or carbon fiber, and its shape can be a prism or a truncated cone with an annular groove or a spiral groove on the circumferential side surface; a circular hole is reserved on the upper part for installing the lower support column 4. Its cross section is a hollow square or circular, the side length of the upper surface of the prism or the upper surface diameter of the truncated cone is 400-600mm; the side length of the lower surface of the prism or the lower surface diameter of the truncated cone is 250-350mm; a circular hole with a diameter of 100-150mm is reserved on the upper part for installing the lower support column 4.

[0101] The advantages of the upper prefabricated base 71 structure are: standardized factory production, 30% weight reduction for easy transportation, and hollow structure for material saving.

[0102] The upper prefabricated base 71 with a circular cross section and a trapezoidal longitudinal section and a spiral groove or annular groove is used as the buried foundation. Compared with the upper prefabricated base 71 with a square cross section and a square longitudinal section and without a spiral groove, the excavation method is more convenient, backfilling, and increasing soil pressure. The anti-overturning and anti-pulling forces are greatly improved compared with conventional foundations.

[0103] The spiral steel pipe 74 may be a galvanized steel pipe with a diameter of 200-250 mm, a flange A72 may be provided on the top, and a spiral blade may be provided on the surface; the outer diameter of the spiral blade may gradually decrease from top to bottom. The diameter of the spiral blade is 400-600 mm, and the thickness of the blade is 8-12 mm.

[0104] The advantages of the lower spiral steel pipe 74 structure are: the spiral blades provide pull-out resistance, and the steel pipe can penetrate into the hard soil layer to improve the bearing capacity.

[0105] The connection joint may include a pre-embedded steel casing pre-embedded in the bottom of the prefabricated base, cross ribs may be provided on the surrounding side of the pre-embedded steel casing, and a flange B75 connected to the flange A72 is provided at the bottom of the pre-embedded steel casing.

[0106] Flange B75 is rigidly connected to flange A72 by high-strength flange bolts 73. Epoxy resin is poured into the rigid connection between flange B75 and flange A72 for corrosion protection. The advantage of the joint structure is that cross ribs are added to enhance shear resistance and avoid stress concentration.

[0107] The composite spiral-prefabricated base can be made into a combined standardized structure. The composite spiral-prefabricated base has a wide range of application scenarios. The upper prefabricated base 71 can be directly applied to slopes, water surfaces, or flat land. The lower spiral steel pipe 74 sections can be combined according to the geological conditions. A longer lower spiral steel pipe 74 is installed at the bottom of the soft soil area, and the prefabricated base 71 and the lower spiral section are used for anchoring. A shorter lower spiral steel pipe 74 can be used in the rocky area, or the lower spiral steel pipe 74 is not connected, and the prefabricated base 71 is used as the main anchor.

[0108] The production and anchoring construction methods of the composite spiral-prefabricated base are as follows:

[0109] The upper prefabricated base buried foundation is prefabricated in factory with standard parts; including the prefabrication of an upper prefabricated base of a prism-shaped or truncated cone-shaped hollow structure with annular grooves or spiral grooves on the circumferential side surface using high-strength concrete mixed with glass fiber or carbon fiber.

[0110] The upper prefabricated base can be put in place directly or after excavation.

[0111] When the foundation is buried deep, the lower spiral steel pipe 74 sections can be combined according to the geological conditions; a longer lower spiral steel pipe 74 is installed at the bottom of the soft soil area, and the upper prefabricated base 71 and the lower spiral section are used for anchoring together. In the rocky area, a shorter lower spiral steel pipe 74 can be used or the lower spiral steel pipe 74 is not connected, and the upper prefabricated base 71 is used mainly for anchoring.

[0112] The lower spiral steel pipe is constructed; the spiral steel pipe 74 can be a galvanized steel pipe with a diameter of 200-250mm, a flange A72 can be provided on the top, and a spiral blade can be provided on the surface; the outer diameter of the spiral blade can gradually decrease from top to bottom. The diameter of the spiral blade is 400-600mm, and the blade thickness is 8-12mm.

[0113] The upper prefabricated base is anchored to the lower spiral steel pipe; it includes a pre-buried steel casing embedded in the bottom of the prefabricated base, the surrounding side of the pre-buried steel casing may be provided with cross ribs, and the bottom of the pre-buried steel casing is provided with a flange B75 connected to the flange A72. The flange B75 is rigidly connected to the flange A72 through high-strength flange bolts 73. The rigid connection between the flange B75 and the flange A72 is injected with epoxy resin for corrosion protection.

[0114] Backfill earthwork.

[0115] The present invention also provides a control method for automatically controlling a photovoltaic system as described above, the method comprising the following steps:

[0116] Step 1, initialize the dual-axis drive system to make the photovoltaic panel assembly 1 in a horizontal state; assume that among the two diagonals of the photovoltaic panel mounting frame 11, the diagonal parallel to the axis of the first group of short swing arms is the first diagonal, and the diagonal parallel to the axis of the second group of short swing arms is the second diagonal.

[0117] Step 2, the control system outputs a signal to control the motor B52 to work, so that the output shaft 54 ​​of the motor B rotates relative to its housing, driving the long swing arm 51 to rotate relative to the lower support column 4, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the second diagonal through the connecting rod. At the same time, the control system receives a detection signal from the electrical detection system.

[0118] If the detected current or voltage increases, the control system outputs a signal to cause the motor B52 to continue rotating, driving the photovoltaic panel assembly 1 to continue rotating in that direction until the detected current or voltage begins to decrease, causing the motor B52 to stop rotating.

[0119] If the detected current or voltage decreases, the control system outputs a signal to reverse the motor B52, driving the photovoltaic panel assembly 1 to rotate in the opposite direction until the detected current or voltage begins to decrease, and the motor B52 stops rotating.

[0120] At this time, the first diagonal line of the photovoltaic panel mounting frame 11 is perpendicular to the incident light.

[0121] Step 3, the control system outputs a signal to control motor A to work, so that the housing of motor A rotates relative to its stator, driving the second group of short swing arms to rotate relative to the first group of short swing arms, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the first diagonal line through the connecting rod. At the same time, the control system receives a detection signal from the electrical detection system.

[0122] If the detected current or voltage increases, the control system outputs a signal to make the motor A continue to rotate, driving the photovoltaic panel assembly 1 to continue to rotate in that direction until the detected current or voltage begins to decrease, causing the motor A to stop rotating.

[0123] If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor A, driving the photovoltaic panel assembly 1 to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor A to stop rotating.

[0124] At this time, the first diagonal line and the second diagonal line of the photovoltaic panel mounting frame 11 are both perpendicular to the incident light.

[0125] Preferably, motor A and motor B52 can be servo motors or stepper motors; the control system outputs a signal to control motor A and motor B52 to rotate according to a set step angle.

[0126] Assume that the rotation range of the photovoltaic panel assembly 1 around the first diagonal line and the first diagonal line is -90° to 90°; the step angle can be set to 1° to 10°.

[0127] The structure, working process and working principle of the present invention are further described below with reference to a preferred embodiment of the present invention:

[0128] An automatic control photovoltaic system includes a photovoltaic panel assembly 1, an electrical detection system, a dual-axis drive system and a control system; the photovoltaic panel assembly 1 is used to convert light energy into electrical energy and output it; the electrical detection system is used to detect the electrical signal output by the photovoltaic panel assembly 1, and the electrical signal includes voltage and / or current; the dual-axis drive system is used to drive the photovoltaic panel assembly 1 to rotate around two intersecting axes respectively; the two axes are parallel to the surface of the photovoltaic panel assembly 1 and intersect at the center of the photovoltaic panel assembly 1; the control system is used to receive the detection signal from the electrical detection system, and output a signal to control the action of the dual-axis drive system, so that the photovoltaic panel assembly 1 adjusts its posture as the detection signal changes.

[0129] Wherein: the electrical detection system includes a current sensor for measuring the output current of the photovoltaic panel assembly 1 and a voltage sensor for measuring the open circuit voltage of the photovoltaic panel assembly 1 .

[0130] The dual-axis drive system includes a photovoltaic panel mounting frame 11, an upper support column 2, an articulated power center and a lower support column 4 arranged in sequence from top to bottom; the lower end of the lower support column 4 can be fixedly connected to the fixed base 7, and the fixed base 7 can be set to a concave-convex shape to enhance the stability of the photovoltaic system.

[0131] The photovoltaic panel mounting frame 11 is used to fix the photovoltaic panel assembly 1. It is rectangular and its center is ball-hinged with the upper end of the upper support column 2. It has four hinge seats A115 arranged on the diagonal; the hinge seats A115 are arranged in groups of two and are symmetrically arranged around the center.

[0132] The articulated power center includes a spherical shell 31, a motor A, a motor B52, four short swing rods, four vertical connecting rods and a long swing rod 51; the motor A is an outer rotor motor, and the outer rotor 311 of the motor A is fixedly embedded in the spherical shell 31; the four short swing rods, the axes of which coincide in groups of two, each group of short swing rods is symmetrically arranged with the body center of the spherical shell 31 as the center, and the two groups of short swing rods are respectively called the first and second groups of short swing rods; the axis of the first group of short swing rods is parallel to a diagonal line of the photovoltaic panel mounting frame 11; the axis of the second group of short swing rods is parallel to the other diagonal line of the photovoltaic panel mounting frame 11; the first group of short swing rods The two short swing arms in the swing arm have one end fixedly connected to the stator 312 of motor A, and the other end is hinged to two of the connecting rods; the two short swing arms in the second group of short swing arms have one end fixedly connected to the ball shell 31, and the other end is ball-hinged to the other two connecting rods; the four connecting rods are ball-hinged to the four hinge seats A115 one by one; the center of the long swing arm 51 is hinged to the lower support column 4, and the two connecting rods connected to the first group of short swing arms are ball-hinged to the two ends of the long swing arm 51; the center of the long swing arm 51 is fixedly connected to the output shaft 54 ​​of motor B; the outer shell of motor B52 is relatively fixed to the lower support column 4.

[0133] The lower end surface of the upper support and the upper end surface of the lower support may be a spherical concave surface A that matches the spherical surface of the spherical shell 31 .

[0134] The connecting rods connected to the first group of short swing arms are called the first group of connecting rods 8B; the connecting rods connected to the second group of short swing arms are called the second group of connecting rods 8A.

[0135] The lower end of the upper support column 2 and the upper end of the lower support column 4 are spherically hinged to the spherical shell 31 .

[0136] The upper support column 2 and the lower support column 4 support the photovoltaic panel assembly 1; the first group of short swing rods are parallel to a diagonal line of the photovoltaic panel assembly 1, and the diagonal line is defined as the first diagonal line, and the second group of short swing rods are parallel to another diagonal line of the photovoltaic panel assembly 1, and the diagonal line is defined as the second diagonal line.

[0137] When motor A is an outer rotor motor, one end of the two short swing arms in the first group of short swing arms is fixedly connected to the stator 312 of motor A; when motor A is an inner rotor motor with dual output shafts, one end of the first group of short swing arms is fixedly connected to the two output shafts of motor A; one end of the second group of short swing arms is relatively fixed to the outer casing of motor A, and the other end is hinged to the other two connecting rods; when motor A is working, the second group of short swing arms rotates relative to the first group of short swing arms, driving the two connecting rods connected to the second group of short swing arms to move up and down, thereby causing the photovoltaic panel assembly 1 to rotate around the first diagonal.

[0138] The two connecting rods connected to the first group of short swing rods are hinged to the two ends of the long swing rod 51, and the center of the long swing rod 51 is fixed to the output shaft 54 ​​of the motor B; the housing of the motor B52 is relatively fixed to the lower support column 4. When the motor B52 is working, the long swing rod 51 rotates relative to the lower support column 4, driving the two connecting rods connected to the first group of short swing rods to move up and down, so that the photovoltaic panel assembly 1 rotates around the second diagonal.

[0139] The dual-axis drive system also includes a limit device for limiting the movement of the ball shell 31 in a direction perpendicular to the axis of the lower support column 4; the limit device includes four vertical limit columns 6 fixedly connected between the upper support column 2 and the lower support column 4; the four vertical limit columns 6 surround the ball shell 31, and four short rocker arms extend from the gaps between the four vertical limit columns 6 accordingly.

[0140] Because the ball shell 31 is located within the four corners enclosed by the four vertical limit columns, and the four vertical limit columns 6 are respectively located within the angles formed by two adjacent short swing arms among the four short swing arms, due to the mutual restrictions of the four vertical limit columns 6 and the four short swing arms, the ball shell 31 is restricted when moving in the planar direction perpendicular to the axis of the lower support column 4.

[0141] The buried foundation provides installation stability for the photovoltaic system.

[0142] A hinge seat C113 is provided at the center of the lower surface of the inclined support bar 114, and four hinge seats A115 are fixedly connected to the lower surface of the inclined support bar 114; the hinge center of the hinge seat C113 and the hinge centers of the four hinge seats A115 are in the same plane; a transverse slot 117 is provided on one side of the photovoltaic panel mounting frame 11, and a fixed baffle 12 is provided on the other side, one side of the photovoltaic panel assembly 1 is inserted into the transverse slot 117, and the photovoltaic panel assembly 1 is replaced by disassembling and assembling the fixed baffle 12 on the other side.

[0143] The photovoltaic panel assembly 1 is installed on a photovoltaic panel mounting frame 11, which includes a square frame 111, a frame panel support 112, diagonal support bars 114 arranged diagonally inside the frame panel support 112, and a fixed baffle 12; the frame panel support 112 is fixedly connected to the diagonal support bars 114 to provide support for the photovoltaic panel assembly 1, and the square frame 111 is fixed on the frame panel support 112.

[0144] The fixed baffle 12 is a detachable structure, which provides convenience for the maintenance, replacement and disassembly of the photovoltaic panel assembly 1. The fixed baffle 12 is fixed to the photovoltaic panel mounting frame 11 using bolts to fix the photovoltaic panel assembly 1.

[0145] The thickness of the border panel support 112 is less than that of the square frame 111, providing a mounting surface for the photovoltaic panel assembly 1, and utilizing the thickness of the square frame 111 to realize lateral constraint on the photovoltaic panel assembly 1; the hinge seat C113 is spherically hinged with the upper support column 2, allowing the photovoltaic panel assembly 1 to rotate around the spherical center of the hinge seat C113; two groups of inclined support bars 114 connect the four corners of the square frame 111 and four hinge seats A115 are arranged thereon, and the rotation axis of the hinge seat A115 is at the same height as the rotation axis of the hinge seat C113; a bolt through hole 121 is provided on the photovoltaic panel fixing baffle 12, and the bolt through hole 121 is a through hole, and a screw hole 116 is provided on the square frame 111 corresponding to the bolt through hole 121; the fixing bolt 14 passes through the bolt through hole 121 and is tightened with the screw hole 116 to fix the fixing baffle 12 to the square frame 111, thereby fixing the photovoltaic panel assembly 1.

[0146] The transverse slot 117 on one side of the inner side of the square frame provides a mounting and fixing position for the photovoltaic panel assembly 1. One side of the photovoltaic panel assembly 1 is inserted into the transverse slot 117, and the other side is fixed by the fixing baffle 12.

[0147] The upper support column 2 includes an upper support column upper hinge head 21, an upper support column body 22 and an upper support column lower hinge head 23; the upper support column upper hinge head 21 matches with the hinge seat C113, providing vertical support for the photovoltaic panel assembly 1 and allowing the photovoltaic panel assembly 1 to rotate; the first group of short swing arm upper hinge supports are located on both sides of the bottom of the upper support column 2, providing upper vertical constraints for the first group of short swing arms and allowing them to rotate.

[0148] The first group of short swing rods includes the first short swing rod 34 and the second short swing rod 35 ; the second group of short swing rods includes the third short swing rod 32 and the fourth short swing rod 33 .

[0149] The four connecting rods are respectively called: the first connecting rod 8B1, the second connecting rod 8B2, the third connecting rod 8A1, and the fourth connecting rod 8A2.

[0150] The first group of connecting rods 8B includes the first connecting rod 8B1 and the second connecting rod 8B2; the second group of connecting rods 8A includes the third connecting rod 8A1 and the fourth connecting rod 8A2.

[0151] The first short swing rod 34 is hinged to the first connecting rod 8B1; the second short swing rod 35 is hinged to the second connecting rod 8B2; the third short swing rod 32 is hinged to the third connecting rod 8A1; the fourth short swing rod 33 is hinged to the fourth connecting rod 8A2.

[0152] One end of the first short swing rod 34 and the second short swing rod 35 is provided with an articulated seat D36; one end of the third short swing rod 32 and the fourth short swing rod 33 is provided with an articulated seat E37.

[0153] Both ends of the first connecting rod 8B1, the second connecting rod 8B2, the third connecting rod 8A1, and the fourth connecting rod 8A2 are respectively provided with hinge joints.

[0154] The upper end hinged joints of the first connecting rod 8B1, the second connecting rod 8B2, the third connecting rod 8A1, and the fourth connecting rod 8A2 are hinged to the corresponding hinged seats A115.

[0155] The four articulated seats A are respectively called the first articulated seat A115-1 to the fourth articulated seat A115-4. The first articulated seat A115-1 and the second articulated seat A115-2 are located on the same diagonal line; the third articulated seat A115-3 and the fourth articulated seat A115-4 are located on the same diagonal line.

[0156] The upper end hinged joints of the second connecting rod 8B2, the first connecting rod 8B1, the fourth connecting rod 8A2, and the third connecting rod 8A1 are hinged to the first hinge seat A115-1, the second hinge seat A115-2, the third hinge seat A115-3, and the fourth hinge seat A115-4 in a one-to-one correspondence. That is, the upper hinged joint 8A1-1 of the third connecting rod is hinged to the fourth hinge seat A115-4.

[0157] The first connecting rod 8B1 and the second connecting rod 8B2 have hinge pin holes 8B1-2 in the middle. The hinge seats D36 of the first short swing rod 34 and the second short swing rod 35 are provided with hinge pins; the hinge pins pass through the hinge pin holes 8B1-2; the first connecting rod 8B1 rotates relative to the hinge seat D36 of the first short swing rod 34, and the second connecting rod 8B2 rotates relative to the hinge seat D36 of the second short swing rod 35.

[0158] The lower hinged joint 8B1-1 of the first connecting rod and the lower hinged joint 8B2 of the second connecting rod are correspondingly hinged to the hinged seat F53 of the long swing rod 51.

[0159] The hinged joint at the lower end of the III connecting rod 8A1 and the hinged joint at the lower end of the IV connecting rod 8A2 are correspondingly hinged to the hinged seats E37 of the III short swing rod 32 and the IV short swing rod 33.

[0160] The spherical shell 31 is located between the upper support column 2 and the lower support column 4. The motor A is an outer rotor motor. The outer rotor 311 of the motor A is fixedly embedded in the spherical shell 31. When the motor A is working, the third short swing rod 32 and the fourth short swing rod 33 of the second group of short swing rods rotate relative to the first group of short swing rods, driving the third connecting rod 8A1 and the fourth connecting rod 8A2 to move up and down.

[0161] The lower support column 4 includes a lower support column body 41 and an upper hinged head 42 of the lower support column, so that the housing of the motor B52 is fixed relative to the lower support column 4. A long hole 43 is opened on the upper part of the lower support column 4 for passing the long swing rod; a through hole is opened on the side wall of the long hole for passing the output shaft 54 ​​of the motor B, and the through hole can be used as a bearing hole 44 for installing a bearing. The outer ring of the bearing can be installed and fixed in this through hole, so that the motor output shaft and the inner ring of the bearing are fixedly connected. The upper hinged head 42 of the lower support column is hinged to the ball shell 31.

[0162] The long hole 43 of the long swing rod provides space for the installation and rotation of the long swing rod 51; the axis of the long swing rod 51 is parallel to the axis of the first group of short swing rods. The ratio of the length of the long hole along the axis of the lower support column 4 to the hole depth of the long hole is positively correlated with the rotation angle range of the photovoltaic panel mounting frame 11.

[0163] The above-mentioned hinge seat A115, ball shell 31, hinge seat C113, hinge seat E37, and hinge seat F53 can all be ball hinge seats, which can be provided with a spherical concave surface, and the corresponding connected hinge joints are spherical hinge joints.

[0164] The above-mentioned photovoltaic panel assembly 1, electrical detection system, current sensor, control system, spherical shell 31, motor A, motor B52, four short rocker arms, four vertical connecting rods, one long rocker arm 51 and other components and devices can all adopt applicable components and devices in the prior art, or adopt applicable components and devices in the prior art and adopt existing technical means for processing, manufacturing and installation and wiring.

[0165] A control method for automatically controlling a photovoltaic system comprises the following steps:

[0166] Step 1, initialize the dual-axis drive system to make the photovoltaic panel assembly 1 in a horizontal state; assume that among the two diagonals of the photovoltaic panel mounting frame 11, the diagonal parallel to the axis of the first group of short swing arms is the first diagonal, and the diagonal parallel to the axis of the second group of short swing arms is the second diagonal.

[0167] Step 2, the control system outputs a signal to control the motor B52 to work, so that the output shaft 54 ​​of the motor B rotates relative to its housing, driving the long swing arm 51 to rotate relative to the lower support column 4, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the second diagonal through the connecting rod. At the same time, the control system receives a detection signal from the electrical detection system.

[0168] If the detected current or voltage increases, the control system outputs a signal to cause the motor B52 to continue rotating, driving the photovoltaic panel assembly 1 to continue rotating in that direction until the detected current or voltage begins to decrease, causing the motor B52 to stop rotating.

[0169] If the detected current or voltage decreases, the control system outputs a signal to reverse the motor B52, driving the photovoltaic panel assembly 1 to rotate in the opposite direction until the detected current or voltage begins to decrease, and the motor B52 stops rotating.

[0170] At this time, the first diagonal line of the photovoltaic panel mounting frame 11 is perpendicular to the incident light.

[0171] Step 3, the control system outputs a signal to control motor A to work, so that the housing of motor A rotates relative to its stator, driving the second group of short swing arms to rotate relative to the first group of short swing arms, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the first diagonal line through the connecting rod. At the same time, the control system receives a detection signal from the electrical detection system.

[0172] If the detected current or voltage increases, the control system outputs a signal to make the motor A continue to rotate, driving the photovoltaic panel assembly 1 to continue to rotate in that direction until the detected current or voltage begins to decrease, causing the motor A to stop rotating.

[0173] If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor A, driving the photovoltaic panel assembly 1 to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor A to stop rotating.

[0174] At this time, the first diagonal line and the second diagonal line of the photovoltaic panel mounting frame 11 are perpendicular to the incident light.

[0175] The embodiments described above are only used to illustrate the technical ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The patent scope of the present invention cannot be limited only by this embodiment, that is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. An automatic control photovoltaic system, characterized in that: Including photovoltaic panel components, electrical detection system, dual-axis drive system and control system; Photovoltaic panel components are used to convert light energy into electrical energy and output it; The electrical detection system is used to detect the electrical signal output by the photovoltaic panel assembly, and the electrical signal includes voltage and / or current; The dual-axis drive system is used to drive the photovoltaic panel assembly to rotate around two intersecting axes respectively; The control system is used to receive detection signals from the electrical detection system and output signals to control the action of the dual-axis drive system so that the photovoltaic panel assembly adjusts its posture as the detection signal changes; The dual-axis drive system includes a photovoltaic panel mounting frame, an upper support column, an articulated power center and a lower support column which are arranged in sequence from top to bottom; the lower end of the lower support column is fixedly connected to a fixed base; Photovoltaic panel mounting frame, which is used to fix the photovoltaic panel assembly, is rectangular, and its center is ball-hinged with the upper end of the upper support column, and it is provided with four articulated seats A on the diagonal line; the articulated seats A are arranged in groups of two and are centrally symmetrically arranged; The articulated power center includes a spherical shell, a motor A, a motor B, four short pendulums, four vertical connecting rods and a long pendulum; the motor A is an outer rotor motor, and its outer rotor is fixedly embedded in the spherical shell; the four short pendulums, two by two, have their axes coincident, and each group of short pendulums is symmetrically arranged with the center of the spherical shell as the center, and the two groups of short pendulums are respectively called the first and second groups of short pendulums; the axis of the first group of short pendulums is parallel to a diagonal of the photovoltaic panel mounting frame; the axis of the second group of short pendulums is parallel to the other diagonal of the photovoltaic panel mounting frame; the first group One end of the two short swing arms in the short swing arms is fixedly connected to the stator of motor A, and the other end is hinged to two connecting rods; one end of the two short swing arms in the second group of short swing arms is fixedly connected to the spherical shell, and the other end is hinged to the other two connecting rods; the four connecting rods are hinged to the four hinge seats A one by one; the center of the long swing arm is hinged to the lower support column, and the two connecting rods connected to the first group of short swing arms are hinged to the two ends of the long swing arm; the center of the long swing arm is fixedly connected to the output shaft of motor B, and the housing of motor B is relatively fixed to the lower support column; The lower end of the upper supporting column and the upper end of the lower supporting column are hinged to the spherical shell.

2. The automatic control photovoltaic system according to claim 1, characterized in that: The four connecting rods are correspondingly articulated with the articulation seat A ball.

3. The automatic control photovoltaic system according to claim 1, characterized in that: The connecting rod connected to the long swing rod is articulated with the long swing rod through a ball joint, and the middle part thereof is articulated with the corresponding short swing rod in the second group of short swing rods through an articulation pin; the first group of short swing rods are articulated with the corresponding connecting rod through a ball joint.

4. The automatic control photovoltaic system according to claim 1, characterized in that: The dual-axis drive system also includes a limit device for limiting the movement of the spherical shell in a direction perpendicular to the axis of the lower support column; the limit device includes four vertical limit columns fixed between the upper and lower support columns; the four vertical limit columns surround the spherical shell, and four short rocker arms extend from the gaps between the four vertical limit columns accordingly.

5. The automatic control photovoltaic system according to claim 1, characterized in that: A long hole for passing the long swing rod is opened on the upper part of the lower support column; a through hole for passing the output shaft of the motor B is opened on the side wall of the long hole.

6. The automatic control photovoltaic system according to claim 1, characterized in that: The photovoltaic panel mounting frame includes a square frame and diagonal supporting bars arranged diagonally in the square frame; a hinge seat C is provided at the center of the lower surface of the diagonal supporting bar, and four hinge seats A are fixedly connected to the lower surface of the diagonal supporting bar; the hinge centers of the hinge seat C and the hinge seat A are in the same plane; a horizontal slot is provided on one side of the photovoltaic panel mounting frame, and a fixed baffle is provided on the other side, one side of the photovoltaic panel assembly is horizontally inserted into the slot, and the photovoltaic panel assembly on the other side is replaced by disassembling and assembling the fixed baffle.

7. The automatic control photovoltaic system according to claim 1, characterized in that: The fixed base adopts a composite spiral-prefabricated base foundation structure, which includes a prefabricated base, a connecting section and a spiral steel pipe connected in sequence from top to bottom, wherein: The prefabricated base is made of high-strength concrete mixed with glass fiber or carbon fiber, and its shape is a prism or truncated cone with annular grooves or spiral grooves on the circumferential side surface; a circular hole is reserved on the upper part for installing the lower support column; The spiral steel pipe has a flange A on the top and spiral blades on the surface; The connecting section comprises a pre-buried steel casing pre-buried in the bottom of the prefabricated base, a cross rib is arranged on the peripheral side of the pre-buried steel casing, and a flange B connected to the flange A is arranged at the bottom of the pre-buried steel casing.

8. A control method for an automatic photovoltaic system according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: Step 1, initialize the dual-axis drive system to make the photovoltaic panel assembly in a horizontal state; assume that among the two diagonals of the photovoltaic panel mounting frame, the diagonal parallel to the axis of the first group of short swing rods is the first diagonal, and the diagonal parallel to the axis of the second group of short swing rods is the second diagonal; Step 2, the control system outputs a signal to control the motor B to work, so that the output shaft of the motor B rotates relative to its housing, driving the long swing rod to rotate relative to the lower support column, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the second diagonal line through the connecting rod, and at the same time the control system receives a detection signal from the electrical detection system; If the detected current or voltage increases, the control system outputs a signal to make the motor B continue to rotate, driving the photovoltaic panel assembly to continue to rotate in that direction until the detected current or voltage begins to decrease, causing the motor B to stop rotating; If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor B, driving the photovoltaic panel assembly to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor B to stop rotating; At this time, the first diagonal line of the photovoltaic panel mounting frame is perpendicular to the incident light; Step 3, the control system outputs a signal to control the motor A to work, so that the housing of the motor A rotates relative to its stator, driving the second group of short swing rods to rotate relative to the first group of short swing rods, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the first diagonal line via the connecting rod, and at the same time the control system receives a detection signal from the electrical detection system; If the detected current or voltage increases, the control system outputs a signal to make motor A continue to rotate, driving the photovoltaic panel assembly to continue to rotate in that direction until the detected current or voltage begins to decrease, causing motor A to stop rotating; If the detected current or voltage decreases, the control system outputs a signal to reverse the rotation of motor A, driving the photovoltaic panel assembly to rotate in the opposite direction until the detected current or voltage begins to decrease, causing motor A to stop rotating; At this time, the first diagonal line and the second diagonal line of the photovoltaic panel mounting frame are both perpendicular to the incident light.

9. The control method of the automatic photovoltaic system according to claim 8, characterized in that: Motor A and motor B are servo motors or stepper motors; the control system outputs a signal to control motor A and motor B to rotate according to a set step angle.

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