Control method of photovoltaic tracking support and related equipment

Abstract

The embodiment of the invention provides a control method of a photovoltaic tracking support and related equipment. According to the method, after torque values transmitted by all driving stand columns in the photovoltaic tracking support are obtained, all the torque values serve as target torque values in sequence, and whether the target torque values exceed a preset torque range or not is judged. And under the condition that the target torque value exceeds the preset torque range, the torque difference value between the torque value corresponding to the driving stand column adjacent to the target driving stand column and the target torque value is determined. And when the torque difference value is greater than or equal to the preset safety difference value, the operation of the photovoltaic tracking bracket is stopped, so that faults such as transmission shaft breakage and control failure caused by overlarge local torque or uneven stress are avoided in time, and the operation safety and stability of the photovoltaic tracking bracket are effectively improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic tracking bracket technology, and in particular to a control method and related equipment for a photovoltaic tracking bracket. Background Technology

[0002] Photovoltaic tracking brackets are used to support photovoltaic (PV) modules. These brackets can be rotated to adjust the angle of the PV modules, ensuring they are aligned as directly with sunlight as possible, thus improving their power generation efficiency.

[0003] The photovoltaic tracking bracket uses a motor to drive the entire photovoltaic module to rotate via a drive shaft. When adjusting the angle of the photovoltaic tracking bracket, the drive shaft needs to withstand a large torque, which can easily lead to malfunctions such as drive shaft breakage or control failure. Summary of the Invention

[0004] In view of the above problems, this application provides a control method and related equipment for photovoltaic tracking brackets, which can identify potential faults in the operation of the tracking system and reduce the damage to photovoltaic tracking brackets.

[0005] The embodiments of this application disclose the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a control method for a photovoltaic tracking bracket, the method comprising:

[0007] Obtain the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket;

[0008] If the target torque value exceeds the preset torque range, determine the torque difference between the torque value corresponding to the adjacent drive column of the target drive column and the target torque value; wherein, the target torque value is any one of a plurality of torque values, and the target drive column is the drive column that transmits the target torque value;

[0009] If the torque difference is greater than or equal to a preset safety difference, the operation of the photovoltaic tracking bracket shall be stopped.

[0010] In one possible implementation, the process of setting the preset security difference is as follows:

[0011] Based on the physical parameters of the photovoltaic tracking bracket, a first wind torque, a second wind torque, the operating direction of the photovoltaic tracking bracket, the wind direction, and the wind load torque between at least one adjacent drive column, the motor drive torque of the motor in the photovoltaic tracking bracket is determined. The physical parameters of the photovoltaic tracking bracket include the number of drive columns, the distance from the rotation center of the main shaft of the photovoltaic tracking bracket to the center of gravity of the photovoltaic module, and the total weight of the photovoltaic module carried by the photovoltaic tracking bracket. The first wind torque is the wind torque from the first end of the photovoltaic tracking bracket to the first drive column bracket, where the first drive column is the drive column closest to the first end of the photovoltaic tracking bracket. The second wind torque is the wind torque from the second end of the photovoltaic tracking bracket to the second drive column bracket, where the second drive column is the drive column closest to the second end of the photovoltaic tracking bracket.

[0012] The preset safety difference is calibrated based on the motor drive torque.

[0013] In one possible implementation, the process of determining the motor drive torque is as follows:

[0014] Based on the first wind torque, the second wind torque, the wind direction, the running direction of the photovoltaic tracking bracket, the physical parameters of the photovoltaic tracking bracket, and at least one of the wind load torques, the drive torque of the rotary reducer is determined.

[0015] The motor drive torque is determined based on the proportional relationship between the drive torque of the rotary reducer and the drive torque of the motor.

[0016] In one possible implementation, the process for determining the first wind torque, the second wind torque, and at least one of the wind load torques is as follows:

[0017] Based on the first distance, the second distance, wind tunnel test data of the photovoltaic tracking bracket, and the real-time rotation angle of the photovoltaic tracking bracket, the first wind torque and the second wind torque are determined; wherein, the first distance is the distance from the first end of the photovoltaic tracking bracket to the first drive column; the second distance is the distance from the second end of the photovoltaic tracking bracket to the second drive column;

[0018] The wind load torque between adjacent drive columns is determined based on the distance between adjacent drive columns, the wind tunnel test data, and the real-time rotation angle.

[0019] In one possible implementation, calibrating the preset safety difference based on the motor drive torque includes:

[0020] Based on the position of each drive column in the photovoltaic tracking bracket and the driving torque of the motor, a preset safety difference is calibrated for each drive column.

[0021] In one possible implementation, calibrating the preset safety difference based on the motor drive torque includes:

[0022] When the photovoltaic tracking bracket is located in the first area of ​​the photovoltaic tracking system, a preset safety difference value is calibrated for each of the driving columns according to the position of each driving column in the photovoltaic tracking bracket and the driving torque of the motor; wherein, the photovoltaic tracking system includes multiple photovoltaic tracking brackets;

[0023] When the photovoltaic tracking bracket is located in the second area of ​​the photovoltaic tracking system, a preset safety difference is calibrated for each of the driving columns according to the position of each driving column in the photovoltaic tracking bracket, the motor driving torque, and the calibration coefficient; wherein, the calibration coefficient is set according to the wind tunnel test data and wind speed shading factors of the photovoltaic tracking bracket.

[0024] In one possible implementation, there is a proportional relationship between the preset safety difference corresponding to the first drive column and the preset safety difference corresponding to the second drive column, and the proportional relationship is related to the calibration coefficient; wherein, the first drive column is a drive column in the first photovoltaic tracking bracket located in the first region, and the second drive column is a drive column in the second photovoltaic tracking bracket located in the second region; the position of the first drive column in the first photovoltaic tracking bracket is the same as the position of the second drive column in the second photovoltaic tracking bracket.

[0025] In one possible implementation, stopping the operation of the photovoltaic tracking bracket when the torque difference is greater than or equal to a preset safety difference includes:

[0026] If the torque difference is greater than or equal to the preset safety difference corresponding to the target drive column, the operation of the photovoltaic tracking bracket shall be stopped.

[0027] In one possible implementation, before obtaining the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket, the method further includes:

[0028] Get real-time wind speed;

[0029] When the real-time wind speed is greater than or equal to the protection wind speed, the photovoltaic tracking bracket is driven to the protection position.

[0030] When the real-time wind speed is less than the protection wind speed, the photovoltaic tracking bracket is driven to the target position indicated by the tracking algorithm.

[0031] In one possible implementation, the method further includes:

[0032] When all the torque values ​​meet the preset conditions, the photovoltaic tracking bracket is controlled to operate normally; wherein, the preset conditions include the target torque value being within the preset torque range, or the torque difference being less than the preset safety difference.

[0033] Secondly, this application provides a photovoltaic tracking bracket, which includes a controller and at least two drive columns;

[0034] The controller is used to execute the control method for the photovoltaic tracking bracket as described in any one of the first aspects.

[0035] In one possible implementation, the photovoltaic tracking bracket further includes at least two torque sensors; each torque sensor is configured in a one-to-one correspondence with a drive column.

[0036] The torque sensor is configured to acquire the torque value transmitted by the corresponding drive column.

[0037] In one possible implementation, the photovoltaic tracking bracket further includes a main shaft, a drive shaft, a motor, and a rotary reducer;

[0038] The rotary reducer is installed in a one-to-one correspondence with the drive column; each rotary reducer is clamped onto the main shaft.

[0039] At least two rotary reducers for driving columns are connected to the torque sensor and the drive shaft;

[0040] The motor is installed at one end of the rotary reducer corresponding to any one of the at least two drive columns.

[0041] Thirdly, embodiments of this application provide a photovoltaic tracking system, which includes a plurality of photovoltaic tracking brackets as described in any of the second aspects.

[0042] Fourthly, embodiments of this application provide a control device including a processor and a memory, wherein the memory is used to store programs, instructions or code, and the processor is used to execute the programs, instructions or code in the memory to perform the control method for the photovoltaic tracking bracket as described in any one of the first aspects.

[0043] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which is loaded by a processor to execute the control method for the photovoltaic tracking bracket as described in any one of the first aspects.

[0044] This application provides a control method and related equipment for a photovoltaic tracking bracket. In this method, after obtaining the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket, each torque value is sequentially used as a target torque value, and it is determined whether the target torque value exceeds a preset torque range. If the target torque value exceeds the preset torque range, the torque difference between the torque value of the adjacent drive column and the target torque value is determined. When the torque difference is greater than or equal to a preset safety difference, the operation of the photovoltaic tracking bracket is stopped.

[0045] This method acquires the torque values ​​transmitted by each drive column, enabling real-time monitoring of the stress state of the drive shaft near each drive column. When the target torque value exceeds the preset torque range, the method further calculates the torque difference between the target torque value and the torque of adjacent drive columns, accurately identifying local torque anomalies and uneven stress distribution between adjacent columns. Operation is stopped when the torque difference is greater than or equal to a preset safety difference, promptly preventing drive shaft breakage, control failure, and other malfunctions caused by excessive local torque or uneven stress, effectively improving the safety and stability of the photovoltaic tracking bracket operation. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This application provides a schematic diagram of the structure of a photovoltaic tracking bracket.

[0048] Figure 2 This is a schematic diagram of the structure of a main drive column provided in an embodiment of this application;

[0049] Figure 3 This application provides a schematic diagram of the structure of a drive column;

[0050] Figure 4 A flowchart illustrating a control method for a photovoltaic tracking bracket provided in this application embodiment;

[0051] Figure 5 This is a cross-sectional schematic diagram of a photovoltaic tracking bracket provided in an embodiment of this application;

[0052] Figure 6 A schematic diagram of a photovoltaic tracking system provided in an embodiment of this application;

[0053] Figure 7A flowchart illustrating another control method for a photovoltaic tracking bracket provided in an embodiment of this application;

[0054] Figure 8 This is a schematic diagram of a control device provided in an embodiment of this application.

[0055] Reference numerals: Main shaft 101, drive shaft 102, ordinary column 103, drive column 104, photovoltaic module 105, 201 rotary reducer, torque sensor 202, 203 drive motor. Detailed Implementation

[0056] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0057] The control method for photovoltaic tracking brackets provided in this application embodiment can be applied to various photovoltaic tracking brackets, such as single-row single-point driven photovoltaic tracking brackets, single-row multi-point driven photovoltaic tracking brackets, and double-row linkage photovoltaic tracking brackets.

[0058] For ease of understanding, the control method of the photovoltaic tracking bracket provided in the embodiments of this application will be described below using a single-row multi-point driven tracking bracket.

[0059] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a photovoltaic tracking bracket provided in an embodiment of this application. Figure 1 This is only a part of the photovoltaic tracking bracket, not the entire photovoltaic tracking bracket. The photovoltaic tracking bracket includes a main shaft 101, a drive shaft 102, at least one ordinary column 103, and at least two drive columns 104.

[0060] At least one standard column 103 and at least two drive columns 104 are connected by a main shaft 101. One or more standard columns 103 can be provided between two adjacent drive columns 104. The standard columns 103 are used to support the main shaft 101. Multiple photovoltaic modules 105 are arranged sequentially on the main shaft 101 via purlin assemblies, and the main shaft 101 can rotate to achieve the angular conditions of the photovoltaic modules.

[0061] At least two drive columns 104 are connected by a drive shaft 102. A motor is installed on any one of the at least two drive columns 104. The motor transmits torque to each drive column 104 through the drive shaft 102, and drives the main shaft 101 to rotate through the mechanical structure on the drive column 104.

[0062] For ease of explanation, in this embodiment, the drive column equipped with the drive motor is referred to as the main drive column 1041, and the other drive columns besides the main drive column are referred to as the slave drive columns 1042. To reduce the cost and simplify the structure of the photovoltaic tracking bracket, typically only one drive motor is installed in the photovoltaic tracking bracket, i.e., only one main drive column 1041 is included. Of course, in some application scenarios (such as when the photovoltaic tracking bracket is long and the driving torque provided by a single drive motor is insufficient), two or more drive motors can be installed in the photovoltaic tracking bracket. This embodiment uses the installation of one drive motor in the photovoltaic tracking bracket as an example for explanation.

[0063] The structure of the main drive column 1401 and the slave drive column 1402 will be described below with reference to the accompanying drawings.

[0064] like Figure 2 As shown, Figure 2 This is a structural schematic diagram of a main drive column provided in an embodiment of this application.

[0065] A rotary reducer 201 is fixed to the top of the main drive column 1041, and the main shaft 101 passes through the rotary reducer 201. The rotary reducer 201 is also connected to the drive shaft 102. When the drive shaft 102 rotates, the mechanical structure between the drive shaft 102 and the rotary reducer 201 can drive the rotary reducer 201 to move, thereby driving the main shaft 101 to rotate and adjusting the angle of the photovoltaic module.

[0066] The drive shaft 102 passes through the rotary reducer 201 via the torque sensor 202, and a drive motor 203 is provided at one end of the drive shaft 102. The drive motor 203 is used to provide driving torque to make the drive shaft 102 rotate. Figure 2 The drive motor 203 in the example is only one example. Figure 2 The drive motor 203 shown needs to be mounted at one end of the drive shaft 102. Therefore, when using... Figure 2 When the main drive column 1041 is shown, it needs to be set at both ends of the photovoltaic tracking bracket, that is, the drive motor 203 is set at either end of the transmission shaft 102. For example, in the photovoltaic tracking bracket, the position sequence of the drive columns can be main drive column 1401, slave drive column 1402, and slave drive column 1402; or it can be slave drive column 1402, slave drive column 1402, and main drive column 1401.

[0067] In another implementation, the drive motor 203 can also be a vertically mounted drive motor. The vertically mounted drive motor can be fitted onto the drive shaft 102, and does not need to be located at the end of the drive shaft 102. When a vertically mounted drive motor is used, the main drive column 1401 can be located at any position in the photovoltaic tracking bracket. For example, in the photovoltaic tracking bracket, the position sequence of the drive columns can be slave drive column 1402, main drive column 1401, and slave drive column 1402.

[0068] like Figure 3 As shown, Figure 3 This is a schematic diagram of a drive column provided in an embodiment of this application.

[0069] A rotary reducer 201 is fixed to the top of the drive column 1042, and the main shaft 101 passes through the rotary reducer 201. The drive shaft 102 passes through the rotary reducer 201 via a torque sensor 202. When the drive motor 203 of the main drive column 1041 is working, it transmits torque to the driven column 1402 via the drive shaft 102. When the drive shaft 102 rotates, the mechanical structure between the drive shaft 102 and the rotary reducer 201 can drive the rotary reducer 201 of the driven column 1402 to move, thereby driving the main shaft 101 to rotate and adjusting the angle of the photovoltaic module.

[0070] The torque sensor 202 is used to detect the torque value of the driving torque transmitted by the corresponding drive column. In this embodiment, the drive sensor 202 is provided in a one-to-one correspondence with the drive column 104, that is, a torque sensor 202 is provided on one side of each drive column 104 to detect the torque value transmitted by the corresponding drive column 104.

[0071] It should be noted that the torque sensor 202 used in this embodiment is only an example. Other devices or methods can also be used to obtain torque values, as long as they can obtain the torque values ​​transmitted by each drive column 104.

[0072] A controller can also be installed in the photovoltaic tracking bracket to control the drive motor 203. Figures 1-3 The controller is not shown in the figure. The controller can be integrated with the drive motor 203 in the same device to improve the structural integration of the photovoltaic tracking bracket; the controller can also be set up separately near the drive motor 203 to facilitate the controller's control of the drive motor 203.

[0073] Below, with Figures 1-3 Taking the photovoltaic tracking bracket shown as an example, the control method of the photovoltaic tracking bracket provided in the embodiments of this application will be introduced.

[0074] like Figure 4 As shown, Figure 4This is a flowchart illustrating a control method for a photovoltaic tracking bracket provided in an embodiment of this application. The controller within the photovoltaic tracking bracket is taken as the executing entity of this control method as an example.

[0075] S401: The controller acquires the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket.

[0076] The torque value transmitted by the drive column refers to the magnitude of the drive torque transmitted by the drive column to the next adjacent column (such as a regular column or a drive column). The transmission of drive torque between drive columns is achieved through the drive shaft 102.

[0077] As an example, the positional order of the columns in the photovoltaic tracking bracket is: first drive column, second drive column, third drive column, and ordinary column. The torque value transmitted by the first drive column refers to the magnitude of the driving torque transmitted from the first drive column to the second drive column, the torque value transmitted by the second drive column refers to the magnitude of the driving torque transmitted from the second drive column to the third drive column, and the torque value transmitted by the third drive column refers to the magnitude of the driving torque transmitted from the third drive column to the ordinary column.

[0078] As another example, the positional order of the columns in the photovoltaic tracking bracket is: third drive column, second drive column, first drive column, and ordinary column. The torque value transmitted by the first drive column refers to the magnitude of the driving torque transmitted from the first drive column to the ordinary column; the torque value transmitted by the second drive column refers to the magnitude of the driving torque transmitted from the second drive column to the first drive column; and the torque value transmitted by the third drive column refers to the magnitude of the driving torque transmitted from the third drive column to the second drive column.

[0079] It is understood that the above order is only an example, and the specific order can be adjusted according to the actual application scenario. As an example, if the drive column is the last column in the photovoltaic tracking bracket, it is also necessary to detect the torque value transmitted by that drive column.

[0080] In this embodiment, the controller can obtain the torque value transmitted by each drive column 104 through the torque sensor 202. As described above in the structural introduction of the photovoltaic tracking bracket, the torque sensor 202 is installed in a one-to-one correspondence with the drive column 104. Each drive column 104 is equipped with an independent torque sensor 202, improving the accuracy of the torque values ​​collected by each torque sensor 202.

[0081] Specifically, the torque sensor 202 can be installed at the connection between the rotary reducer 201 and the drive shaft 102. The torque sensor 202 detects the torque change of the drive shaft 102 in real time and converts the mechanical stress into an electrical signal to form a torque value. The torque sensor 202 can transmit the detected torque value to the controller through the signal transmission line.

[0082] Since the torque sensors 202 are located in different positions within the photovoltaic tracking bracket, the degree to which they are affected by the environment during the detection process also varies. For example, the torque sensors 202 are subject to different wind speed interferences depending on their location within the photovoltaic tracking bracket; therefore, the accuracy of the torque values ​​detected by the torque sensors 202 may differ slightly depending on their location.

[0083] In this embodiment, the controller can calibrate each torque sensor 202 separately and record the position of each torque sensor 202 in the photovoltaic tracking bracket. After receiving the torque values ​​sent by each torque sensor 202, the controller can correct the corresponding torque values ​​based on the position of the torque sensor 202 in the photovoltaic tracking bracket, thereby improving the accuracy of the collected torque values.

[0084] S402: The controller determines whether the target torque value exceeds the preset torque range.

[0085] After acquiring multiple torque values, the controller needs to make a judgment on each torque value, and then detect the state of each drive column 104 and the drive shaft 102 near each drive column 104. The target torque value is any one of the multiple torque values ​​acquired by the controller. This embodiment of the application describes the process of judging a single torque value as an example.

[0086] The preset torque range is either the safe range of torque values ​​that the drive shaft 102 can withstand, or the safe range of torque values ​​transmitted by the drive column 104. When the target torque value is within the preset torque range, it can be determined that the torque value borne by the drive shaft 102 is within the safe range, the target drive column transmitting the target torque value is in normal condition, and the possibility of drive shaft 102 breaking is low. A target torque value exceeding the preset torque range may be due to various factors, such as construction errors, assembly errors, mechanical failures, abnormal loads, or electrical problems.

[0087] In this embodiment, the preset torque range can be set based on one or more of the following: the design parameters of the photovoltaic tracking bracket, operating conditions, safety factor, historical experience, and industry standards.

[0088] As an example, a reference torque value γ is preset based on one or more of the following: design parameters of the photovoltaic tracking bracket, operating conditions, safety factor, historical experience, and industry standards, and a preset torque range is set based on the reference torque value γ.

[0089] For example, the preset torque range is [0.9γ, 1.1γ]. If the target torque value is less than or equal to 1.1γ and greater than or equal to 0.9γ, then the target torque value is within the preset torque range. If the target torque value is greater than 1.1γ or less than 0.9γ, then the target torque value exceeds the preset torque range.

[0090] To improve the accuracy of photovoltaic tracking bracket detection, when the target torque value exceeds the preset torque range, further step S103 needs to be executed.

[0091] S403: When the controller determines that the torque difference is greater than or equal to the preset safety difference, it controls the photovoltaic tracking bracket to stop operating.

[0092] The torque difference refers to the torque difference between the torque value of the adjacent drive column of the target drive column and the target torque value. The target drive column is the drive column that transmits the target torque value. The drive column adjacent to the target drive column refers to the drive column adjacent to any side of the target drive column in a sequential arrangement.

[0093] As an example, the driving columns in a photovoltaic tracking bracket are arranged in the following order: first driving column, target driving column, and second driving column. The torque difference can be the difference between the target torque value transmitted by the target driving column and the torque value transmitted by the first driving column, or it can be the difference between the target torque value transmitted by the target driving column and the torque value transmitted by the second driving column.

[0094] To eliminate the influence of the positive or negative value of the torque difference on the comparison results, the torque difference can be the absolute value of the difference between the torque value of the adjacent drive column of the target drive column and the target torque value. Alternatively, a preset safety difference value corresponding to the positive or negative value of the torque difference can be set.

[0095] The preset safety difference can be the maximum critical value of the torque difference transmitted by adjacent drive columns, used to measure whether the torque difference transmitted by adjacent drive columns is within the safe range. If the torque difference is greater than or equal to the preset safety difference, it indicates that there is a safety hazard in the photovoltaic tracking bracket and that the drive shaft 102 is at risk of breakage.

[0096] The control method for the photovoltaic tracking bracket provided in this application can monitor the force state of the drive shaft near each drive column in real time by acquiring the torque value transmitted by each drive column. When the target torque value exceeds the preset torque range, the torque difference between the target torque value and the adjacent drive column is further calculated, which can accurately identify local torque anomalies and uneven force between adjacent columns. When the torque difference is greater than or equal to the preset safety difference, the operation stops, thus avoiding failures such as drive shaft breakage and control failure caused by excessive local torque or uneven force, effectively improving the safety and stability of the photovoltaic tracking bracket operation.

[0097] Based on the above embodiments, this application further provides a method for setting a preset security difference.

[0098] In one possible implementation, the preset safety difference can be set based on the motor drive torque. Specifically, the motor drive torque of the motor in the photovoltaic tracking bracket is first determined based on the physical parameters of the photovoltaic tracking bracket, the first wind torque f(L1), the second wind torque f(L2), the running direction of the photovoltaic tracking bracket, the wind direction, and the wind load torque between at least one adjacent drive column; then the preset safety difference is determined based on the motor drive torque.

[0099] The physical parameters of a photovoltaic (PV) tracking bracket describe its physical structure. These parameters may include the number of drive columns (n), the distance (h) from the main shaft rotation center to the center of gravity of the PV module, and the total weight (m) of the PV module carried by the bracket.

[0100] The distance h from the center of rotation of the main shaft of the photovoltaic tracking bracket to the center of gravity of the photovoltaic module can be as follows: Figure 5 As shown, Figure 5 This is a cross-sectional schematic diagram of a photovoltaic tracking bracket provided in an embodiment of this application. The rotation center of the main shaft 101 refers to the center of the circle in the cross-section of the main shaft 101. The main shaft 101 is a cylinder; therefore, the rotation centers of the main shaft 101 can be connected to form a rotation centerline. The center of gravity of the photovoltaic module can be the center of gravity of each individual photovoltaic module, or it can be the center of gravity obtained by considering some or all photovoltaic modules as a whole. The distance h is equal to the shortest distance from the center of gravity of the photovoltaic module to the rotation centerline, that is, the distance h is equal to the distance from the center of gravity of the photovoltaic module to the nearest rotation center of gravity. In this embodiment of the application, the shortest distance from the center of gravity of each photovoltaic module to the rotation centerline is distance h.

[0101] The first wind torque f(L1) is the wind torque from the first end of the photovoltaic tracking bracket to the first drive column bracket. The first drive column is the drive column closest to the first end of the photovoltaic tracking bracket. The second wind torque f(L2) is the wind torque from the second end of the photovoltaic tracking bracket to the second drive column bracket. The second drive column is the drive column closest to the second end of the photovoltaic tracking bracket.

[0102] When a photovoltaic tracking system includes n drive columns, there are n-1 corresponding wind load torques. The wind load torques between multiple adjacent drive columns can be the same or different. For example, a photovoltaic tracking system includes a first drive column, a second drive column, and a third drive column arranged in sequence. The wind load torque between the first drive column and the second drive column is f(L3), and the wind load torque between the second drive column and the third drive column is f(L4). Here, f(L3) and f(L4) may be equal or unequal.

[0103] This application embodiment sets a preset safety difference by referencing the photovoltaic tracking bracket's own parameters and the environmental parameters of the photovoltaic tracking bracket. Taking into account the photovoltaic tracking bracket's own state after installation and its application scenario, the preset safety difference is adaptively adjusted to further improve the operational safety of the photovoltaic tracking bracket. Simultaneously, dynamic factors such as wind direction and running direction are fully considered, and the preset safety difference can dynamically adapt to actual working conditions, enabling the photovoltaic tracking bracket to maintain a relatively suitable safety threshold under different environmental conditions. This further strengthens the advanced protection capability against faults such as drive shaft overload and drive column force imbalance, improving operational safety while also ensuring the stability of the photovoltaic tracking bracket's operation.

[0104] The motor drive torque refers to the torque output by the drive motor 203 in the photovoltaic tracking bracket to adjust the angle of the photovoltaic tracking bracket or maintain its operating state. The motor drive torque is a comprehensive reflection of the drive motor 203 overcoming various resistances and loads on the system. Specifically, it needs to balance the loads brought about by the physical characteristics of the photovoltaic tracking bracket itself, such as the gravity-related torque generated by physical parameters such as the total weight m of the photovoltaic module and the distance h from the center of rotation of the main shaft to the center of gravity of the photovoltaic module; it also needs to resist the loads generated by external environmental factors, such as the first wind torque f(L1), the second wind torque f(L2), and the wind load torque f(L3) between adjacent drive columns. At the same time, it is also necessary to consider the influence of the interaction between the operating direction of the photovoltaic tracking bracket and the wind direction on the force.

[0105] The drive motor 203 transmits power to the main shaft 101 via a rotary reducer 201. To further improve the accuracy of the motor drive torque calculation, the rotary reducer drive torque can be determined first based on the first wind torque, the second wind torque, the wind direction, the running direction of the photovoltaic tracking bracket, the physical parameters of the photovoltaic tracking bracket, and at least one wind load torque. Then, the motor drive torque is determined based on the rotary reducer drive torque. By refining the torque transmission relationship in the transmission chain, the calculation of the motor drive torque is made more consistent with actual working conditions.

[0106] In one possible implementation, determining the driving torque of the rotary reducer requires considering multiple factors, such as the first wind torque f(L1), the second wind torque f(L2), and the wind load torque between at least one adjacent drive column. It also needs to consider the dynamic force changes caused by the wind direction and the operating direction of the photovoltaic tracking bracket, while taking into account the static load generated by the physical parameters of the photovoltaic tracking bracket (such as the number of drive columns n, the distance h from the center of rotation of the main shaft to the center of gravity of the photovoltaic module, and the total weight m of the photovoltaic module). By transforming these factors into a force analysis of the rotary reducer, the driving torque that the rotary reducer needs to output during actual operation can be obtained.

[0107] Based on this, due to the transmission ratio and transmission efficiency characteristics between the drive motor 203 and the rotary reducer 201, their drive torques have a quantifiable proportional relationship. Therefore, based on the determined drive torque of the rotary reducer, and combined with this proportional relationship, the required output drive torque of the motor can be obtained. By fully considering the influence of the physical characteristics of the transmission components on torque transmission, and reducing transmission losses or amplification effects that may be ignored when calculating the motor drive torque, the calculated motor drive torque more closely matches the force state in the actual transmission link. This provides more accurate underlying data support for the subsequent calibration of the preset safety difference, further improving the reliability of the control method.

[0108] In this embodiment of the application, the proposed photovoltaic tracking bracket includes a first drive column, a second drive column and a third drive column arranged in sequence. The wind load torque between the first drive column and the second drive column is f(L3), and the wind load torque between the second drive column and the third drive column is f(L4).

[0109] As an example, when the operating direction of the photovoltaic tracking bracket (i.e., the rotation direction of the photovoltaic tracking bracket) is opposite to the wind direction, and the operation of the photovoltaic tracking bracket needs to overcome the gravity of the photovoltaic modules, the photovoltaic tracking bracket needs to resist the influence of wind direction and the self-weight of the photovoltaic modules during operation. The driving torque T1 of the rotary reducer can be expressed as:

[0110] T1=f(L1)+f(L2)+f(L3)+f(L4)+m×h×sinθ;

[0111] Where (m×h×sinθ) represents the influence of the component gravity of the photovoltaic tracking bracket on the driving torque T1 of the rotary reducer when the real-time rotation angle of the photovoltaic tracking bracket is θ.

[0112] As another example, when the photovoltaic tracking bracket runs in the opposite direction to the wind, and the gravity of the photovoltaic modules is favorable for the operation of the photovoltaic tracking bracket, the photovoltaic tracking bracket needs to resist the wind direction during operation. The self-weight of the photovoltaic modules can help the operation of the photovoltaic tracking bracket, and the driving torque T1 of the rotary reducer can be expressed as:

[0113] T1=f(L1)+f(L2)+f(L3)+f(L4)-m×h×sinθ;

[0114] As another example, when the photovoltaic tracking bracket runs in the same direction as the wind, and its operation requires overcoming the weight of the photovoltaic modules, the bracket needs to resist the weight of the modules during operation. The wind direction can assist in the bracket's operation, and the driving torque T1 of the rotary reducer can be expressed as:

[0115] T1=-f(L1)-f(L2)-f(L3)-f(L4)+m×h×sinθ;

[0116] As another example, when the photovoltaic tracking bracket runs in the same direction as the wind, and the gravity of the photovoltaic modules is favorable for the operation of the photovoltaic tracking bracket, the wind direction and the self-weight of the photovoltaic modules can help the operation of the photovoltaic tracking bracket. The driving torque T1 of the rotary reducer can be expressed as:

[0117] T1=-f(L1)-f(L2)-f(L3)-f(L4)-m×h×sinθ.

[0118] The relationship between the drive torque T1 of the rotary reducer and the drive torque T2 of the motor can be expressed as:

[0119] T1 = k × T2;

[0120] The coefficient k can be determined based on the physical structure of the photovoltaic tracking bracket.

[0121] In this embodiment, the first wind torque f(L1) refers to the torque generated by wind in the region between the first end of the photovoltaic tracking bracket and the first drive column closest to that end. Because this region is located at the end of the photovoltaic tracking bracket, its stress condition is relatively independent under wind action, and the magnitude of its torque is related to the length of that section of the photovoltaic tracking bracket, the real-time tracking angle of the photovoltaic tracking bracket, and the influence of wind on the photovoltaic tracking bracket. The first wind torque f(L1) reflects the impact of localized wind on the first end of the photovoltaic tracking bracket on the overall torque balance.

[0122] As an example, the first wind torque f(L1) can be determined based on the first distance L1, the wind tunnel test data of the photovoltaic tracking bracket, and the real-time rotation angle θ of the photovoltaic tracking bracket.

[0123] The first distance L1 refers to the distance from the first end of the photovoltaic tracking bracket to the first drive column. The first drive column is the drive column of the photovoltaic tracking bracket that is closest to the first end of the photovoltaic tracking bracket.

[0124] The second wind torque f(L2) corresponds to the first wind torque f(L1). The second wind torque f(L2) is the wind torque experienced by the region between the second end of the photovoltaic tracking bracket and the nearest second drive column. Similarly, the second wind torque f(L2) is also affected by the length of this section of the photovoltaic tracking bracket, the real-time tracking angle of the photovoltaic tracking bracket, and the forces acting on the photovoltaic tracking bracket. The second wind torque f(L2) characterizes the torque generated by the localized wind at the second end of the photovoltaic tracking bracket. The second wind torque f(L2) and the first wind torque f(L1) together constitute the wind torque situation at both ends of the photovoltaic tracking bracket, providing a reference for the end force for overall torque analysis.

[0125] As an example, the second wind torque f(L2) can be determined based on the second distance L2, wind tunnel test data of the photovoltaic tracking bracket, and the real-time rotation angle θ of the photovoltaic tracking bracket.

[0126] The second distance L2 refers to the distance from the second end of the photovoltaic tracking bracket to the second drive column. The second drive column is the drive column of the photovoltaic tracking bracket that is closest to the second end of the photovoltaic tracking bracket.

[0127] Wind load torque refers to the wind torque experienced by the area between adjacent drive columns in a photovoltaic (PV) tracking system. Since the drive columns provide support for the PV tracking system, the force exerted on the area between adjacent drive columns by the wind is transmitted to the entire PV tracking system through the drive columns. The magnitude of the wind load torque in this area is related to the spacing between adjacent drive columns and the real-time rotation angle of the PV tracking system. Wind load torque provides a more detailed reflection of the wind torque distribution in different sections of the central part of the PV tracking system.

[0128] As an example, the wind load torque between adjacent drive columns is determined based on the distance between adjacent drive columns, wind tunnel experimental data, and real-time rotation angle.

[0129] The first wind torque f(L1), the second wind torque f(L2), and the wind load torque can comprehensively represent the overall torque distribution of the photovoltaic tracking bracket under wind action, providing a comprehensive basis for subsequent torque calculation and safety control.

[0130] In this embodiment of the application, the wind tunnel test data of the photovoltaic tracking bracket refers to the various stress-related data recorded after testing the photovoltaic tracking bracket model (or physical scale model) in a wind tunnel test environment by simulating different wind speeds, wind directions and airflow states.

[0131] Wind tunnel test data includes, but is not limited to, the wind pressure values, wind force coefficients (such as shape coefficients, used to characterize the influence of the bracket's shape on wind loads) and wind load distribution patterns at specific wind angles (such as the angle between the wind direction and the bracket's main axis) under different wind speeds, as well as the wind-induced vibration characteristics of the photovoltaic tracking bracket at different postures (such as different rotation angles θ), and the wind load variation curves over time.

[0132] Since the complexity of natural wind fields is difficult to fully simulate through theoretical formulas, wind tunnel experiments can reproduce various wind conditions in a controlled environment, making the obtained data such as wind pressure and wind force coefficient closer to the actual scenario, and thus providing reliable measured basis for calculating the first wind torque f(L1), the second wind torque f(L12) and the wind load torque.

[0133] In actual operation of photovoltaic (PV) tracking systems, the stress state of each drive column varies significantly due to their different locations. For example, drive columns near both ends of the system directly bear the local load of the first or second wind torque, while drive columns in the middle are more affected by the combined effect of wind load torques from adjacent sections. Furthermore, the weight distribution of the PV modules supported by drive columns at different locations also differs.

[0134] Based on this, when calibrating a preset safety difference for each drive column individually in the embodiments of this application, a personalized preset safety difference can be set for each drive column by combining the specific position parameters of the drive column in the photovoltaic tracking bracket.

[0135] As an example, for end drive columns with complex stress and large load fluctuations, a more sensitive preset safety difference (such as a slightly smaller difference range) can be set based on the proportion of the first or second wind torque it bears, on top of the motor drive torque, to quickly respond to possible torque anomalies at the end. For middle drive columns, an appropriate preset safety difference can be set according to the characteristics of the wind load torque distribution and stable stress range it bears, avoiding misjudgments or omissions caused by a uniform threshold.

[0136] By using the above-mentioned setup method, the torque monitoring and safety judgment of each drive column are more closely aligned with its actual working conditions, thereby further reducing the risk of failure caused by the failure to identify abnormal local forces in a timely manner, and improving the stability and reliability of photovoltaic tracking bracket operation.

[0137] In another possible implementation, the photovoltaic tracking system typically includes multiple photovoltaic tracking brackets, which may have identical structures. However, the different photovoltaic tracking brackets are located in different positions within the system, resulting in significant differences in the impact of wind. To improve the accuracy of the preset safety difference, embodiments of this application can set the preset safety difference based on the position of the photovoltaic tracking brackets within the photovoltaic tracking system.

[0138] like Figure 6 As shown, a photovoltaic tracking system can be as follows: Figure 6 As shown. The photovoltaic tracking system can be divided into different areas, and the photovoltaic tracking brackets in different areas are affected by wind differently. (The text then repeats itself, so the translation stops.) Figure 6 For example, Figure 6 The photovoltaic tracking system shown can be divided into a first area A and a second area B, where the first area A is the inner perimeter of the photovoltaic tracking system and the second area B is the outer perimeter of the photovoltaic tracking system.

[0139] When the photovoltaic tracking bracket is located in the first area A of the photovoltaic tracking system, the preset safety difference value corresponding to each driving column is calibrated according to the position of each driving column in the photovoltaic tracking bracket and the driving torque of the motor.

[0140] The wind environment within the photovoltaic tracking system is relatively stable, with minimal fluctuations in wind speed and direction. In this case, the calibration logic used for each drive column within a single support frame can be applied. Specifically, based on the position of each drive column within the photovoltaic tracking frame and the motor drive torque T2, a preset safety difference value is determined for each drive column. This method can accurately adapt to the stress characteristics of different drive columns within a single support frame under stable wind conditions, ensuring basic operational safety.

[0141] When the photovoltaic tracking bracket is located in the second area B of the photovoltaic tracking system, the preset safety difference value corresponding to each driving column is calibrated according to the position of each driving column in the photovoltaic tracking bracket, the motor driving torque and the calibration coefficient.

[0142] The wind environment surrounding a photovoltaic (PV) tracking system is more complex, with significant fluctuations in wind speed and turbulent wind direction due to surrounding structures. Wind speed shading significantly impacts wind load. Therefore, when calibrating the preset safety margin for each drive column, in addition to considering the position of each drive column within the support structure and the motor's drive torque, a calibration coefficient must be introduced for correction. This calibration coefficient is set based on wind tunnel test data of the PV tracking support in that area (reflecting the force characteristics under specific wind conditions) and wind speed shading factors (such as the arrangement of surrounding supports and height differences, and their degree of weakening or disturbance to wind speed). By introducing the calibration coefficient, the additional load impact from the complex wind environment in the second area can be effectively compensated, making the preset safety margin for each drive column more closely match the actual wind conditions in that area. This further improves the accuracy of torque anomaly detection, reduces misjudgments or omissions caused by the complexity of the wind environment, and ensures the stable operation of the PV tracking support in different regional environments.

[0143] As an example, a photovoltaic (PV) tracking system includes a first PV tracking bracket and a second PV tracking bracket. The first PV tracking bracket is located within the inner perimeter of the PV tracking system, and the second PV tracking bracket is located on the outer perimeter of the PV tracking system. The first and second PV tracking brackets have the same structure. The drive columns in the first and second PV tracking brackets are arranged in the same order.

[0144] There is a proportional relationship between the preset safety differences corresponding to the drive columns at the same position in the first and second photovoltaic tracking brackets. For example, if the first drive column is at the same position in the first photovoltaic tracking bracket and the second drive column is at the same position in the second photovoltaic tracking bracket, then the preset safety difference corresponding to the first drive column is equal to the product of the preset safety difference corresponding to the second drive column and the calibration coefficient.

[0145] When setting a corresponding preset safety difference for each drive column, if the controller determines that the torque difference is greater than or equal to the preset safety difference corresponding to the target drive column when executing step S103, the controller controls the photovoltaic tracking bracket to stop operating.

[0146] Based on the above embodiments, this application further provides a control method for a photovoltaic tracking bracket, specifically as follows: Figure 7 As shown.

[0147] S701: The controller determines whether the current wind speed is greater than or equal to the protection wind speed.

[0148] The controller first monitors and assesses the current wind speed to see if it is greater than or equal to the protection wind speed. Based on external environmental factors, it identifies wind conditions that may impose significant loads on the photovoltaic tracking brackets, providing an initial basis for subsequent safety control decisions.

[0149] The protection wind speed in this application embodiment can be determined by comprehensively considering the structural characteristics of the photovoltaic tracking bracket, the application environment, and the safety redundancy requirements, and is used to provide a critical protection threshold for the photovoltaic tracking bracket in strong wind environments.

[0150] S702: The controller controls the photovoltaic tracking bracket to move to the protection position.

[0151] When step S701 determines that the current wind speed is greater than or equal to the protection wind speed, the process proceeds to step S702, where the controller will move the photovoltaic tracking bracket to the protection position. The protection position can be a designed position that minimizes the stress on the photovoltaic tracking bracket in strong wind conditions, such as adjusting the photovoltaic modules to be parallel to the wind direction, thereby reducing the impact of wind load on the bracket and lowering the risk of structural damage caused by strong winds.

[0152] S703: The controller controls the photovoltaic tracking bracket to run to the tracking algorithm position.

[0153] When step S701 determines that the current wind speed is less than the protection wind speed, the process proceeds to step S703, where the controller moves the photovoltaic tracking bracket to the tracking algorithm position. The tracking algorithm position can be calculated based on information such as the sun's position. When the photovoltaic tracking bracket is in the tracking algorithm position, it allows the photovoltaic modules to receive sunlight as efficiently as possible. Under suitable wind conditions, the photovoltaic tracking bracket can adjust its angle normally to ensure power generation efficiency, achieving a reasonable balance between safety and power generation efficiency.

[0154] S704: The controller acquires the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket.

[0155] S705: The controller determines whether the target torque value exceeds the preset torque range.

[0156] When the target torque value exceeds the preset torque range, step S705 is executed; when the target torque value is within the preset range, any other torque value is used as the target torque value and step S705 is executed again.

[0157] S706: The controller determines whether the torque difference is greater than or equal to the preset safety difference corresponding to the target drive column.

[0158] If the torque difference is less than the preset safety difference, the controller continues to execute step S705 to determine other torque values. If the torque difference is greater than or equal to the preset safety difference, step S707 is executed.

[0159] S707: The controller stops the operation of the photovoltaic tracking bracket.

[0160] S708: The controller keeps the photovoltaic tracking bracket running.

[0161] The controller ensures the photovoltaic tracking bracket operates normally only when all torque values ​​meet preset conditions. These preset conditions include the target torque value being within a preset torque range, or the torque difference being less than a preset safety difference. During the control process, the controller sequentially uses each torque value as the target torque value for evaluation. When the torque difference corresponding to any torque value is greater than or equal to the corresponding preset safety value, the controller stops the photovoltaic tracking bracket. When any torque value satisfies either "within the preset torque range" or "the corresponding torque difference is less than the corresponding preset safety difference," the controller allows the photovoltaic tracking bracket to continue operating.

[0162] This application provides a photovoltaic tracking bracket, such as... Figures 1-3 As shown. This application also provides a photovoltaic tracking system, which includes a central controller and multiple photovoltaic tracking brackets. The central controller can be connected to the controllers in each photovoltaic tracking bracket.

[0163] In one possible implementation, see Figure 8 The figure is a schematic diagram of a control device provided in an embodiment of this application.

[0164] The control device may include a memory 801 and a processor 802. For example... Figure 8 As shown, the memory can be random access memory (RAM), flash memory, read-only memory (ROM), EPROM, non-volatile read-only memory (Electronic Programmable ROM), registers, hard disks, removable disks, etc.

[0165] The memory 801 can store computer instructions. When the computer instructions stored in the memory 801 are executed by the processor 802, the processor 802 can be used to execute the control method for the photovoltaic tracking bracket. The memory 801 can also store data, such as information like the preset torque range and preset safety difference involved in the above embodiments.

[0166] In addition, this application also provides a computer-readable storage medium storing computer instructions, which, when executed on a control device for a photovoltaic tracking bracket, cause the control device to perform the steps of the aforementioned control method for the photovoltaic tracking bracket.

[0167] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and storage medium embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment solution according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0168] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a photovoltaic tracking bracket, characterized in that, The method includes: Obtain the torque values ​​transmitted by each drive column in the photovoltaic tracking bracket; If the target torque value exceeds the preset torque range, determine the torque difference between the torque value corresponding to the adjacent drive column of the target drive column and the target torque value; wherein, the target torque value is any one of a plurality of torque values, and the target drive column is the drive column that transmits the target torque value; If the torque difference is greater than or equal to a preset safety difference, the operation of the photovoltaic tracking bracket shall be stopped.

2. The method according to claim 1, characterized in that, The process for setting the preset safety difference is as follows: Based on the physical parameters of the photovoltaic tracking bracket, a first wind torque, a second wind torque, the operating direction of the photovoltaic tracking bracket, the wind direction, and the wind load torque between at least one adjacent drive column, the motor drive torque of the motor in the photovoltaic tracking bracket is determined. The physical parameters of the photovoltaic tracking bracket include the number of drive columns, the distance from the rotation center of the main shaft of the photovoltaic tracking bracket to the center of gravity of the photovoltaic module, and the total weight of the photovoltaic module carried by the photovoltaic tracking bracket. The first wind torque is the wind torque from the first end of the photovoltaic tracking bracket to the first drive column bracket, where the first drive column is the drive column closest to the first end of the photovoltaic tracking bracket. The second wind torque is the wind torque from the second end of the photovoltaic tracking bracket to the second drive column bracket, where the second drive column is the drive column closest to the second end of the photovoltaic tracking bracket. The preset safety difference is calibrated based on the motor drive torque.

3. The method according to claim 2, characterized in that, The process for determining the motor drive torque is as follows: Based on the first wind torque, the second wind torque, the wind direction, the running direction of the photovoltaic tracking bracket, the physical parameters of the photovoltaic tracking bracket, and at least one of the wind load torques, the drive torque of the rotary reducer is determined. The motor drive torque is determined based on the proportional relationship between the drive torque of the rotary reducer and the drive torque of the motor.

4. The method according to claim 3, characterized in that, The process for determining the first wind torque, the second wind torque, and at least one of the wind load torques is as follows: Based on the first distance, the second distance, wind tunnel test data of the photovoltaic tracking bracket, and the real-time rotation angle of the photovoltaic tracking bracket, the first wind torque and the second wind torque are determined; wherein, the first distance is the distance from the first end of the photovoltaic tracking bracket to the first drive column; the second distance is the distance from the second end of the photovoltaic tracking bracket to the second drive column; The wind load torque between adjacent drive columns is determined based on the distance between adjacent drive columns, the wind tunnel test data, and the real-time rotation angle.

5. The method according to claim 2, characterized in that, The step of calibrating the preset safety difference based on the motor drive torque includes: Based on the position of each drive column in the photovoltaic tracking bracket and the driving torque of the motor, a preset safety difference is calibrated for each drive column.

6. The method according to claim 2, characterized in that, The step of calibrating the preset safety difference based on the motor drive torque includes: When the photovoltaic tracking bracket is located in the first area of ​​the photovoltaic tracking system, a preset safety difference value is calibrated for each of the driving columns according to the position of each driving column in the photovoltaic tracking bracket and the driving torque of the motor; wherein, the photovoltaic tracking system includes multiple photovoltaic tracking brackets; When the photovoltaic tracking bracket is located in the second area of ​​the photovoltaic tracking system, a preset safety difference is calibrated for each of the driving columns according to the position of each driving column in the photovoltaic tracking bracket, the motor driving torque, and the calibration coefficient; wherein, the calibration coefficient is set according to the wind tunnel test data and wind speed shading factors of the photovoltaic tracking bracket.

7. The method according to claim 6, characterized in that, There is a proportional relationship between the preset safety difference corresponding to the first drive column and the preset safety difference corresponding to the second drive column, and the proportional relationship is related to the calibration coefficient; wherein, the first drive column is the drive column in the first photovoltaic tracking bracket located in the first region, and the second drive column is the drive column in the second photovoltaic tracking bracket located in the second region; the position of the first drive column in the first photovoltaic tracking bracket is the same as the position of the second drive column in the second photovoltaic tracking bracket.

8. The method according to any one of claims 5-7, characterized in that, The step of stopping the operation of the photovoltaic tracking bracket when the torque difference is greater than or equal to a preset safety difference includes: If the torque difference is greater than or equal to the preset safety difference corresponding to the target drive column, the operation of the photovoltaic tracking bracket shall be stopped.

9. The method according to claim 1, characterized in that, Before obtaining the torque value transmitted by each drive column in the photovoltaic tracking bracket, the method further includes: Get real-time wind speed; When the real-time wind speed is greater than or equal to the protection wind speed, the photovoltaic tracking bracket is driven to the protection position. When the real-time wind speed is less than the protection wind speed, the photovoltaic tracking bracket is driven to the target position indicated by the tracking algorithm.

10. The method according to any one of claims 1-7, characterized in that, The method further includes: When all the torque values ​​meet the preset conditions, the photovoltaic tracking bracket is controlled to operate normally; wherein, the preset conditions include the target torque value being within the preset torque range, or the torque difference being less than the preset safety difference.

11. A photovoltaic tracking bracket, characterized in that, The photovoltaic tracking bracket includes a controller and at least two drive columns; The controller is used to execute the control method for the photovoltaic tracking bracket according to any one of claims 1-10.

12. The photovoltaic tracking bracket according to claim 11, characterized in that, The photovoltaic tracking bracket also includes at least two torque sensors; each torque sensor is configured in a one-to-one correspondence with a drive column. The torque sensor is configured to acquire the torque value transmitted by the corresponding drive column.

13. The photovoltaic tracking bracket according to claim 12, characterized in that, The photovoltaic tracking bracket also includes a main shaft, a drive shaft, a motor, and a rotary reducer; The rotary reducer is installed in a one-to-one correspondence with the drive column; each rotary reducer is clamped onto the main shaft. At least two rotary reducers for driving columns are connected to the torque sensor and the drive shaft; The motor is installed at one end of the rotary reducer corresponding to any one of the at least two drive columns.

14. A photovoltaic tracking system, characterized in that, The photovoltaic tracking system includes a plurality of photovoltaic tracking brackets as described in any one of claims 11-13.

15. A control device, characterized in that, It includes a processor and a memory, the memory being used to store programs, instructions, or code, and the processor being used to execute the programs, instructions, or code in the memory to complete the control method for the photovoltaic tracking bracket as described in any one of claims 1-10.

16. A computer-readable storage medium, characterized in that, The device contains a computer program that is loaded by a processor to execute the control method for the photovoltaic tracking bracket as described in any one of claims 1-10.

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