Photo-thermal heliostat tracking control method and system based on sunlight sensor

Abstract

The invention discloses a photo-thermal heliostat tracking control method and system based on a sunlight sensor, and relates to the technical field of photo-thermal heliostat tracking control, and the photo-thermal heliostat tracking control method based on the sunlight sensor comprises the following steps: S1, light path calculation; s2, light sensation installation; s3, performing real-time tracking judgment; s4, performing real-time control; and S5, performing feedback correction. According to the photo-thermal heliostat tracking control method and system based on the sunlight sensor, the actual light path after reflection of the heliostat is directly detected through light sensation, the angle is fed back and adjusted in real time, various errors can be effectively overcome, it is directly guaranteed that reflected light is accurately projected to a heat absorber of a condensation tower according to the set light path, the stability of tracking precision is greatly improved, and the tracking precision is improved. And complicated error modeling and frequent calibration are not needed, so that the design, installation, debugging, operation and maintenance difficulty of the system is remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tracking control of photothermal heliostats, and in particular to a tracking control method and system for photothermal heliostats based on sunlight sensors. Background Art

[0002] Currently, the control methods for solar thermal tracking basically adopt the technical route of theoretical calculation plus error correction. The biggest problem with this method is that too many factors affect tracking, such as installation error and processing error. Some error factors are even dynamically changing, such as foundation settlement. Using this method requires establishing a large system multi-degree-of-freedom kinematic model that includes errors, and then finding the error value and substituting it into the model for correction. This is very complicated, and the error situation of each heliostat is different. Due to the dynamic change of the error, it is necessary to continuously correct and calibrate it over a certain period of time until the error stabilizes. This brings great difficulties to installation, commissioning, operation and maintenance, and affects the power output and power generation revenue of the power station. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention provides a solar thermal heliostat tracking control method and system based on a sunlight sensor, which solves the problems raised in the above background technology.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a solar thermal heliostat tracking control method and system based on a sunlight sensor, the solar thermal heliostat tracking control method based on a sunlight sensor comprising the following steps:

[0005] S1. Light path calculation:

[0006] Based on the position and attitude of the heliostat, the normal vector is obtained, and the incident direction of the sunlight, that is, the incident light vector, is determined. The reflected light vector is then substituted into the formula to calculate the central optical path of the light after it is reflected by the heliostat. The formula is as follows:

[0007]

[0008] in,

[0009] is the incident light vector, is the normal vector of the heliostat surface, is the reflected light vector;

[0010] S2. Light sensor installation:

[0011] Based on the relative position relationship between the heliostat and the concentrating tower, combined with the calculated reflected light path, the installation position of the light sensor is preliminarily determined on the center line of the reflected light path. Then, the sunlight sensor is preliminarily fixed to the bracket with an adjustable function using screws. By adjusting the angle, height, and level of the bracket, the sunlight sensor and its photosensitive element are placed in the reflected light path.

[0012] S3. Real-time tracking and judgment:

[0013] In the sunlight path after being reflected by the heliostat, the upper and lower and left and right photosensitive elements of the sunlight sensor respectively output electrical signals. The control system analyzes the signals output by the light sensor and calculates the difference between the output signals of the upper and lower and left and right photosensitive elements. The difference calculation formula is as follows:

[0014] The voltage difference is used for calculation. The formula for calculating the difference in the up and down directions is as follows:

[0015] ΔV 上下 =V 上 -V 下

[0016] Among them, V 上 is the output voltage of the upper photosensitive element, V 下 is the output voltage of the lower photosensitive element, ΔV 上下 is the difference in the up and down directions;

[0017] Similarly, the left and right direction difference is calculated as follows:

[0018] ΔV 左右 =V 左 -V 右

[0019] Among them, V 左 is the output voltage of the left photosensitive element, V 右 is the output voltage of the right photosensitive element, ΔV 左右 is the difference in left and right directions;

[0020] S4. Real-time control:

[0021] When an imbalance in the sunlight sensor output is detected, the control system calculates the angle value that the heliostat needs to be adjusted based on the difference in the sunlight sensor output signal. Subsequently, the control system sends a command to the heliostat's drive device to drive the heliostat to rotate the corresponding angle;

[0022] S5. Feedback correction:

[0023] After the heliostat adjusts its angle, the sunlight sensor continues to detect the reflected light path and feeds the new detection signal back to the control system. If the light sensor output is still unbalanced, steps S3 and S4 are repeated until the light sensor output is balanced. That is, the difference in the output signal of the upper and lower and left and right photosensitive elements is within the error range. At this point, the tracking is considered accurate.

[0024] Furthermore, in step S1, I x , I y , I z Used to represent the incident light vector Components in the x-axis, y-axis, and z-axis directions in a three-dimensional rectangular coordinate system;

[0025] N x , N y , N z Used to represent the surface normal vector of the heliostat Components in the x-axis, y-axis, and z-axis directions;

[0026] R x , R y , R z Used to represent the reflected light vector The components along the x-axis, y-axis, and z-axis in a three-dimensional rectangular coordinate system.

[0027] Furthermore, in step S2, the sunlight sensor has four photosensitive elements, and the four photosensitive elements are respectively located at the top, bottom, left and right.

[0028] Furthermore, in step S3, if the difference is zero or within the set error range, it indicates that the heliostat angle is accurate and the reflected light is on the predetermined optical path. If the difference exceeds the error range, it indicates that the heliostat angle is inaccurate. The specific judgment is as follows:

[0029] Compare the calculated difference with the preset error range. If |ΔV 上下 |≤ε 上下 and |ΔV 左右 |≤ε 左右 ,

[0030] If the condition is not met, it means that the heliostat angle is accurate. If the condition is not met, it means that the heliostat angle has deviation. The control system calculates the adjustment parameters according to the difference and drives the heliostat to adjust the angle.

[0031] Furthermore, the ε 上下 , ε 左右 Error thresholds set for up and down, left and right directions respectively.

[0032] Furthermore, in step S4, the angle value of the heliostat that needs to be adjusted is calculated, and the physical model of the angle adjustment is as follows:

[0033] According to the law of reflection of light, the relationship between the change in the direction of the reflected light and the change in the mirror normal is:

[0034]

[0035] in, is the direction change vector of the reflected light, is the mirror normal direction change vector, is the incident light unit vector, is the mirror normal unit vector;

[0036] In the small angle approximation, that is, θ << 1.7 mrad, the change in the angle of the reflected light is twice the change in the angle of the mirror normal:

[0037] Δθ 反射 ≈2·Δθ 镜面 .

[0038] Furthermore, based on the linear mapping of the sensor error signal, the sensor output difference is linearly mapped to the angle adjustment amount:

[0039] Δθ 方位 =K 方位 ΔV 左右

[0040] Δθ 仰角 =K 仰角 ΔV 上下

[0041] Among them, K 方位 and K 仰角 is the proportional coefficient, and both are determined by calibration;

[0042] ΔV 左右 and ΔV 上下 is the output difference;

[0043] Δθ 方位 is the azimuth angle change of the heliostat that needs to be adjusted, Δθ 仰角 The elevation angle change that needs to be adjusted for the heliostat.

[0044] Furthermore, given the distance L between the light sensor and the heliostat and the light spot offset d, the angle can be calculated using trigonometric functions:

[0045]

[0046] Among them, d 左右 and d 上下 is the offset distance of the light spot on the light-sensing plane;

[0047] L is the vertical distance from the light sensor to the heliostat.

[0048] Furthermore, the PID algorithm is used to calculate the angle adjustment:

[0049]

[0050] Among them, e(t) is the error signal at the current moment, such as ΔV 左右 or ΔV 上下 ;

[0051] K p , K i , K d are proportional, integral, and differential coefficients respectively;

[0052] Δθ(t) is the angle that needs to be adjusted at the current moment;

[0053] Coefficient calibration method:

[0054] Static calibration method: Fix the heliostat at a known angle θ1, record the light sensor output V1, adjust the heliostat to another angle θ2, record the light sensor output V2, and calculate the proportional coefficient:

[0055]

[0056] Dynamic calibration method: Through the system identification method, input the step signal and record the system response to fit the PID parameters;

[0057] Apply a known angle step Δθ, record the sensor output curve V(t) over time, and use the least squares method to fit K p , K i , K d ;

[0058] Combining the above model, the complete angle adjustment formula is expressed as:

[0059]

[0060]

[0061] A system is provided, which is applied with the above-mentioned solar sensor-based photothermal heliostat tracking control method.

[0062] The present invention provides a solar thermal heliostat tracking control method and system based on a sunlight sensor, which has the following beneficial effects:

[0063] 1. This solar light sensor-based tracking and control method and system for solar thermal heliostats uses light sensors to directly detect the actual light path after reflection from the heliostat, providing real-time feedback and adjusting the angle. This method effectively overcomes various errors and ensures that reflected light is accurately projected onto the concentrating tower receiver along the established optical path. This significantly improves the stability of tracking accuracy and eliminates the need for complex error modeling and frequent calibration, significantly reducing the difficulty of system design, installation, commissioning, and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 Schematic diagram of the tracking principle of the photothermal heliostat of the present invention;

[0065] Figure 2 It is a schematic diagram of the steps of the present invention. DETAILED DESCRIPTION

[0066] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0067] like Figure 1-Figure 2 As shown, the present invention provides a technical solution: a solar thermal heliostat tracking control method and system based on a sunlight sensor, the solar thermal heliostat tracking control method based on a sunlight sensor includes the following steps:

[0068] S1. Light path calculation:

[0069] Based on the position and attitude of the heliostat, the normal vector is obtained, and the incident direction of the sunlight, that is, the incident light vector, is determined. The reflected light vector is then substituted into the formula to calculate the central optical path of the light after it is reflected by the heliostat. The formula is as follows:

[0070]

[0071] in,

[0072] is the incident light vector, is the normal vector of the heliostat surface, is the reflected light vector;

[0073] I x , I y , I z Used to represent the incident light vector Components in the x-axis, y-axis, and z-axis directions in a three-dimensional rectangular coordinate system;

[0074] N x , N y , N z Used to represent the surface normal vector of the heliostat Components in the x-axis, y-axis, and z-axis directions;

[0075] R x , R y , R z Used to represent the reflected light vector Components along the x-axis, y-axis, and z-axis in a three-dimensional rectangular coordinate system;

[0076] S2. Light sensor installation:

[0077] Based on the relative position relationship between the heliostat and the concentrating tower, combined with the calculated reflected light path, the installation position of the light sensor is preliminarily determined on the center line of the reflected light path. Then, the sunlight sensor is preliminarily fixed to the bracket with an adjustable function using screws. By adjusting the angle, height, and level of the bracket, the sunlight sensor and its photosensitive element are placed in the reflected light path.

[0078] The sunlight sensor has four photosensitive elements, which are located at the top, bottom, left and right respectively;

[0079] S3. Real-time tracking and judgment:

[0080] In the sunlight path after being reflected by the heliostat, the upper and lower and left and right photosensitive elements of the sunlight sensor respectively output electrical signals. The control system analyzes the signals output by the light sensor and calculates the difference between the output signals of the upper and lower and left and right photosensitive elements. The difference calculation formula is as follows:

[0081] The voltage difference is used for calculation. The formula for calculating the difference in the up and down directions is as follows:

[0082] ΔV 上下 =V 上 -V 下

[0083] Among them, V 上 is the output voltage of the upper photosensitive element, V 下 is the output voltage of the lower photosensitive element, ΔV 上下 is the difference in the up and down directions;

[0084] Similarly, the left and right direction difference is calculated as follows:

[0085] ΔV 左右 =V 左 -V 右

[0086] Among them, V 左 is the output voltage of the left photosensitive element, V 右 is the output voltage of the right photosensitive element, ΔV 左右 is the difference in left and right directions;

[0087] If the difference is zero or within the set error range, it indicates that the heliostat angle is accurate and the reflected light is on the predetermined optical path. If the difference exceeds the error range, it indicates that the heliostat angle is inaccurate. The specific judgment is as follows:

[0088] Compare the calculated difference with the preset error range. If |ΔV 上下 |≤ε 上下 and |ΔV 左右 |≤ε 左右 ,

[0089] If the condition is not met, it means that the heliostat angle is accurate. If the condition is not met, it means that the heliostat angle is deviated. The control system calculates the adjustment parameters according to the difference and drives the heliostat to adjust the angle.

[0090] ε 上下 , ε 左右 The error thresholds are set for up and down, left and right directions respectively;

[0091] S4. Real-time control:

[0092] When an imbalance in the sunlight sensor output is detected, the control system calculates the angle value that the heliostat needs to be adjusted based on the difference in the sunlight sensor output signal. Subsequently, the control system sends a command to the heliostat's drive device to drive the heliostat to rotate the corresponding angle;

[0093] Calculate the angle value that needs to be adjusted for the heliostat. The physical model for angle adjustment is as follows:

[0094] According to the law of reflection of light, the relationship between the change in the direction of the reflected light and the change in the mirror normal is:

[0095]

[0096] in, is the direction change vector of the reflected light, is the mirror normal direction change vector, is the incident light unit vector, is the mirror normal unit vector;

[0097] In the small angle approximation, that is, θ << 1.7 mrad, the change in the angle of the reflected light is twice the change in the angle of the mirror normal:

[0098] Δθ 反射 ≈2·Δθ 镜面

[0099] Based on the linear mapping of the sensor error signal, the sensor output difference is linearly mapped to the angle adjustment amount:

[0100] Δθ 方位 =K 方位 ΔV左右

[0101] Δθ 仰角 =K 仰角 ΔV 上下

[0102] Among them, K 方位 and K 仰角 is the proportional coefficient, and both are determined by calibration;

[0103] ΔV 左右 and ΔV 上下 is the output difference;

[0104] Δθ 方位 is the azimuth angle change of the heliostat that needs to be adjusted, Δθ 仰角 is the elevation angle change that needs to be adjusted for the heliostat;

[0105] Given the distance L between the light sensor and the heliostat and the light spot offset d, the angle can be calculated using trigonometric functions:

[0106]

[0107] Among them, d 左右 and d 上下 is the offset distance of the light spot on the light-sensing plane;

[0108] L is the vertical distance from the light sensor to the heliostat;

[0109] Use the PID algorithm to calculate the angle adjustment:

[0110]

[0111] Among them, e(t) is the error signal at the current moment, such as ΔV 左右 or ΔV 上下 ;

[0112] K p , K i , K d are proportional, integral, and differential coefficients respectively;

[0113] Δθ(t) is the angle that needs to be adjusted at the current moment;

[0114] Coefficient calibration method:

[0115] The coefficient calibration method is a necessary prerequisite for calculating the heliostat adjustment angle value. Its core function is to establish a quantitative mapping relationship between "sensor signal" and "physical angle", and it serves as a "translation" bridge from signal to angle.

[0116] The coefficient calibration method includes a static calibration method: fix the heliostat at a known angle θ1, record the light sensor output V1, adjust the heliostat to another angle θ2, record the light sensor output V2, and calculate the proportional coefficient:

[0117]

[0118] The coefficient calibration method also includes dynamic calibration method: through the system identification method, input the step signal and record the system response to fit the PID parameters;

[0119] Apply a known angle step Δθ, record the sensor output curve V(t) over time, and use the least squares method to fit K p , K i , K d ;

[0120] Combining the above model, the complete angle adjustment formula is expressed as:

[0121]

[0122] S5. Feedback correction:

[0123] After the heliostat adjusts its angle, the sunlight sensor continues to detect the reflected light path and feeds the new detection signal back to the control system. If the light sensor output is still unbalanced, steps S3 and S4 are repeated until the light sensor output is balanced. That is, the difference in the output signal of the upper and lower and left and right photosensitive elements is within the error range. At this point, the tracking is considered accurate.

[0124] Based on the above description, compared with the existing technology, the present invention relies on theoretical calculations and error correction, which is affected by various error factors such as installation and processing. In addition, some errors change dynamically, making accurate correction difficult. In contrast, the present invention directly detects the actual light path after reflection from the heliostat through light sensing, provides real-time feedback, and adjusts the angle. This effectively overcomes various errors, directly ensuring that the reflected light is accurately projected onto the concentrating tower heat absorber along the established optical path, and significantly improves the stability of tracking accuracy.

[0125] Traditional methods require building a large-scale, multi-degree-of-freedom kinematic model that includes errors, and continuously correcting and calibrating for the different errors of each heliostat, a highly complex process. However, this invention simplifies the process, eliminating the need for complex error modeling and frequent calibration. Instead, it only requires ensuring accurate installation and debugging of the light sensor, significantly reducing the difficulty of system design, installation, debugging, and maintenance.

[0126] Because the error in the existing technology changes dynamically, continuous correction and calibration are required, resulting in fluctuations in tracking accuracy. However, the present invention, with real-time light sensor feedback as its core, can quickly respond to changes in the environment or equipment, adjust the heliostat angle in a timely manner, maintain long-term stability in tracking accuracy, and reduce power loss caused by accuracy fluctuations.

[0127] The complex error correction process of traditional solutions makes installation, commissioning, and operation and maintenance arduous, with high manpower, time, and financial costs. However, the present invention simplifies the commissioning process and eliminates the need for frequent calibration during operation, reducing the workload and cost of operation and maintenance. It also reduces the impact of commissioning and maintenance on the normal power generation of the power station, thereby increasing power generation revenue.

[0128] In the face of dynamic error factors such as foundation settlement and equipment aging, the present invention, with its real-time detection and feedback adjustment capabilities of light sensing, can adapt to environmental changes more quickly and effectively than traditional methods, ensuring the continued stable operation of heliostats under complex and changing working conditions.

[0129] A system is provided, which is applied with the above-mentioned solar sensor-based photothermal heliostat tracking control method.

[0130] In summary, the solar thermal heliostat tracking control method and system based on a sunlight sensor, when in use, reflects sunlight onto a concentrating tower. The heliostat follows the movement of the sun, continuously adjusting its reflection angle. It can be deduced that the path of sunlight reflected by the heliostat is fixed, and different heliostats have different optical paths. Therefore, a light sensor (short for a sunlight sensor) can be installed on the central optical path after the heliostat reflects sunlight. The balanced output of the upper and lower and left and right photosensitive elements of the light sensor represents the direction of the optical path. The light sensor detects the path of the reflected sunlight. If the light sensor output is unbalanced, it indicates that the heliostat angle is inaccurate. The heliostat angle is adjusted according to the light sensor output until the light sensor output is balanced, thus achieving accurate tracking. The sunlight reflected by the heliostat is then irradiated onto the heat absorber of the solar thermal concentrating tower along the predetermined optical path.

[0131] The embodiments of the present invention are presented for purposes of illustration and description and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are chosen and described in order to better illustrate the principles of the invention and its practical application and to enable those skilled in the art to understand the invention and design various embodiments with various modifications as suited for specific applications.

Claims

1. A solar thermal heliostat tracking control method based on a sunlight sensor, characterized by: The solar thermal heliostat tracking control method based on sunlight sensor comprises the following steps: S1. Light path calculation: Based on the position and attitude of the heliostat, the normal vector is obtained, and the incident direction of the sunlight, that is, the incident light vector, is determined. The reflected light vector is then substituted into the formula to calculate the central optical path of the light after it is reflected by the heliostat. The formula is as follows: in, is the incident light vector, is the normal vector of the heliostat surface, is the reflected light vector; S2. Light sensor installation: Based on the relative position relationship between the heliostat and the concentrating tower, combined with the calculated reflected light path, the installation position of the light sensor is preliminarily determined on the center line of the reflected light path. Then, the sunlight sensor is preliminarily fixed to the bracket with an adjustable function using screws. By adjusting the angle, height, and level of the bracket, the sunlight sensor and its photosensitive element are placed in the reflected light path. S3. Real-time tracking and judgment: In the sunlight path after being reflected by the heliostat, the upper and lower and left and right photosensitive elements of the sunlight sensor respectively output electrical signals. The control system analyzes the signals output by the light sensor and calculates the difference between the output signals of the upper and lower and left and right photosensitive elements. The difference calculation formula is as follows: The voltage difference is used for calculation. The formula for calculating the difference in the up and down directions is as follows: ΔV 上下 =V 上 -V 下 Among them, V 上 is the output voltage of the upper photosensitive element, V 下 is the output voltage of the lower photosensitive element, ΔV 上下 is the difference in up and down directions; Similarly, the left and right direction difference is calculated as follows: ΔV 左右 =V 左 -V 右 Among them, V 左 is the output voltage of the left photosensitive element, V 右 is the output voltage of the right photosensitive element, ΔV 左右 is the difference in left and right directions; S4. Real-time control: When an imbalance in the sunlight sensor output is detected, the control system calculates the angle value that the heliostat needs to be adjusted based on the difference in the sunlight sensor output signal. Subsequently, the control system sends a command to the heliostat's drive device to drive the heliostat to rotate the corresponding angle; S5. Feedback correction: After the heliostat adjusts its angle, the sunlight sensor continues to detect the reflected light path and feeds the new detection signal back to the control system. If the light sensor output is still unbalanced, steps S3 and S4 are repeated until the light sensor output is balanced. That is, the difference in the output signal of the upper and lower and left and right photosensitive elements is within the error range. At this point, the tracking is considered accurate.

2. The solar thermal heliostat tracking control method based on a sunlight sensor according to claim 1, characterized in that: In the step S1, I x , I y , I z Used to represent the incident light vector Components in the x-axis, y-axis, and z-axis directions in a three-dimensional rectangular coordinate system; N x , N y , N z Used to represent the surface normal vector of the heliostat Components in the x-axis, y-axis, and z-axis directions; R x , R y , R z Used to represent the reflected light vector The components along the x-axis, y-axis, and z-axis in a three-dimensional rectangular coordinate system.

3. The solar thermal heliostat tracking control method based on a sunlight sensor according to claim 1, characterized in that: In step S2, the sunlight sensor has four photosensitive elements, which are located at the top, bottom, left and right sides respectively.

4. The method for tracking and controlling a solar thermal heliostat based on a sunlight sensor according to claim 1, wherein: In step S3, if the difference is zero or within the set error range, it indicates that the heliostat angle is accurate and the reflected light is on the predetermined optical path. If the difference exceeds the error range, it indicates that the heliostat angle is inaccurate. The specific judgment is as follows: Compare the calculated difference with the preset error range. If |ΔV 上下 |≤ε 上下 and |ΔV 左右 |≤ε 左右 , If the condition is not met, it means that the heliostat angle is accurate. If the condition is not met, it means that the heliostat angle has deviation. The control system calculates the adjustment parameters according to the difference and drives the heliostat to adjust the angle.

5. The solar thermal heliostat tracking control method based on sunlight sensor according to claim 4, characterized in that: The ε 上下 , ε 左右 Error thresholds set for up and down, left and right directions respectively.

6. The solar thermal heliostat tracking control method based on sunlight sensor according to claim 1, characterized in that: In step S4, the angle value of the heliostat that needs to be adjusted is calculated. The physical model of the angle adjustment is as follows: According to the law of reflection of light, the relationship between the change in the direction of the reflected light and the change in the mirror normal is: in, is the direction change vector of the reflected light, is the mirror normal direction change vector, is the incident light unit vector, is the mirror normal unit vector; In the small angle approximation, that is, θ << 1.7 mrad, the change in the angle of the reflected light is twice the change in the angle of the mirror normal: Dth 反射 ≈2·Δθ 镜面 。 7. The solar thermal heliostat tracking control method based on sunlight sensor according to claim 6, characterized in that: Based on the linear mapping of the sensor error signal, the sensor output difference is linearly mapped to the angle adjustment amount: Dth 方位 =K 方位 ·ΔV 左右 Dth 仰角 =K 仰角 ·ΔV 上下 Among them, K 方位 and K 仰角 is the proportional coefficient, and both are determined by calibration; ΔV 左右 and ΔV 上下 is the output difference; Δθ 方位 is the azimuth angle change of the heliostat that needs to be adjusted, Δθ 仰角 The elevation angle change that needs to be adjusted for the heliostat.

8. The solar thermal heliostat tracking control method based on sunlight sensor according to claim 7, characterized in that: Given the distance L between the light sensor and the heliostat and the light spot offset d, the angle can be calculated using trigonometric functions: Among them, d 左右 and d 上下 is the offset distance of the light spot on the light-sensing plane; L is the vertical distance from the light sensor to the heliostat.

9. The solar thermal heliostat tracking control method based on sunlight sensor according to claim 8, characterized in that: Use the PID algorithm to calculate the angle adjustment: Among them, e(t) is the error signal at the current moment, such as ΔV 左右 or ΔV 上下 ; K p , K i , K d are proportional, integral, and differential coefficients respectively; Δθ(t) is the angle that needs to be adjusted at the current moment; Coefficient calibration method: Static calibration method: Fix the heliostat at a known angle θ1, record the light sensor output V1, adjust the heliostat to another angle θ2, record the light sensor output V2, and calculate the proportional coefficient: Dynamic calibration method: Through the system identification method, input the step signal and record the system response to fit the PID parameters; Apply a known angle step Δθ, record the sensor output curve V(t) over time, and use the least squares method to fit K p , K i , K d ; Combining the above model, the complete angle adjustment formula is expressed as:

10. A system, characterized in that: The invention is applied to the solar thermal heliostat tracking control method based on sunlight sensor as described in any one of claims 1 to 9.

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