Automatically-controlled solar energy optical fiber leading-in system

Abstract

The invention belongs to the technical field of solar energy utilization and automatic control, and discloses an automatically-controlled solar energy optical fiber leading-in system. Comprising a data acquisition unit used for acquiring real-time comprehensive information of a solar energy optical fiber introduction system, the real-time comprehensive information comprising geographic data, time data, weather data and attitude data, and the attitude data comprising an azimuth angle and an elevation angle of a lens; the sun position acquisition unit is used for acquiring real-time position data of the sun according to the geographic data, the time data and the weather data, and the real-time position data of the sun comprises an azimuth angle and an elevation angle of the sun; according to the invention, the system can track the real-time position data of the sun more accurately, system oscillation caused by overlarge single adjustment amplitude can be avoided, and the stability and control precision of the system can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of solar energy utilization and automatic control, and more particularly to an automatic control solar light fiber introduction system. BACKGROUND

[0002] The solar light fiber introduction system, namely a solar light introducer, can efficiently introduce sunlight into a room or a specific area for lighting. The solar light fiber introduction system is generally composed of a convex lens, a rotatable and tiltable lens support, a motor, a photoelectric sensor, a GPS module, an optical fiber, and a lamp, etc. The solar light fiber introduction system calculates the position of the sun in real time to adjust the angle of the lens, so that the sunlight is always perpendicular to the surface of the lens, thereby maximizing the use of sunlight. The lighting device of the solar light fiber introduction system can be installed on the roof, balcony, ground, wall, etc. of a building that can be illuminated by sunlight all year round. The sunlight is collected and then continuously transmitted to large buildings, basements, north-facing rooms, and other closed spaces that cannot be illuminated by sunlight all year round through optical cables. From sunrise to sunset, the indoor space can enjoy the benefits of 8-10 hours of sunlight every day.

[0003] However, the existing solar light fiber introduction system is easily affected by weather conditions during tracking of the sun. This influence can cause the precision of the solar light fiber introduction system to decrease when tracking the sun, resulting in the solar light fiber introduction system losing the sun or blindly tracking the sun, and causing the lighting of the solar light fiber introduction system to appear bright and dark.

[0004] In view of this, the present application provides an automatic control solar light fiber introduction system to solve the above problems. SUMMARY

[0005] In order to overcome the above-mentioned defects of the prior art and achieve the above-mentioned purpose, the present application provides the following technical scheme: an automatic control solar light fiber introduction system, comprising: a data acquisition unit for acquiring real-time comprehensive information of the solar light fiber introduction system, the real-time comprehensive information including geographic data, time data, weather data, and attitude data, the attitude data including an azimuth angle and an elevation angle of the lens; a sun position acquisition unit for acquiring real-time position data of the sun according to the geographic data, the time data, and the weather data, the real-time position data of the sun including an azimuth angle and an elevation angle of the sun; an automatic control unit for obtaining expected attitude data according to real-time position data of the sun, obtaining difference data based on the expected attitude data and the attitude data, and obtaining adjustment data of the azimuth angle motor and the elevation angle motor respectively and executing by using the difference data; a feedback optimization unit for judging whether the executed attitude data reaches the expected attitude data, and if not, obtaining a difference value between the two and continuing to adjust the azimuth angle motor and the elevation angle motor by using the difference value.

[0006] Further, in the data acquisition unit: the geographic data includes longitude and latitude coordinates of a location where the solar energy fiber introduction system is located; the time data includes the current date and time of the location where the solar energy fiber introduction system is located; the weather data includes weather conditions, cloud thickness, cloud cover percentage, wind speed, wind direction, and temperature and humidity of the location where the solar energy fiber introduction system is located.

[0007] Further, in the sun position acquisition unit: a first sun movement trajectory of a historical period is obtained based on the sun tracking, and a second sun movement trajectory of the historical period is obtained based on the photoelectric tracking; an anchor line is established between a plurality of same time points of the first sun movement trajectory and the second sun movement trajectory, and a plurality of position errors of the plurality of same time points on the first sun movement trajectory and the second sun movement trajectory are obtained based on the anchor line; historical weather data corresponding to the anchor line on the second sun movement trajectory is obtained, and a mapping model of the historical weather data and the position errors is established; the most same position error in the plurality of position errors is selected as a constant position error, a meteorological quantification function is preset, and a weather influence threshold is set based on a plurality of historical weather data corresponding to the constant position error; the weather data is calculated to obtain a calculation result, it is judged whether the calculation result is less than the weather influence threshold, if less, the real-time position data of the sun is obtained by the photoelectric tracking, and if greater than or equal to, the real-time position data of the sun is obtained by combining the geographic data and the time data with the position data obtained by the sun tracking and the constant position error.

[0008] Further, the step of setting the weather influence threshold based on the plurality of historical weather data corresponding to the constant position error comprises: a plurality of historical weather data corresponding to the constant position error and a similarity of the plurality of historical weather data are obtained; the plurality of historical weather data is arranged in descending order according to the similarity, and the historical weather data in the first place is calculated by using the meteorological quantification function to obtain the weather influence threshold.

[0009] Further, the meteorological quantification function specifically comprises: Defining parameters in the weather data: influence function and corresponding weight of weather condition, influence function and corresponding weight of cloud layer synthesis, influence function and corresponding weight of wind speed, influence function and corresponding weight of temperature and humidity coupling, and special weather enhancement coefficient, and then the meteorological quantification function can be set by using the parameters in the weather data.

[0010] Further, the sun position acquisition unit further comprises: The first sun movement trajectory and the second sun movement trajectory are divided into a plurality of interval trajectories according to a period, each interval trajectory corresponds to a plurality of historical position data of the sun, the position change speed of the sun in the corresponding interval trajectory is obtained based on the plurality of historical position data of the sun, and the position change speed of the sun is associated with the corresponding interval trajectory; The interval trajectory corresponding to the real-time position data of the sun is obtained, and the real-time position change speed of the sun is obtained based on the corresponding interval trajectory and the position data of the sun in the last period; The position change amount corresponding to the minimum position change speed of the sun in the interval trajectory in the historical period is obtained as a first position change threshold, the maximum position change amount corresponding to the maximum position change speed of the sun in the interval trajectory in the historical period is obtained as a second position change threshold, a tolerance range is established with the first position change threshold and the second position change threshold, if the real-time position change amount of the sun is not in the tolerance range, the real-time position data of the sun is recalculated, otherwise, it is not necessary to recalculate.

[0011] Further, in the automatic control unit: The expected attitude data corresponding to the lens when the real-time position data of the sun vertically enters the lens is obtained, the azimuth angle difference and the elevation angle difference between the expected attitude data corresponding to the lens and the attitude data are calculated, and the difference data is formed based on the azimuth angle difference and the elevation angle difference; A plurality of historical azimuth angle differences and historical adjustment data of the corresponding azimuth angle motor are collected to construct a first polynomial regression model, and the azimuth angle difference is input into the first polynomial regression model to obtain the adjustment data of the azimuth angle motor; A plurality of historical elevation angle differences and historical adjustment data of the corresponding elevation angle motor are collected to construct a second polynomial regression model, and the elevation angle difference is input into the second polynomial regression model to obtain the adjustment data of the elevation angle motor; It is judged whether the adjustment data of the azimuth angle motor and the adjustment data of the elevation angle motor are in a preset first adjustment interval or a second adjustment interval, if yes, the adjustment data of the azimuth angle motor and the adjustment data of the elevation angle motor are executed.

[0012] Further, the step of judging whether the adjustment data of the azimuth angle motor and the elevation angle motor is in the preset first adjustment interval or the second adjustment interval comprises: Obtaining first oscillation data corresponding to a plurality of historical adjustment data of the azimuth angle motor, and establishing a first mapping table corresponding to the historical adjustment data and the first oscillation data; Obtaining the first oscillation data reaching k times and being the smallest in the first mapping table, and taking the historical adjustment data corresponding to the smallest first oscillation data as a first adjustment threshold; Setting a fluctuation adjustment of e%, and establishing a first adjustment interval corresponding to the azimuth angle motor based on the fluctuation adjustment of e%; If the adjustment data of the azimuth angle motor is in the first adjustment interval, the adjustment data of the azimuth angle motor is directly executed, and if the adjustment data of the azimuth angle motor is not in the first adjustment interval, the adjustment data of the azimuth angle motor is segmented and executed; According to the above steps, the second adjustment threshold and the second adjustment interval corresponding to the elevation angle motor can be obtained, and whether the adjustment data of the elevation angle motor is in the corresponding second adjustment interval can be judged.

[0013] Further, the step of segmenting and executing the adjustment data of the azimuth angle motor comprises: Dividing the adjustment data of the azimuth angle motor by the first adjustment threshold to obtain a plurality of segmented adjustment data of the azimuth angle motor, wherein the remainder not divided is taken as the end segmented adjustment data of the azimuth angle motor; The plurality of segmented adjustment data of the azimuth angle motor and the end segmented adjustment data are executed in turn; According to the above steps, the adjustment data of the elevation angle motor is segmented to obtain a plurality of segmented adjustment data of the elevation angle motor and executed.

[0014] Further, in the feedback optimization unit: Obtaining the executed attitude data and calculating the difference between the executed attitude data and the expected attitude data, if the difference is equal to 0, no adjustment is needed, otherwise, the difference is taken as new difference data, and the azimuth angle motor and the elevation angle motor are adjusted by using the new difference data.

[0015] The technical effect and advantages of the automatic control solar energy optical fiber guiding system of the application are: 1. The present application solves the problem of the decline in accuracy, the loss of tracking and the blind tracking of the solar light fiber introduction system when tracking the sun by switching and combining the sun tracking and the photoelectric tracking to obtain the real-time position data of the sun, so that the system tracks the real-time position data of the sun more accurately; wherein, by setting the tolerance range, the real-time position data of the sun can be verified, the accumulation of system error is reduced, and the accurate control of the azimuth angle and the elevation angle of the lens by the subsequent system is facilitated. 2. The present application can facilitate obtaining accurate adjustment data of the azimuth angle motor and the elevation angle motor by inputting the azimuth difference and the elevation difference of the difference data into the first polynomial regression model and the second polynomial regression model respectively, solves the problem of large oscillation caused by improper control when controlling the solar light fiber introduction system, and helps to improve the stability and control accuracy of the system; through the feedback optimization unit, the system can dynamically adjust the adjustment strategy of the azimuth angle motor and the elevation angle motor, so as to ensure that the lens surface is always perpendicular to the incident angle of the sunlight to maximize the use of solar energy resources. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structure diagram of an automatic control solar light fiber introduction system. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0018] Application scenario: The existing solar light fiber introduction system is easily affected by weather conditions (such as cloud cover, haze, overcast weather, etc.) when tracking the sun, which causes the lens surface to deviate from the direct position of the sun for a long time, resulting in the blind tracking and loss of tracking of the solar light fiber introduction system, which is not convenient for the accurate control of the azimuth angle and the elevation angle of the lens to make the lens surface perpendicular to the direct position of the sun to maximize the use of solar energy resources. In addition, when controlling the elevation angle and the azimuth angle of the lens in the solar light fiber introduction system, a good adjustment strategy cannot be set to make the solar light fiber introduction system more accurate and reduce the large oscillation when controlling, so that the stability of the light energy fiber introduction system when controlling is stronger.

[0019] Please refer to Figure 1As shown, the automatic control solar energy fiber introduction system comprises a data acquisition unit, a sun position acquisition unit, an automatic control unit and a feedback optimization unit, and specifically comprises: The data acquisition unit is configured to acquire real-time comprehensive information of the solar energy fiber introduction system, wherein the real-time comprehensive information comprises geographical data, time data, weather data and attitude data, and the attitude data comprises an azimuth angle and an elevation angle of the lens. The sun position acquisition unit is configured to acquire real-time position data of the sun according to the geographical data, the time data and the weather data, wherein the real-time position data of the sun comprises an azimuth angle and an elevation angle of the sun. The automatic control unit is configured to acquire expected attitude data according to the real-time position data of the sun, acquire difference data based on the expected attitude data and the attitude data, and acquire adjustment data of the azimuth angle motor and the elevation angle motor respectively and execute the adjustment data. The feedback optimization unit is configured to determine whether the executed attitude data reaches the expected attitude data, and if not, acquire a difference value between the executed attitude data and the expected attitude data, and continue to adjust the azimuth angle motor and the elevation angle motor based on the difference value. In the embodiment, the units are connected through wired and / or wireless modes in the implementation process to realize data transmission between the modules. The real-time position data of the sun is acquired through switching and combination of the sun tracking and the photoelectric tracking, the problem of tracking interruption or large accumulated error of the system caused by complex weather conditions is solved, the tracking of the real-time position data of the sun is more accurate, the adjustment data of the azimuth angle motor and the elevation angle motor is calculated based on the difference data, which helps the lens surface to be perpendicular to the incident angle of the sunlight, and solves the system oscillation caused by the single adjustment amplitude of the azimuth angle motor or the elevation angle motor being too large or improper, which helps to improve the stability and control accuracy of the system. The problem of the azimuth angle motor and the elevation angle motor not reaching the expected attitude data is solved by determining whether the executed attitude data reaches the expected attitude data, which helps the lens surface to be perpendicular to the incident angle of the sunlight at all times to maximize the use of solar energy resources.

[0020] As an optional embodiment, in the data acquisition unit: The geographical data comprises longitude and latitude coordinates of a location where the solar energy fiber introduction system is located, and the longitude and latitude coordinates can be obtained by a GPS module. The time data comprises a current date and time of a location where the solar energy fiber introduction system is located, and the current date and time is obtained by a system built-in clock or through the Internet to obtain a standard time, and the system built-in clock is synchronized with the network time periodically. The weather data includes weather conditions, cloud thickness, cloud percentage, wind speed, wind direction, and temperature and humidity of a location where the solar energy optical fiber introduction system is located, wherein the weather conditions include sunny, cloudy, overcast, rainy, and snowy, and the weather data is obtained by a meteorological sensor or a third-party meteorological service interface; The azimuth and elevation angles of the lens are obtained by an angle sensor; It should be noted that the weather conditions can adopt the determination result of the third-party meteorological service; the cloud thickness can be measured by satellite-borne optical or radar sensors to measure the cloud top height and cloud bottom height, and combined with atmospheric vertical structure data to obtain; , wherein, is the total area of the geographical region covered by the remote sensing image, which is obtained by the total number of image pixels multiplied by the area of a single pixel; The cloud detection is performed on the remote sensing image by the threshold method and the texture analysis method to generate a cloud mask (the cloud region is marked as 1 and the non-cloud region is marked as 0) and the value of 1 is obtained by counting the pixels; is the actual ground area corresponding to each pixel, which is calculated by the spatial resolution of the remote sensing image; further, by collecting real-time comprehensive information, the acquisition of the real-time position data of the sun, the adjustment data of the azimuth motor and the elevation motor, and the data required by the feedback optimization unit is solved, which is the basis for the subsequent calculation and control of other units, and can ensure that the solar energy optical fiber introduction system obtains accurate and comprehensive real-time comprehensive information, so as to facilitate the automatic control of the solar energy optical fiber introduction system.

[0021] As an optional embodiment, in the sun position acquisition unit: The first sun motion trajectory of the historical period is obtained based on the sun tracking, and the second sun motion trajectory of the historical period is obtained based on the photoelectric tracking; An anchor line is established between a plurality of same time points of the first sun motion trajectory and the second sun motion trajectory, and a plurality of position errors of the plurality of same time points on the first sun motion trajectory and the second sun motion trajectory are obtained based on the anchor line; The historical weather data corresponding to the anchor line on the second sun motion trajectory is obtained, and a mapping model of the historical weather data and the position errors is established; The most same position error in the plurality of position errors is screened as a constant position error, a meteorological quantization function is preset, and a weather influence threshold is set based on a plurality of historical weather data corresponding to the constant position error; The weather data is calculated to obtain a calculation result, and it is judged whether the calculation result is less than the weather influence threshold, if less, the real-time position data of the sun is obtained by photoelectric tracking, if greater than or equal to, the geographical data and the time data are input into the position data obtained by the sun tracking combined with the constant position error to obtain the real-time position data of the sun; It should be noted that the combination is: the position data obtained by the sun tracking is corrected with the constant position error, that is, the constant position error is subtracted from the position data obtained by the sun tracking, so as to obtain more accurate real-time position data of the sun; the sun tracking is like wang algorithm, the geographical data and the time data are input into the sun tracking to obtain the historical position data of the sun and establish the first sun motion track, the second sun motion track can obtain the deviation of the incident angle of the sun and the vertical angle of the lens on the lens by using the four-quadrant photoelectric sensor, so as to obtain the historical position data of the sun and establish the second sun motion track, wherein the four-quadrant photoelectric sensor is composed of four independent photoelectric detectors, which are respectively located in the four quadrant regions of a square, when the sunlight shines on the sensor, according to the difference of the light intensity received by the four quadrants, the position deviation of the sun spot center relative to the sensor center can be calculated, and then the deviation of the incident angle of the sun and the vertical angle of the lens is obtained; further, through the setting of the first sun motion track and the second sun motion track in the historical period, the position error generated by the sun tracking and the photoelectric tracking at the same time point can be obtained, and the influence of the weather data on the position error, the constant position error and the weather influence threshold value are obtained, so as to realize the combination and switching of the sun tracking and the photoelectric tracking, solve the situation that the real-time position error of the sun caused by the sun tracking is large and the weather condition affects the photoelectric tracking, and then the real-time position data of the sun can be accurately obtained, the stability and reliability of the solar light energy fiber introduction system for tracking the real-time position of the sun can be enhanced, and the problem of tracking interruption or large system cumulative error of the real-time position data of the sun caused by complex weather conditions can be solved.

[0022] As an optional embodiment: the step of setting the weather influence threshold value according to the plurality of historical weather data corresponding to the constant position error comprises: obtaining a plurality of historical weather data corresponding to the constant position error and the similarity of the plurality of historical weather data; arranging the plurality of historical weather data in descending order according to the similarity, and calculating the first historical weather data in the order by using the meteorological quantitative function to obtain the weather influence threshold value; It should be noted that the similarity of the historical weather data can be obtained by the Euclidean distance or the cosine similarity; further, by sorting and screening a plurality of same position errors, inaccurate position error data can be effectively removed to obtain the constant position error, by obtaining a plurality of historical weather data corresponding to the constant position error, the weather data that has the greatest influence on the position data of the sun can be found out, and the correlation between the two can be established, by calculating the first historical weather data in the order and obtaining the weather influence threshold value, it can be judged whether the weather data has an influence on the accurate acquisition of the real-time position data of the sun, so as to provide corresponding support for the subsequent switching of the sun tracking and the photoelectric tracking.

[0023] As an optional embodiment: the meteorological quantification function specifically comprises: Define parameters in weather data: influence function f1 and corresponding weight w1 of weather condition, influence function f2 and corresponding weight w2 of cloud synthesis, influence function f3 and corresponding weight w3 of wind speed, influence function f4 and corresponding weight w4 of temperature and humidity coupling, and special weather enhancement coefficient ε, and then the meteorological quantification function can be set by using the above parameters in weather data; Specifically: the expression of the meteorological quantification function is: , wherein, represents the weather influence value, represents the weight coefficient of the i-th parameter in the weather data, represents the normalized influence function of the i-th parameter in the weather data, , i represents the index of each parameter in the weather data; It should be noted that, The sum of w1, w2, w3 and w4 is 1, which is based on prior weights based on experience or professional knowledge, and then the prior weights are optimized by using principal component analysis and historical weather data, so as to obtain the optimal weight of each parameter; for example, the normalized influence functions of different weather conditions are respectively: sunny 0, cloudy 0.2, overcast 0.5, rainy 0.8 and snowy 1; the normalized influence function of cloud synthesis is: , wherein the cloud cover percentage belongs to [0%, 100%], and the cloud layer thickness unit is hundred meters (for example, 200 meter cloud layer thickness is 2); the normalized influence function of wind speed is: , wherein the wind speed unit is m / s, and the wind direction change rate is the azimuth change amount (unit: degree) in the past 1 hour; the normalized influence function of temperature and humidity coupling is , wherein, represents the temperature (℃), = 20℃, represents the relative humidity (%), represents the special weather enhancement coefficient, such as taking 0.5 when sandstorm occurs, taking 0.3 when haze (PM2.5> 150 μg / m 3 ) occurs, and taking 0 when the weather is normal; for example, normalize all the parameters in the above weather data to [0, 1], The calculation of the historical weather data also adopts the meteorological quantification function to calculate; by processing each parameter in the weather data into a normalized influence function, the meteorological quantification function can comprehensively analyze the weather data to obtain a corresponding weather influence value, so as to determine a weather influence threshold in the historical weather data, thereby facilitating the judgment of whether the current weather data affects the tracking of the real-time position of the sun by the weather influence threshold, and providing a switching judgment standard for the tracking mode of the real-time position of the sun, facilitating the timely switching of the tracking mode of the real-time position of the sun in complex weather conditions, solving the problem of the interruption of the tracking of the real-time position data of the sun or the large accumulated error of the system due to complex weather conditions, making the tracking of the real-time position data of the sun by the system more accurate, and providing support for the accurate control of subsequent lens posture data.

[0024] As an optional embodiment: the sun position acquisition unit further comprises: dividing the first sun movement trajectory and the second sun movement trajectory into a plurality of interval trajectories according to a period, each interval trajectory corresponding to a plurality of historical position data of the sun, acquiring a position change speed of the sun in the corresponding interval trajectory based on the plurality of historical position data of the sun, and associating the position change speed of the sun with the corresponding interval trajectory; acquiring an interval trajectory corresponding to the real-time position data of the sun, and acquiring a real-time position change speed of the sun based on the corresponding interval trajectory and the position data of the sun in the last period; acquiring a minimum position change speed corresponding to a position change amount of the sun in the interval trajectory in a historical period as a first position change threshold, and acquiring a maximum position change speed corresponding to a maximum position change amount of the sun in the interval trajectory in the historical period as a second position change threshold, establishing a tolerance range based on the first position change threshold and the second position change threshold, and if the real-time position change amount of the sun is not in the tolerance range, recalculating the real-time position data of the sun, otherwise, no recalculation is needed; It should be noted that the interval trajectory is divided according to the period of time, for example, the first sun movement trajectory and the second sun movement trajectory are both one-day sun movement trajectories, and one day is divided into 24 interval trajectories, for example, 8:00-9:00 is an interval trajectory, if the real-time position change amount of the sun corresponds to the A interval trajectory, the tolerance range of the A interval trajectory is: the azimuth tolerance range is [0.1°, 0.25°], and the altitude angle tolerance range is [0.15°, 0.3°], if the real-time position change amount (azimuth, altitude angle) of the sun is (30°, 45°), the position data of the sun in the last period is (29.8°, 44.8°), and the real-time position change amount of the sun is (0.2°, 0.2°), which belongs to the corresponding tolerance range respectively, therefore, it is not necessary to recalculate the real-time position data of the sun; through the setting of the tolerance range, the real-time position data of the sun can be verified, the accumulation of system error is reduced, and the situation that the system loses the sun or the real-time position data of the sun is inaccurate is avoided, so that the real-time position data of the sun obtained is more accurate and stable, which is beneficial to the accurate control of the lens attitude data by the subsequent system.

[0025] As an optional embodiment, in the automatic control unit: The real-time position data of the sun is obtained, the expected attitude data of the lens corresponding to the situation that the sun vertically enters the lens is obtained, the azimuth angle difference value and the altitude angle difference value of the expected attitude data of the lens corresponding to the situation and the attitude data are calculated, the difference data is formed based on the azimuth angle difference value and the altitude angle difference value, and the adjustment data of the azimuth angle motor and the altitude angle motor both include the PWM duty ratio, it should be noted that the PWM duty ratio is the ratio of the pulse width time to the total cycle time, the average voltage or average power of the motor can be indirectly controlled by adjusting the PWM duty ratio, so as to realize the accurate control of the motor speed, steering and torque; A plurality of historical azimuth angle difference values and corresponding historical adjustment data of the azimuth angle motor are collected, and a first polynomial regression model is constructed, the azimuth angle difference value is input into the first polynomial regression model to obtain the adjustment data of the azimuth angle motor, it should be noted that the step of constructing the first polynomial regression model includes: obtaining a plurality of historical azimuth angle difference values and corresponding historical adjustment data (historical PWM duty ratio) of the azimuth angle motor, and establishing a first polynomial regression model, the expression of which is: , in the formula, P represents the historical adjustment data of the azimuth angle motor, represents the historical azimuth angle difference value, is a parameter of the model, and the least square method is used to optimize the model parameter, so that the error between the predicted value and the true value is minimized, and the fitting effect of the model is evaluated by using the mean square error until a preset condition is reached; by constructing the first polynomial regression model, the mapping relationship between the input (azimuth angle difference value) and the output (azimuth angle motor adjustment data) can be established, the nonlinear relationship between the azimuth angle difference value and the azimuth angle motor adjustment data can be quantified, the problem of automatically and accurately generating azimuth angle motor adjustment data according to the azimuth angle difference value is solved, and the system can control the azimuth angle motor more quickly and accurately, thereby improving the stability and performance of the system; A plurality of historical elevation angle difference values and corresponding historical adjustment data of the elevation angle motor are collected, and a second polynomial regression model is constructed. The elevation angle difference value is input into the second polynomial regression model to obtain the adjustment data of the elevation angle motor. It should be noted that the step of constructing the second polynomial regression model includes: obtaining a plurality of historical elevation angle difference values and corresponding historical adjustment data (historical PWM duty ratio) of the elevation angle motor, and establishing a second polynomial regression model, the expression of which is: In the formula, P' represents the historical adjustment data of the elevation angle motor, represents the historical elevation angle difference value, is a parameter of the model, and the least square method is used to optimize the model parameter, so that the error between the predicted value and the true value is minimized, and the fitting effect of the model is evaluated by using the mean square error until a preset condition is reached; by constructing the second polynomial regression model, the mapping relationship between the input (azimuth angle difference value) and the output (azimuth angle motor adjustment data) can be established, the nonlinear relationship between the azimuth angle difference value and the azimuth angle motor adjustment data can be quantified, the problem of automatically and accurately generating azimuth angle motor adjustment data according to the azimuth angle difference value is solved, and the system can control the azimuth angle motor more quickly and accurately, thereby improving the stability and performance of the system; It is judged whether the adjustment data of the azimuth angle motor and the adjustment data of the elevation angle motor are in the preset first adjustment interval or the second adjustment interval, and if so, the adjustment data of the azimuth angle motor and the adjustment data of the elevation angle motor are executed. It should be noted that the expected attitude data includes an expected azimuth angle and an expected elevation angle, when the sunlight is vertically incident on the lens, the expected elevation angle of the lens is equal to 90 degrees minus the elevation angle of the sun, the expected elevation angle of the lens = 90°-elevation angle of the sun; when the sunlight is vertically incident on the lens, the azimuth angle of the lens is opposite to the azimuth angle of the sun, if the azimuth angle of the sun is A, then the azimuth angle of the lens will be A+180° (or A-180°, depending on the definition range of the azimuth angle); in calculating the azimuth angle difference and the elevation angle difference between the expected attitude data and the attitude data, the azimuth angle difference = expected azimuth angle-azimuth angle, the elevation angle difference = expected elevation angle-elevation angle; by inputting the azimuth difference and the elevation difference of the difference data into the first polynomial regression model and the second polynomial regression model respectively, the adjustment data of the azimuth angle motor and the elevation angle motor can be calculated by using the difference data, which helps the lens surface to be perpendicular to the incident angle of the sunlight, wherein, by setting the first adjustment interval, the second adjustment interval and the adjustment strategy of the segmented processing, the system oscillation caused by the single adjustment amplitude of the azimuth angle motor or the elevation angle motor being too large or improper is solved, which helps to improve the stability and control accuracy of the system.

[0026] As an optional embodiment: the step of judging whether the adjustment data of the azimuth angle motor and the elevation angle motor is in the preset first adjustment interval or the second adjustment interval comprises: obtaining first oscillation data corresponding to a plurality of historical adjustment data of the azimuth angle motor, and establishing a first mapping table corresponding to the historical adjustment data and the first oscillation data; obtaining the minimum first oscillation data reaching k times in the first mapping table, and taking the historical adjustment data corresponding to the minimum first oscillation data as a first adjustment threshold; setting a fluctuation adjustment of e%, and establishing a first adjustment interval corresponding to the azimuth angle motor based on the fluctuation adjustment of e% , wherein, the first adjustment threshold is represented as e0; if the adjustment data of the azimuth angle motor is in the first adjustment interval, the adjustment data of the azimuth angle motor is directly executed, and if the adjustment data of the azimuth angle motor is not in the first adjustment interval, the adjustment data of the azimuth angle motor is segmented and executed; The specific steps of obtaining the second adjustment threshold and the second adjustment interval corresponding to the elevation angle motor and judging whether the adjustment data of the elevation angle motor is in the corresponding second adjustment interval are as follows: obtaining second oscillation data corresponding to a plurality of historical adjustment data of the elevation angle motor, and establishing a second mapping table corresponding to the historical adjustment data and the second oscillation data; obtaining the minimum second oscillation data reaching k times in the second mapping table, and taking the historical adjustment data corresponding to the minimum second oscillation data as a second adjustment threshold; Set a fluctuation adjustment of r%, and establish a second adjustment interval corresponding to the height angle motor based on the fluctuation adjustment of r% wherein, represents a second adjustment threshold value; If the adjustment data of the height angle motor is in the second adjustment interval, the adjustment data of the height angle motor is directly executed, and if the adjustment data of the height angle motor is not in the second adjustment interval, the adjustment data of the height angle motor is segmented and executed; It should be noted that, for example, the oscillation data is the deviation angle generated by the motor during adjustment, the minimum oscillation data 0.5° of the azimuth angle motor is set as the first adjustment threshold value, e=10% is set, and the first adjustment interval is: [0.5°−10%×0.5°, 0.5°+10%×0.5°]=[0.45°, 0.55°]. By reaching the kth minimum first oscillation data and second oscillation data, the first adjustment threshold value and the second adjustment threshold value can be set on the basis of the historical optimal, most stable and minimum oscillation data, and the fluctuation adjustment can be performed on the basis of the first adjustment threshold value and the second adjustment threshold value to set the first adjustment interval, the second adjustment interval and the segmentation processing adjustment strategy, thereby solving the system oscillation caused by the single adjustment amplitude being too large or improper for the above-mentioned azimuth angle motor or height angle motor, so that the azimuth angle motor and the height angle motor have smaller oscillation during adjustment, thereby helping to improve the stability and control accuracy of the system.

[0027] As an optional embodiment, the step of segmenting and executing the adjustment data of the azimuth angle motor comprises: dividing the adjustment data of the azimuth angle motor by the first adjustment threshold value to obtain a plurality of segmented adjustment data of the azimuth angle motor, wherein the remainder of the division is the end segmented adjustment data of the azimuth angle motor; sequentially executing the plurality of segmented adjustment data of the azimuth angle motor and the end segmented adjustment data; The specific steps of segmenting and executing the adjustment data of the height angle motor to obtain a plurality of segmented adjustment data of the height angle motor are as follows: dividing the adjustment data of the height angle motor by the second adjustment threshold value to obtain a plurality of segmented adjustment data of the height angle motor, wherein the remainder of the division is the end segmented adjustment data of the height angle motor; sequentially executing the plurality of segmented adjustment data of the height angle motor and the end segmented adjustment data; It should be noted that by the segmented processing, the adjustment range of the azimuth angle motor or the elevation angle motor is limited in the preset first adjustment interval or the second adjustment interval each time, the system oscillation caused by the too large single adjustment range of the azimuth angle motor or the elevation angle motor is solved, so that the stability and precision of the system are improved, the segmented processing can allow the system to adjust gradually instead of completing the large angle adjustment at one time, so that the system can make the lens surface more accurately allow the sun to be vertically incident, the accurate automatic control of the solar energy optical fiber guiding system can be realized, and the system oscillation caused by improper control is reduced.

[0028] As an optional embodiment, in the feedback optimization unit: The executed attitude data is acquired, and a difference between the executed attitude data and the expected attitude data is calculated, if the difference is equal to 0, no adjustment is needed, otherwise, the difference is taken as new difference data, and the azimuth angle motor and the elevation angle motor are adjusted by using the new difference data; It should be noted that the expected attitude data is the corresponding lens azimuth angle and elevation angle when the lens surface is perpendicular to the incident angle of the sunlight, by the feedback optimization unit, whether the executed attitude data reaches the expected attitude data is judged, the problem of the azimuth angle motor and the elevation angle motor not reaching the expectation is solved, the lens surface is always perpendicular to the incident angle of the sunlight to maximize the utilization of solar energy resources, and the precision and stability of the system are improved.

[0029] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software mode depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0030] In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only one, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0031] The above merely describes the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

[0032] Finally, the above merely describes the preferred embodiments of the present application, but is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automatically controlled solar energy optical fiber introduction system, characterized in that: include: A data acquisition unit for collecting real-time comprehensive information of the solar energy optical fiber introduction system, wherein the real-time comprehensive information includes geographic data, time data, weather data, and attitude data, wherein the attitude data includes the azimuth and altitude angles of the lens; A sun position acquisition unit, configured to acquire real-time sun position data based on geographic data, time data, and weather data, wherein the real-time sun position data includes the sun's azimuth and altitude; An automatic control unit, configured to obtain expected attitude data based on the real-time position data of the sun, obtain difference data based on the expected attitude data and the attitude data, and use the difference data to respectively obtain and execute adjustment data for the azimuth motor and the altitude motor; The feedback optimization unit is used to determine whether the posture data after execution reaches the expected posture data. If not, the difference between the two is obtained and the difference is used to continue to adjust the azimuth motor and altitude motor.

2. The automatic control solar energy optical fiber introduction system according to claim 1, characterized in that: In the data acquisition unit: The geographic data includes the longitude and latitude coordinates of the location of the solar energy optical fiber introduction system; The time data includes the current date and time of the location of the solar energy optical fiber introduction system; The weather data includes weather conditions, cloud thickness, cloud cover percentage, wind speed, wind direction, and temperature and humidity at the location where the solar energy optical fiber introduction system is located.

3. The automatic control solar energy optical fiber introduction system according to claim 2, characterized in that: In the sun position acquisition unit: The first solar motion trajectory of the historical period is obtained based on apparent solar tracking, and the second solar motion trajectory of the historical period is obtained based on photoelectric tracking; Establishing an anchor line between a plurality of identical time points on the first sun motion track and the second sun motion track, and obtaining a plurality of position errors of the plurality of identical time points on the first sun motion track and the second sun motion track based on the anchor line; Obtain historical weather data corresponding to the anchor line on the second sun's motion trajectory, and establish a mapping model between historical weather data and position error; Filtering the most common position errors among a number of position errors as a constant position error, presetting a meteorological quantization function and setting a weather impact threshold using a plurality of historical weather data corresponding to the constant position error; Calculate weather data to obtain calculation results, and determine whether the calculation results are less than the weather impact threshold. If less than, use photoelectric tracking to obtain the real-time position data of the sun. If greater than or equal to, input geographic data and time data into the position data obtained by apparent solar tracking and combine it with the constant position error to obtain the real-time position data of the sun.

4. The automatic control solar energy optical fiber introduction system according to claim 3, characterized in that: The step of setting a weather impact threshold using a plurality of historical weather data corresponding to a constant position error comprises: Obtaining multiple historical weather data corresponding to a constant position error and the similarity of the multiple historical weather data; The multiple historical weather data are sorted in descending order according to their similarity, and the meteorological quantification function is used to calculate the historical weather data ranked first to obtain the weather impact threshold.

5. The automatic control solar energy optical fiber introduction system according to claim 4, characterized in that: The meteorological quantification function specifically includes: Define the parameters in the weather data: the influence function of weather conditions and the corresponding weights, the influence function of cloud coverage and the corresponding weights, the influence function of wind speed and the corresponding weights, the influence function of temperature and humidity coupling and the corresponding weights, and the special weather enhancement coefficient. Then, the meteorological quantization function can be set using the parameters in the above weather data.

6. The automatic control solar energy optical fiber introduction system according to claim 1, characterized in that: The sun position acquisition unit further includes: Dividing the first and second solar motion trajectories into a plurality of interval trajectories according to a period, each interval trajectory corresponds to a plurality of historical position data of the sun, obtaining a position change speed of the sun within the corresponding interval trajectory based on the plurality of historical position data of the sun, and associating the position change speed of the sun with the corresponding interval trajectory; Obtain the interval trajectory corresponding to the real-time position data of the sun, and obtain the real-time position change speed of the sun based on the corresponding interval trajectory and the position data of the sun in the previous cycle; The position change corresponding to the minimum position change speed of the sun in this interval trajectory during the historical period is obtained as the first position change threshold, and the maximum position change corresponding to the maximum position change speed of the sun in this interval trajectory during the historical period is obtained as the second position change threshold. The first position change threshold and the second position change threshold are used to establish a tolerance range. If the real-time position change of the sun is not within the tolerance range, the real-time position data of the sun is recalculated; otherwise, there is no need to recalculate.

7. The automatic control solar energy optical fiber introduction system according to claim 1, characterized in that: In the automatic control unit: Obtaining expected attitude data corresponding to the lens when the real-time position data of the sun vertically enters the lens, calculating the azimuth difference and altitude difference between the expected attitude data and the attitude data corresponding to the lens, and generating difference data based on the azimuth difference and altitude difference; Collecting a plurality of historical azimuth angle differences and historical adjustment data of corresponding azimuth angle motors and constructing a first polynomial regression model, inputting the azimuth angle differences into the first polynomial regression model to obtain adjustment data of the azimuth angle motor; Collecting a plurality of historical altitude angle differences and historical adjustment data of corresponding altitude angle motors and constructing a second polynomial regression model, inputting the altitude angle differences into the second polynomial regression model to obtain adjustment data of the altitude angle motor; It is determined whether the adjustment data of the azimuth motor and the altitude motor are within a preset first adjustment interval or a second adjustment interval. If so, the adjustment data of the azimuth motor and the altitude motor are executed.

8. The automatic control solar energy optical fiber introduction system according to claim 7, characterized in that: The step of determining whether the adjustment data of the azimuth motor and the altitude motor are within the preset first adjustment range or the second adjustment range includes: Acquire first oscillation data corresponding to a plurality of historical adjustment data of the azimuth motor, and establish a first mapping table corresponding to the historical adjustment data and the first oscillation data; Acquire the first oscillation data that reaches k times and is the smallest in the first mapping table, and use the historical adjustment data corresponding to the smallest first oscillation data as the first adjustment threshold; Setting a fluctuation adjustment of e%, and establishing a first adjustment range corresponding to the azimuth motor based on the fluctuation adjustment of e%; If the adjustment data of the azimuth motor is within the first adjustment interval, the adjustment data of the azimuth motor is directly executed; if the adjustment data of the azimuth motor is not within the first adjustment interval, the adjustment data of the azimuth motor is segmented and executed; According to the above steps, the second adjustment threshold and the second adjustment interval corresponding to the altitude angle motor can be obtained and it can be determined whether the adjustment data of the altitude angle motor is within the corresponding second adjustment interval.

9. The automatic control solar energy optical fiber introduction system according to claim 8, characterized in that: The step of segmenting and executing the adjustment data of the azimuth motor comprises: Dividing the adjustment data of the azimuth motor by the first adjustment threshold value to obtain a plurality of segmented adjustment data of the azimuth motor, wherein the remainder is used as the terminal segmented adjustment data of the azimuth motor; Execute several segment adjustment data of the azimuth motor and the terminal segment adjustment data in sequence; According to the above steps, the adjustment data of the altitude angle motor is processed in sections to obtain a plurality of section adjustment data of the altitude angle motor and execute them.

10. The automatic control solar energy optical fiber introduction system according to claim 1, characterized in that: In the feedback optimization unit: Obtain the posture data after execution and calculate the difference between the posture data after execution and the expected posture data. If the difference is equal to 0, no adjustment is required. Otherwise, the difference is used as the new difference data and the azimuth motor and altitude motor are adjusted using the new difference data.

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