Solar panel dynamic angle control system and method for new energy garbage cleaning ship

Abstract

The present application belongs to the technical field of new energy ship management, and specifically relates to a solar panel dynamic angle control system and method for a new energy garbage cleaning ship, comprising: a solar panel array, which adopts high-efficiency monocrystalline silicon solar panels; an angle control mechanism, which is driven by a double-shaft servo motor, adopts worm and gear transmission and a screw lifting mechanism, and is equipped with a wind-resistant locking device; a sensor unit, which comprises a GPS, an IMU, a wind speed and direction sensor, and a light intensity sensor; and a central control system, which comprises an embedded AI computing unit for running a neural network optimization and PID hybrid algorithm. The present application precisely adjusts the pitch angle and azimuth angle of the solar panel by fusing AI algorithm and PID control, combining a double-shaft driving mechanism and an intelligent protection mechanism, and significantly improves the power generation efficiency and safety of the solar panel.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of new energy ship energy management, and particularly relates to a solar panel dynamic angle control system and method for an intelligent new energy garbage cleaning ship, which is suitable for marine garbage cleaning ships, unmanned ships and floating power stations and the like. BACKGROUND

[0002] The solar panel of a conventional new energy garbage cleaning ship is usually installed at a fixed angle, and cannot be dynamically adjusted in angle according to light conditions, ship body movement direction and speed and meteorological environment, resulting in low solar power generation efficiency and being easily damaged in a strong wind environment. Although there are angle adjusting devices in the prior art, the following problems generally exist:

[0003] (1) The control precision is insufficient (error > 2°), and the light receiving efficiency cannot be maximized;

[0004] (2) There is a lack of a comprehensive decision-making mechanism for multiple environmental factors (speed, heading, wind speed and light intensity);

[0005] (3) The wind protection measures are single, and are easily damaged in extreme weather. SUMMARY

[0006] The application significantly improves the power generation efficiency and safety of the solar panel by fusing an AI algorithm and a PID control, in combination with a double-shaft rotating mechanism and an intelligent protection mechanism.

[0007] The application provides a solar panel dynamic angle control system for a new energy garbage cleaning ship, and the system composition comprises:

[0008] A solar panel array adopts high-efficiency monocrystalline silicon solar panels, with a rated power of 350W-600W and a conversion efficiency of 18%-24%. The solar panel array is arranged on a double-shaft rotating support, with a pitch angle of 0°-60° and an azimuth angle of 0°-360°.

[0009] An angle control mechanism is driven by a double-shaft servo motor, with a response speed of 0.5-2 seconds and an accuracy of ±0.5°. A worm and gear transmission and a lead screw lifting mechanism are adopted, and an anti-wind locking device is provided.

[0010] A sensor unit comprises a GPS (positioning error ≤1m), an IMU (attitude error ≤0.1°), a wind speed and direction sensor (range 0-50m / s, error ±0.1m / s) and a light intensity sensor (range 0-1500W / m², error ≤2%).

[0011] A central control system comprises an embedded AI computing unit (NVIDIA Jetson / STM32 MCU) for running a neural network optimization and PID hybrid algorithm.

[0012] The application utilizes the above system to realize a solar panel dynamic angle control method of a new energy garbage cleaning ship, including the following steps:

[0013] S1. Sun position calculation

[0014] The solar altitude angle ( ) and azimuth angle ( ) are calculated by the following formula: ;

[0015] Wherein:

[0016] : current latitude of the ship (unit: degree);

[0017] The hour angle ( ) is calculated:

[0018] ;

[0019] Wherein, is the longitude, is the time difference (unit: degree), which is corrected by the following formula:

[0020] ;

[0021] The solar declination angle ( ) is calculated (Cooper formula):

[0022] ;

[0023] Wherein, is the accumulated day of the year (January 1 = 1, December 31 = 365).

[0024] S2. Optimal pitch angle ( ) calculation

[0025] Basic pitch angle ( ):

[0026] ;

[0027] Add a wind resistance correction term ( ):

[0028] ;

[0029] Wherein, is the wind direction angle, is the ship heading angle, is the ship speed, is the wind speed, = 0.3 (experimental calibration value);

[0030] Then, the optimal pitch angle (θopt) is:

[0031] If (V < 15 m / s);

[0032] If (V > 15 m / s), force = 0°.

[0033] S3. Azimuth dynamic compensation

[0034] Basic azimuth (φ0):

[0035]

[0036] Ship motion compensation angle (φm):

[0037]

[0038] Where, = 0.00417° / s (solar apparent motion speed), V is the ship speed, φ is the current latitude of the ship;

[0039] Then the optimal azimuth angle:

[0040]

[0041] Real-time measurement by IMU,

[0042]

[0043] Where:

[0044] : solar azimuth angle;

[0045] : ship motion compensation angle;

[0046] : roll angle compensation coefficient (default 0.5-0.8);

[0047] : solar apparent motion speed (about 0.00417° / s).

[0048] S4. PID control output

[0049] According to the error signal , φ is the current pitch angle, ​​​​​​​​​For current azimuth angle, the PID control output follows the following logic:

[0050] ;

[0051] Parameter range:

[0052] =1.2~1.8, =0.05~0.15, =0.1~0.3 (calibrated by experiment).

[0053] Parameter tuning process:

[0054] a) Initialization =1.5, =0.1, =0.2;

[0055] b) Under steady-state conditions, gradually increase until the system appears small oscillation, take 80% of the critical value as the final ;

[0056] c) Add integral term , eliminate steady-state error, adjust to overshoot <2%;

[0057] d) Add differential term , suppress oscillation, adjust to regulation time <3 seconds;

[0058] e) Anti-integral saturation strategy: when the error continues to exceed ±5°, the integral term is reset to 50% of the current output value.

[0059] S5. Safety protection logic

[0060] Anti-wind lock: >15m / s, electromagnetic brake locks azimuth angle;

[0061] Automatic folding: >25m / s, hydraulic rod retraction, solar panels horizontally folded;

[0062] Vibration compensation: ship inclination >5°, pitch angle is corrected by =0.5 ( is the roll angle).

[0063] The response of wind speed is divided into:

[0064] Primary protection (wind speed >15m / s): electromagnetic brake is energized to lock the azimuth angle; the pitch angle is reduced to 10° at a rate of 2° / s.

[0065] Secondary protection (wind speed > 25m / s): Hydraulic system starts, 30 seconds to return to zero pitch angle; azimuth motor is powered off, fixed by mechanical locking pin.

[0066] Tertiary protection (wind speed > 30m / s): Solar panels are retracted as a whole into the waterproof cabin (stroke time ≤ 60 seconds); trigger sound and light alarm and upload status to the cloud monitoring platform.

[0067] The application adopts artificial intelligence (AI) combined with reinforcement learning model, comprehensively considers ship speed, heading, wind speed, wind direction, light intensity and sun position and other factors, and calculates the optimal pitch angle and azimuth angle of the solar panel in real time, and combines PID control for accurate adjustment, so that:

[0068] 1. The photovoltaic power generation efficiency is improved by 20%-50%, and the endurance time of the new energy garbage cleaning ship is prolonged.

[0069] 2. The strong wind protection mechanism reduces the wind resistance by 40%-50%, and improves the equipment durability.

[0070] 3. The dynamic adjustment period is 0.5-5 seconds, which ensures real-time optimization of power generation. DETAILED DESCRIPTION

[0071] The technical solutions of the application will be described in detail in combination with the embodiments, but those skilled in the art should know that the following embodiments are not the only limitation of the application, and any equivalent transformation or change made within the spirit and essence of the technical solutions of the application should be regarded as belonging to the protection scope of the application.

[0072] The embodiment provides a solar panel dynamic angle control system of a new energy garbage cleaning ship, and the system composition includes:

[0073] (1) Solar panel array

[0074] The material and structure of the solar panel array are specifically:

[0075] Single crystal silicon photovoltaic cells (model: SunPower X22-370) are adopted, with a rated power of 370W / block and a conversion efficiency of 22.5%;

[0076] The solar panel support is made of 6061-T6 aluminum alloy (surface anodizing treatment), with a tensile strength of ≥290 MPa and a salt mist corrosion resistance grade of ≥C5;

[0077] MC4 waterproof connectors are used between the panels, and the cable specification is 4mm² photovoltaic special cable (voltage resistance DC 1000V, temperature resistance-40°C~90°C).

[0078] The installation parameters of the solar panel array are:

[0079] Pitch angle adjustment range 0°-60°, step accuracy 0.5°, driven by screw lifting mechanism (lead 5 mm, stroke 300 mm);

[0080] Azimuth angle rotation range 0°-360°, driven by worm gear mechanism, reduction ratio 1:120, rotation torque ≥ 50 N·m.

[0081] (2) Angle control mechanism

[0082] The driving system of the angle control mechanism specifically includes:

[0083] Pitch shaft motor: NEMA 34 stepper motor (model: 57HS22, holding torque 3.0 N·m), matched with 17-bit absolute value encoder (resolution 0.005°);

[0084] Azimuth shaft motor: servo motor (model: Panasonic MINAS A6B, rated torque 6.0 N·m), integrated harmonic reducer (reduction ratio 1:100);

[0085] Transmission mechanism: T-shaped screw (diameter 20 mm, lead 5 mm) is used for the pitch shaft, and worm gear (module 2, pressure angle 20°) is used for the azimuth shaft.

[0086] The wind resistance design of the angle control mechanism includes:

[0087] Electromagnetic brake (model: EMB-05, braking torque 15 N·m), used to lock the azimuth angle when the wind speed > 15 m / s;

[0088] Hydraulic folding system (pressure range 0-10 MPa), used to push the pitch shaft to retract to 0° when the wind speed > 25 m / s, response time < 3 seconds.

[0089] (3) Sensor unit, including:

[0090] GPS module: U-blox NEO-M8N, positioning accuracy ±0.8 m (CEP), update frequency 10 Hz;

[0091] IMU unit: MPU-9250, three-axis gyroscope range ±2000° / s, angle resolution 0.01°;

[0092] Wind speed and direction sensor: Davis 6410, wind speed range 0-60 m / s, resolution 0.1 m / s, wind direction accuracy ±3°;

[0093] Illumination sensor: LI-COR LI-190R, spectral response range 400-1100 nm, linear error < ±1%.

[0094] (4) Central control system

[0095] The hardware configuration of the central control system is as follows:

[0096] Master chip: NVIDIA Jetson Xavier NX (6-core CPU, 384-core GPU), memory 8GB LPDDR4x;

[0097] Communication interface: CAN bus (transmission rate 1 Mbps), RS-485 (Modbus protocol);

[0098] Power management: DC 24V input, supporting UPS backup power (30 minutes of endurance).

[0099] The software architecture of the central control system is as follows:

[0100] Real-time operating system: Ubuntu 20.04 + ROS2 Galactic;

[0101] AI model of the central control system: deep reinforcement learning network based on PyTorch (input layer 8 nodes, hidden layer 64 nodes, output layer 2 nodes), training data set containing 100,000 groups of marine environment parameters.

[0102] The embodiment also provides a solar panel dynamic angle control method for the intelligent new energy garbage cleaning ship, comprising the following steps:

[0103] S1. Sun position calculation

[0104] First, the altitude angle and azimuth angle of the sun are calculated, the sun altitude angle ( ) and the azimuth angle ( ) are calculated by the following formula:

[0105] ;

[0106] Wherein:

[0107] : current latitude of the ship (unit: degree);

[0108] Hour angle ( ) calculation:

[0109]

[0110] Wherein, is the longitude, is the time difference, which is corrected by the following formula:

[0111] ;

[0112] Solar declination angle (δ) ) calculation (Cooper formula):

[0113] ;

[0114] where, is the day of the year (Jan 1 = 1, Dec 31 = 365).

[0115] S2. Solar panel array optimal tilt angle (θopt) ) calculation

[0116] Solar panel array base tilt angle (θbase) ) is consistent with the solar tilt angle (δ):

[0117] ;

[0118] Due to the influence of wind speed, add a wind resistance correction term (Δθ):

[0119] ;

[0120] where, is the wind direction angle, is the ship heading angle, is the ship speed, is the wind speed, = 0.3 (experimental calibration value);

[0121] Then, the solar panel array optimal tilt angle (θopt) ) is:

[0122] (if ≤ 15 m / s);

[0123] When > 15 m / s, force = 0°.

[0124] S3. Solar panel array optimal azimuth angle (φopt) ) calculation

[0125] Solar panel array base azimuth angle is consistent with the solar azimuth angle (λ):

[0126] ; Due to ship movement, add a ship movement compensation angle (Δφ):

[0127]

[0128] ;

[0129] where,​​​ =0.00417° / s is the apparent motion of the sun, is the ship speed, is the current latitude of the ship;

[0130] Then, the optimal azimuth of the solar panel array is:

[0131] ;

[0132] is measured by the IMU in real time,

[0133] ;

[0134] where:

[0135] : the azimuth of the sun;

[0136] : the ship motion compensation angle;

[0137] : the roll angle compensation coefficient (default 0.5-0.8);

[0138] : the apparent motion of the sun (about 0.00417° / s).

[0139] S4. PID control

[0140] According to the error signal , is the current pitch angle, is the current azimuth, the PID control output follows the following logic:

[0141] ;

[0142] Parameter range:

[0143] =1.2-1.8, =0.05-0.15, =0.1-0.3 (calibrated by experiment).

[0144] The parameter setting process is:

[0145] a) initialization =1.5, =0.1, =0.2;

[0146] b) under steady-state conditions, gradually increase until the system appears small oscillation, take 80% of the critical value as the final ;

[0147] c) Add integral term , eliminate steady-state error, adjust to overshoot <2%;

[0148] d) Add derivative term , suppress oscillation, adjust to regulation time <3 seconds;

[0149] e) Anti-integral saturation strategy: when the error persists for more than ±5°, the integral term is reset to 50% of the current output value.

[0150] S5. Safety protection

[0151] Further, the following protective measures are taken during navigation:

[0152] Wind lock: when the wind speed >15m / s, the azimuth angle of the solar panel is locked with electromagnetic brakes;

[0153] Automatic folding: when the wind speed >25m / s, the hydraulic rod retracts, allowing the solar panel to fold horizontally, with the pitch angle to 0°;

[0154] Vibration compensation: when the ship body inclination >5°, the pitch angle is adjusted by θ =0.5 θ roll Correction (for roll angle). θ roll

[0155] Graded response of wind speed:

[0156] Primary protection (wind speed >15m / s): electromagnetic brakes are energized to lock the azimuth angle; the pitch angle is reduced to 10° at a rate of 2° / s.

[0157] Secondary protection (wind speed >25m / s): the hydraulic system is started, and the pitch angle is returned to zero within 30 seconds; the azimuth angle motor is de-energized and fixed by a mechanical locking pin.

[0158] Tertiary protection (wind speed >30m / s): the solar panel is retracted as a whole into the waterproof cabin (stroke time ≤60 seconds); trigger audible and light alarms and upload status to the cloud monitoring platform.

[0159] The hardware deployment and software control of this embodiment are:

[0160] The solar panel support is installed on the top of the ship body, and the base is made of stainless steel frame and rubber shock pad;

[0161] The servo motor and encoder are connected to the central controller through CAN bus;

[0162] Data acquisition: read sensor data every 0.5 seconds;

[0163] ​AI computation: based on reinforcement learning model generation With ;

[0164] PID execution: control period 1 second, error threshold ±0.5°;

[0165] Protection mechanism: real-time monitoring of wind speed and ship attitude, triggering protection action.

[0166] Experimental verification:

[0167] (1) Power generation efficiency experiment

[0168] Comparison of power generation efficiency of AI-controlled angle and fixed angle solar panels:

[0169]

[0170] Prove that the all-day power generation under AI control is increased by 20%-50%.

[0171] (2) Strong wind protection experiment

[0172]

[0173] The damage rate of solar panels in strong wind environment is reduced by 80%-90%, improving the durability.

Claims

1. A method for dynamically controlling the angle of solar panels of a new energy garbage cleaning ship, characterized in that, Adopt the following control system, comprising: Solar panel array, using monocrystalline silicon solar panels, solar panel array is set on a double-axis rotating support; Angle control mechanism, using double-axis servo motor drive, using worm and screw transmission mechanism, adjust the solar panel array pitch angle and azimuth, and equipped with anti-wind locking device; Sensor unit, including GPS, IMU, wind speed and direction sensor, also including light intensity sensor; Central control system, including embedded AI computing unit, running neural network optimization and PID hybrid algorithm; Including the following steps: S1. Solar position calculation Solar elevation angle Azimuth angle By the following equation: ； Wherein: : current latitude of the vessel; : Sun declination angle, calculated from date, , is the day of the year; : hour angle, ; where, is the longitude, is the time difference, corrected by the formula: ； S2. Optimal tilt angle for solar panel array Calculations Solar panel array foundation pitch angle In line with solar pitch angle: ； Adding a windage correction term : ； wherein, is the wind direction angle, is the ship heading angle, is the ship speed, is the wind speed, = 0.3 is an experimental calibration value; Then, the optimal tilt angle of the solar panel array is: , if ≤ 15 m / s; = 0°, if > 15 m / s; S3. Optimal azimuth angle for solar panel array Calculations Solar panel array base azimuth angle is consistent with the sun pitch angle: ； adding a hull motion compensation angle : ； wherein, = 0.00417° / s, the apparent motion of the sun, is the ship speed, is the current latitude of the ship; Then, the optimal azimuth angle of solar panel array is: ； for the roll angle, measured in real time by the IMU, ； Wherein: : solar azimuth angle; : hull motion compensation angle; : roll angle compensation factor (0.5-0.8); : apparent solar motion velocity; S4. PID control output According to the error signal , is the pitch error signal at the moment, is the yaw error signal at the moment, is the current pitch angle, is the current yaw angle, then the PID control output follows the following logic: ； Parameter range: =1.2～1.8， =0.05～0.15， =0.1～0.3。 2. The method for controlling the dynamic angle of the solar panels of a new energy garbage cleaning ship according to claim 1, characterized in that, Also includes: S5. Safety protection Wind resistance locking: when the wind speed > 15 m / s, the electromagnetic brake locks the azimuth angle of solar panel; Automatic folding: when the wind speed > 25 m / s, the hydraulic rod retracts, allowing the solar panel to fold horizontally, with a pitch angle of 0°; Shake compensation: when the ship is tilted > 5°, the pitch angle is corrected by = 0.5 .

3. The method for dynamic angle control of solar panels of a new energy garbage cleaning ship according to claim 1, characterized in that, The parameter setting process in S4 is: a) initialization = 1.5, = 0.1, = 0.2; b) in steady state, gradually increase until the system shows small oscillation, take 80% of the critical value as the final ; c) adding an integral term eliminate steady state error, adjust to <2% overshoot d) adding a derivative term , damp the oscillations, adjust to regulation time < 3 seconds; e) Anti-integral saturation strategy: when the error continues to exceed ± 5°, the integral term is reset to 50% of the current output value.

4. The method for dynamic angle control of solar panels of a new energy garbage cleaning ship according to claim 2, characterized in that, In S5, the wind speed is divided into grades: Primary protection, when the wind speed > 15 m / s, the electromagnetic brake is energized to lock the azimuth angle, and the pitch angle is reduced to 10° at a rate of 2° / s; Secondary protection, when the wind speed > 25 m / s, the hydraulic system starts, and the pitch angle is returned to zero within 30 seconds, and the azimuth angle motor is de-energized and fixed by the mechanical locking pin; Tertiary protection, when the wind speed > 30 m / s, the solar panel is retracted to the waterproof cabin, triggering the audible and light alarm and uploading the status to the cloud monitoring platform.

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