Heliostat driving and control integrated system based on real-time broadband bus

Abstract

The invention relates to the technical field of solar photo-thermal power generation, and discloses a heliostat driving and control integrated system based on a real-time broadband bus, which comprises a heliostat controller, the heliostat controller comprises a main control module, a motor driving module, a communication module and a power management module, the main control module adopts an ARM32-bit processor, and the motor driving module adopts a wireless communication module; the AUTBUS port is used for communicating with an upper computer, the ARM32-bit processor operates a control algorithm, the motor driving module is used for acquiring circuit parameters and determining a protection strategy according to the circuit parameters, the RS485 interface is used for connecting a Bi SS-C encoder of an azimuth motor and a Bi SS-C encoder of a pitching motor of the motor driving module, the communication module supports an AUTBUS protocol, and the AUTBUS port is used for communicating with the upper computer. The power supply management module is used for power supply filtering, voltage stabilization and power supply backup. Dynamic tracking of the heliostat and efficiency and stability of the power generation system are ensured through the main control module, the motor driving module, the communication module and the power management module.

Description

Technical Field

[0001] This invention relates to the field of solar thermal power generation technology, and more specifically, to an integrated system for driving and controlling heliostats based on a real-time broadband bus. Background Technology

[0002] Solar energy, as a clean and renewable energy source, plays an increasingly important role in the global energy structure transformation. In solar thermal power generation systems, heliostats, by reflecting sunlight to the heat collection device, are key to achieving efficient solar energy collection and conversion. Precise control of these heliostats determines the efficiency and stability of the power generation system. However, in terms of communication, traditional heliostat controllers typically use MODBUS-RTU or CAN bus communication protocols. These protocols have shortcomings in terms of real-time data transmission and bandwidth, with response delays typically ≥10ms and bandwidths ≤1Mbps. As the scale of solar thermal power generation systems continues to expand and the requirements for power generation efficiency continue to increase, these communication delays and bandwidth limitations prevent heliostats from responding to control commands in a timely and accurate manner, making it difficult to achieve rapid and accurate tracking of the sun's position, thus reducing overall power generation efficiency. In terms of wiring, multi-motor independent controllers require individual wiring for each motor. This complex wiring method not only increases the difficulty and cost of system installation but also results in low integration of the solar thermal power generation system. Furthermore, traditional RS48 or pulse signals are susceptible to interference, leading to accumulated positioning errors. The heliostat's tracking algorithm cannot be corrected in real time, resulting in the inability to perform dynamic tracking.

[0003] Therefore, it is necessary to design an integrated heliostat drive and control system based on a real-time broadband bus to solve the problems existing in the current technology. Summary of the Invention

[0004] In view of this, the present invention proposes an integrated system for driving and controlling a heliostat based on a real-time broadband bus, which aims to solve the above problems.

[0005] This invention proposes an integrated system for driving and controlling a heliostat based on a real-time broadband bus, comprising:

[0006] A heliostat controller, comprising a main control module, a motor drive module, a communication module, and a power management module;

[0007] The main control module uses an ARM 32-bit processor, which includes an AUTBUS port and an RS485 interface. The AUTBUS port is used to communicate with the host computer, and the ARM 32-bit processor runs control algorithms.

[0008] The motor drive module is connected to the main control module. The motor drive module is used to acquire circuit parameters and determine protection strategies based on the circuit parameters. The RS485 interface is used to connect the BiSS-C encoders of the azimuth motor and pitch motor of the motor drive module.

[0009] The communication module is connected to the main control module. The communication module supports the AUTBUS protocol and is used for physical layer communication with the main control module.

[0010] The power management module is connected to the main control module, and the power management module is used for power filtering, voltage regulation and backup power.

[0011] Furthermore, the ARM32-bit processor performs a PID calculation every 50μs and outputs the PWM duty cycle. The ARM32-bit processor uploads status data and sends the uploaded status data to the host computer via the AUTBUS bus. The status data includes motor position, temperature, and fault status.

[0012] Furthermore, the control algorithm includes a dual-loop control algorithm, which includes a position loop and a current loop;

[0013] The position loop determines the real-time angle through the magnetic encoders of the azimuth motor and the pitch motor, compares it with the target value of the host computer, generates a correction command, and uses a PID adjustment algorithm to generate a control signal based on the deviation to adjust the speed and direction of the azimuth motor and the pitch motor.

[0014] The current loop uses a field-oriented control algorithm to adjust the motor torque of the azimuth motor and the pitch motor, and monitors the motor current of the azimuth motor and the pitch motor, adjusting the power supply voltage of the azimuth motor and the pitch motor according to the motor current.

[0015] Furthermore, the control algorithm also includes a clock drift compensation algorithm, which determines the clock deviation based on the ARM32-bit processor.

[0016] Furthermore, the control algorithm also includes a heliostat tracking position algorithm, which determines the azimuth and elevation angles of the incident sunlight based on the sun's orbital patterns, heliostat field longitude data, and heliostat field latitude data, and calculates the deviation between the actual position of the heliostat and the target position to determine the target value of the heliostat rotation.

[0017] Furthermore, in calculating the deviation between the actual position and the target position of the heliostat, and determining the target value for the heliostat rotation, the following steps are taken:

[0018] The ARM32-bit processor sets a first difference and a second difference, where the first difference is greater than the second difference. When the difference between the real-time angle and the target value of the heliostat rotation is greater than or equal to the first difference, an open-loop first adjustment is adopted, which positions the heliostat at a running speed Vmax.

[0019] When the difference between the real-time angle and the target value of the heliostat rotation is less than the first difference and greater than the second difference, an open-loop second adjustment is adopted, and the open-loop second adjustment adopts an incremental PID algorithm to continue tracking the real-time angle.

[0020] When the difference between the real-time angle and the target value of the heliostat rotation is less than or equal to the second difference, the ARM32-bit processor switches to closed-loop control and uses closed-loop tracking to monitor the operating speed of the heliostat.

[0021] Furthermore, the motor drive module integrates an IR2104 chip and an IPD90R1 K2C3 MOSFET, supporting 36V / 5A drive;

[0022] The circuit parameters include the motor current and the motor temperature;

[0023] When the motor current exceeds the motor current threshold, the power supply to the azimuth motor and the pitch motor is cut off.

[0024] When the motor temperature exceeds the motor temperature threshold, the power supply to the azimuth motor and pitch motor is cut off, and a fault code is sent to the host computer through the AUTBUS port.

[0025] Furthermore, the communication module uses the Neuron KY3002 chip, which supports the AUTBUS protocol and communicates with the BiSS-C encoders of the azimuth motor and pitch motor in the ARM32-bit processor through the RS485 interface.

[0026] Furthermore, when communicating with the BiSS-C encoders of the azimuth and pitch motors in the ARM32-bit processor via the RS485 interface, the following is included:

[0027] The uplink communication of the ARM32-bit processor adopts the AUTBUS protocol, and the data frame includes a synchronization header, control instructions, the position of the BiSS-C encoder, and a CRC check field.

[0028] Furthermore, when communicating with the BiSS-C encoders of the azimuth and pitch motors in the ARM32-bit processor via the RS485 interface, the method further includes:

[0029] The downlink communication of the ARM32-bit processor uses the BiSS-C protocol between the azimuth motor and the pitch motor, and transmits data through the RS485 interface.

[0030] Compared with existing technologies, the advantages of this invention are as follows: By adopting the AUTBUS and BiSS-C protocols, the real-time performance and bandwidth of data transmission in the heliostat drive control system are improved, avoiding the risks of response delay and low bandwidth associated with MODBUS-RTU or CAN bus protocols. This ensures that the heliostat can quickly and accurately track the sun's position, improving the power generation efficiency and stability of the solar thermal power generation system. Integrating the main control module with the motor drive module, communication module, and power management module enhances the system's integration and reliability. Simultaneously, the support for the BiSS-C encoder based on the AUTBUS protocol's physical layer communication and the RS485 interface enables the motor drive module to acquire circuit parameters in real time, dynamically adjust protection strategies, avoid the accumulation of positioning errors due to interference, and achieve real-time correction of the heliostat tracking algorithm, further ensuring tracking accuracy. The power management module filters, regulates, and provides backup power for the input power supply, enhancing the system's power supply stability in complex environments, improving the system's operational safety and reliability, and further ensuring the power generation efficiency and stability of the solar thermal power generation system. Attached Figure Description

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0032] Figure 1 This is a structural block diagram of an integrated heliostat drive and control system based on a real-time broadband bus, provided as an embodiment of the present invention. Detailed Implementation

[0033] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] In some embodiments of this application, see Figure 1As shown, an integrated heliostat drive and control system based on a real-time broadband bus includes: a heliostat controller, which comprises a main control module, a motor drive module, a communication module, and a power management module. The main control module uses an ARM 32-bit processor, which includes an AUTBUS port and an RS485 interface. The AUTBUS port is used to communicate with a host computer, and the ARM 32-bit processor runs control algorithms. The motor drive module is connected to the main control module and is used to acquire circuit parameters and determine protection strategies based on the circuit parameters. The RS485 interface is used to connect the BiSS-C encoders of the azimuth and pitch motors of the motor drive module. The communication module is connected to the main control module and supports the AUTBUS protocol. The communication module is used for physical layer communication with the main control module. The power management module is connected to the main control module and is used for power filtering, voltage regulation, and backup power.

[0035] Specifically, in terms of the communication module, the system adopts the AUTBUS protocol instead of the traditional MODBUS-RTU or CAN bus. AUTBUS, as a real-time broadband bus, features high bandwidth, reaching tens to hundreds of Mbps, and low latency (typically less than 1ms). The main control module uses an ARM 32-bit processor, which is characterized by high performance and low power consumption, capable of handling complex control algorithms and data processing tasks. Two AUTBUS ports (supporting daisy-chain topology) on the ARM 32-bit processor are used for communication with the host computer or other heliostat controllers, while two RS485 interfaces are used to connect the BiSS-C encoders of the azimuth and pitch motors. This not only enables bidirectional command transmission and feedback data flow but also ensures the synchronization of collaborative tracking and adjustment among heliostat controllers in large-scale grid-connected scenarios. Compared to the limitations of traditional protocols with response latency ≥10ms and bandwidth ≤1Mbps, AUTBUS improves the system's reliability in updating the sun's position, enabling the heliostat to respond to minute changes in solar motion at the millisecond level, thus improving tracking accuracy and light harvesting efficiency. The main control module and the motor drive module are tightly coupled. The ARM 32-bit processor connects to the BiSS-C encoders of the pitch and azimuth motors via an RS485 interface, enabling real-time measurement of the rotation angle. In addition to driving the motor, the motor drive module also collects circuit parameters (such as current and temperature) in real time and dynamically adjusts protection strategies based on built-in algorithms, including overcurrent, overtemperature, and phase loss protection, to prevent motor damage under extreme conditions. The main control module runs the heliostat rotation control algorithm, compares the angle information collected by the BiSS-C encoder, and then sends specific rotation commands through the AUTBUS bus, making the entire closed-loop control process fast and stable. Unlike traditional separate controllers and drivers that are independently distributed and have superimposed signal delays, the integrated design can reduce multi-layer delays and protocol conversion losses in the communication link, achieving a low-latency closed loop for the entire process of control decision-making, execution, and feedback. This is beneficial for the real-time correction and dynamic tracking of the heliostat under variable weather conditions. In terms of wiring and system integration, the main control module, motor drive module, communication module, and power management module are integrated into the heliostat controller. This avoids the risks of independent wiring for each motor and tangled signal lines. Broadband bus reduces the number of wires, and differential signal transmission and topology redundancy improve anti-interference capabilities and ensure long-distance communication reliability. The power management module filters and regulates the input power and is equipped with a backup power supply to ensure that the heliostat controller can still work normally and complete the heliostat return to zero or positioning operation in the event of a sudden power outage or voltage fluctuation. This avoids the risk of the heliostat being misaligned due to power outage, affecting power generation efficiency, or experiencing mechanical collisions.

[0036] Understandably, the system achieves improved real-time communication and bandwidth through a real-time broadband bus, enabling the heliostat to dynamically track changes in the sun's position. This reduces latency and protocol conversion between levels, improves the stability of closed-loop control, and lowers the difficulty of system installation and maintenance costs by integrating wiring and power management modules. It also enhances anti-interference and fault recovery capabilities. Furthermore, the control algorithm running on the ARM32-bit processor, combined with BiSS-C feedback, can dynamically correct the position of the solar spot under multi-point temperature gradients or instantaneous shading, minimizing energy loss in the solar thermal power generation system.

[0037] In some embodiments of this application, the ARM32-bit processor performs a PID calculation every 50μs and outputs the PWM duty cycle. The ARM32-bit processor uploads status data and sends the uploaded status data to the host computer via the AUTBUS bus. The status data includes motor position, temperature and fault status.

[0038] Specifically, the ARM 32-bit processor performs a PID calculation every 50μs. Based on the error between the current motor position and the target position, it calculates a new control quantity and outputs a corresponding PWM duty cycle signal, thereby driving the azimuth and pitch motors to make minor adjustments, achieving closed-loop precise control. After each calculation, the ARM 32-bit processor collects motor position, temperature, and fault status information, and uploads it to the host computer via the AUTBUS high-speed bus. The host computer is used for centralized monitoring and data analysis. The host computer supports remote configuration and adjustment, improving the system's flexibility and maintainability. For example, when there is a certain deviation in the motor position, the host computer automatically retryes 3 times and logs the results to handle brief communication or control anomalies, recording the fault level as Level 1 (minor). Conversely, when the host computer cuts off the motor power supply and triggers an audible and visual alarm, it handles serious faults such as motor stall or communication interruption, recording the fault level as Level 2 (serious). By monitoring the motor current, temperature, and fault status in real time, the safe operation of the system is ensured. When an anomaly is detected, the fault information is recorded in a timely manner and sent to the host computer via the AUTBUS bus, which facilitates subsequent fault diagnosis and maintenance and enhances the stability and power generation efficiency of the solar thermal power generation system.

[0039] In some embodiments of this application, the control algorithm includes a dual-loop control algorithm, which comprises a position loop and a current loop. The position loop determines the real-time angle using the magnetic encoders of the azimuth and pitch motors, compares it with the target value from the host computer, generates a correction command, and uses a PID control algorithm to generate a control signal based on the deviation, adjusting the speed and direction of the azimuth and pitch motors. The current loop uses a field-oriented control algorithm to adjust the motor torque of the azimuth and pitch motors, monitors the motor current of the azimuth and pitch motors, and adjusts the supply voltage of the azimuth and pitch motors based on the motor current.

[0040] Specifically, the dual closed-loop control consists of a position loop and a current loop working together. The position loop acquires the shaft angle in real time through magnetic encoders on the azimuth and pitch motors, compares the measured angle with the target position sent by the host computer, and obtains an angle error signal. This error signal is used by a PID algorithm to calculate speed and direction adjustment commands and generate a PWM duty cycle to control the motor speed and direction, thereby correcting the deviation. The current loop, based on the field-oriented control principle, realizes closed-loop regulation of current and torque, ensuring stable operation of the motor under different loads. The position loop is responsible for angle tracking, and the current loop is responsible for torque control, giving the system good anti-interference ability and improving the dynamic response, torque, and field decoupling stability of the system.

[0041] In some embodiments of this application, the control algorithm further includes a clock drift compensation algorithm, which determines the clock deviation based on the ARM32-bit processor.

[0042] Specifically, the ARM32-bit processor integrates a clock source (RC oscillator or external crystal oscillator), but clock drift can occur during long-term operation due to temperature changes, voltage fluctuations, etc. The clock drift compensation algorithm is implemented through the following steps: First, the ARM32-bit processor periodically reads its internal timing register and compares it with a reference benchmark (a standard clock signal obtained from the host computer) to calculate the current clock deviation Δt. Second, based on historical drift data and Δt, the clock drift rate ε is determined, and a compensation coefficient C = 1 - ε is generated using this drift rate. Finally, during PID calculations and PWM output, the clock period is scaled or calibrated according to C to correct the system's runtime sequence. The clock drift compensation algorithm continuously updates the drift rate online, ensuring the system remains synchronized under different environments, enabling the heliostat to dynamically track changes in the sun's position and improving the stability of closed-loop control.

[0043] In some embodiments of this application, the control algorithm further includes a heliostat tracking position algorithm. The heliostat tracking position algorithm determines the azimuth and elevation angles of the incident sunlight based on the solar motion law, the longitude data of the heliostat field, and the latitude data of the heliostat field, and calculates the deviation between the actual position of the heliostat and the target position to determine the target value of the heliostat rotation.

[0044] In some embodiments of this application, when calculating the deviation between the actual position and the target position of the heliostat and determining the target rotation value of the heliostat, the following steps are taken: the ARM32-bit processor sets a first difference and a second difference, the first difference being greater than the second difference. When the difference between the real-time angle and the target rotation value of the heliostat is greater than or equal to the first difference, an open-loop first adjustment is adopted, which positions the heliostat at a running speed Vmax. When the difference between the real-time angle and the target rotation value of the heliostat is less than the first difference but greater than the second difference, an open-loop second adjustment is adopted, which uses an incremental PID algorithm to continue tracking the real-time angle. When the difference between the real-time angle and the target rotation value of the heliostat is less than or equal to the second difference, the ARM32-bit processor switches to closed-loop control, which uses closed-loop tracking of the running speed of the heliostat.

[0045] Specifically, the ARM32-bit processor calculates the current solar azimuth angle Az and altitude angle El based on preset solar motion patterns (such as the SPA algorithm) and the longitude and latitude data of the heliostat field. Through coordinate transformation, Az and El are mapped to the target rotation angle θ required by the heliostat's azimuth and pitch wheels. Each of the azimuth and pitch motors is equipped with a magnetic encoder. The ARM32-bit processor periodically (every 50 μs) reads the outputs of both encoders to obtain the heliostat's current actual angle θ1. The ARM32-bit processor sets two angle error thresholds: a first difference and a second difference. Each time the ARM32-bit processor performs a calculation, it determines the error Δθ (difference), where Δθ = θ - θ1. If Δθ is greater than or equal to the first difference, the heliostat is considered to have deviated significantly from the target and needs to quickly return to the vicinity of the target. The ARM32 processor directly outputs a PWM instruction for a constant maximum speed Vmax to drive the motor for high-speed coarse adjustment. Closed-loop feedback is disabled, and the motor operates solely at Vmax. If Δ2 is less than the first difference but greater than the second difference, the deviation is no longer very large within this range, but acceleration for convergence is still required. The ARM32 processor then uses an incremental PID algorithm to dynamically update the PWM duty cycle based on the difference Δ(Δθ) between the current error Δθ and the error at the previous moment. This maintains a relatively high speed while gradually decelerating to prevent overshoot. The incremental PID algorithm only considers the error change and does not directly use the complete closed-loop logic of the position feedback loop; therefore, it is an open-loop fine-tuning process. If Δθ is less than or equal to the second difference, it indicates that the error at this stage is very small, requiring high-precision tracking. The ARM32 processor then activates a dual closed-loop control algorithm (position loop + current loop). The position loop generates correction values ​​through the PID algorithm, while the current loop uses a field-oriented control (FOC) algorithm to precisely control torque and current, thereby achieving smooth and stable fine adjustments. During closed-loop control, if a detection failure occurs or the mirror field requires optimized scheduling, the system automatically switches to open-loop control. This three-stage hierarchical control strategy enables the heliostat to approach the target promptly when there is a deviation, converge smoothly with moderate deviations, and achieve precise positioning with minor deviations. This balances tracking speed and accuracy, effectively reducing oscillations and overshoot, improving system response efficiency and stability, and ultimately enhancing the overall power generation efficiency of the solar thermal power generation system.

[0046] In some embodiments of this application, the motor drive module integrates an IR2104 chip and an IPD90R1K2C3 MOSFET, supports 36V / 5A drive, and the circuit parameters include motor current and motor temperature. When the motor current is greater than the motor current threshold, the power supply to the azimuth motor and pitch motor is cut off. When the motor temperature is greater than the motor temperature threshold, the power supply to the azimuth motor and pitch motor is cut off, and a fault code is sent to the host computer through the AUTBUS port.

[0047] Specifically, the motor drive module uses the IR2104 high-side and low-side driver chip in conjunction with the IPD90R1 K2C3 MOSFET. The IR2104 drives the MOSFET via a PWM signal, achieving precise control of the motor. Simultaneously, the motor drive module can monitor the motor current and temperature of the azimuth and pitch motors in real time using temperature and current sensors. The motor drive module supports a maximum output of 36V / 5A to meet power requirements. When the motor current exceeds the motor current threshold, the IR2104 immediately cuts off the power to the azimuth and pitch motors to prevent overcurrent damage. When the motor temperature exceeds the motor temperature threshold, protection is triggered, and the IR2104 similarly cuts off the power to avoid overheating damage. When overcurrent or overtemperature protection is triggered, the drive module sends a fault code (e.g., 0xE001 indicating motor stall) to the host computer via the AUTBUS bus for alarm and recording, improving system response efficiency and stability.

[0048] In some embodiments of this application, the communication module uses the Neuron KY3002 chip, which supports the AUTBUS protocol and communicates with the BiSS-C encoders of the azimuth and pitch motors in an ARM 32-bit processor via an RS485 interface.

[0049] In some embodiments of this application, when communicating with the BiSS-C encoders of the azimuth and pitch motors in an ARM32-bit processor via an RS485 interface, the uplink communication of the ARM32-bit processor adopts the AUTBUS protocol, and the data frame includes a synchronization header, control instructions, the position of the BiSS-C encoder, and a CRC check field.

[0050] In some embodiments of this application, when communicating with the BiSS-C encoders of the azimuth and pitch motors in an ARM32-bit processor via an RS485 interface, the downlink communication of the ARM32-bit processor adopts the BiSS-C protocol between the azimuth and pitch motors and transmits data via the RS485 interface.

[0051] Specifically, the communication module uses the Neuron KY3002 chip, which supports the AUTBUUS protocol and features high bandwidth (100Mbps), low latency (minimum unidirectional transmission latency within 40µs), and multiple nodes (up to 254 nodes). The physical layer uses CAT6 shielded twisted-pair cable. The KY3002 chip integrates an RS-485 transceiver unit, which can support multiple protocol switching on the same differential pair line. The KY3002 chip drives the RS-485 level at the physical layer. The BiSS-C encoder on the motor side is also connected to the same RS-485 network, but different frame structures and timings are used during actual transmission and reception. RS-485 allows multiple node connections. The KY3002 switches between transmit and receive modes through internal direction control logic. The ARM 32-bit processor organizes uplink data frames using the AUTBUUS protocol. The main fields include a synchronization header: a fixed bit sequence used for bus wake-up and frame synchronization at the receiving end. After the KY3002 detects the predetermined synchronization header, it starts receiving and enters frame boundary positioning. Control Command: Identifies the type of communication, such as "read motor position." This command can carry necessary parameters and is encapsulated by the KY3002 at the link layer. BiSS-C Encoder Position: The actual value is read in real-time by the ARM from the downlink BiSS-C interface and filled into the data area of ​​the AUTBUUS frame. The ARM sends a BiSS-C read command to the encoder via the downlink. Upon receiving the position data, it combines it into the data content of the AUTBUUS uplink frame. CRC Check Field: Uses a 16-bit or 32-bit cyclic redundancy check code as specified by the AUTBUUS protocol, covering all bytes after the synchronization header. The KY3002 automatically calculates the CRC before transmission, and the receiving host computer verifies it again to ensure data integrity. Specific Process: The KY3002 sends the data to the bus in RS-485 differential signal format. The host computer receiving node is also equipped with an AUTBUUS-compatible transceiver. Upon receiving the data, it extracts the frame field, verifies the CRC, and parses out the control command and position data. This cycle repeats, allowing the host computer to receive encoder feedback in real time and execute control or monitoring. Downlink communication uses the BiSS-C protocol, a master-slave synchronous serial bus. The typical timing is that the master outputs a clock signal, and the slave detects / sends data on the clock edge. The ARM 32-bit processor generates the BiSS-C clock pulse and switches the RS-485 drive mode via the KY3002. The BiSS-C encoder detects the rising edge of the clock. The BiSS-C protocol frame structure includes: a start bit, a master clock pulse, slave response data bits, a parity bit, and a stop bit.

[0052] Understandably, the master station function of the BiSS-C protocol is implemented in an ARM 32-bit processor, communicating with the BiSS-C encoder of the motor via an RS485 interface. The BiSS-C protocol supports high-precision position data transmission, providing 16-bit absolute position information with a resolution of 0.01°, and employs CRC checksum to ensure data integrity. Through the BiSS-C protocol, the controller can acquire the precise position information of the motor in real time, providing data support for high-precision control. An AUTBUS protocol stack is implemented in the ARM 32-bit processor, supporting efficient data transmission and parsing. The Neuron KY3002 chip, as the communication chip, provides hardware support, ensuring the efficient operation of the protocol. Through the AUTBUS protocol, the heliostat controller can communicate with the host computer and other heliostat controllers at high speed and with reliability, thereby achieving multi-node synchronous control. It uses the BiSS-C protocol and RS485 interface to communicate with the motor, ensuring data transmission accuracy and anti-interference capabilities, resulting in a command response delay of ≤100μs (an improvement over the traditional MODBUS-RTU). This ensures the heliostat can respond quickly to control commands, and the positioning accuracy is ±0.05° (traditional heliostat control schemes are typically ±0.1°), improving the heliostat's tracking accuracy and thus increasing power generation efficiency. The use of the BiSS-C protocol and RS485 interface for communication, combined with the AUTBUS protocol uplink communication, ensures the reliability and accuracy of data transmission in complex electromagnetic environments, further improving the power generation efficiency of the solar thermal power generation system.

[0053] In summary, the beneficial effects of this invention are as follows: By adopting the AUTBUS and BiSS-C protocols, the real-time performance and bandwidth of data transmission in the heliostat drive control system are improved, avoiding the risks of response delay and low bandwidth associated with MODBUS-RTU or CAN bus protocols. This ensures that the heliostat can quickly and accurately track the sun's position, improving the power generation efficiency and stability of the solar thermal power generation system. Integrating the main control module with the motor drive module, communication module, and power management module enhances the system's integration and reliability. Simultaneously, the support for the BiSS-C encoder based on the AUTBUS protocol's physical layer communication and the RS485 interface enables the motor drive module to acquire circuit parameters in real time, dynamically adjust protection strategies, avoid the accumulation of positioning errors due to interference, and achieve real-time correction of the heliostat tracking algorithm, further ensuring tracking accuracy. The power management module filters, regulates, and provides backup power for the input power supply, enhancing the system's power supply stability in complex environments, improving the system's operational safety and reliability, and further ensuring the power generation efficiency and stability of the solar thermal power generation system.

[0054] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A heliostat drive and control integrated system based on a real-time broadband bus, characterized in that, include: A heliostat controller, comprising a main control module, a motor drive module, a communication module, and a power management module; The main control module uses an ARM 32-bit processor, which includes an AUTBUS port and an RS485 interface. The AUTBUS port is used to communicate with the host computer, and the ARM 32-bit processor runs control algorithms. The motor drive module is connected to the main control module. The motor drive module is used to acquire circuit parameters and determine protection strategies based on the circuit parameters. The RS485 interface is used to connect the BiSS-C encoders of the azimuth motor and pitch motor of the motor drive module. The communication module is connected to the main control module. The communication module supports the AUTBUS protocol and is used for physical layer communication with the main control module. The power management module is connected to the main control module, and the power management module is used for power filtering, voltage regulation and backup power.

2. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 1, characterized in that, The ARM32-bit processor performs a PID calculation every 50μs and outputs the PWM duty cycle. The ARM32-bit processor uploads status data and sends the uploaded status data to the host computer via the AUTBUS bus. The status data includes motor position, temperature, and fault status.

3. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 2, characterized in that, The control algorithm includes a dual closed-loop control algorithm, which includes a position loop and a current loop. The position loop determines the real-time angle through the magnetic encoders of the azimuth motor and the pitch motor, compares it with the target value of the host computer, generates a correction command, and uses a PID adjustment algorithm to generate a control signal based on the deviation to adjust the speed and direction of the azimuth motor and the pitch motor. The current loop uses a field-oriented control algorithm to adjust the motor torque of the azimuth motor and the pitch motor, and monitors the motor current of the azimuth motor and the pitch motor, adjusting the power supply voltage of the azimuth motor and the pitch motor according to the motor current.

4. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 3, characterized in that, The control algorithm also includes a clock drift compensation algorithm, which determines the clock deviation based on the ARM32-bit processor.

5. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 4, characterized in that, The control algorithm also includes a heliostat tracking position algorithm, which determines the azimuth and elevation angles of the incident sunlight based on the sun's orbital patterns, heliostat field longitude data, and heliostat field latitude data, and calculates the deviation between the actual position of the heliostat and the target position to determine the target value of the heliostat rotation.

6. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 5, characterized in that, When calculating the deviation between the actual position and the target position of the heliostat, and determining the target rotation value of the heliostat, the following steps are included: The ARM32-bit processor sets a first difference and a second difference, where the first difference is greater than the second difference. When the difference between the real-time angle and the target value of the heliostat rotation is greater than or equal to the first difference, an open-loop first adjustment is adopted, which positions the heliostat at a running speed Vmax. When the difference between the real-time angle and the target value of the heliostat rotation is less than the first difference and greater than the second difference, an open-loop second adjustment is adopted, and the open-loop second adjustment adopts an incremental PID algorithm to continue tracking the real-time angle. When the difference between the real-time angle and the target value of the heliostat rotation is less than or equal to the second difference, the ARM32-bit processor switches to closed-loop control and uses closed-loop tracking to monitor the operating speed of the heliostat.

7. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 6, characterized in that, The motor drive module integrates an IR2104 chip and an IPD90R1 K2C3 MOSFET, supporting 36V / 5A drive; The circuit parameters include the motor current and the motor temperature; When the motor current exceeds the motor current threshold, the power supply to the azimuth motor and the pitch motor is cut off. When the motor temperature exceeds the motor temperature threshold, the power supply to the azimuth motor and pitch motor is cut off, and a fault code is sent to the host computer through the AUTBUS port.

8. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 7, characterized in that, The communication module uses the Neuron KY3002 chip, which supports the AUTBUS protocol and communicates with the BiSS-C encoders of the azimuth and pitch motors in the ARM32-bit processor via the RS485 interface.

9. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 7, characterized in that, When communicating with the BiSS-C encoders of the azimuth and pitch motors in the ARM32-bit processor via the RS485 interface, the following is included: The uplink communication of the ARM32-bit processor adopts the AUTBUS protocol, and the data frame includes a synchronization header, control instructions, the position of the BiSS-C encoder, and a CRC check field.

10. The integrated heliostat drive and control system based on a real-time broadband bus according to claim 9, characterized in that, When communicating with the BiSS-C encoders of the azimuth and pitch motors in the ARM32-bit processor via the RS485 interface, the method further includes: The downlink communication of the ARM32-bit processor uses the BiSS-C protocol between the azimuth motor and the pitch motor, and transmits data through the RS485 interface.

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