Sunlight energy optical fiber leading-in system capable of tracking in real time

Abstract

The invention relates to the technical field of solar energy utilization, and discloses a real-time tracking solar energy optical fiber leading-in system. The system comprises a sun position data acquisition module, a model establishment and illumination intensity classification module, a weak illumination intensity optical fiber import module and a strong illumination intensity optical fiber import module. The method comprises the following steps: firstly, acquiring sun position data, establishing a sunlight vertical incidence model according to the sun position data, and dividing illumination intensity into strong illumination intensity and weak illumination intensity; under the weak illumination intensity, based on a sunlight vertical incidence model, control parameters in a PID controller are optimized, a sun tracking controller is established, and sunlight energy optical fiber introduction under the weak illumination intensity is achieved; under the strong illumination intensity, the outdoor lighting device of the solar energy optical fiber is adjusted in real time, position correction is conducted through an optical fiber coupling dynamic compensation mechanism, and solar energy optical fiber introduction under the strong illumination intensity is achieved. By collecting the solar energy, the purpose of guiding the solar energy into the optical fiber is achieved, and the method is objective and accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of solar energy utilization, and in particular to a real-time tracking solar energy optical fiber introduction system. Background Art

[0002] With the rapid development of renewable energy technologies, direct sunlight utilization has demonstrated significant application value in areas such as building energy conservation, indoor lighting, and plant factories. Traditional solar energy utilization relies primarily on photovoltaic power generation and photothermal conversion, but these technologies suffer from limitations in photoelectric conversion efficiency due to material properties and high energy storage system costs. In recent years, fiber-optic-based direct sunlight integration has garnered attention due to its zero-energy conversion capabilities.

[0003] The solar energy fiber optic introduction system available on the market is a high-tech product that transmits pure sunlight to living spaces that lack sunlight through automatic and precise sun tracking, high-tech lens light collection, fiber optic transmission, and safety lighting. It collects sunlight through high-precision active tracking of the sun by outdoor light collectors, and then uses optical fiber cables to arbitrarily redirect the sunlight to indoor lamps and project it indoors.

[0004] Traditional methods of introducing solar energy into optical fibers usually rely on fixed installation or simple single-axis or dual-axis tracking systems. They lack efficient dynamic tracking mechanisms and cannot achieve high-precision real-time tracking, resulting in low light energy collection efficiency. At the same time, equipment errors and environmental influences such as weather make solar energy fiber-optic introduction systems poorly applicable, making it difficult to solve the problem of poor lighting in buildings. Summary of the Invention

[0005] In response to the problems in the related art, the present invention provides a real-time tracking solar energy optical fiber introduction system to overcome the above-mentioned technical problems existing in the existing related art.

[0006] To solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is a real-time tracking solar energy fiber introduction system, which specifically includes: a sun position data acquisition module, a model building and light intensity classification module, a weak light intensity fiber introduction module and a strong light intensity fiber introduction module;

[0008] The solar position data acquisition module is used to calculate the solar altitude angle, solar azimuth angle and sunlight incident position to obtain solar position data;

[0009] The model building and light intensity classification module is used to build a sunlight vertical incidence model based on the sun position data, and then classify the light intensity into strong light intensity and weak light intensity;

[0010] The weak light intensity optical fiber introduction module is used to establish a PID controller under weak light intensity, optimize the control parameters in the PID controller based on the vertical incidence model of sunlight, establish a sun tracking controller, and realize the optical fiber introduction of sunlight energy under weak light intensity;

[0011] The high-light-intensity optical fiber introduction module is used to adjust the outdoor light collector of the solar energy optical fiber in real time under high-light intensity, and introduces the optical fiber coupling dynamic compensation mechanism to perform position correction to achieve solar energy optical fiber introduction under high-light intensity.

[0012] Preferably, the calculating of the solar altitude angle, the solar azimuth angle and the incident position of sunlight to obtain the solar position data comprises:

[0013] Taking the center of the Earth as the origin of the equatorial coordinate system, determine the position of the outdoor light collector of the solar energy fiber, establish the equatorial coordinate system, and calculate the solar declination angle and solar hour angle; then establish the horizontal coordinate system, obtain the transformation relationship between the equatorial coordinate system and the horizontal coordinate system, and obtain the coordinate axis transformation relationship formula;

[0014] The latitude coordinates of the outdoor light collecting device of the solar energy optical fiber are obtained, and the solar altitude angle and solar azimuth angle are calculated by combining the solar declination angle and the solar hour angle. The incident position of the sunlight is determined by the coordinate axis transformation relationship formula to obtain the solar position data.

[0015] Preferably, establishing a sunlight vertical incidence model according to the sun position data includes:

[0016] In the horizontal coordinate system, the normal vector of the plane where the outdoor light collector of the solar energy optical fiber is located is calculated based on the solar position data, ensuring that the sunlight incident position in the solar position data and the normal vector of the plane where the outdoor light collector of the solar energy optical fiber is located coincide with each other, and establishing a vertical incidence model of sunlight.

[0017] Preferably, the further classifying the light intensity to obtain strong light intensity and weak light intensity comprises:

[0018] Use a photoelectric sensor to obtain light intensity, obtain a light intensity data set of the solar energy optical fiber, and record the time points of obtaining the light intensity in sequence to generate a light intensity time series;

[0019] Setting a first light intensity threshold, a second light intensity threshold, and a time threshold;

[0020] When the duration of the light intensity time series is greater than the time threshold, the light intensity data set of the solar energy optical fiber is greater than or equal to the light intensity corresponding to the first light intensity threshold as strong light intensity, the light intensity data set of the solar energy optical fiber is less than the first light intensity threshold and greater than the light intensity corresponding to the second light intensity threshold as weak light intensity, and the light intensity data set of the solar energy optical fiber is less than or equal to the light intensity corresponding to the second light intensity threshold as zero light intensity; under the zero light intensity, the outdoor light collector of the solar energy optical fiber stops chasing light and stops importing the solar energy optical fiber.

[0021] Preferably, establishing a PID controller under low light intensity and optimizing control parameters in the PID controller includes:

[0022] Under weak light intensity, control parameters in the PID controller are set, including a proportional coefficient, an integral coefficient, and a differential coefficient. A PID controller is established using a sun tracking algorithm. The sun position data is used as input to the PID controller, and an outdoor light collector tracking angle of the solar energy optical fiber is output. The error between the outdoor light collector tracking angle of the solar energy optical fiber and the target tracking angle is calculated and recorded as an integral time square error. The integral time square error is used as a control objective function.

[0023] The control objective function is used as the fitness function. The process of finding the optimal fitness function value is the process of finding the minimum integral time square error. The magnificent fairy-wren algorithm is used to optimize the control parameters in the PID controller to obtain the optimized control parameters.

[0024] Preferably, the optimizing the control parameters in the PID controller using the magnificent fairywren algorithm comprises:

[0025] The process of finding the optimal fitness function is regarded as a search space. Assume that there is a population of magnificent fairy-wrens in the search space, the number of magnificent fairy-wrens is p, the dimension of the magnificent fairy-wren population is q, and the individual positions of magnificent fairy-wrens in the magnificent fairy-wren population represent candidate solutions. The candidate solutions include proportional coefficients, integral coefficients, and differential coefficients. The process of iterating the individual positions of magnificent fairy-wrens is regarded as a process of optimizing control parameters.

[0026] Initialize the magnificent fairy-wren population. At this time, the magnificent fairy-wren population enters the juvenile growth stage. Set the current iteration number to t, update the individual position of the magnificent fairy-wren, and obtain the new individual position of the magnificent fairy-wren.

[0027] The Magnificent Fairywren population entered the breeding and feeding phase. A risk threshold was introduced to quantify the risk of the Magnificent Fairywren population. Maturity was used to describe the local exploration ability of the Magnificent Fairywren population. The location of new Magnificent Fairywren individuals was updated based on the risk threshold and maturity.

[0028] The magnificent fairy-wren population enters the enemy avoidance stage, and Lévy flight is introduced to simulate the flight process of magnificent fairy-wren individuals. The positions of the new magnificent fairy-wren individuals are updated again. At this time, all stages of the t-th iteration are completed, a new magnificent fairy-wren population is generated, and the next iteration begins. The iteration is stopped until the current number of iterations reaches the maximum number of iterations. The final magnificent fairy-wren population is obtained, and the magnificent fairy-wren individual position corresponding to the optimal fitness function value is found to obtain the optimized control parameters.

[0029] Preferably, the establishment of a sun tracking controller to achieve optical fiber introduction of solar energy under weak light intensity includes:

[0030] The optimized control parameters include an optimized proportional coefficient, an optimized integral coefficient and an optimized differential coefficient, which are input into a PID controller to obtain an optimized PID controller. The optimized PID controller is regarded as a sun-tracking controller. The sun-tracking controller is used to adjust the tracking angle of the outdoor light collector of the solar energy optical fiber, and the solar energy is transmitted through the optical cable to realize the introduction of solar energy optical fiber under weak light intensity.

[0031] Preferably, the outdoor lighting device for adjusting the sunlight energy optical fiber in real time under strong light intensity includes:

[0032] Under strong light intensity, an annular photoelectric detector is arranged to form a photoelectric sensor group, a rectangular coordinate system is established on the photoelectric sensor group, and the offset of the central sun spot of the photoelectric sensor group is calculated;

[0033] When the horizontal offset and the vertical offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system are equal to 0, the outdoor light collector of the solar energy optical fiber does not rotate;

[0034] When the horizontal offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the rotation angle of the outdoor light collector of the solar energy fiber is rotated toward the horizontal negative direction of the rectangular coordinate system; otherwise, the rotation angle of the outdoor light collector of the solar energy fiber is rotated toward the horizontal positive direction of the rectangular coordinate system;

[0035] When the longitudinal offset of the central solar spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal positive direction of the rectangular coordinate system; otherwise, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal negative direction of the rectangular coordinate system to complete the real-time adjustment of the outdoor light collector of the solar energy optical fiber.

[0036] Preferably, the introduction of a fiber-optic coupling dynamic compensation mechanism for position correction to achieve fiber-optic introduction of solar energy under strong light intensity includes:

[0037] Introducing a fiber-coupled dynamic compensation mechanism, the photoelectric sensor group measures the current value, calculates the lateral error and longitudinal error, and obtains the compensation angle, which is used to correct the position of the outdoor light collector of the solar energy fiber;

[0038] When the lateral error is greater than the longitudinal error, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the lateral direction of the rectangular coordinate system. Specifically, when the compensation angle is greater than 0, the compensation angle is rotated toward the lateral positive direction of the rectangular coordinate system. When the compensation angle is less than or equal to 0, the compensation angle is rotated toward the lateral negative direction of the rectangular coordinate system. Otherwise, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal direction of the rectangular coordinate system. Dynamic compensation is achieved, and then the solar energy is transmitted through the optical cable to realize the introduction of solar energy optical fiber under strong light intensity.

[0039] The present invention has the following beneficial effects:

[0040] 1. This invention establishes a vertical incidence model of sunlight and divides the light intensity into strong light intensity and weak light intensity, so that the incident position of sunlight always enters the outdoor light collector vertically, ensuring the efficient absorption efficiency of solar energy. At the same time, the light intensity is divided, and different weather conditions are taken into consideration. A multi-strategy hybrid optical fiber introduction method is adopted to solve the stability problem in cloudy weather or obstruction.

[0041] 2. This invention establishes a PID controller under weak light intensity, and uses the Magnificent Fairy-wren algorithm to optimize the control parameters in the PID controller to establish a sun-tracking controller, thereby realizing the optical fiber introduction of solar energy under weak light intensity; the PID control and optimization algorithm are combined to calculate the control quantity and adjust the control signal to achieve precise angle tracking, which greatly improves the control effect. Compared with other algorithms, the Magnificent Fairy-wren algorithm has a faster convergence speed and the ability to jump out of the local optimal solution, which makes the angle tracking speed of the sun-tracking controller faster and the system response time shorter, ensuring efficient sun tracking under weak light intensity.

[0042] 3. This invention adjusts the outdoor light collector of the solar energy fiber in real time under strong light intensity, uses the area of ​​the solar spot to cleverly eliminate the internal error of the measuring equipment, and introduces a fiber coupling dynamic compensation mechanism for position correction. It can correct the deviation in real time through closed-loop feedback, reduce transmission loss, maximize the use of solar energy resources, realize the introduction of solar energy fiber under strong light intensity, and solve the problem of poor lighting in buildings.

[0043] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying any creative work.

[0045] Figure 1 The present invention provides a flow chart of a method for real-time tracking of solar energy optical fiber introduction. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] Traditional methods of introducing solar energy into optical fibers usually rely on fixed installation or simple single-axis or dual-axis tracking systems. They lack efficient dynamic tracking mechanisms and cannot achieve high-precision real-time tracking, resulting in low light energy collection efficiency. At the same time, equipment errors and environmental influences such as weather make solar energy fiber-optic introduction systems poorly applicable, making it difficult to solve the problem of poor lighting in buildings.

[0048] In order to solve the above technical problems, an embodiment of the present invention provides a real-time tracking solar energy fiber optic introduction system, which specifically includes: a solar position data acquisition module, a model establishment and light intensity classification module, a weak light intensity fiber optic introduction module and a strong light intensity fiber optic introduction module; the solar position data acquisition module is used to calculate the solar altitude angle, the solar azimuth angle and the incident position of sunlight to obtain solar position data; the model establishment and light intensity classification module is used to establish a vertical incidence model of sunlight according to the solar position data, and then classify the light intensity to obtain strong light intensity and weak light intensity; the weak light intensity fiber optic introduction module is used to establish a PID controller under weak light intensity, optimize the control parameters in the PID controller based on the vertical incidence model of sunlight, establish a sun tracking controller, and realize solar energy fiber optic introduction under weak light intensity; the strong light intensity fiber optic introduction module is used to adjust the outdoor light collector of the solar energy fiber in real time under strong light intensity, and introduce the fiber coupling dynamic compensation mechanism to correct the position to realize solar energy fiber optic introduction under strong light intensity.

[0049] In the specific implementation process of the above embodiment, first, the equatorial coordinate system and the horizontal coordinate system are established, the solar declination angle and the solar hour angle are calculated, and the latitude coordinates of the position of the outdoor light collector of the solar energy fiber are obtained by using GPS, the solar altitude angle and the solar azimuth angle are calculated, the incident position of the sunlight is determined, and the solar position data is obtained. Different coordinate systems are reasonably used to calculate the solar angle, thereby improving the accuracy and practicality of the solar angle calculation, and laying the foundation for the subsequent adjustment of the outdoor light collector of the solar energy fiber; secondly, a vertical incidence model of sunlight is established according to the solar position data to ensure the detection and tracking of the focus, and The light intensity is divided into strong light intensity and weak light intensity. Taking into account different weather conditions, the light intensity division facilitates the use of a multi-strategy hybrid optical fiber introduction method, which solves the applicability problem in cloudy weather or under shading conditions, and significantly reduces equipment loss while ensuring lighting efficiency. Under weak light intensity, a PID controller is established using a sun tracking algorithm, and the sun position data is used as the input of the PID controller to output the tracking angle of the outdoor light collector of the solar energy optical fiber. Based on the vertical incidence model of sunlight, the magnificent fairy-wren algorithm is used to adjust the control parameters in the PID controller. Optimization is carried out, and the individual position of the magnificent fairy-wren is used to represent the proportional coefficient, integral coefficient and differential coefficient. A sun-tracking controller is established to realize the optical fiber introduction of solar energy under weak light intensity. The PID control and optimization algorithm are combined to greatly improve the control effect. Compared with other algorithms, the magnificent fairy-wren algorithm has a faster convergence speed and the ability to jump out of the local optimal solution, which makes the angle tracking speed of the sun-tracking controller faster and the system response time shorter, ensuring efficient sun tracking under weak light intensity, and providing an effective solution for light energy collection in low illumination environment; under strong light intensity, the group A photoelectric sensor group is built, and the outdoor light collector of the solar energy fiber is adjusted in real time by calculating the offset of the central solar spot of the photoelectric sensor group. A fiber-optic coupling dynamic compensation mechanism is introduced. After calculating the compensation angle, the rotation angle of the outdoor light collector of the solar energy fiber is fine-tuned to achieve the introduction of solar energy fiber under strong light intensity, cleverly eliminating the internal error of the measuring equipment. The introduction of the fiber-optic coupling dynamic compensation mechanism can correct the deviation in real time through closed-loop feedback, reduce transmission loss, maximize the use of solar energy resources, achieve the introduction of solar energy fiber under strong light intensity, and solve the problem of poor lighting in buildings.

[0050] Further, in order to better introduce the technical solution of the embodiment of the present invention, based on the above-mentioned real-time tracking solar energy fiber introduction system, as Figure 1 As shown, an embodiment of the present invention provides a method for real-time tracking of solar energy optical fiber introduction, which specifically includes the following contents:

[0051] S1. Establish an equatorial coordinate system, calculate the solar declination and solar hour angle based on the equatorial coordinate system, then establish a horizontal coordinate system, obtain the transformation relationship between the equatorial coordinate system and the horizontal coordinate system, calculate the solar altitude angle, solar azimuth angle and sunlight incident position, and obtain solar position data;

[0052] Said S1 comprises the following steps:

[0053] S11, take the center of the earth as the origin O of the equatorial coordinate system, determine the position of the outdoor light collector of the solar energy fiber, and establish the equatorial coordinate system O-XYZ, where the X axis of the equatorial coordinate system points to the solar energy fiber.

[0054] The outdoor light collector is located at the intersection of the meridian and the Earth's equator. The Z axis points to the North Pole of the Earth's polar axis. Using the right-hand rule, the thumb points to the right, corresponding to the positive direction of the X axis, the middle finger is perpendicular to the palm, corresponding to the positive direction of the Z axis, and the index finger points upward, corresponding to the positive direction of the Y axis. Set the mth day of the year, then the solar declination angle of the mth day is Obtain the current time and the current time difference, and record the sum of the current time and the current time difference as the true solar time a at the outdoor light collector position of the solar energy optical fiber. At this time, the solar hour angle β = (a-12)·15°;

[0055] S12. The outdoor light collector position of the solar fiber optic is used as the origin O' of the horizontal coordinate system. The south direction, east direction and zenith direction of the outdoor light collector position of the solar fiber optic are used as the X' axis, Y' axis and Z' axis directions of the horizontal coordinate system respectively to establish the horizontal coordinate system O'-X'Y'Z'; obtain the latitude coordinate of the outdoor light collector position of the solar fiber optic, and set the unit vectors of the equatorial coordinate system to be and The unit vectors of the horizontal coordinate system are and At this time, the transformation relationship between the equatorial coordinate system and the horizontal coordinate system is established, and the coordinate axis transformation relationship formula is as follows:

[0056]

[0057] Wherein, χ represents the latitude coordinate of the outdoor light collector position of the solar energy optical fiber;

[0058] The solar altitude angle, solar azimuth angle, and incident position of sunlight are calculated in the horizontal coordinate system and the equatorial coordinate system. The specific steps are as follows:

[0059] S121. Calculate the solar altitude angle and solar azimuth angle according to the solar declination angle, solar hour angle, and the latitude coordinate of the outdoor lighting device of the solar energy optical fiber. The calculation formula is as follows:

[0060] δ=arcsin(sinχsinα+cosχcosαcosβ);

[0061]

[0062] Among them, δ represents the solar altitude angle, and ε represents the solar azimuth angle;

[0063] S122. Obtain the unit vector of the horizontal coordinate system by solving the coordinate axis transformation relationship formula, and then determine the incident position of sunlight by combining the solar altitude angle and the solar azimuth angle. The calculation formula is as follows:

[0064]

[0065] Where, φ represents the incident position of sunlight;

[0066] The solar position data is obtained by combining the solar altitude angle, the solar azimuth angle and the incident position of sunlight;

[0067] In this embodiment, by establishing an equatorial coordinate system and a horizontal coordinate system, the solar altitude angle, solar azimuth angle and the incident position of sunlight are calculated to obtain the solar position data; this method reasonably uses different coordinate systems to calculate the solar angle, improves the accuracy and practicality of the solar angle calculation, and lays the foundation for the subsequent adjustment of the outdoor light collector of the solar energy fiber; specifically, for example, on the 100th day of the year, the current time is 14:00 (true solar time 14), the latitude coordinate of the position of the outdoor light collector of the solar energy fiber is 30° north latitude, and the solar declination angle is 0. Solar hour angle β = (14-12) 15° = 30°, solar altitude angle δ = arcsin (0.736) ≈ 53.9°, solar azimuth angle ε = arcsin (0.736) ≈ 47.4°, sunlight incident position Taking the unit vector in the horizontal coordinate system, the incident position of sunlight is (0.8, 0.4, 0.4);

[0068] S2. Establishing a sunlight vertical incidence model based on the sun position data, detecting light intensity, and dividing the light intensity into strong light intensity and weak light intensity;

[0069] The S2 comprises the following steps:

[0070] S21. In the horizontal coordinate system, according to the solar altitude angle δ and the solar azimuth angle ε in the solar position data, the rotation angle of the outdoor lighting device of the solar energy optical fiber is calculated. Calculate the tilt angle of the outdoor solar fiber optic light collector relative to the ground At this time, the normal vector of the plane where the outdoor light collector of the solar energy fiber is located is Ensure that the sunlight incident position in the sun position data coincides with the normal vector of the plane where the outdoor light collector of the solar energy optical fiber is located, and establish a sunlight vertical incidence model;

[0071] S22. Use a photoelectric sensor to obtain light intensity, obtain a light intensity data set of the solar light energy optical fiber, and record the time points of obtaining the light intensity in sequence to generate a light intensity time series; set a first light intensity threshold, a second light intensity threshold and a time threshold; when the duration of the light intensity time series is greater than the time threshold, record the light intensity corresponding to the light intensity data set of the solar light energy optical fiber that is greater than or equal to the first light intensity threshold as a strong light intensity, record the light intensity corresponding to the light intensity data set of the solar light energy optical fiber that is less than the first light intensity threshold and greater than the second light intensity threshold as a weak light intensity, and record the light intensity corresponding to the light intensity data set of the solar light energy optical fiber that is less than or equal to the second light intensity threshold as zero light intensity; further, under the zero light intensity, the outdoor light collector of the solar light energy optical fiber stops chasing light and stops introducing the solar light energy optical fiber;

[0072] In this embodiment, by establishing a vertical incidence model of sunlight, the detection and tracking of the focus is ensured, and the light intensity is divided into strong light intensity and weak light intensity. Considering different weather conditions, the light intensity division facilitates the use of a multi-strategy hybrid optical fiber introduction method, which solves the applicability problem in cloudy weather or obstruction. Specifically, for example, the solar altitude angle is 73.2° and the solar azimuth angle is 180° (due south). At this time Then A=[-0.289, 0, 0.957] T , the driving motor of the solar energy fiber adjusts the light collector to the specified direction so that the incident light coincides with the normal vector, so that the incident position of sunlight always enters the outdoor light collector vertically, ensuring the efficient absorption efficiency of solar energy; set the first threshold: 80,000 lux (direct sunlight), the second threshold: 5,000 lux (cloudy day or night), and the time threshold: 300 seconds. If the light intensity drops sharply from 80,000 lux to 2,000 lux within 10 seconds, a delay of 300 seconds is required to determine whether the night mode has been truly entered. The strong light intensity (light intensity greater than or equal to 80,000 lux) and weak light intensity (light intensity less than 80,000 lux and greater than or equal to 5,000 lux) are determined, which significantly reduces equipment loss while ensuring lighting efficiency;

[0073] S3. Under low light intensity, a PID controller is established using a sun-tracking algorithm. Based on the vertical incidence sunlight model, the control parameters in the PID controller are optimized using the magnificent fairy-wren algorithm to obtain the optimized control parameters and establish a sun-tracking controller to achieve optical fiber introduction of solar energy under low light intensity.

[0074] The S3 includes the following steps:

[0075] S31. Under weak light intensity, setting control parameters in the PID controller including a proportional coefficient, an integral coefficient, and a differential coefficient, establishing a PID controller using a sun tracking algorithm, using the sun position data as input to the PID controller, and outputting a tracking angle of an outdoor light collector of a solar-powered optical fiber, wherein the tracking angle of the outdoor light collector of the solar-powered optical fiber includes an inclination angle of the outdoor light collector of the solar-powered optical fiber relative to the ground and a rotation angle of the outdoor light collector of the solar-powered optical fiber; setting a target tracking angle, and calculating an error between the tracking angle of the outdoor light collector of the solar-powered optical fiber and the target tracking angle according to the vertical incidence model of sunlight, recording the error as an integral time square error, and using the integral time square error as a control objective function;

[0076] S32, using the control objective function as the fitness function, the process of finding the optimal fitness function value is the process of finding the minimum integrated time square error, and using the magnificent fairywren algorithm to optimize the control parameters in the PID controller to obtain the optimized control parameters. The specific steps are as follows:

[0077] S321. The process of finding the optimal fitness function is regarded as a search space. It is assumed that there is a population of magnificent fairy-wrens in the search space, the number of magnificent fairy-wrens is p, the dimension of the magnificent fairy-wren population is q, and the positions of individual magnificent fairy-wrens in the magnificent fairy-wren population represent candidate solutions. The candidate solutions include proportional coefficients, integral coefficients, and differential coefficients. The process of iterating the positions of individual magnificent fairy-wrens is regarded as a process of optimizing control parameters. The magnificent fairy-wren population is initialized. At this time, the magnificent fairy-wren population enters the juvenile growth stage. The current number of iterations is set to t. r1 and r2 represent random numbers between the interval [0, 1]. The upper bound of the search space is l′, and the lower bound of the search space is l″. Indicates that the ith individual of the magnificent fairy-wren in the magnificent fairy-wren population is at the j-dimensional position at the t-th iteration. When r1>0.5, the position Update to get the new individual location of the Magnificent Fairywren

[0078] S322, the magnificent fairy-wren population enters the breeding and feeding stage, set d1 and d2 to represent random numbers that obey the normal distribution, introduce a risk threshold to quantify the risk of the magnificent fairy-wren population, the risk threshold c = 20·d1+20·d2; set the maximum number of iterations to T, then the iteration coefficient The magnificent fairy-wren population is fed, and the maturity is used to describe the local exploration ability of the magnificent fairy-wren population, then the maturity η = sin(2(l′-l″)+γ(l′-l″)); in the current iteration process, the current best fitness function value is selected to obtain the current optimal magnificent fairy-wren individual position C best , when r1<0.5 and c<20, the position Update and get

[0079] S323, the magnificent fairy-wren population enters the enemy avoidance phase, and the magnificent fairy-wren individual calls to alert the magnificent fairy-wren population. The Levy flight is introduced to simulate the flight process of the magnificent fairy-wren individual. The call frequency value is set to d, and the Levy flight random step length is e. The call frequency value is Adaptive balancing factor When r1<0.5 and c>20, the position Update and get At this point, all stages of the t-th iteration are completed, a new population of magnificent fairy-wrens is generated, and the next iteration begins. The iteration stops until the current number of iterations reaches the maximum number of iterations, and the final magnificent fairy-wren population is obtained. The individual positions of magnificent fairy-wrens corresponding to the optimal fitness function value are found, and the optimized control parameters are obtained.

[0080] S33, the optimized control parameters including the optimized proportional coefficient, the optimized integral coefficient, and the optimized differential coefficient are input into the PID controller to obtain the optimized PID controller, and the optimized PID controller is regarded as a sun-tracking controller. The sun-tracking controller is used to adjust the tracking angle of the outdoor light collector of the solar energy optical fiber, and the solar energy is transmitted through the optical cable to achieve solar energy optical fiber introduction under weak light intensity;

[0081] In this embodiment, a PID controller is established under weak light intensity, and the control parameters in the PID controller are optimized using the magnificent fairy-wren algorithm to establish a sun-tracking controller, realize the optical fiber introduction of solar energy under weak light intensity, and combine the PID control and the optimization algorithm to greatly improve the control effect. The magnificent fairy-wren algorithm has a faster convergence speed and the ability to jump out of the local optimal solution compared with other algorithms, so that the angle tracking speed of the sun-tracking controller is faster and the system response time is shorter, ensuring efficient sun tracking under weak light intensity; specifically, for example, the PID parameter range is set, the proportional coefficient is [0, 10], the integral coefficient is [0, 5], the differential coefficient is [0, 2], the population size p = 50, the population dimension q = 3, the maximum number of iterations is 100, the upper bound of the search space is 10, the lower bound is 0, the initial population is randomly generated, the proportional coefficient is 6.2, the integral coefficient is 1.8, the differential coefficient is 0.5, when r1>0.5, r2=0.3, and the new individual position of the magnificent fairy-wren is obtained. When r1 < 0.5 and c < 20, it moves closer to the optimal individual. When r1 < 0.5 and c > 20, it updates its position according to the Levy flight, completing this iteration and moving on to the next. It calculates the control variable and adjusts the control signal to achieve precise angle tracking, improving the optical fiber's ability to import light energy and the system's stabilization time, providing an effective solution for light energy collection in low-light environments.

[0082] S4. Under strong light intensity, the four-quadrant positioning method is used to adjust the outdoor light collector of the solar energy fiber in real time, and a fiber coupling dynamic compensation mechanism is introduced to calculate the compensation angle and make fine adjustments to achieve the introduction of solar energy fiber under strong light intensity;

[0083] The S4 comprises the following steps:

[0084] S41. Under strong light intensity, arrange annular photoelectric detectors to form a photoelectric sensor group, establish a rectangular coordinate system on the photoelectric sensor group, so that the photoelectric sensor group is evenly distributed in the four quadrants of the rectangular coordinate system, and obtain the first position quadrant, the second position quadrant, the third position quadrant, and the fourth position quadrant respectively; illuminate the photoelectric sensor group with sunlight, obtain the solar spot area of ​​the first position quadrant, the solar spot area of ​​the second position quadrant, the solar spot area of ​​the third position quadrant, and the solar spot area of ​​the fourth position quadrant in the rectangular coordinate system, and calculate the offset of the central solar spot of the photoelectric sensor group. The calculation formula is as follows:

[0085]

[0086] in, Indicates the lateral offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system, Indicates the longitudinal offset of the central solar spot of the photoelectric sensor group in the rectangular coordinate system, E1 represents the solar spot area of ​​the first quadrant, E2 represents the solar spot area of ​​the second quadrant, E3 represents the solar spot area of ​​the third quadrant, and E4 represents the solar spot area of ​​the fourth quadrant;

[0087] S42. When the lateral offset and longitudinal offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system are equal to 0, the outdoor light-collecting device of the solar energy optical fiber does not rotate; when the lateral offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the angle of the outdoor light-collecting device of the solar energy optical fiber is rotated toward the lateral negative direction of the rectangular coordinate system, otherwise the angle of the outdoor light-collecting device of the solar energy optical fiber is rotated toward the lateral positive direction of the rectangular coordinate system; when the longitudinal offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the angle of the outdoor light-collecting device of the solar energy optical fiber is rotated toward the longitudinal positive direction of the rectangular coordinate system, otherwise the angle of the outdoor light-collecting device of the solar energy optical fiber is rotated toward the longitudinal negative direction of the rectangular coordinate system, thereby completing the real-time adjustment of the outdoor light-collecting device of the solar energy optical fiber;

[0088] S43, introduce the fiber coupling dynamic compensation mechanism, the photoelectric sensor group measures the current value of the first position quadrant, the current value of the second position quadrant, the current value of the third position quadrant and the current value of the fourth position quadrant, then the lateral error Longitudinal error Where I1 represents the current value of the first position quadrant, I2 represents the current value of the second position quadrant, I3 represents the current value of the third position quadrant, and I4 represents the current value of the fourth position quadrant; the angle value of the horizontal rotation per unit offset is set to θ x , the angle of rotation per unit offset in the longitudinal direction is θ y , the compensation angle is The compensation angle is used to correct the position of the outdoor light collector of the solar energy optical fiber. When the lateral error is greater than the longitudinal error, the rotation angle of the outdoor light collector of the solar energy optical fiber is rotated in the lateral direction of the rectangular coordinate system. Specifically, when the compensation angle is greater than 0, the compensation angle is rotated in the lateral positive direction of the rectangular coordinate system. When the compensation angle is less than or equal to 0, the compensation angle is rotated in the lateral negative direction of the rectangular coordinate system. Otherwise, the rotation angle of the outdoor light collector of the solar energy optical fiber is rotated in the longitudinal direction of the rectangular coordinate system. Dynamic compensation is achieved, and then the solar energy is transmitted through the optical cable to achieve the introduction of solar energy optical fiber under strong light intensity.

[0089] In this embodiment, by adjusting the outdoor light collector of the solar energy fiber in real time under strong light intensity, the internal error of the measuring equipment is cleverly eliminated by using the solar spot area, and the optical fiber coupling dynamic compensation mechanism is introduced for position correction. The deviation can be corrected in real time through closed-loop feedback, the transmission loss is reduced, the solar energy resources are maximized, and the introduction of solar energy fiber under strong light intensity is realized to solve the problem of poor lighting in buildings. Specifically, for example, a four-quadrant photoelectric sensor group (annular array, diameter 20 cm), a dual-axis servo motor, light intensity: 120,000 lux, and the four-quadrant spot area is 18.6 cm respectively. 2 、17.9cm 2 、16.2cm 2 and 15.8cm 2 , calculate the lateral offset Calculate the longitudinal offset When the lateral offset is greater than 0, the motor is driven to rotate in the negative lateral direction (-X axis). When the longitudinal offset is greater than 0, the motor is driven to rotate in the positive longitudinal direction (+Y axis). The current measurement values ​​after adjustment are 12.3mA, 11.8mA, 10.6mA and 10.2mA respectively. The lateral error is calculated at this time. Longitudinal error The compensation angle λ = 0.064·0.1·0.8° + 0.028·3.3·0.6° = 0.0515°, and the longitudinal error is greater than the lateral error. The angle of the outdoor light collector of the solar energy optical fiber is rotated in the longitudinal positive direction of the rectangular coordinate system by the compensation angle, which greatly increases the dynamic response speed and reduces the dynamic compensation error.

[0090] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0091] The preferred embodiments of the invention disclosed above are intended only to help illustrate the invention. These preferred embodiments do not exhaust all details, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the content of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A real-time tracking solar energy fiber optic introduction system, characterized in that: include: The solar position data acquisition module is used to calculate the solar altitude angle, solar azimuth angle and incident position of sunlight to obtain the solar position data; The model building and light intensity classification module is used to build a vertical sunlight incidence model based on the sun position data, and then classify the light intensity into strong light intensity and weak light intensity; The low-light intensity fiber-optic import module is used to establish a PID controller under low-light intensity. Based on the vertical incidence model of sunlight, the control parameters in the PID controller are optimized, and a sun-tracking controller is established to achieve fiber-optic import of solar energy under low-light intensity. The high-light-intensity fiber-optic introduction module is used to adjust the outdoor light collector of the solar-energy fiber in real time under high-light intensity, and introduces a fiber-optic coupling dynamic compensation mechanism for position correction to achieve the introduction of solar-energy fiber-optic under high-light intensity.

2. A real-time tracking solar energy fiber introduction system according to claim 1, characterized in that: Calculating the solar altitude angle, solar azimuth angle and sunlight incident position to obtain solar position data includes: Taking the center of the Earth as the origin of the equatorial coordinate system, determine the position of the outdoor light collector of the solar energy fiber, establish the equatorial coordinate system, and calculate the solar declination angle and solar hour angle; then establish the horizontal coordinate system, obtain the transformation relationship between the equatorial coordinate system and the horizontal coordinate system, and obtain the coordinate axis transformation relationship formula; The latitude coordinates of the outdoor light collecting device of the solar energy optical fiber are obtained, and the solar altitude angle and solar azimuth angle are calculated by combining the solar declination angle and the solar hour angle. The incident position of the sunlight is determined by the coordinate axis transformation relationship formula to obtain the solar position data.

3. The real-time tracking solar energy fiber optic introduction system according to claim 2, characterized in that: The establishing of a sunlight vertical incidence model according to the sun position data comprises: In the horizontal coordinate system, the normal vector of the plane where the outdoor light collector of the solar energy optical fiber is located is calculated based on the solar position data, ensuring that the sunlight incident position in the solar position data and the normal vector of the plane where the outdoor light collector of the solar energy optical fiber is located coincide with each other, and establishing a vertical incidence model of sunlight.

4. The real-time tracking solar energy fiber optic introduction system according to claim 3, characterized in that: The further classification of the light intensity to obtain strong light intensity and weak light intensity includes: Use a photoelectric sensor to obtain light intensity, obtain a light intensity data set of the solar energy optical fiber, and record the time points of obtaining the light intensity in sequence to generate a light intensity time series; Setting a first light intensity threshold, a second light intensity threshold, and a time threshold; When the duration of the illumination intensity time series is greater than the time threshold, the illumination intensity corresponding to the illumination intensity data set of the solar light energy optical fiber being greater than or equal to the first illumination intensity threshold is recorded as strong illumination intensity, the illumination intensity corresponding to the illumination intensity data set of the solar light energy optical fiber being less than the first illumination intensity threshold and greater than the second illumination intensity threshold is recorded as weak illumination intensity, and the illumination intensity corresponding to the illumination intensity data set of the solar light energy optical fiber being less than or equal to the second illumination intensity threshold is recorded as zero illumination intensity; Under the zero light intensity, the outdoor light collector of the solar energy optical fiber stops chasing light and stops introducing the solar energy optical fiber.

5. The real-time tracking solar energy fiber optic introduction system according to claim 4, characterized in that: The step of establishing a PID controller under low light intensity and optimizing control parameters in the PID controller includes: Under weak light intensity, control parameters in the PID controller are set, including a proportional coefficient, an integral coefficient, and a differential coefficient. A PID controller is established using a sun tracking algorithm. The sun position data is used as input to the PID controller, and an outdoor light collector tracking angle of the solar energy optical fiber is output. The error between the outdoor light collector tracking angle of the solar energy optical fiber and the target tracking angle is calculated and recorded as an integral time square error. The integral time square error is used as a control objective function. The control objective function is used as the fitness function. The process of finding the optimal fitness function value is the process of finding the minimum integral time square error. The magnificent fairy-wren algorithm is used to optimize the control parameters in the PID controller to obtain the optimized control parameters.

6. The real-time tracking solar energy fiber introduction system according to claim 5, characterized in that: Optimizing the control parameters in the PID controller using the magnificent fairywren algorithm includes: The process of finding the optimal fitness function is regarded as a search space. It is assumed that there is a population of magnificent fairy-wrens in the search space. The positions of individual magnificent fairy-wrens in the population of magnificent fairy-wrens represent candidate solutions. The candidate solutions include proportional coefficients, integral coefficients, and differential coefficients. The process of iterating the positions of individual magnificent fairy-wrens is regarded as a process of optimizing control parameters. Initialize the magnificent fairy-wren population. At this time, the magnificent fairy-wren population enters the juvenile growth stage. Update the individual positions of the magnificent fairy-wrens to obtain new individual positions of the magnificent fairy-wrens. The Magnificent Fairywren population entered the breeding and feeding phase. A risk threshold was introduced to quantify the risk of the Magnificent Fairywren population. Maturity was used to describe the local exploration ability of the Magnificent Fairywren population. The location of new Magnificent Fairywren individuals was updated based on the risk threshold and maturity. The magnificent fairy-wren population enters the enemy avoidance stage, and Lévy flight is introduced to simulate the flight process of magnificent fairy-wren individuals. The positions of the new magnificent fairy-wren individuals are updated again. At this time, a new magnificent fairy-wren population is generated and the next iteration begins. The iteration is stopped until the current number of iterations reaches the maximum number of iterations. The final magnificent fairy-wren population is obtained, and the magnificent fairy-wren individual position corresponding to the optimal fitness function value is found to obtain the optimized control parameters.

7. The real-time tracking solar energy fiber introduction system according to claim 6, characterized in that: The establishment of a sun tracking controller to achieve optical fiber introduction of solar energy under weak light intensity includes: The optimized control parameters include an optimized proportional coefficient, an optimized integral coefficient and an optimized differential coefficient, which are input into a PID controller to obtain an optimized PID controller. The optimized PID controller is regarded as a sun-tracking controller. The sun-tracking controller is used to adjust the tracking angle of the outdoor light collector of the solar energy optical fiber, and the solar energy is transmitted through the optical cable to realize the introduction of solar energy optical fiber under weak light intensity.

8. The real-time tracking solar energy fiber introduction system according to claim 7, characterized in that: The outdoor lighting device for adjusting the sunlight energy optical fiber in real time under strong light intensity includes: Under strong light intensity, an annular photoelectric detector is arranged to form a photoelectric sensor group, a rectangular coordinate system is established on the photoelectric sensor group, and the offset of the central sun spot of the photoelectric sensor group is calculated; When the horizontal offset and the vertical offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system are equal to 0, the outdoor light collector of the solar energy optical fiber does not rotate; When the horizontal offset of the central sun spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the rotation angle of the outdoor light collector of the solar energy fiber is rotated toward the horizontal negative direction of the rectangular coordinate system; otherwise, the rotation angle of the outdoor light collector of the solar energy fiber is rotated toward the horizontal positive direction of the rectangular coordinate system; When the longitudinal offset of the central solar spot of the photoelectric sensor group in the rectangular coordinate system is greater than 0, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal positive direction of the rectangular coordinate system; otherwise, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal negative direction of the rectangular coordinate system to complete the real-time adjustment of the outdoor light collector of the solar energy optical fiber.

9. The real-time tracking solar energy fiber optic introduction system according to claim 8, characterized in that: The method of introducing a fiber coupling dynamic compensation mechanism to perform position correction and realize fiber optic introduction of solar energy under strong light intensity includes: Introducing a fiber-coupled dynamic compensation mechanism, the photoelectric sensor group measures the current value, calculates the lateral error and longitudinal error, and obtains the compensation angle, which is used to correct the position of the outdoor light collector of the solar energy fiber; When the lateral error is greater than the longitudinal error, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the lateral direction of the rectangular coordinate system. Specifically, when the compensation angle is greater than 0, the compensation angle is rotated toward the lateral positive direction of the rectangular coordinate system. When the compensation angle is less than or equal to 0, the compensation angle is rotated toward the lateral negative direction of the rectangular coordinate system. Otherwise, the angle of the outdoor light collector of the solar energy optical fiber is rotated toward the longitudinal direction of the rectangular coordinate system. Dynamic compensation is achieved, and then the solar energy is transmitted through the optical cable to realize the introduction of solar energy optical fiber under strong light intensity.

10. A method for real-time tracking of solar energy optical fiber introduction according to any one of claims 1 to 9, characterized in that: Specifically include: S1. Establish an equatorial coordinate system, calculate the solar declination and solar hour angle based on the equatorial coordinate system, then establish a horizontal coordinate system, obtain the transformation relationship between the equatorial coordinate system and the horizontal coordinate system, calculate the solar altitude angle, solar azimuth angle and sunlight incident position, and obtain solar position data; S2. Establishing a sunlight vertical incidence model based on the sun position data, detecting light intensity, and dividing the light intensity into strong light intensity and weak light intensity; S3. Under low light intensity, a PID controller is established using a sun-tracking algorithm. Based on the vertical incidence sunlight model, the control parameters in the PID controller are optimized using the magnificent fairy-wren algorithm to obtain the optimized control parameters and establish a sun-tracking controller to achieve optical fiber introduction of solar energy under low light intensity. S4. Under strong light intensity, the four-quadrant positioning method is used to adjust the outdoor light collector of the solar energy fiber in real time, and the fiber coupling dynamic compensation mechanism is introduced. After calculating the compensation angle, fine-tuning correction is performed to realize the introduction of solar energy fiber under strong light intensity.

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