Single-stand-column vertical-axis photovoltaic tracking system of integrated street lamp and control method of single-stand-column vertical-axis photovoltaic tracking system

Abstract

The invention discloses a single-stand-column vertical-axis photovoltaic tracking system of an integrated street lamp and a control method of the single-stand-column vertical-axis photovoltaic tracking system, and belongs to the field of solar photovoltaic power generation technologies and smart city infrastructures. Comprising a rotatable photovoltaic module support structure installed on a single stand column, an LED street lamp lighting device, a transmission mechanism based on a stepping motor, an orientation detection module integrated with a magnetic sensor and a gyroscope, an embedded tracking control system, an energy management system and a cloud platform management system. High-precision sun tracking is realized through closed-loop control of astronomical algorithm and sensor fusion, and functions of automatic north finding and motor out-of-step correction are realized; the system safety is improved by adopting a dual-threshold control regionalization cooperation gale protection strategy; high-capacity photovoltaic and street lamp functions are integrated to guarantee all-weather illumination. The distributed photovoltaic application scene is expanded, the service life of the system is prolonged, the problem that a traditional solar street lamp is low in lighting rate is solved, and the multifunctional and intensive development requirements of smart city infrastructures are met.

Description

Technical Field

[0001] This application relates to the fields of solar photovoltaic power generation technology and smart city infrastructure, and particularly relates to a single-column vertical-axis photovoltaic tracking system integrated with street lamp functions and its control method. Background Art

[0002] In recent years, with the global pursuit of carbon neutrality goals and the transformation of the energy structure, solar photovoltaic power generation, as an important form of clean energy, has developed rapidly. Distributed photovoltaic systems have been widely used in industrial and commercial and household fields due to their advantages such as being close to the user side and reducing transmission losses. However, traditional distributed photovoltaics mainly rely on building rooftops for installation. With the increasing saturation of suitable rooftop resources and land resource limitations, finding new and feasible photovoltaic installation sites has become an urgent need for the industry's development.

[0003] The idle spaces on both sides of roads are characterized by linear distribution and vast area, and are potential site resources for the development of distributed photovoltaics. For such scenarios, vertical-axis photovoltaic tracking systems, due to their single-column design, small footprint, and flexible installation, have become ideal technical solutions. However, existing vertical-axis photovoltaic tracking systems face the following technical challenges in practical applications: 1. Limitations in tracking implementation methods: Tracking method based on photosensitive sensors: Traditional vertical-axis tracking systems mostly use photosensitive sensors to detect the direction of sunlight. However, photosensitive sensors are exposed to the outdoor environment for a long time and are affected by wind, sun, rain, and dust pollution, resulting in limited service life and easy performance degradation. Considering that the general design life of a photovoltaic power station is 25 years, the frequent maintenance or replacement of sensors will significantly increase the operation and maintenance costs.

[0004] Tracking method based on astronomical algorithms: Although some systems use astronomical algorithms to calculate the position of the sun, most have not solved the problem of precise positioning in open-loop control, such as the detection of stepping motor out-of-step and the fault diagnosis of transmission mechanisms, which affects the long-term operation reliability.

[0005] 2. System life and maintenance cost issues: Insufficient life of the drive motor: Many existing systems use carbon brush motors as drive devices. Due to the mechanical friction between the carbon brush and the commutator, the service life is difficult to meet the 25-year design life requirement of the photovoltaic system, increasing the replacement frequency and maintenance costs.

[0006] Complicated installation and calibration: When installing a vertical-axis tracking system, cumbersome manual calibration (such as finding north) is required. The operation is difficult, the accuracy is difficult to guarantee, and it highly depends on the experience and responsibility of the installation personnel.

[0007] Lack of effective fault detection: For faults in key components such as motors and transmission mechanisms, without a real-time feedback mechanism, it is difficult for the system to actively detect them, which may lead to long-term tracking failure and power generation losses.

[0008] Insufficient protection strategy against strong winds: Traditional single-unit protection strategies may not be able to cope with regional sudden strong wind weather, and their response speed and protection effect are limited.

[0009] On the other hand, as an important part of urban infrastructure, although traditional solar street lights utilize clean energy, they also have obvious deficiencies: 1. Low power generation efficiency: Small photovoltaic panels installed at fixed angles are mostly used, unable to effectively track the sun, resulting in limited power generation.

[0010] 2. Poor endurance in rainy and cloudy days: The capacity of photovoltaic modules is small (usually 50 - 100W), and the power generation decreases sharply in rainy and cloudy weather, making it difficult to meet the lighting needs for consecutive days, resulting in a low lighting rate and affecting public safety.

[0011] 3. Lack of intelligent management: Most are independent single-unit systems, lacking effective remote monitoring and management means, making fault troubleshooting and maintenance difficult.

[0012] Therefore, the market urgently needs a new type of solution that can not only make full use of the space resources on both sides of the road to carry out distributed photovoltaic power generation, but also solve the technical problems in tracking implementation and life guarantee of the existing vertical-axis tracking system, and at the same time meet the road lighting needs and improve the reliability and intelligence level of solar street lights. Summary of the Invention

[0013] The present invention aims to overcome the deficiencies of the prior art and provides a single-column vertical-axis photovoltaic tracking system integrated with street lights and its control method. The system aims to: 1. Open up new distributed photovoltaic application scenarios and effectively utilize non-traditional installation sites such as both sides of the road.

[0014] 2. Adopt a high-precision astronomical algorithm for sun tracking, get rid of the dependence on photosensitive sensors, and improve the reliability and accuracy of all-weather tracking.

[0015] 3. Integrate the functions of automatic north-finding and real-time attitude feedback, simplify the installation and debugging process, solve the problem of stepper motor out-of-step, and achieve closed-loop control.

[0016] 4. By using long-life stepper motors instead of traditional carbon brush motors, meet the 25-year design life requirement of the system and reduce maintenance costs.

[0017] 5. Combine large-capacity photovoltaic modules with street light functions to ensure reliable lighting of street lights in continuous rainy and cloudy weather.

[0018] 6. Realize intelligent remote monitoring, management, fault diagnosis and regional collaborative high-wind protection based on the cloud platform.

[0019] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect, an embodiment of the present application provides a single-pole vertical-axis photovoltaic tracking system integrated with street lamps, including: 1. Photovoltaic module support structure: It includes a vertically installed column, and a set of drive installation components and an installation frame body that can rotate around the vertical axis are provided at the top of the column. A plurality of high-power solar photovoltaic modules are inclinedly installed on the installation frame body, and the photovoltaic modules are symmetrically distributed on both sides of the column to maintain balance; an LED street lamp lighting device is installed in the upper middle part of the column.

[0020] 2. Tracking control system: It is installed in the control box on the column, and the core is an embedded control board, which integrates: Microprocessor (MCU): Responsible for running control algorithms and managing the system.

[0021] Memory (Flash / EEPROM): Used to store firmware, configuration parameters, and operation logs.

[0022] Azimuth sensing module: Integrates a high-precision three-axis magnetic sensor and a three-axis gyroscope (or integrated into an IMU inertial measurement unit), which is used to detect the azimuth angle and attitude of the support in real time and realize the function of automatically finding the north.

[0023] Motor drive module: Used to drive a stepper motor or a servo motor to control the rotation of the installation frame body. The present invention preferably uses a stepper motor instead of a carbon brush motor to meet the requirements of long service life and high-precision angle control of the system.

[0024] Communication interface module: Includes a 4G / LTE communication module (supporting DTU function), an RS485 interface, a Bluetooth module, and a debugging interface (such as UART / USB).

[0025] Power management unit: Manages the power supply from the photovoltaic and the battery.

[0026] 3. Energy management system: Includes a DC / DC converter, a lithium battery pack, and a battery management system (BMS). The DC / DC converter efficiently converts the high-voltage direct current (such as 300 - 600V) generated by the photovoltaic modules into low-voltage direct current (such as 12V or 24V) for charging the lithium battery pack and powering the control system and street lamps; the BMS is responsible for the charge and discharge management and protection of the battery.

[0027] 4. Street lamp lighting system: Includes a high-brightness LED light source, a driver, and an intelligent controller, supporting PWM dimming and time control functions.

[0028] 5. Cloud platform management system: A set of remote server software systems that are connected to each of the tracking control systems through a 4G network, providing functions such as device monitoring, data analysis, remote configuration, firmware upgrade (OTA), fault diagnosis, alarm push, and regional collaborative control (such as strong wind protection).

[0029] 6. Limit protection device: Two limit switches installed within the rotation range of the bracket, located at the northwest corner and northeast corner positions, restricting the rotation angle within a range of approximately 240 degrees. These limit switches not only provide hardware safety protection functions but also serve as reference points for position calibration, enabling the system to automatically calibrate the angle periodically and correct the cumulative error.

[0030] In a second aspect, an embodiment of the present application provides a control method based on the above system, including the following steps: 1. Initialization and automatic north finding: After the system is powered on, the tracking control system uses the data of the azimuth sensing module (magnetic sensor and gyroscope), calculates and compensates for the local magnetic declination through a sensor fusion algorithm (such as Kalman filtering), automatically determines the geographical true north direction, and uses it as the reference zero point for subsequent tracking. At the same time, the system automatically calculates the angle deviation of the limit switch relative to the geographical true north direction, providing a basis for daily position calibration.

[0031] 2. Astronomical algorithm tracking: The tracking control system calculates the current azimuth angle of the sun in real time according to the preset geographical location (latitude and longitude) and the accurately obtained real-time time (through network synchronization or GPS module), and uses the built-in astronomical algorithm model; according to the calculated azimuth angle of the sun, determines the best orientation of the photovoltaic module (usually making the normal of the module point to the sun), and calculates the target rotation angle.

[0032] 3. Closed-loop drive control: The microprocessor issues an instruction to the motor drive module according to the target rotation angle to drive the motor to rotate the mounting frame; during the rotation process or after the rotation is in place, the actual azimuth angle of the bracket is detected in real time by the azimuth sensing module and compared with the target azimuth angle; if the detected deviation (such as caused by the stepping motor losing steps) exceeds the preset threshold, angle compensation adjustment is performed in the next control cycle or immediately, forming a closed-loop control.

[0033] 4. Status monitoring and data reporting: The tracking control system monitors its own operating status in real time (working mode, current angle, target angle, motor status, battery voltage, charging current, fault code, etc.) and the status of devices connected through the RS485 interface (such as street lamp controllers), and reports the data to the cloud platform management system regularly or when the status changes through the 4G communication module.

[0034] 5. Remote command response: The tracking control system receives and executes remote commands from the cloud platform management system, such as adjusting the working mode, manually setting the angle, modifying configuration parameters, performing firmware upgrades, etc.

[0035] 6. Regionalized wind protection: The device connected to the wind speed and direction sensor will collect wind speed and direction data in real time. The device is equipped with a wind speed alarm threshold and a wind speed alarm return threshold (which can be set through the cloud platform or mobile phone app).

[0036] When it is detected that the wind speed exceeds the wind speed alarm threshold, the device immediately reports the wind speed and direction data to the cloud platform, and at the same time enters the high wind warning state internally, and continues to report the wind speed and direction data at a higher frequency.

[0037] The cloud platform identifies all equipment in the affected area based on the sensor's location information and issues high wind protection instructions to these devices.

[0038] The device that receives the command quickly adjusts the photovoltaic bracket to a safe angle with minimal wind resistance (usually perpendicular to the wind direction) based on the real-time wind direction data (or preset strategy) provided by the cloud platform, and locks the position.

[0039] When the wind speed drops below the wind speed alarm return threshold and lasts for a preset time (for example, 5 minutes), the device cancels the internal high wind warning state, resumes normal data reporting frequency, and sends a high wind warning cancellation signal to the cloud platform.

[0040] After receiving the release signal, the cloud platform sends a command to release the strong wind protection to the relevant equipment, and the equipment returns to normal tracking mode.

[0041] 7. Daily position calibration: Every day after the sun sets, the system automatically controls the mounting frame to return to its initial position, touches the limit switch, and performs angle calibration.

[0042] This process ensures that even if a small angle error accumulates during a day's tracking, it can be reset through daily calibration to prevent error accumulation.

[0043] This design enables the system to maintain high-precision tracking performance even in long-term operation, greatly improving the reliability of the system.

[0044] 8.Strategies for dealing with magnetic storms: The cloud platform monitors the magnetic sensor data reported by all devices in real time. When global abnormal fluctuations are detected (i.e., similar anomalies occur simultaneously in multiple geographically dispersed devices), it determines that a solar magnetic storm may have occurred.

[0045] The cloud platform sends the "magnetic storm mode" instruction to all devices in the affected area, informing the devices to temporarily ignore the position feedback data of the magnetic sensors.

[0046] During the magnetic storm, the device determines its position and performs tracking only relying on astronomical algorithms and stepper motor counting.

[0047] Since magnetic storms usually last for 2 - 3 days, during this period, the calibration of the limit switch every night becomes particularly important. It can correct the possible cumulative stepping motor out-of-step error, ensuring relatively accurate tracking even during magnetic storms.

[0048] After the magnetic storm ends, the cloud platform sends a release instruction, and the device resumes the normal sensor fusion closed-loop control mode.

[0049] 9. Intelligent lighting control: Control the on / off and brightness (through PWM dimming) of street lights according to the light intensity (which can be indirectly judged by the photovoltaic power generation or by adding a photosensitive sensor), the preset time schedule, or the cloud platform instruction.

[0050] 10. Fault diagnosis and alarm: Detect whether the motor or transmission mechanism is faulty (such as no change in angle after the instruction is issued) through the feedback data of the azimuth sensing module; combine other sensor data (such as current, voltage) to judge system abnormalities, generate fault codes and report them to the cloud platform, and at the same time trigger local or remote alarms.

[0051] Advantageous effects: Compared with the prior art, the present invention has the following remarkable advantageous effects: (1) Expand the application scenario and improve the land utilization rate: The single-column vertical axis design is applicable to non-traditional photovoltaic installation sites such as both sides of roads, parks, and parking lots, effectively utilizing idle land resources and opening up a new path for the development of distributed photovoltaics.

[0052] (2) High-precision and high-reliability tracking: Adopt astronomical algorithms combined with high-precision azimuth sensors for closed-loop control, which is not affected by weather and environmental interference, ensuring all-weather high-precision tracking; the automatic north-finding function simplifies the installation and ensures the initial accuracy; the real-time feedback mechanism solves the problem of stepping motor out-of-step and improves the reliability of system operation.

[0053] (3) Extend the service life of the system: Replace the traditional carbon brush motor with a brushless stepper motor, and the motor life can reach tens of thousands of hours, meeting the 25-year design life requirement of the photovoltaic system, significantly reducing the maintenance cost and the risk of failures.

[0054] (4) Improve the power generation and lighting reliability: Precise sun tracking significantly improves the power generation of photovoltaic modules; the large-capacity photovoltaic configuration ensures that even during continuous rainy and cloudy days, the lithium battery can be fully charged, guaranteeing the continuous and reliable lighting of street lights and improving the lighting rate.

[0055] (5) Intelligent centralized management, efficient operation and maintenance: Remote monitoring, management and fault diagnosis based on the cloud platform significantly reduce the operation and maintenance costs and improve the management efficiency; The regional collaborative high-wind protection strategy improves the system security.

[0056] (6) Integrated design, composite functions: Integrating high-efficiency photovoltaic power generation, precise tracking, reliable street lighting and intelligent control, it conforms to the development trend of multi-functional and intensive smart city infrastructure.

[0057] (7) Strong anti-interference ability: Through daily calibration of limit switches and magnetic storm response strategies, the system can cope with various environmental interferences, including motor out-of-step and geomagnetic field disturbances, ensuring basic operation ability under extreme conditions and greatly enhancing the system toughness and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0059] Figure 1 is the overall structural schematic diagram of a single-column vertical-axis photovoltaic tracking system for an integrated street lamp provided by an embodiment of the present invention.

[0060] Figure 2 is the system architecture block diagram provided by an embodiment of the present invention.

[0061] Figure 3 is the working flow chart of the tracking control system provided by an embodiment of the present invention.

[0062] Figure 4 is the automatic north-finding control flow chart provided by an embodiment of the present invention.

[0063] Figure 5 is the closed-loop control flow chart provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0065] It should be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article or apparatus including the said element.

[0066] Embodiment 1: Overall System Structure and Hardware Composition Figure 1 The overall physical structure diagram of the present invention is shown. The following is a detailed description of each main component and its interrelationships: 1. Support Structure System: Column 101: The main support member of the entire system, vertically installed on the ground Concrete Foundation 103: Provides a stable base support for the column Flange Plate 102 (not marked in the figure): Connects the column to the concrete foundation 2. Photovoltaic Power Generation System: Photovoltaic Module 107: The energy capture device of the system, with multiple high-power modules symmetrically installed Mounting Frame 106: A truss structure that supports the photovoltaic module and can rotate with the drive system Drive Mounting Assembly 104: Includes a slewing bearing and a reducer to achieve precise transmission 3. Drive and Control System: Stepper Motor 105: The core of the drive system, providing precise angle control and long-life operation Control Box 109: Installed at the lower part of the column, accommodating control and energy management equipment Control Board 201: The "brain" of the system, running tracking algorithms and managing each subsystem Azimuth Sensing Module 202: Provides precise azimuth detection, enabling automatic north finding and closed-loop control Motor Drive Module 203: Controls the movement of the stepper motor and performs precise angle adjustment 4G Communication Module 204: Enables wireless data exchange with the cloud platform Limit Switch 110: Located at both ends of the rotation range, restricting the rotation range of the bracket and serving as a position calibration reference point 4. Energy Management System: DC / DC Converter 210: Converts the high-voltage DC of the photovoltaic into the low-voltage DC required by the system Battery Pack 211: Stores excess energy to ensure power supply requirements at night and on rainy and cloudy days 5. Lighting System: LED street lamp 108: An energy-efficient lighting device installed in the upper-middle part of the column 6. Remote management: Cloud platform management system 220: A remote monitoring and management center that enables centralized control of devices This integrated design organically combines photovoltaic power generation, solar tracking, street lamp lighting, and intelligent control systems on a single-column structure. The control board 201 serves as the core of the system. It controls the stepping motor 105 to drive the rotation of the photovoltaic module through the motor drive module 203, senses the actual orientation of the mounting frame through the orientation sensing module 202 to ensure tracking accuracy, and maintains a connection with the cloud platform through the 4G communication module 204 to achieve remote monitoring and management. The limit switches 110 located at both ends of the rotation range not only provide hardware safety protection but also serve as reference points for position calibration to ensure the accuracy of the system's long-term operation. At the same time, the system provides a stable power supply for the street lamp through a large-capacity photovoltaic module and battery storage, making full use of the vertical space resources and being an efficient and intensive intelligent infrastructure solution.

[0067] Figure 2 The system architecture of the present invention is shown, consisting of a central cloud platform management system 220 and multiple single-column devices. The cloud platform management system 220 includes a database server 221, an application server 222, a Web server 223, and a message queue 224, providing central management and data processing capabilities for the entire system. Each single-column device is a complete independent system, including four main subsystems: the tracking control system control board 201, the energy management system 210, the street lamp lighting system 108, and the photovoltaic module 107. The microprocessor 231 in the tracking control system control board 201 connects and controls the entire system through various modules (memory 207, orientation sensing module 202, motor drive module 203, 4G communication module 204, and RS485 interface 205). The energy management system 210 includes a DC / DC converter 211, a battery management system 212, and a lithium battery pack 213, responsible for energy conversion and storage. The street lamp lighting system 108 consists of an LED light source 241, a driver 242, and an intelligent controller 243. This one-to-many architecture design enables the cloud platform to manage multiple single-column devices distributed at different locations simultaneously, achieving functions such as centralized monitoring, remote control, and regional collaborative protection.

[0068] Refer to Figure 1 and Figure 2 An integrated street lamp single-column vertical-axis photovoltaic tracking system provided in this embodiment mainly includes: a photovoltaic module, a mounting frame, a transmission mounting component, a column, an LED street lamp lighting device, a control box, a tracking control system, an energy management, and a cloud platform management system.

[0069] Photovoltaic module support structure: The column 101 is a cylindrical or polygonal structure made of high-strength metal (such as hot-dip galvanized Q345 steel), and is fixed on the concrete foundation 103 through the bottom flange 102. At the top of the column 101, there is a set of transmission and installation components 104, which includes a slewing bearing, a speed reducer (such as a worm and worm gear speed reducer), and a stepping motor 105 (or servo motor).

[0070] The present invention specifically selects a stepping motor as the driving mechanism instead of a traditional carbon brush motor, mainly based on the following considerations: 1. Long service life requirement: The design life of a photovoltaic power station is usually 25 years. Due to the mechanical friction between the carbon brush and the commutator in a carbon brush motor, its service life is limited and the carbon brush needs to be replaced regularly. In contrast, the stepping motor adopts a brushless design, and its service life can reach more than an order of magnitude of that of a carbon brush motor, which can better meet the requirements of the system for long-term operation, and significantly reduce the maintenance cost and downtime.

[0071] 2. Precise angle control: The stepping motor can precisely control the rotation angle and number of turns (usually the angle per step is 1.8° or smaller, and can reach 0.1° or even smaller angle through microstepping drive). This enables the photovoltaic support to adjust the angle according to the precise requirements of the astronomical algorithm, achieve high-precision sun tracking, and maximize the power generation efficiency.

[0072] An installation frame body 106 is fixedly installed on the transmission and installation components 104. The installation frame body 106 adopts a truss structure or a steel section welding structure, and is used to support multiple (such as 6 - 8 pieces) standard-sized high-power photovoltaic modules 107 (such as single-module power above 550Wp). The photovoltaic modules 107 are installed on the surface of the installation frame body 106 at a certain inclination angle (which can be optimized according to the local latitude), and are symmetrically distributed on both sides of the column 101 to achieve moment balance. The entire installation frame body 106 and the photovoltaic modules 107 can rotate around the vertical axis of the column 101 under the drive of the stepping motor 105, and the rotation range can be set by limit switches 110 and software limits (such as a rotation range of about 240 degrees, covering the main trajectory from sunrise to sunset). The limit switches 110 are set at the northwest and northeast corners of the system, which are not only used to prevent the support from over-rotating, but also serve as the reference points for position calibration.

[0073] In the upper-middle part of the column 101, an LED street lamp lighting device 108 is installed, which includes a high-efficiency LED module, a lens / reflector, to provide road lighting.

[0074] Control box and core system: The control box 109 is usually installed at the lower part of the column 101 or in a position convenient for maintenance, and its protection level reaches IP65 or above. The core components of the system are deployed inside the control box 109: 1. Tracking control system: The core is the embedded control board 201. The control board 201 selects an industrial-grade ARM Cortex-M series or a microprocessor (MCU) with higher performance, which has sufficient computing power and peripheral interfaces. Integrated on the board are: High-precision azimuth sensing module 202: For example, it integrates a Bosch BMX160 or a nine-axis IMU with similar performance (integrating a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetic sensor), or discrete high-precision magnetic sensors (such as Honeywell HMC5883L) and gyroscopes (such as InvenSense MPU-6050).

[0075] Motor drive module 203: Equipped with corresponding drive chips and power devices according to the selected motor type (stepper / servo), and has functions such as current detection, microstepping control (for stepper motors), overcurrent and overheat protection.

[0076] 4G communication module 204: Selects an industrial-grade LTE Cat.1 or Cat.4 module (such as Quectel EC200 series), with a built-in TCP / IP protocol stack, supports protocols such as MQTT and HTTP, has the DTU data transparent transmission function, and is connected to an external antenna.

[0077] RS485 interface 205: Used to connect external devices, such as wind speed and direction sensors, street lamp controllers, or other Modbus slave devices, and has TVS surge protection.

[0078] Bluetooth module 206: Selects a BLE 4.2 or higher version module, which is used for near-field debugging, parameter configuration, and data viewing (for example, through a mobile phone App).

[0079] Memory 207: The board-mounted large-capacity Flash (for example, more than 8MB) is used to store firmware (supporting dual backup partitions to achieve secure OTA), configuration parameters, and operation logs; the EEPROM is used to store key infrequently changed parameters.

[0080] Real-time clock (RTC) module: With a backup battery to ensure accurate time after power-off.

[0081] Hardware watchdog (WDT): Ensures that the system can automatically reset in case of anomalies.

[0082] Limit switch interface 208: Connects limit switches installed at both ends of the rotation range of the bracket, which is used to limit the rotation range of the bracket and provide a position calibration reference point.

[0083] Debug interface: UART or USB interface, which is used for initial programming and low-level debugging.

[0084] 2. Energy management system: DC / DC Converter 210: Adopting high-efficiency synchronous rectification technology, it converts the high-voltage direct current of the photovoltaic module array (for example, the MPPT voltage is 300 - 600V) into stable 12V or 24V direct current.

[0085] Lithium Battery Pack 211: Selects lithium iron phosphate (LiFePO4) batteries, and the capacity is configured according to the street lamp power and endurance requirements (for example, 200Ah - 500Ah @12V), featuring long life and high safety.

[0086] Battery Management System (BMS) 212: Integrated within the battery pack or as an independent module, it is responsible for overcharge, over-discharge, over-current, over-temperature, and short-circuit protection of the battery, and provides functions such as SOC (State of Charge) estimation and balancing management. It can interact with the control board 201 to exchange battery status information through a communication interface (such as CAN or RS485).

[0087] Cloud Platform Management System: The cloud platform management system 220 is deployed on a public cloud or private cloud server, including a database server (such as PostgreSQL / TimescaleDB), an application server (running background logic, developed in languages such as Python / Java / Go), a web server, and a message queue (such as MQTT Broker / Redis). It provides a web management interface and API interfaces. The web interface allows administrators and users to perform operations such as device monitoring, data visualization (map display, chart analysis), parameter configuration, user management, permission control, alarm handling, report generation, and firmware push.

[0088] Embodiment 2: Closed-loop Tracking Control Method Based on the Fusion of Astronomical Algorithm and Sensors This embodiment details how the system achieves high-precision and high-reliability sun tracking. Refer to Figure 3 、 Figure 4 and Figure 5 .

[0089] Step 1: Initialization and Automatic North Finding ( Figure 4 ).

[0090] After the system is powered on or reset for the first time, the initialization program (S501) is executed. The control board 201 reads the raw data of the azimuth sensing module 202 (magnetic sensor and gyroscope) (S502).

[0091] First, sensor calibration is performed (S503). The gyroscope is calibrated for zero bias, and the magnetic sensor is calibrated for hard and soft magnetic interference (which can be completed by the user manually rotating the bracket once after installation or through a preset calibration program).

[0092] After calibration, using a fusion algorithm (such as Extended Kalman Filter EKF or complementary filter), combining the angular velocity / angle change measured by the gyroscope and the geomagnetic field vector measured by the magnetic sensor, the precise azimuth angle of the current bracket relative to magnetic north is calculated (S504).

[0093] The control board 20 compensates the magnetic north azimuth angle according to the preset or locally obtained magnetic declination data (the angle between magnetic north and true north) through the network (S505) to obtain the azimuth angle relative to true north (geographic north).

[0094] The calculated true north direction is used as the azimuth zero point (0-degree reference direction) of the system, and this calibration result (zero offset) is stored in the non-volatile memory (S506). This process realizes automatic north finding without manual intervention, ensuring the accuracy of the tracking reference.

[0095] During the initialization process, the system will also automatically operate the motor to make the mounting frame touch two limit switches located in the northwest corner and the northeast corner respectively, record the angle values corresponding to these two positions, and calculate the angle deviation relative to the determined true north direction. These data are used to limit the rotation range (about 240 degrees) and provide reference points for daily position calibration. After north finding and limit calibration are completed, the system enters the normal tracking mode (S507).

[0096] Step 2: Calculate the target angle using the astronomical algorithm ( Figure 3 ) In the normal tracking mode (S301), the control board 20 periodically (for example, every 1 - 5 minutes, the period is configurable) performs the following operations: Obtain the current precise time (S302), which can be synchronized with the NTP time through the internal RTC or the 4G network.

[0097] Obtain the preset geographical location (longitude, latitude) of the device installation (S303), which is set during the first configuration of the device.

[0098] Call the built-in astronomical algorithm library function (S304), input the longitude, latitude, date, and time, and calculate the precise azimuth angle (Azimuth) and altitude angle (Altitude) of the sun at the current moment. The astronomical algorithm model can adopt the industry-standard SPA (Solar Position Algorithm) or other high-precision models.

[0099] The core calculation method of the solar position algorithm is as follows: 1. Calculate the Julian Day: , where is the year, is the month, is the date, is the Coordinated Universal Time.

[0100] 2. Calculate the right ascension and declination of the sun: 1) Mean anomaly of the sun ;

[0101] 2) Mean argument of latitude of the sun ;

[0102] 3) Eccentricity of the Earth's orbit ;

[0103] 4) Equation of the center of the sun ;

[0104] 5) True anomaly of the sun ;

[0105] 3. Calculate the azimuth and altitude of the sun: 1) Declination of the sun ;

[0106] 2) Right ascension of the sun ;

[0107] 3) Altitude of the sun ;

[0108] 4) Azimuth of the sun ;

[0109] where, is the latitude of the observation point, is the hour angle of the sun.

[0110] Considering vertical-axis tracking, the azimuth information of the sun is mainly utilized. The system calculates the target rotation azimuth (TargetAzimuth) of the mounting frame 106 that makes the normal of the surface of the photovoltaic module 107 align with the sun direction as much as possible according to the azimuth of the sun (S305). (Note: The optimal angle is not necessarily the azimuth of the sun itself and may require simple conversion according to the installation inclination of the module, etc., but the main driving factor is the azimuth of the sun).

[0111] Judge whether it is daytime and the altitude of the sun is greater than a certain threshold (such as 5°). If not, it may enter the night sleep or stop tracking state (S306).

[0112] Step 3: Closed-loop drive control ( Figure 3 , Figure 4 and Figure 5 ).

[0113] The control board 201 reads the actual azimuth angle (CurrentAzimuth) of the current mounting frame 106 measured by the azimuth sensing module 202 (S307, S508). Compare the target azimuth angle (Target Azimuth) with the actual azimuth angle (CurrentAzimuth), and calculate the required rotation angle difference (ΔAzimuth) (S308).

[0114] If the angle difference is greater than the preset minimum adjustment threshold (e.g., ), (S309), then send a command to the motor drive module 203 (S310) to control the stepper motor 105 to rotate precisely by an angle of ΔAzimuth. The command includes the rotation direction and the number of steps (or angle value).

[0115] During or after the motor rotation, measure the actually reached azimuth angle again through the azimuth sensing module 202 (S311, S509).

[0116] Compare the actually reached angle with the target angle (S312). If the error is within the allowable range (e.g., ±0.5°), then this adjustment is completed (S314), and wait for the next control cycle.

[0117] If the error exceeds the allowable range (judged as yes in S312), then it is judged that the stepper motor may have lost steps or the transmission mechanism may be stuck. The system records an error event (S313), and when calculating the target angle in the next control cycle, this error is taken into account for compensation adjustment (i.e., target angle = astronomical calculation angle + last error). If large errors occur continuously for multiple times, the system can be judged as a failure, generate a failure code and report it to the cloud platform (S510, S511).

[0118] This closed-loop control method based on the real-time feedback of a high-precision azimuth sensor effectively overcomes the cumulative error problem that may exist in the open-loop stepper motor system and ensures the tracking accuracy.

[0119] Figure 4 and Figure 5 describe the automatic north-finding and closed-loop control process of the present invention, and add the limit switch calibration and magnetic storm processing functions. First, the system is initialized in step S501, then the magnetic sensor and gyroscope data are read in step S502, and the sensor calibration is performed in step S503. The magnetic north azimuth angle is calculated in step S504, and the local magnetic declination is compensated to obtain the true north direction in step S505.

[0120] The newly added step S515 shows that the system will touch the limit switch to perform angle calibration and determine the precise position of the limit switch relative to geographic true north. Step S506 stores the zero offset and limit position information, and step S507 enters tracking mode. In daily operation, the system monitors the actual azimuth of the bracket in real time through step S508.

[0121] The newly added step S514 detects whether the system is in magnetic storm mode. If so, it proceeds to step S516 and tracks only using astronomical algorithms and motor counts without temporarily relying on magnetic sensor data; if not, it executes the normal closed-loop control process.

[0122] Step S517 determines whether it is sunset time. If yes, step S518 is executed to rotate the bracket to the initial position and touch the limit switch for calibration. This daily calibration mechanism ensures the accuracy of the long-term operation of the system.

[0123] This design not only simplifies the installation and debugging process, but also ensures high-precision tracking during long-term operation. It can maintain accurate tracking even when the motor is slightly out of step or magnetic storms interfere with the magnetic sensor, significantly improving the reliability and accuracy of the system.

[0124] Example 3: Regionalized coordinated wind protection strategy This embodiment describes how the system implements intelligent regional gale protection. The regional gale protection strategy process of the present invention clearly distinguishes the roles and collaboration methods of the three entities in the system: Equipment with wind sensor: In step S401, connect the wind speed and direction sensor, in step S402, set the wind speed alarm threshold and return threshold, and in step S403, determine whether the wind speed exceeds the alarm threshold. When the wind speed exceeds the threshold, immediately report the data in step S404 and enter the high wind warning state. In step S410, determine whether the wind speed is lower than the return threshold and lasts for a preset time. If so, cancel the warning state and send a release signal in step S411A. If not, maintain a safe position in step S409A.

[0125] Cloud platform: As a coordination center, it receives wind data and determines the affected area in step S405, issues protection instructions to all relevant equipment in step S406, and notifies all equipment to resume normal operation after receiving the release signal in step S412.

[0126] Other devices (without wind sensor): receive the protection instruction from the cloud platform in step S407B, receive the release instruction in step S413B and resume normal tracking.

[0127] All devices, whether equipped with wind sensors or not, will perform the same safety measures after receiving the high wind protection command: Step S408 calculates the safety omnidirectional angle, and Step S409 adjusts to a safe position and locks. This architecture combining distributed monitoring with centralized coordination not only ensures the real-time response capability of the system, but also realizes regional collaborative protection, avoids frequent switching when the wind speed fluctuates near the critical value, and significantly improves the safety and reliability of the system under severe weather conditions.

[0128] In an installation area (such as an industrial park or a section of road), select one or several representative locations of the device, connect an external wind speed and direction sensor (such as ultrasonic or mechanical), and connect it to the control panel of the device through the RS485 interface. These devices with wind sensors play the role of wind condition monitoring stations in the entire system.

[0129] In addition to performing its own tracking tasks, the device with a wind sensor is also responsible for reading the data of the wind speed and direction sensor (step S401). The control panel is equipped with two key threshold parameters: the wind speed alarm threshold (e.g., level 8 wind, about 17.2-20.7m / s) and the wind speed alarm return threshold (e.g., level 6 wind, about 10.8-13.8m / s10.8-13.8m / s). These two thresholds can be set remotely through the cloud platform or by the mobile phone App through the Bluetooth interface (step S402).

[0130] The device with the wind sensor continuously monitors the wind speed and compares it with the wind speed alarm threshold. If the wind speed is detected to exceed the wind speed alarm threshold (step S403), the device immediately reports the wind speed and direction data to the cloud platform management system, and enters the high wind warning state internally, and continuously reports the wind speed and direction data at a higher frequency (for example, once every 30 seconds) (step S404), so that the cloud platform can grasp the wind condition changes in real time.

[0131] After receiving the high wind warning data, the cloud platform screens out a list of all devices that need to perform protection actions in the area based on the sensor device ID and its geographical location of the reported data, combined with a preset protection radius (e.g., 500 meters or 1 kilometer) (step S405), including the device itself with a wind sensor and other devices without a wind sensor.

[0132] The cloud platform immediately sends an "enter high wind protection mode" instruction to all devices in the list through the 4G network (step S406), and the instruction usually includes the current real-time wind direction data.

[0133] All devices that receive the instruction (including devices with wind sensors and devices without wind sensors) immediately interrupt the normal sun tracking logic and enter the high wind protection mode (step S407) after receiving the protection instruction. Based on the received wind direction data, the device calculates the azimuth angle that minimizes the wind resistance of the photovoltaic module (usually making the module plane parallel or nearly parallel to the wind direction, that is, the azimuth angle is perpendicular to the wind direction).

[0134] All equipment control panels drive the motors at the fastest speed to rotate the mounting frame to the calculated safe omnidirectional angle and lock the position (step S408).

[0135] At the same time, the device with the wind sensor continuously monitors the wind speed (step S409). When the wind speed drops below the wind speed alarm return threshold (step S410), the device will not immediately cancel the high wind warning state, but start a timer (for example, 5 minutes). Only when the wind speed continues to remain at a safe level during this period of time will the internal high wind warning state be canceled, the normal data reporting frequency will be restored, and a high wind warning cancellation signal will be sent to the cloud platform (step S411).

[0136] After receiving the release signal, the cloud platform confirms that the risk has been eliminated, and then sends an "exit high wind protection mode" instruction to all devices in the area (step S412).

[0137] After all devices receive the release command, they resume the normal sun tracking mode based on the astronomical algorithm (step S413).

[0138] This regional protection strategy based on dual-threshold control (wind speed alarm threshold and wind speed alarm return threshold) avoids frequent switching when the wind speed fluctuates near the critical value, thereby improving the stability of the system. At the same time, cloud platform collaborative control expands the protection range and can more effectively respond to sudden regional strong winds, thereby improving the safety and reliability of the entire system.

[0139] Example 4: Energy management and all-weather lighting This embodiment focuses on the energy management and street lighting functions of the system.

[0140] Energy Management: The high-power photovoltaic module 107 (total capacity, for example, 4-5kWp) generates a large amount of electricity when the sunshine is good. This electricity is first converted into a low-voltage direct current (12V or 24V) suitable for charging the battery by a high-efficiency DC / DC converter 210 (for example, MPPT efficiency> 98%).

[0141] A part of the converted electric energy is directly supplied to the self - loads such as the tracking control system control board 201 and the motor 105, and the other part is used to charge the large - capacity lithium - battery pack 211 through the BMS212. The BMS212 adopts a multi - stage intelligent charging strategy (constant current, constant voltage, trickle) to ensure safe and efficient battery charging.

[0142] Since the photovoltaic capacity is much larger than that of traditional solar street lamps (traditionally only 50 - 100W), even in rainy and cloudy weather, the photovoltaic modules can still generate considerable electricity (such as dozens of watts to hundreds of watts), which is sufficient to maintain the basic charging of the battery or at least significantly slow down the self - discharge of the battery.

[0143] Street - lamp lighting: At night or when the light is insufficient, the system draws power from the lithium - battery pack 211 through the BMS212 and supplies it to the LED street - lamp lighting device 108. The street - lamp lighting system uses high - brightness LED light sources with a rated power of 50 - 150W, which are selected according to the type of the installed road and lighting requirements.

[0144] The control of the street lamp can be directly managed by the tracking control board 201 or connected to a dedicated street - lamp controller (as a Modbus slave) through RS485. The control logic includes: 1. Automatic switch: According to the sunrise and sunset times calculated by the internal clock and astronomical algorithm, or by judging the ambient brightness through a photosensitive sensor (optional configuration), the street lamp is automatically turned on and off.

[0145] 2. Intelligent dimming: According to the preset time strategy (such as reducing the brightness at midnight) or real - time traffic flow (requiring additional sensors), the LED driver is adjusted through a PWM signal to achieve multi - level brightness control, saving energy and reducing consumption. The lighting control adopts PWM dimming technology, supporting stepless dimming from 0 - 100%.

[0146] 3. Remote control: The cloud - platform management system 220 can remotely control the on - off state and brightness of the street lamp.

[0147] Benefiting from the large - capacity photovoltaic and battery systems, the present invention can ensure that the street lamp can still provide normal, full - power (or dimmed as required) lighting for several consecutive rainy and cloudy days (such as 5 - 7 days or even longer), solving the problem of low lighting rate of traditional solar street lamps. According to the measured data, the average power generation of a 5kW photovoltaic system in rainy and cloudy weather is 200 - 500Wh per day, which is sufficient to meet the lighting requirements of a 100W street lamp for 10 hours every night.

[0148] Example 5: Application - scenario expansion The system structure and technical characteristics of the present invention make it applicable to various scenarios that are difficult to cover by traditional distributed photovoltaics: 1. Roads in industrial parks and economic development zones: Installed using the space on both sides of the internal roads in the park, it provides green electricity for the park while meeting the road lighting needs. The project decision-making level is relatively low (the park management committee), making it easy to promote.

[0149] 2. Rural township roads: Installed on the roads around villages and towns, the generated electricity can be connected to the village transformer for grid connection nearby, improving rural infrastructure and contributing to rural revitalization.

[0150] 3. County roads, township roads, and village roads: Cooperate with local governments to deploy on a large scale on both sides of roads at all levels within the county territory to form a distributed energy network, with huge market potential.

[0151] 4. Road lighting and photovoltaic power generation in commercial areas and scenic spots: Installed on the roads and parking lots in commercial areas and scenic spots, it provides lighting while generating photovoltaic power, improving the utilization rate of green energy on the site.

[0152] 5. Large factories, ports, and airports: Utilize the vast road and open space resources within the enterprise to meet part of its own electricity demand while reducing carbon emissions.

[0153] 6. Highway service areas and large parking lots: Provide part of the power source for lighting and charging piles, promoting the development of green transportation.

[0154] The exploration of these new scenarios not only solves the bottleneck problem of photovoltaic installation site resources but also provides new business models and growth points for investors. By combining the vertical-axis photovoltaic tracking technology with street lighting, the present invention makes full use of road resources, creates new distributed photovoltaic application scenarios, and at the same time solves the problem of insufficient power of traditional solar street lights, with significant economic and social benefits.

[0155] A single-column vertical-axis photovoltaic tracking system integrated with a street lamp and its control method provided by the present invention effectively solves many pain points of the prior art through innovative structural design, advanced control algorithms (astronomical algorithms), high-precision sensor fusion technology (automatic north finding, closed-loop control), reliable energy management solutions, and intelligent cloud platform management, realizing the unity of efficient power generation, reliable lighting, and intelligent operation and maintenance, with significant technological progress.

[0156] Compared with the traditional solution, the advantages of the present invention are concentrated in: The single-column vertical-axis design simplifies the structure and improves the stability, and is especially suitable for installation in linear spaces such as both sides of roads; Accurate tracking based on astronomical algorithms gets rid of the dependence on photosensitive sensors and works reliably all day long; The automatic north-finding function simplifies the installation and debugging process and improves the installation efficiency and accuracy; The closed-loop control solves the problem of stepper motor out-of-step and ensures long-term stable operation; The regionalized strong wind protection strategy improves the safety and reliability of the system; The integration of large-capacity photovoltaic and street lights solves the problem of low lighting rate of traditional solar street lights on rainy and cloudy days; The intelligent cloud platform management greatly reduces the operation and maintenance costs and improves the management efficiency; The use of long-life stepper motors to replace traditional carbon brush motors meets the 25-year design life requirement of the system, and at the same time provides more precise angle control to achieve high-precision tracking.

[0157] Those skilled in the art should understand that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A single-pole vertical-axis photovoltaic tracking system integrated with street lamps, characterized in that, Comprising: A photovoltaic module support structure, including a vertically installed column, with a drive mounting assembly and a mounting frame body that can rotate around a vertical axis at the top of the column. Multiple solar photovoltaic modules are inclinedly installed on the mounting frame body, and an LED street lamp lighting device is installed in the upper middle part of the column; A tracking control system, arranged in a control box on the column, including a microprocessor, a memory, an azimuth sensing module, a motor drive module, a communication interface module, and a power management unit; the azimuth sensing module integrates a three-axis magnetic sensor and a three-axis gyroscope, and is used to detect the azimuth angle and attitude of the support in real time and achieve the function of automatically finding north; An energy management system, including a DC / DC converter, a lithium battery pack, and a battery management system; the DC / DC converter converts the high-voltage direct current generated by the photovoltaic module into low-voltage direct current, which is used to charge the lithium battery pack and supply power to the control system and the street lamp; A cloud platform management system, connected to the tracking control system through a 4G network, providing functions such as device monitoring, data analysis, remote configuration, fault diagnosis, and regional collaborative control; A limit protection device, including at least two limit switches arranged within the rotation range of the mounting frame body, used to limit the rotation range of the mounting frame body and provide a position calibration reference point for the system.

2. The single-column vertical-axis photovoltaic tracking system for an integrated street lamp according to claim 1, wherein The drive mounting assembly includes a slewing bearing, a speed reducer, and a stepping motor, where the stepping motor is used to drive the mounting frame body to rotate, meeting the requirements of long service life and high-precision angle control of the system.

3. The single-column vertical-axis photovoltaic tracking system for integrated street lamps according to claim 1, wherein The azimuth sensing module and the motor drive module are combined to form a closed-loop control system, which can detect and compensate for motor out-of-step to ensure tracking accuracy.

4. The single-pillar vertical-axis photovoltaic tracking system for integrated street lamps according to claim 1, characterized in that, The tracking control system also includes a Bluetooth module and an RS485 interface, where the RS485 interface is used to connect external devices, including a wind speed and direction sensor.

5. The single-column vertical-axis photovoltaic tracking system of the integrated street lamp according to claim 1, characterized in that The cloud platform management system also includes a regionalized strong wind protection strategy function based on dual-threshold control, receiving data reported by devices with wind sensors, and sending protection instructions to devices within the region to rotate the photovoltaic support to the safe angle with the minimum wind resistance.

6. The single-pillar vertical-axis photovoltaic tracking system of the integrated street lamp according to claim 1, wherein, The limit protection device includes two limit switches located at the northwest corner and the northeast corner of the rotation range of the mounting frame body, restricting the rotation angle within about 240 degrees, and the system can automatically calculate the angle deviation of these two limit switches relative to the true north direction of the earth.

7. A control method for a single-column vertical-axis photovoltaic tracking system of an integrated street lamp as described in any one of claims 1-6, characterized in that, Including the following steps: Initialization and automatic north finding: After the system is powered on, the tracking control system uses the data of the azimuth sensing module to calculate and compensate for the local magnetic declination, and automatically determines the true north direction of the earth as the reference zero point; Astronomical algorithm tracking: The tracking control system calculates the solar azimuth angle using an astronomical algorithm model according to the geographical location and real-time time, and determines the best orientation of the photovoltaic module; Closed-loop drive control: The microprocessor issues an instruction to drive the motor to rotate the mounting frame body, and uses the azimuth sensing module to detect the deviation between the actual azimuth angle and the target azimuth angle in real time, and compensates and adjusts in the next control cycle; Regionalized high wind protection: When a device with a wind sensor detects that the wind speed exceeds the wind speed alarm threshold, it immediately reports the data and notifies the cloud platform; the cloud platform issues protection instructions to the devices in the area; all devices adjust the photovoltaic bracket to a safe angle; when the wind speed drops below the wind speed alarm return threshold and lasts for a preset time, the normal tracking mode is restored; Daily position calibration: After sunset, the system controls the mounting frame to rotate back to the initial position and touch the limit switch to automatically calibrate the angle and correct the error accumulated during a day's operation; Magnetic storm response strategy: The cloud platform determines whether a magnetic storm has occurred by monitoring the magnetic sensor data of devices across the entire network. If it is determined to be a magnetic storm, it will issue instructions to make the device temporarily ignore the magnetic sensor data and rely only on astronomical algorithms and stepper motor counts to maintain normal tracking, and correct the loss of step error by resetting the limit switch every day.

8. The control method according to claim 7, wherein The regionalized high wind protection specifically includes: Set the wind speed alarm threshold and wind speed alarm return threshold. The former is higher than the latter to form a dual threshold control. When the wind speed exceeds the wind speed alarm threshold, the device enters the high wind warning state; When the wind speed drops below the wind speed alarm return threshold and lasts for a preset time, the device cancels the high wind warning state and sends a cancellation signal; Based on this dual threshold mechanism, frequent switching when the wind speed fluctuates around the critical value is avoided.

9. The control method according to claim 7, characterized in that, The closed-loop drive control for processing the orientation deviation includes: Check whether the position deviation exceeds the critical threshold. If so, generate a fault code and report it to the cloud platform; Check whether there is a slight deviation. If so, record the deviation value for the next tracking and compensation; This mechanism forms a true closed-loop control, automatically correcting slight step loss of the motor.

10. The control method according to claim 7, characterized in that The magnetic storm response strategy specifically includes: The cloud platform monitors the magnetic sensor data of all devices in real time. When global abnormal fluctuations are detected, it is determined to be a magnetic storm event. The cloud platform sends a "magnetic storm mode" command to all devices. After receiving the command, the devices temporarily disable magnetic sensor data input; The device relies solely on astronomical algorithm calculations and stepper motor counts to determine position and perform tracking during magnetic storms; Perform position calibration by touching the limit switch every day after sunset to reset the accumulated position error of the stepper motor; After the magnetic storm ends, the cloud platform issues a release command and the system returns to normal closed-loop control mode.

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