Sunlight tracking control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a sunlight tracking control method, device and equipment, a storage medium and a program product, and relates to the technical field of automatic control. The power generation efficiency of the photovoltaic power generation system can be improved. The method comprises the following steps: acquiring a solar elevation angle and a solar azimuth angle of a target observation point and the current position of each solar panel; the pitch angle and the yaw angle of each solar panel are determined according to the current position, and the solar irradiance of each solar panel is determined according to the solar elevation angle, the solar azimuth angle, the pitch angle, the yaw angle and the height, the inclination angle and the distance of each solar panel; determining a to-be-adjusted direction of each solar panel and a target value of the to-be-adjusted direction based on the solar irradiance, the pitch angle and the yaw angle; and if the target value exceeds the adjustment threshold value, determining a first starting speed and a second starting speed corresponding to the two hydraulic rods in each solar panel, and controlling the two hydraulic rods to perform angle adjustment on each solar panel according to the first starting speed and the second starting speed.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a solar tracking control method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] In photovoltaic power generation systems, solar irradiance is one of the key factors affecting power generation efficiency. To maximize the power generation efficiency per unit area of ​​solar panels, solar tracking systems have been widely adopted in recent years to achieve dynamic response to the sun's orientation. Currently, common solar tracking technologies mainly include single-axis tracking and dual-axis tracking, which adjust the orientation of the solar panels as perpendicular as possible to the direction of solar incidence through servo motors or hydraulic devices to increase power generation efficiency.

[0003] However, most current light tracking methods rely on preset tracks or empirical models and lack a real-time feedback adjustment mechanism for environmental parameters. They are unable to take into account the impact of complex terrain, inter-component shading, and variable weather conditions on power generation efficiency, and still suffer from low power generation efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a solar tracking control method, apparatus, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0005] In a first aspect, this application provides a solar tracking control method, comprising:

[0006] In each fixed time period, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency.

[0007] The pitch angle and yaw angle of each solar panel are determined based on the current position, and the solar irradiance of each solar panel is determined based on the solar altitude angle, the solar azimuth angle, the pitch angle, the yaw angle, the height, tilt angle and spacing of each solar panel.

[0008] Based on the solar irradiance, the pitch angle, and the yaw angle, the adjustment direction of each solar panel and the target value of the adjustment direction are determined.

[0009] If the target value exceeds the adjustment threshold, then the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel are determined respectively, and the angle of each solar panel is adjusted by the two hydraulic rods according to the first starting speed and the second starting speed.

[0010] In one embodiment, determining the solar irradiance of each solar panel based on the solar altitude angle, the solar azimuth angle, the pitch angle, the yaw angle, and the height, tilt angle, and spacing of each solar panel includes:

[0011] The projected shadow length of each solar panel is determined based on the height, the solar altitude angle, and the yaw angle; the shading area of ​​each solar panel is determined based on the spacing and the projected shadow length; and the solar irradiance is determined based on the tilt angle, the shading area, and the pitch angle.

[0012] In one embodiment, obtaining the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, includes:

[0013] The latitude, solar declination angle, and solar hour angle of the target observation point are obtained. Based on the latitude, solar declination angle, and solar hour angle, the solar altitude angle and solar azimuth angle are determined respectively. The base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod of each solar panel are obtained. Based on the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod, the position parameter matrix of each solar panel is determined as the current position.

[0014] In one embodiment, determining the first starting speed and the second starting speed corresponding to the two hydraulic rods in each of the solar panels includes:

[0015] Obtain the first derivative of the solar irradiance with respect to the pitch angle, the second derivative of the solar irradiance with respect to the yaw angle, and the hydraulic rod length coefficient; determine the first starting speed based on the first derivative and the hydraulic rod length coefficient, and determine the second starting speed based on the second derivative and the hydraulic rod length coefficient.

[0016] In one embodiment, after controlling the two hydraulic rods to adjust the angle of each of the solar panels according to the first start-up speed and the second start-up speed respectively, the method further includes:

[0017] The updated position of each solar panel in the photovoltaic power generation system is obtained, and the updated adjustment direction of each solar panel and the updated target value of the updated adjustment direction are re-determined based on the updated position. If the updated target value exceeds the adjustment threshold, the process returns to the step of determining the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel.

[0018] In one embodiment, determining the pitch and yaw angles of each solar panel based on the current position includes:

[0019] The position normal vector of each solar panel is determined based on the current position, and the position normal vector has a first component in a first direction, a second component in a second direction, and a third component in a third direction; the pitch angle is determined based on the third component, and the yaw angle is determined based on the first component and the second component.

[0020] Secondly, this application also provides a solar tracking control device, comprising:

[0021] The data acquisition module is used to acquire the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, at a preset frequency during each fixed time period.

[0022] The data processing module is used to determine the pitch angle and yaw angle of each solar panel based on the current position, and to determine the solar irradiance of each solar panel based on the solar altitude angle, the solar azimuth angle, the pitch angle, the yaw angle, and the height, tilt angle and spacing of each solar panel.

[0023] The orientation determination module is used to determine the orientation to be adjusted for each of the solar panels and the target value of the orientation to be adjusted based on the solar irradiance, the pitch angle and the yaw angle.

[0024] An angle adjustment module is used to determine the first and second starting speeds corresponding to the two hydraulic rods in each solar panel if the target value exceeds the adjustment threshold, and to control the two hydraulic rods to adjust the angle of each solar panel according to the first and second starting speeds.

[0025] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0026] In each fixed time period, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency. Based on the current position, the pitch angle and yaw angle of each solar panel are determined. Based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel, the solar irradiance of each solar panel is determined. Based on the solar irradiance, pitch angle, and yaw angle, the adjustment direction of each solar panel and the target value of the adjustment direction are determined. If the target value exceeds the adjustment threshold, the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel are determined, and the two hydraulic rods are controlled to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0028] In each fixed time period, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency. Based on the current position, the pitch angle and yaw angle of each solar panel are determined. Based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel, the solar irradiance of each solar panel is determined. Based on the solar irradiance, pitch angle, and yaw angle, the adjustment direction of each solar panel and the target value of the adjustment direction are determined. If the target value exceeds the adjustment threshold, the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel are determined, and the two hydraulic rods are controlled to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0030] In each fixed time period, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency. Based on the current position, the pitch angle and yaw angle of each solar panel are determined. Based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel, the solar irradiance of each solar panel is determined. Based on the solar irradiance, pitch angle, and yaw angle, the adjustment direction of each solar panel and the target value of the adjustment direction are determined. If the target value exceeds the adjustment threshold, the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel are determined, and the two hydraulic rods are controlled to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0031] The aforementioned solar tracking control method, device, computer equipment, computer-readable storage medium, and computer program product acquire the solar altitude angle and solar azimuth angle of the target observation point and the current position of each solar panel in the photovoltaic power generation system at a preset frequency in each fixed time period. Then, they calculate the pitch angle, yaw angle, and solar irradiance of each solar panel. Based on the solar irradiance, pitch angle, and yaw angle, they determine the adjustment direction of each solar panel and the target value of the adjustment direction. If the target value exceeds the adjustment threshold, they control the two hydraulic rods to adjust the angle of each solar panel according to the first and second starting speeds corresponding to the two hydraulic rods, respectively. This application, by setting a sensitive response mechanism to changes in sunlight, can estimate the current position of the solar panel without relying on external sensors, so as to make adaptive dynamic adjustments to the angle of the solar panel, thereby improving the adaptability to complex external factors. In addition, this application also sets an adjustment threshold judgment mechanism in the control process to achieve dynamic response to the sun's orientation, so that the solar panel is as perpendicular as possible to the sun's incident direction to improve the power generation efficiency of the photovoltaic power generation system, while avoiding frequent ineffective adjustments, which helps to improve the stability of the photovoltaic power generation system and is suitable for the integration of periodic or variable periodic tracking strategies. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is an application environment diagram of the solar tracking control method in one embodiment;

[0034] Figure 2 This is a flowchart illustrating a solar tracking control method in one embodiment;

[0035] Figure 3 This is a flowchart illustrating the steps for calculating solar irradiance in one embodiment;

[0036] Figure 4 This is a flowchart illustrating a specific embodiment of a solar tracking control method;

[0037] Figure 5 This is a structural block diagram of a solar tracking control device in one embodiment;

[0038] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] The solar tracking control method provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown illustrates this. In this environment, the terminal can communicate with the server via a network. The data storage system can store the data that the server needs to process. The data storage system can be integrated onto the server or located on the cloud or other network servers. In situations such as... Figure 1 In the application environment shown, the terminal can be, but is not limited to, various personal computers, laptops, smartphones, and tablets. The server can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0041] In one embodiment, such as Figure 2 As shown, a solar tracking control method is provided, which can be applied to... Figure 1 In the terminal, the method may include the following steps:

[0042] Step S201: In each fixed time period, acquire the solar altitude angle and solar azimuth angle of the target observation point and the current position of each solar panel in the photovoltaic power generation system according to a preset frequency.

[0043] The fixed time period and preset frequency can be set by relevant technical personnel according to actual needs. For example, a fixed time period of 60 seconds and a preset frequency of 30 seconds per time can be used.

[0044] Specifically, in response to the solar tracking control command, the terminal acquires the solar altitude angle and solar azimuth angle of the target observation point at a preset frequency in each fixed time period, and at the same time determines the position parameter matrix of each solar panel in the photovoltaic power generation system, and determines the current position of each solar panel based on the position parameter matrix.

[0045] Step S202: Determine the pitch angle and yaw angle of each solar panel based on the current position, and determine the solar irradiance of each solar panel based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, height, tilt angle and spacing of each solar panel.

[0046] Specifically, the terminal determines the position normal vector of each solar panel based on its current position, as well as the first component of the position normal vector in the x-axis direction, the second component in the y-axis direction, and the third component in the z-axis direction. Based on the first, second, and third components, it determines the pitch angle and yaw angle of each solar panel, respectively. Based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel, it determines the solar irradiance of each solar panel.

[0047] Step S203: Based on solar irradiance, pitch angle, and yaw angle, determine the direction to be adjusted for each solar panel and the target value of the direction to be adjusted.

[0048] The target value of the direction to be adjusted can be the value of the Euclidean norm of the direction to be adjusted.

[0049] Specifically, the terminal determines the direction to be adjusted for each solar panel by calculating the derivative of solar irradiance with respect to pitch and yaw angles, and then calculates the Euclidean norm of the direction to be adjusted as its target value.

[0050] Step S204: If the target value exceeds the adjustment threshold, determine the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel, and control the two hydraulic rods to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0051] The adjustment threshold can be preset by relevant technical personnel according to actual needs.

[0052] Specifically, the terminal determines whether the target value exceeds the adjustment threshold. If the target value exceeds the adjustment threshold, it determines the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel based on the first derivative of solar irradiance with pitch angle, the second derivative of solar irradiance with yaw angle, and the hydraulic rod length coefficient. Then, it controls the two hydraulic rods to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0053] In this embodiment, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency within each fixed time period. The pitch angle, yaw angle, and solar irradiance of each solar panel are then calculated. Based on the solar irradiance, pitch angle, and yaw angle, the adjustment direction and target value of each solar panel are determined. If the target value exceeds the adjustment threshold, the two hydraulic rods are controlled to adjust the angle of each solar panel according to the first and second starting speeds corresponding to the two hydraulic rods, respectively. This application, by setting a sensitive response mechanism to changes in sunlight, can estimate the current position of the solar panel without relying on external sensors, enabling adaptive dynamic adjustments to the angle of the solar panel, thereby improving adaptability to complex external factors. Furthermore, this application also sets an adjustment threshold judgment mechanism in the control flow to achieve dynamic response to the solar azimuth, ensuring that the solar panel is as perpendicular as possible to the solar incidence direction to improve the power generation efficiency of the photovoltaic power generation system, while avoiding frequent ineffective adjustments, thus contributing to improved stability of the photovoltaic power generation system. This is suitable for the integration of periodic or variable-period tracking strategies.

[0054] In one embodiment, such as Figure 3 As shown, in step S202 above, determining the solar irradiance of each solar panel based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel may include the following steps:

[0055] Step S301: Determine the length of the projected shadow of each solar panel based on the altitude, solar altitude angle, and yaw angle.

[0056] Step S302: Determine the area of ​​the shaded portion of each solar panel based on the spacing and the length of the projected shadow.

[0057] Step S303: Determine the solar irradiance based on the tilt angle, the area of ​​the obstructed portion, and the elevation angle.

[0058] Specifically, the terminal calculates the solar irradiance of each solar panel based on the acquired solar altitude angle h and solar azimuth angle As, as well as the calculated pitch angle α and yaw angle β of the solar panel. The spacing between photovoltaic panels is defined as follows: The height of the solar panel is Then the length of the projected shadow for:

[0059]

[0060] This allows us to calculate the area of ​​the obstructed portion. :

[0061]

[0062] Then we have:

[0063]

[0064] In the above formula, It refers to direct solar irradiance. It is diffuse irradiance. It refers to ground reflectivity.

[0065] In one embodiment, obtaining the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, in step S201 may include the following steps:

[0066] Obtain the latitude, solar declination angle, and solar hour angle of the target observation point. Based on the latitude, solar declination angle, and solar hour angle, determine the solar altitude angle and solar azimuth angle, respectively. Obtain the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod for each solar panel. Based on the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod, determine the position parameter matrix of each solar panel as the current position.

[0067] Specifically, the terminal calculates the solar altitude angle at a set time interval t. and solar azimuth Let the latitude of the target observation point be denoted as . Local standard time is The standard meridian of the time zone is Then for the first day of the year Heaven, solar declination angle for:

[0068]

[0069] Solar hour angle for:

[0070]

[0071] Then calculate the solar altitude angle. and solar azimuth for:

[0072]

[0073]

[0074] Then, the position parameter matrix of each solar panel is obtained, corresponding to the current position of each solar panel. For each solar panel, there is one base point and two hydraulic rod ends. The coordinates of the base point are denoted as follows: The coordinates of the ends of the two hydraulic rods are respectively , The positions of the three points can then form a position parameter matrix:

[0075]

[0076] In one embodiment, determining the first and second starting speeds corresponding to the two hydraulic rods in each solar panel in step S204 may include the following steps:

[0077] Obtain the first derivative of solar irradiance with respect to pitch angle, the second derivative of solar irradiance with respect to yaw angle, and the hydraulic rod length coefficient; determine the first starting speed based on the first derivative and the hydraulic rod length coefficient, and determine the second starting speed based on the second derivative and the hydraulic rod length coefficient.

[0078] Specifically, the terminal first calculates the solar irradiance. First derivative with respect to pitch angle α and the second derivative with respect to the yaw angle β :

[0079]

[0080]

[0081] In the above formula, , and These represent the spacing between the photovoltaic panels. Components in the x, y, and z directions.

[0082] Then based on solar irradiance First derivative with respect to pitch angle α Solar irradiance The second derivative with respect to the pitch angle α and hydraulic rod length coefficient Calculate the starting speed of hydraulic rod 1. and the starting speed of hydraulic rod 2 :

[0083] ,

[0084] In one embodiment, after controlling the two hydraulic rods to adjust the angle of each solar panel according to the first start-up speed and the second start-up speed respectively, the method of this application further includes the following steps:

[0085] Obtain the updated position of each solar panel in the photovoltaic power generation system, and redetermine the updated adjustment direction and the updated target value of each solar panel based on the updated position; if the updated target value exceeds the adjustment threshold, return to the step of determining the first start speed and the second start speed corresponding to the two hydraulic rods in each solar panel.

[0086] Specifically, the terminal obtains the updated position of each solar panel in the photovoltaic power generation system, and re-determines the updated adjustment direction of each solar panel and the updated target value of the updated adjustment direction based on the updated position; it determines whether the updated target value exceeds the adjustment threshold. If it is found that the updated target value exceeds the adjustment threshold, it returns to the step of determining the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel.

[0087] In one embodiment, step S202, which involves determining the pitch and yaw angles of each solar panel based on the current position, may include the following steps:

[0088] The position normal vector of each solar panel is determined based on the current position, as well as the first component of the position normal vector in the first direction, the second component in the second direction, and the third component in the third direction; the pitch angle is determined based on the third component, and the yaw angle is determined based on the first and second components.

[0089] Specifically, the terminal determines the position normal vector of each solar panel based on the position parameter matrix of each solar panel. The calculation formula is:

[0090]

[0091] Then, based on the position normal vector of the solar panel The formulas for calculating the pitch angle α and yaw angle β of the solar panel are:

[0092]

[0093] In the above formula, , and These represent the position normal vectors of the solar panel, respectively. Components in the x, y, and z directions.

[0094] In one embodiment, such as Figure 4 As shown, a solar tracking control method is provided in a specific embodiment, which specifically includes the following steps:

[0095] Step S401: In each fixed time period, acquire the latitude, solar declination angle, and solar hour angle of the target observation point according to a preset frequency. Determine the solar altitude angle and solar azimuth angle based on the latitude, solar declination angle, and solar hour angle. Acquire the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod for each solar panel. Determine the position parameter matrix of each solar panel based on the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod, and use it as the current position.

[0096] Step S402: Determine the position normal vector of each solar panel based on the current position, as well as the first component of the position normal vector in the first direction, the second component in the second direction, and the third component in the third direction; determine the pitch angle based on the third component, and determine the yaw angle based on the first and second components.

[0097] Step S403: Determine the projected shadow length of each solar panel based on the altitude, solar altitude angle, and yaw angle; determine the shading area of ​​each solar panel based on the spacing and projected shadow length; determine the solar irradiance based on the tilt angle, shading area, and pitch angle.

[0098] Step S404: Based on solar irradiance, pitch angle, and yaw angle, determine the direction to be adjusted for each solar panel and the target value of the direction to be adjusted.

[0099] Step S405: If the target value exceeds the adjustment threshold, obtain the first derivative of solar irradiance with respect to the pitch angle, the second derivative of solar irradiance with respect to the yaw angle, and the hydraulic rod length coefficient; determine the first starting speed based on the first derivative and the hydraulic rod length coefficient, and determine the second starting speed based on the second derivative and the hydraulic rod length coefficient; control the two hydraulic rods to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0100] Step S406: Obtain the updated position of each solar panel in the photovoltaic power generation system, and redetermine the updated adjustment direction and the updated target value of each solar panel based on the updated position; if the updated target value exceeds the adjustment threshold, return to the step of determining the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel.

[0101] The beneficial effects of the above embodiments are as follows:

[0102] 1) Based on the real-time calculation of solar altitude angle and solar azimuth angle, combined with the position parameter acquisition mechanism of the hydraulic rod drive device, this application can estimate the current attitude of the solar panel without relying on external sensors, which is convenient for engineering deployment and maintenance.

[0103] 2) An adjustment threshold judgment mechanism is set in the control process, which can avoid frequent ineffective adjustments, help improve system stability, extend the service life of the drive device, and is suitable for the integration of periodic or variable period tracking strategies.

[0104] 3) By analyzing the derivative relationship between solar irradiance and solar panel attitude angle, a calculation model for optimization direction is established, which has the theoretical basis for making corresponding adjustments in complex lighting and shading environments, and the control logic has a certain degree of universality and scalability.

[0105] To more clearly illustrate the solar tracking control method provided in this application, a specific embodiment is described below. In one embodiment, another solar tracking control method is provided, specifically including the following:

[0106] For a linear photovoltaic (PV) system deployed in a certain area, where the solar panels are 2.45 x 1.10 meters in size, the panel spacing is 2.00 meters, the pitch angle (α) is adjustable from 5 to 90°, and the yaw angle (β) is adjustable from -70 to 70°, the following steps are performed in each time period (60 seconds):

[0107] Step 1: For a certain region, taking 10:00 AM on March 23rd as an example, calculate the solar declination angle. for:

[0108]

[0109] The solar hour angle H is:

[0110]

[0111] Then calculate the solar altitude angle h and the solar azimuth angle A. s for:

[0112]

[0113]

[0114] Step 2, for a sample support point coordinate: base point The coordinates of the ends of the two hydraulic rods are respectively , The position parameter matrix of the solar panel is as follows:

[0115]

[0116] Step 3, based on the solar panel location parameter matrix obtained in Step 2 Calculate the position normal vector of the solar panel. for:

[0117]

[0118] Step 4: Based on the solar panel position normal vector N calculated in Step 3, calculate the pitch angle α and yaw angle β, as follows:

[0119]

[0120]

[0121] Step 5, based on the solar altitude angle h and solar azimuth angle A obtained in Step 1 s And using the pitch angle α and yaw angle β of the solar panel calculated in step 4, calculate the solar irradiance of each solar panel. For the following environmental parameters: , , , Then we have:

[0122]

[0123] The area of ​​the obstructed portion can then be calculated:

[0124]

[0125] Then we have:

[0126]

[0127] Step 6, Calculate solar irradiance The derivatives with respect to pitch angle α and yaw angle β and :

[0128]

[0129]

[0130] Step 7: Based on the derivative calculated in Step 6, calculate the optimal adjustment direction θ, i.e.:

[0131]

[0132] Step 8: Determine whether the Euclidean norm of the optimal adjustment direction exceeds a preset value. For a given preset value... :

[0133]

[0134] The result indicates that the derivative exceeds the preset value, therefore hydraulic rods 1 and 2 need to be activated for angle adjustment.

[0135] Step 9: Calculate the starting speed of hydraulic rods 1 and 2 based on each angular component of the derivative of the hydraulic rod length coefficient and the optimal adjustment direction. and For k=0.002, then:

[0136]

[0137]

[0138] Using this parameter as the target speed, the hydraulic rod is activated to begin adjusting the angle of the solar panel.

[0139] Step 10: After the calculation is completed, re-obtain the position parameter matrix of the solar panel. Calculate the updated optimal adjustment direction according to the calculation method in step 7. ', and determine the optimal adjustment direction after the update based on the calculation method in step 9. Check if the Euclidean norm of ' exceeds a preset value. If it exceeds the preset value, proceed to step 9; if it does not exceed the preset value, proceed to step 1 after a delay of time T.

[0140] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0141] Based on the same inventive concept, this application also provides a solar tracking control device for implementing the solar tracking control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the solar tracking control device provided below can be found in the limitations of the solar tracking control method described above, and will not be repeated here.

[0142] In one exemplary embodiment, such as Figure 5 As shown, a solar tracking control device is provided, which may include:

[0143] The data acquisition module 501 is used to acquire the solar altitude angle and solar azimuth angle of the target observation point and the current position of each solar panel in the photovoltaic power generation system at a preset frequency in each fixed time period.

[0144] The data processing module 502 is used to determine the pitch angle and yaw angle of each solar panel based on the current position, and to determine the solar irradiance of each solar panel based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, height, tilt angle and spacing of each solar panel.

[0145] The orientation determination module 503 is used to determine the orientation to be adjusted and the target value of the orientation to be adjusted for each solar panel based on solar irradiance, pitch angle and yaw angle.

[0146] Angle adjustment module 504 is used to determine the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel if the target value exceeds the adjustment threshold, and control the two hydraulic rods to adjust the angle of each solar panel according to the first starting speed and the second starting speed.

[0147] In one embodiment, the data processing module 502 is further configured to determine the projected shadow length of each solar panel based on the altitude, solar altitude angle, and yaw angle; determine the shading area of ​​each solar panel based on the spacing and projected shadow length; and determine the solar irradiance based on the tilt angle, shading area, and pitch angle.

[0148] In one embodiment, the data acquisition module 501 is further configured to acquire the latitude, solar declination angle, and solar hour angle of the target observation point, and determine the solar altitude angle and solar azimuth angle based on the latitude, solar declination angle, and solar hour angle, respectively; acquire the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod of each solar panel, and determine the position parameter matrix of each solar panel based on the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod, as the current position.

[0149] In one embodiment, the angle adjustment module 504 is further configured to obtain the first derivative of solar irradiance with respect to the pitch angle, the second derivative of solar irradiance with respect to the yaw angle, and the hydraulic rod length coefficient; determine the first starting speed based on the first derivative and the hydraulic rod length coefficient, and determine the second starting speed based on the second derivative and the hydraulic rod length coefficient.

[0150] In one embodiment, the device may further include: a secondary adjustment module, configured to acquire the updated position of each solar panel in the photovoltaic power generation system, redetermine the updated adjustment direction of each solar panel and the updated target value of the updated adjustment direction based on the updated position; if the updated target value exceeds the adjustment threshold, then return to the step of determining the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel respectively.

[0151] In one embodiment, the data processing module 502 is further configured to determine the position normal vector of each solar panel based on the current position, as well as a first component of the position normal vector in a first direction, a second component in a second direction, and a third component in a third direction; determine the pitch angle based on the third component, and determine the yaw angle based on the first and second components.

[0152] Each module in the aforementioned solar tracking control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0153] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements a sunlight tracking control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0154] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0155] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0156] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0157] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0158] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0159] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0160] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0161] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A solar tracking control method, characterized in that, The method includes: In each fixed time period, the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, are acquired at a preset frequency. The pitch angle and yaw angle of each solar panel are determined based on the current position, and the solar irradiance of each solar panel is determined based on the solar altitude angle, the solar azimuth angle, the pitch angle, the yaw angle, the height, tilt angle and spacing of each solar panel. Based on the solar irradiance, the pitch angle, and the yaw angle, the adjustment direction of each solar panel and the target value of the adjustment direction are determined. If the target value exceeds the adjustment threshold, then the first starting speed and the second starting speed corresponding to the two hydraulic rods in each solar panel are determined respectively, and the angle of each solar panel is adjusted by the two hydraulic rods according to the first starting speed and the second starting speed.

2. The method according to claim 1, characterized in that, The determination of the solar irradiance of each solar panel based on the solar altitude angle, solar azimuth angle, pitch angle, yaw angle, and the height, tilt angle, and spacing of each solar panel includes: The projected shadow length of each solar panel is determined based on the height, the solar altitude angle, and the yaw angle. The area of ​​the shaded portion of each solar panel is determined based on the spacing and the length of the projected shadow. The solar irradiance is determined based on the tilt angle, the area of ​​the obstructed portion, and the pitch angle.

3. The method according to claim 1, characterized in that, The acquisition of the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, includes: The latitude, solar declination angle, and solar hour angle of the target observation point are obtained, and the solar altitude angle and solar azimuth angle are determined based on the latitude, solar declination angle, and solar hour angle, respectively. Obtain the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod for each solar panel. Based on the base point coordinates, the end coordinates of the first hydraulic rod, and the end coordinates of the second hydraulic rod, determine the position parameter matrix of each solar panel as the current position.

4. The method according to claim 1, characterized in that, Determining the first and second starting speeds corresponding to the two hydraulic rods in each of the solar panels includes: Obtain the first derivative of the solar irradiance with respect to the pitch angle, the second derivative of the solar irradiance with respect to the yaw angle, and the hydraulic rod length coefficient; The first starting speed is determined based on the first derivative and the hydraulic rod length coefficient, and the second starting speed is determined based on the second derivative and the hydraulic rod length coefficient.

5. The method according to claim 1, characterized in that, After controlling the two hydraulic rods to adjust the angle of each solar panel according to the first start-up speed and the second start-up speed respectively, the method further includes: The updated position of each solar panel in the photovoltaic power generation system is obtained, and the updated adjustment direction of each solar panel and the updated target value of the updated adjustment direction are re-determined based on the updated position. If the updated target value exceeds the adjustment threshold, then return to the step of determining the first and second starting speeds corresponding to the two hydraulic rods in each of the solar panels.

6. The method according to any one of claims 1 to 5, characterized in that, Determining the pitch and yaw angles of each solar panel based on the current position includes: The position normal vector of each solar panel is determined based on the current position, and the position normal vector has a first component in a first direction, a second component in a second direction, and a third component in a third direction. The pitch angle is determined based on the third component, and the yaw angle is determined based on the first and second components.

7. A solar tracking control device, characterized in that, The device includes: The data acquisition module is used to acquire the solar altitude angle and solar azimuth angle of the target observation point, as well as the current position of each solar panel in the photovoltaic power generation system, at a preset frequency during each fixed time period. The data processing module is used to determine the pitch angle and yaw angle of each solar panel based on the current position, and to determine the solar irradiance of each solar panel based on the solar altitude angle, the solar azimuth angle, the pitch angle, the yaw angle, and the height, tilt angle and spacing of each solar panel. The orientation determination module is used to determine the orientation to be adjusted for each of the solar panels and the target value of the orientation to be adjusted based on the solar irradiance, the pitch angle and the yaw angle. An angle adjustment module is used to determine the first and second starting speeds corresponding to the two hydraulic rods in each solar panel if the target value exceeds the adjustment threshold, and to control the two hydraulic rods to adjust the angle of each solar panel according to the first and second starting speeds.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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