Automatic control photovoltaic system and control method thereof

Abstract

The present invention discloses an automatically controlled photovoltaic system and control method thereof. The system includes a photovoltaic panel assembly, an electrical detection system, a dual-axis drive system, and a control system. The photovoltaic panel assembly is configured to convert light energy into electrical energy and output it. The electrical detection system is configured to detect the electrical signal output by the photovoltaic panel assembly, the electrical signal including voltage and / or current. The dual-axis drive system is configured to drive the photovoltaic panel assembly to rotate about two intersecting axes. The control system is configured to receive detection signals from the electrical detection system and output signals to control the operation of the dual-axis drive system, causing the photovoltaic panel assembly to adjust its posture in response to changes in the detection signals. The present invention can control the photovoltaic panel assembly to rotate about two intersecting axes to track incident light from a light source. The structure and control method are simple, and the photovoltaic panel assembly can self-adjust to the angle of light, thereby maximizing light energy utilization.

Description

Technical Field

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

[0002] Solar energy is one of the most widespread energy sources globally, with a theoretical annual power generation capacity exceeding 6,000 times human needs. It is also geographically independent, with abundant and widespread resources. Photovoltaic power generation directly converts solar energy into electricity through semiconductor materials. Each kilowatt of a photovoltaic system reduces carbon dioxide emissions by approximately one ton annually, equivalent to planting 50 more trees for the planet. Photovoltaic power generation does not rely on fuel combustion and emits no greenhouse gases, exhaust, or noise, making it a truly green energy source. Photovoltaic power generation supports centralized power plants, distributed rooftop installations (such as distributed PV plants on rural rooftops), and building-integrated systems. Thanks to its clean energy characteristics and rapid installation, photovoltaic power generation has rapidly grown worldwide.

[0003] Currently, most installed photovoltaic systems use fixed mounting systems, meaning the panels can only face one direction. Since the sun rises in the east and sets in the west, it's almost impossible for these fixed-mounted panels to maintain a perpendicular orientation to the sun's rays. This leads to issues like insufficient sunlight utilization and low power generation efficiency. While automatic tracking systems exist, they require numerous sensors, complex algorithms, and multiple calibrations to achieve a near-perpendicular orientation. 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 includes 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;

[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 components adjust their posture according to changes in the detection signals.

[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, used to fix photovoltaic panel components, is rectangular in shape, with its center hinged to the upper end of the upper support column, and has four hinge seats A arranged diagonally; the hinge seats A are arranged in groups of two and are symmetrically arranged around the center;

[0013] The articulated power center includes a spherical shell, motor A, motor B, four short pendulums, four vertical connecting rods and a long pendulum; motor A is an outer rotor motor, and its outer rotor is fixedly embedded in the spherical shell; the four short pendulums are arranged in pairs with their axes coincident, and each group of short pendulums is symmetrically arranged with the center of the spherical shell as the center. 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 one 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 The two short pendulums in the short pendulum have one end fixedly connected to the stator of motor A and the other end hinged to two of the connecting rods; the two short pendulums in the second group have one end fixedly connected to the spherical shell and the other end hinged to the other two connecting rods; the four connecting rods are hinged to the four hinge seats A in a one-to-one correspondence; the center of the long pendulum is hinged to the lower support column, and the two connecting rods connected to the first group of short pendulums are hinged to the two ends of the long pendulum; the center of the long pendulum 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 support column and the upper end of the lower support column are hinged to the spherical shell.

[0015] Furthermore, the four connecting rods are correspondingly spherically hinged to the hinge seat A.

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

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

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

[0019] Furthermore, the photovoltaic panel mounting frame includes a square frame and diagonal support bars arranged diagonally in the square frame; a hinge seat C is provided at the center of the lower surface of the diagonal support bar, and four hinge seats A are fixedly connected to the lower surface of the diagonal support 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 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 joint includes a pre-buried steel casing embedded in the bottom of the prefabricated base. The circumference of the pre-buried steel casing is provided with cross ribs. The bottom of the pre-buried steel casing is provided with a flange B connected to the flange A.

[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 horizontal; let the diagonal line of the photovoltaic panel mounting frame parallel to the axis of the first set of short swing arms be the first diagonal line, and let the diagonal line parallel to the axis of the second set of short swing arms be the second diagonal line;

[0026] Step 2: The control system outputs a signal to control motor B to operate, causing the output shaft of motor B to rotate relative to its housing, thereby driving the long swing arm to rotate relative to the lower support column. This, in turn, drives the photovoltaic panel assembly to rotate in one direction by an angle around the second diagonal line via the connecting rod. Simultaneously, 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 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, at which point motor B stops 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, at which point motor B stops rotating;

[0029] At this point, 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 motor A to operate, causing the housing of motor A to rotate relative to its stator, thereby driving the second set of short swing arms to rotate relative to the first set of short swing arms, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the first diagonal line via the connecting rod. Simultaneously, 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, at which point motor A stops 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, at which point motor A stops 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 panels to rotate around their two intersecting axes respectively, so that the plane where the photovoltaic panels are 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 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 pendulums, four vertical connecting rods and a long pendulum is adopted; motor A and motor B drive the corresponding short pendulums and long pendulums to rotate, thereby driving the photovoltaic panel assembly to rotate around two intersecting axes respectively; the two short pendulums, two vertical connecting rods and one long pendulum are hingedly connected to form a double parallelogram plane 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 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 providing 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, threading, etc., with a simple structure and easy assembly.

[0040] (5) The photovoltaic panels can be repaired, maintained and replaced by disassembling and installing the fixed baffles of the photovoltaic panel bracket, thereby reducing the subsequent use costs.

[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 This is a schematic diagram of the overall structure of an automatic control photovoltaic system of the present invention;

[0043] Figure 2 This is 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 This is a top view 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 Schematic diagram of the fixed baffle structure of the photovoltaic panel assembly;

[0048] Figure 7 Schematic diagram of the inverted upper support column structure;

[0049] Figure 8 Schematic diagram of the connection structure between the spherical shell and four short pendulum rods;

[0050] Figure 9 This is a schematic diagram of the half-cutaway three-dimensional structure of motor A;

[0051] Figure 10 Schematic diagram of the lower support column and foundation structure;

[0052] Figure 11 Schematic diagram of the connection structure between the long pendulum rod and the output shaft of motor B;

[0053] Figure 12 Schematic diagram of the explosion of the basic structure;

[0054] Figure 13 is a schematic diagram of the connecting rod structure connected to the second set of short rocker rods;

[0055] Figure 14 Schematic diagram of the connecting rod structure connected to the first set of short rocker rods;

[0056] Figure 15 The figure is a working flow chart of a control method for automatically controlling a photovoltaic system according to the present invention.

[0057] In the picture:

[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. Fixing bolts.

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

[0061] 31. Spherical shell; 32. Short pendulum arm III; 33. Short pendulum arm IV; 34. Short pendulum arm I; 35. Short pendulum arm II; 36. Articulated seat D; 37. Articulated seat E; 311. Outer rotor of motor A; 312. Stator of motor A.

[0062] 41. Lower support column; 42. Hinge joint on lower support column; 43. Long hole through which the long rocker arm passes; 44. Bearing hole.

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

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

[0065] 8A1, connecting rod III; 8A1-1, upper hinge joint of connecting rod III; 8A2, connecting rod IV; 8B1, connecting rod I; 8B1-1, lower hinge joint of connecting rod I; 8B1-2, hinge pin hole; 8B2, connecting rod II.

[0066] 111. Frame skeleton; 112. Border 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", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on 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 ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0070] See 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; 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 configured to receive detection signals from the electrical detection system and output signals to control the operation of the dual-axis drive system, causing the photovoltaic panel assembly 1 to adjust its posture in response to changes in the detection signals. Specifically, the control system adjusts the output signal based on the detection signals from the electrical detection system, causing the dual-axis drive system to rotate the photovoltaic panel assembly 1 about one of 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 power of the photovoltaic panel assembly 1 .

[0078] The control system may include devices and systems with microprocessors such as PLC and single-chip microcomputer, 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. It can be a rectangle, including a square, and its center is ball-hinged with the upper end of the upper support column 2. Four hinge seats A115 can be arranged on the diagonal of the photovoltaic panel mounting frame 11; the hinge 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, motor A, motor B52, four short pendulums, four vertical connecting rods and a long pendulum 51; motor A is an outer rotor motor, and the outer rotor 311 of 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 with the center of the spherical shell 31 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 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 motor A, and the two short pendulums are fixedly connected to the stator 312 of 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 spherical 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 respectively; 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 rocker arms is the first diagonal line, and the diagonal line parallel to the axis of the second group of short rocker arms is the second diagonal line.

[0086] The spherical shell 31, the motor A, the four short rocker arms, and the two vertical connecting rods constitute a driving structure 3 that rotates around the first diagonal line.

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

[0088] Motor A may optionally be an outer rotor motor with a stator shaft. One end of the two short rocker arms in the first group of short rocker 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 connected to the articulated seat A115 by ball articulation. Alternatively, a hinge connection method or a universal hinge method can be used for articulation.

[0092] Preferably, the connecting rod connected to the long swing rod 51 can be ball-jointed to the long swing rod 51, and its center can be hinged to the corresponding short swing rod in the second group of short swing rods via a hinge pin. The hinge connection between the connecting rod and the long swing rod 51 can also be a hinge connection method or a universal hinge method.

[0093] Preferably, the first set of short swing arms and the corresponding connecting rods can be hinged in a ball hinge manner. The first set of short swing arms and the corresponding connecting rods can be hinged 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 spherical housing 31 in a direction perpendicular to the axis of the lower support column 4. The limiting device may include four vertical limiting columns 6 fixedly connected between the upper support column 2 and the lower support column 4. The four vertical limiting columns 6 surround the spherical housing 31, that is, the four vertical limiting columns 6 are arranged along the circumference of the spherical housing 31. Four short rocker arms 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 spherical housing 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 spherical 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 sides of the four vertical limiting posts 6 facing the spherical shell 31 may be arc-shaped surfaces, which limit the center of the spherical shell 31 from deviating from the axis of the upper supporting post 2 and the lower supporting post 4.

[0097] Preferably, the housing of motor B 52 is fixed relative to the lower support column 4. A long hole 43 for the long rocker arm can be opened in the upper portion of the lower support column 4. A through hole 54 for the output shaft of motor B can be opened on the side wall of the long hole. The output shaft 54 ​​of 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 can realize the replacement of the photovoltaic panel assembly by disassembling and assembling the fixed baffle 12.

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

[0100] The prefabricated base 71 can be made of high-strength concrete mixed with glass fiber or carbon fiber. Its shape can be a prism or truncated cone with annular or spiral grooves on the circumferential surface. A circular hole is reserved in the upper portion for mounting the lower support column 4. Its cross-section is a hollow square or circular. The upper surface length of the prism or the upper surface diameter of the truncated cone is 400-600mm, and the lower surface length 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 in the upper portion for mounting 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 that saves materials.

[0102] The use of an upper prefabricated base 71 with a circular cross section and a trapezoidal longitudinal section and spiral grooves or annular grooves as a buried foundation is more convenient for excavation, backfilling, and increasing soil pressure than the use of an upper prefabricated base 71 with a square cross section and a square longitudinal section and without spiral grooves as a buried foundation. The anti-overturning and anti-pullout strength are significantly improved compared to conventional foundations.

[0103] The spiral steel pipe 74 can be a galvanized steel pipe with a diameter of 200-250 mm, with a flange A72 on the top and spiral blades on the surface. The outer diameter of the spiral blades can gradually decrease from top to bottom. The diameter of the spiral blades is 400-600 mm, and the blade thickness 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 deep into the hard soil layer to improve the bearing capacity.

[0105] The connecting joint may include an embedded steel casing embedded in the bottom of the prefabricated base. The surrounding side of the embedded steel casing may be provided with cross ribs. The bottom of the embedded steel casing is provided with a flange B75 connected to the flange A72.

[0106] Flange B75 is rigidly connected to flange A72 via high-strength flange bolts 73. The rigid connection between flanges B75 and A72 is infused with epoxy resin for corrosion protection. The advantage of the joint structure is that the addition of cross ribs enhances shear resistance and avoids stress concentration.

[0107] The composite spiral-prefabricated base can be manufactured into a modular, standardized structure with a wide range of applications. The upper prefabricated base 71 can be directly applied to slopes, water surfaces, or flat land. The lower spiral steel pipe 74 segments can be combined according to the geological conditions. In soft soil areas, a longer lower spiral steel pipe 74 can be installed below, using the prefabricated base 71 and the lower spiral segments for anchoring. In rocky areas, a shorter lower spiral steel pipe 74 can be used, or even left unconnected, with the prefabricated base 71 as the primary 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 a factory with standard parts; this includes the prefabrication of an upper prefabricated base with a prism-shaped or truncated cone-shaped hollow structure having annular grooves or spiral grooves on the circumferential surface, which is made of high-strength concrete mixed with glass fiber or carbon fiber.

[0110] The upper prefabricated base can be put into 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; in the soft soil area, a longer lower spiral steel pipe 74 is installed at the bottom, and the upper prefabricated base 71 and the lower spiral section are used for anchoring. In the rocky area, a shorter lower spiral steel pipe 74 can be used or the lower spiral steel pipe 74 can be left unconnected, and the upper prefabricated base 71 can be used as the main anchor.

[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 of the spiral pipe, and spiral blades can be provided on the surface. The outer diameter of the spiral blades can gradually decrease from top to bottom. The diameter of the spiral blades is 400-600mm, and the thickness of the blades is 8-12mm.

[0113] The upper prefabricated base is anchored to the lower spiral steel pipe. This includes a pre-buried steel casing embedded in the bottom of the prefabricated base. Cross-ribbed ribs may be provided around the casing, and flange B75, which connects to flange A72, is located at the bottom of the prefabricated base. Flange B75 is rigidly connected to flange A72 via high-strength flange bolts 73. The rigid connection between flange B75 and flange A72 is infused with epoxy resin for corrosion protection.

[0114] Backfilling of earth.

[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 rocker arms is the first diagonal, and the diagonal parallel to the axis of the second group of short rocker arms is the second diagonal.

[0117] Step 2: The control system outputs a signal to control the operation of motor B52, causing the output shaft 54 ​​of motor B to rotate relative to its housing, driving the long rocker 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 line 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 make the motor B52 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, and the motor B52 stops 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 then 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] In step 3, the control system outputs a signal to control motor A to operate, causing the housing of motor A to rotate relative to its stator, thereby driving the second set of short rocker arms to rotate relative to the first set of short rocker arms, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the first diagonal line via 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 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, at which point motor A stops 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, at which point motor A stops 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 photovoltaic panel assembly 1 rotates around the first diagonal line and the rotation range of the first diagonal line is -90° to 90°; the step angle can be set to 1° to 10°.

[0127] The structure, workflow 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; 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 and 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, motor A, motor B52, four short pendulums, four vertical connecting rods and a long pendulum 51; motor A is an outer rotor motor, and the outer rotor 311 of motor A is fixedly embedded in the spherical shell 31; the four short pendulums are arranged in pairs with their axes coincident, and each group of short pendulums is symmetrically arranged with the center of the spherical shell 31 as the center. 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 one 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; the first group of short pendulums is parallel to the other diagonal of the photovoltaic panel mounting frame 11; The two short pendulum rods in the pendulum rod have one end fixedly connected to the stator 312 of motor A, and the other end thereof is hinged to two of the connecting rods; the two short pendulum rods in the second group of short pendulum rods have one end fixedly connected to the ball shell 31, and the other end thereof 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 pendulum rod 51 is hinged to the lower support column 4, and the two connecting rods connected to the first group of short pendulum rods are ball-hinged to the two ends of the long pendulum rod 51; the center of the long pendulum rod 51 is fixedly connected to the output shaft 54 ​​of motor B; the outer casing 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 spherical concave surfaces A that match the spherical surface of the spherical shell 31 .

[0134] The connecting rods connected to the first group of short rocker arms are referred to as the first group of connecting rods 8B; the connecting rods connected to the second group of short rocker arms are referred to as 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 external rotor motor, one end of the two short rocker arms in the first group of short rocker arms is fixedly connected to the stator 312 of motor A; when motor A is an internal rotor motor with dual output shafts, one end of the first group of short rocker arms is fixedly connected to the two output shafts of motor A; one end of the second group of short rocker arms is fixed relatively 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 rocker arms rotates relative to the first group of short rocker arms, driving the two connecting rods connected to the second group of short rocker 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 set of short swing arms are hinged at the 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 housing of motor B 52 is fixed relative to the lower support column 4. When motor B 52 is operating, the long swing arm 51 rotates relative to the lower support column 4, driving the two connecting rods connected to the first set of short swing arms to move up and down, thereby rotating the photovoltaic panel assembly 1 about the second diagonal.

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

[0140] Because the spherical 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 angle formed by two adjacent short rocker arms among the four short rocker arms, due to the mutual restriction of the four vertical limit columns 6 and the four short rocker arms, the spherical shell 31 is restricted when moving in the plane 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 center 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 on the other side is replaced by disassembling and assembling the fixed baffle 12.

[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 within 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. Bolts are used to fix the fixed baffle 12 on the photovoltaic panel mounting frame 11 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 is passed through the bolt through hole 121 and 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 portion 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 joint 21, an upper support column body 22 and an upper support column lower hinge joint 23; the upper support column upper hinge joint 21 matches 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 rocker 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 rocker arms and allowing them to rotate.

[0148] The first group of short pendulums includes a first short pendulum 34 and a second short pendulum 35 ; the second group of short pendulums includes a third short pendulum 32 and a fourth short pendulum 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 rocker arm 34 is hinged to the first connecting rod 8B1; the second short rocker arm 35 is hinged to the second connecting rod 8B2; the third short rocker arm 32 is hinged to the third connecting rod 8A1; and the fourth short rocker arm 33 is hinged to the fourth connecting rod 8A2.

[0152] One end of the first short swing link 34 and the second short swing link 35 is provided with a hinge seat D36; one end of the third short swing link 32 and the fourth short swing link 33 is provided with a hinge 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 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 respectively connected 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. That is, the upper hinged joint 8A1-1 of the third connecting rod is connected to the fourth hinge seat A115-4.

[0157] Hinge pin holes 8B1-2 are formed in the middle of both the first and second connecting rods 8B1, 8B2. Hinge pins are provided on the hinge bases D36 of the first and second short swing links 34, 35. These pins pass through hinge pin holes 8B1-2, allowing the first connecting rod 8B1 to rotate relative to the hinge base D36 of the first short swing link 34, and the second connecting rod 8B2 to rotate relative to the hinge base D36 of the second short swing link 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 hinged to the hinged seat F53 of the long rocker arm 51 .

[0159] The hinged joint at the lower end of the third connecting rod 8A1 and the hinged joint at the lower end of the fourth connecting rod 8A2 are correspondingly hinged to the hinged seats E37 of the third short rocker arm 32 and the fourth short rocker arm 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, and 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 rocker 32 and the fourth short rocker 33 of the second group of short rockers rotate relative to the first group of short rockers, driving the third connecting rod 8A1 and the fourth connecting rod 8A2 to move up and down.

[0161] Lower support column 4 comprises a lower support column body 41 and an upper hinged joint 42, which secures the housing of motor B 52 relative to lower support column 4. A long hole 43 is formed in the upper portion of lower support column 4 to accommodate the long rocker arm. A through hole 43 is formed on the sidewall of the long hole to accommodate the output shaft 54 ​​of motor B. This through hole also serves as a bearing hole 44 for mounting a bearing. The outer ring of the bearing can be mounted and fixed in this through hole, securing the motor output shaft to the inner ring of the bearing. The upper hinged joint 42 is hingedly connected to the spherical shell 31.

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

[0163] The aforementioned hinge seat A115, ball shell 31, hinge seat C113, hinge seat E37 and hinge seat F53 may all be spherical hinge seats, which may 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 existing technology, or adopt applicable components and devices in the existing technology and adopt existing technical means to process, manufacture and install and wire them.

[0165] A 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 rocker arms is the first diagonal, and the diagonal parallel to the axis of the second group of short rocker arms is the second diagonal.

[0167] Step 2: The control system outputs a signal to control the operation of motor B52, causing the output shaft 54 ​​of motor B to rotate relative to its housing, driving the long rocker 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 line 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 make the motor B52 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, and the motor B52 stops 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 then 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] In step 3, the control system outputs a signal to control motor A to operate, causing the housing of motor A to rotate relative to its stator, thereby driving the second set of short rocker arms to rotate relative to the first set of short rocker arms, and further driving the photovoltaic panel assembly 1 to rotate an angle in one direction around the first diagonal line via 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 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, at which point motor A stops 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, at which point motor A stops 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. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of the patent of the present invention cannot be limited by these embodiments alone. That is, any equivalent changes or modifications made to the spirit disclosed by the present invention still fall within the scope of the patent 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; 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 components adjust their posture according to the changes in the detection signals; 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; Photovoltaic panel mounting frame, used to fix photovoltaic panel components, is rectangular in shape, with its center hinged to the upper end of the upper support column, and has four hinge seats A arranged diagonally; the hinge seats A are arranged in groups of two and are symmetrically arranged around the center; The articulated power center includes a spherical shell, motor A, motor B, four short pendulums, four vertical connecting rods and a long pendulum; motor A is an outer rotor motor, and its outer rotor is fixedly embedded in the spherical shell; the four short pendulums are arranged in pairs with their axes coincident, and each group of short pendulums is symmetrically arranged with the center of the spherical shell as the center. 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 one 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 The two short pendulums in the short pendulum have one end fixedly connected to the stator of motor A and the other end hinged to two of the connecting rods; the two short pendulums in the second group have one end fixedly connected to the spherical shell and the other end hinged to the other two connecting rods; the four connecting rods are hinged to the four hinge seats A in a one-to-one correspondence; the center of the long pendulum is hinged to the lower support column, and the two connecting rods connected to the first group of short pendulums are hinged to the two ends of the long pendulum; the center of the long pendulum 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 support column and the upper end of the lower support 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 connected to the articulated seat A ball.

3. The automatic control photovoltaic system according to claim 1, characterized in that: The connecting rod connected to the long pendulum rod is ball-hinged with the long pendulum rod, and the middle part of the connecting rod is hinged with the corresponding short pendulum rod in the second group through a hinge pin; the first group of short pendulum rods are hinged with the corresponding connecting rod by ball hinge.

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.

5. The automatic control photovoltaic system according to claim 1, characterized in that: A long hole for passing the long rocker arm 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 support bars arranged diagonally within the square frame; a hinge seat C is provided at the center of the lower surface of the diagonal support bar, and four hinge seats A are fixedly connected to the lower surface of the diagonal support 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 can be 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 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 joint includes a pre-buried steel casing embedded in the bottom of the prefabricated base. The circumference of the pre-buried steel casing is provided with cross ribs. The bottom of the pre-buried steel casing is provided with a flange B connected to the flange A.

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 horizontal; let the diagonal line of the photovoltaic panel mounting frame parallel to the axis of the first set of short swing arms be the first diagonal line, and let the diagonal line parallel to the axis of the second set of short swing arms be the second diagonal line; Step 2: The control system outputs a signal to control motor B to operate, causing the output shaft of motor B to rotate relative to its housing, thereby driving the long swing arm to rotate relative to the lower support column. This, in turn, drives the photovoltaic panel assembly to rotate in one direction by an angle around the second diagonal line via the connecting rod. Simultaneously, 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 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, at which point motor B stops 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, at which point motor B stops rotating; At this point, 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 motor A to operate, causing the housing of motor A to rotate relative to its stator, thereby driving the second set of short swing arms to rotate relative to the first set of short swing arms, and further driving the photovoltaic panel assembly to rotate an angle in one direction around the first diagonal line via the connecting rod. Simultaneously, 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, at which point motor A stops 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, at which point motor A stops 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 for automatically controlling a photovoltaic system according to claim 8, characterized in that: Motor A and motor B are servo motors or stepper motors; the control system outputs signals to control motor A and motor B to rotate according to the set step angle.

Images