Portable double-shaft sun-tracking solar power supply system and method based on four-quadrant array photosensitive sensor positioning

Abstract

A portable double-shaft sun-tracking solar power supply system based on four-quadrant array photosensitive sensor positioning is characterized in that a solar panel is installed on an upper cover of a box body structure, and a four-quadrant photosensitive array is composed of photosensitive sensors installed at the midpoints of the four sides of the upper cover respectively; the driving mechanism comprises a rotating motor for driving the box body structure to horizontally rotate and a push rod motor for controlling an upper cover of the box body structure to pitch, the output side of the rotating motor of the box body structure is connected, and the action end of the push rod motor is connected with the upper cover; the electric control module is used for controlling the push rod motor and the rotating motor and controlling the pitching of the upper cover and the horizontal rotation of the box body structure so as to reach the optimal solar energy receiving position, the maximum generating capacity is provided through the solar panel, and the output of the solar panel is connected with the energy management unit. The invention further provides a portable double-shaft sun-tracking solar power supply method based on four-quadrant array photosensitive sensor positioning. According to the invention, double-axis angle dynamic optimization of the solar panel is realized, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of solar intelligent power supply technology, specifically relating to a portable solar power supply system and method that integrates four-quadrant array photosensitive sensor positioning, dual-axis dynamic tracking and intelligent energy management. It is applicable to scenarios requiring efficient tracking and convenient transportation, such as outdoor mobile device power supply, emergency power systems, and vehicle-mounted energy storage devices. Background Technology

[0002] Solar photovoltaic (PV) power generation directly converts light energy into electrical energy through semiconductor devices, and is currently the mainstream clean energy utilization method. Traditional PV systems mostly use fixed installations, and because they cannot track the sun's position in real time, the light capture efficiency is reduced by 25%-35% compared to the theoretical value. Although dual-axis solar tracking systems can significantly improve the energy capture rate, they rely on complex structures such as multi-degree-of-freedom heavy mechanical supports and push rod motors, resulting in drawbacks such as bulky size (single unit weight > 15kg), high energy consumption (drive power consumption accounts for 8%-12% of power generation), and high cost (system cost increases by 40%-60%), making it difficult to meet the lightweight requirements of portable devices. Existing portable solar devices generally use single-axis tracking or passive angle adjustment, which can only achieve single-dimensional control of azimuth or altitude angles. The power generation efficiency drops by more than 40% during non-midday periods, and relying on a single tilt sensor, the tracking error can reach ±5° in cloudy weather, resulting in technical bottlenecks such as insufficient positioning accuracy and weak environmental adaptability. Therefore, developing a solar power system that integrates "high-precision tracking, low-energy operation, and convenient application" is of great practical significance for improving the efficiency of clean energy utilization in mobile scenarios. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, such as low tracking accuracy, high energy consumption, and poor portability, this invention provides a portable dual-axis solar power supply system and method based on a four-quadrant array photosensitive sensor for positioning. By sensing the light spot shift in real time through the photosensitive array and combining astronomical model prediction with intelligent control algorithms, the dual-axis angle of the solar panel can be dynamically optimized.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] A portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning includes a solar power supply device. The device comprises a housing structure, a solar panel, a four-quadrant array photosensitive sensor, an electronic control module, a drive mechanism, and an energy management unit. The solar panel is mounted on the top cover of the housing structure. The four-quadrant array photosensitive sensor consists of photosensitive sensors respectively installed at the midpoints of the four sides of the top cover. The drive mechanism includes a rotary motor for horizontally rotating the housing structure and a push-rod motor for controlling the pitch of the top cover. The housing structure is connected to the output side of the rotary motor, and the actuating end of the push-rod motor is connected to the top cover. The electronic control module controls the push-rod motor and the rotary motor to control the pitch of the top cover and the horizontal rotation of the housing structure to achieve the optimal solar energy reception position, thereby providing maximum power generation through the solar panel. The output of the solar panel is connected to the energy management unit.

[0006] Furthermore, the energy management unit includes a battery and a rectifier module, the output of the solar panel is connected to the rectifier module, and the rectifier module is connected to the battery.

[0007] Preferably, the battery is a built-in 12V / 10Ah lithium iron phosphate battery, and the rectifier module integrates an MPPT controller and a Buck-Boost circuit, with an output voltage adjustable from 5-24V to meet the voltage and current requirements of the external load.

[0008] The rotating shaft of the housing structure is mounted on the housing base, and a driven gear is installed on the rotating shaft. The driven gear meshes with a driving gear, and the driving gear is connected to the output shaft of a rotary motor. This is a preferred scheme for a rotary motor to drive the housing structure to rotate horizontally.

[0009] Furthermore, the portable dual-axis solar power system for tracking the sun includes an information receiving terminal, which includes a rotation mode algorithm module. The processing procedure is as follows:

[0010] Step 1: The photosensitive sensor collects the current solar radiation intensity and sends it to the processing terminal of the solar power equipment. The processing terminal calculates the location, which includes altitude, longitude and latitude.

[0011] Step 2: Calculate the required rotation mode information based on the current information;

[0012] Step 3: Issue commands to the electronic control module according to the rotation mode;

[0013] Step 4: According to the instructions issued by the electronic control module in Step 3, the electronic control module controls the push rod motor and the rotary motor to push the box to rotate left and right or open the box cover up and down to achieve the best position to receive solar energy, and then provide the maximum power generation through the solar panel.

[0014] The processing terminal is connected to the photosensitive sensor and the electronic control module. The processing terminal remotely controls the electronic control module based on the data obtained from the photosensitive sensor and the location of the solar power supply equipment.

[0015] In step 2, the process of determining the rotation mode information is as follows:

[0016] Step 2.1: Combine the location data from the information receiving terminal, i.e., longitude λ and latitude. With time t, the theoretical azimuth angle θ0 and altitude angle α0 are pre-calculated using the solar position calculation formula, and used as the initial positioning reference for the dual-axis system.

[0017]

[0018] Where H is the solar hour angle and δ is the solar declination. The coordinates are geographic latitude, with a calculation accuracy of ±0.2°.

[0019] Step 2.2: Establish a Kalman filter fusion model, iteratively correct the measured spot offset of the photosensitive sensor with the astronomical model prediction, and update the optimal angle iteratively through the state equation and observation equation:

[0020] State vector: (Including angle and angular velocity)

[0021] Observation vector: z = [ΔI] E -ΔI W ,ΔI N -ΔI S (Difference in light intensity between the four quadrants)

[0022] Step 2.3: Based on the light intensity (determined by the total light intensity value of the photosensitive sensor) and the remaining battery power, dynamically adjust the maximum allowable deviation between the actual angle of the solar panel and the target angle of the optimal solar energy receiving position, i.e., the angle deviation threshold ε and the motor speed, to realize a multi-mode intelligent control strategy.

[0023] Precision tracking mode: Illumination intensity ≥800 lux, battery status ≥30%, angle deviation threshold ε=1.0°, motor speed 3° / min. This mode is suitable for high-efficiency power generation in sunny weather.

[0024] Energy-saving tracking mode: light intensity 200~800 lux, battery status 10%~30%, angle deviation threshold ε=1.5°, motor speed 1.5° / min. This mode is suitable for cloudy or low battery situations.

[0025] Sleep mode: When the light intensity is less than 200, the battery level is below 10%, there is no angle deviation threshold, and the motor speed is 0, this mode is suitable for nighttime or extremely low light conditions.

[0026] When the data from the four-quadrant sensor shows an abnormal jump (such as a sudden drop in light intensity of >30% in one direction), the occlusion detection algorithm is activated: if it is determined to be a partial shadow (such as foliage occlusion), the current angle is maintained and the tracking frequency is reduced; if it is determined to be a complete occlusion (such as cloud cover), the tracking is switched to the astronomical model prediction value to avoid invalid motor actions.

[0027] Step 2.4: Establish the mapping relationship between solar trajectory speed and motor power consumption. Train an LSTM neural network using historical data to predict the angle adjustment amount in the next hour, plan the motor action path in advance, and reduce start-stop impact. When the battery power is >90%, automatically enter the angle holding mode (calibrated only once per hour), prioritize the consumption of the real-time output power of the solar panel to prevent overcharging. When the load power is >solar output, activate the angle compensation algorithm: temporarily increase the tracking threshold to 2.0° to reduce motor energy consumption and ensure continuous power supply to critical loads.

[0028] A portable dual-axis solar-powered method for sun tracking based on a four-quadrant array photosensitive sensor includes the following steps:

[0029] S1. Place the solar power equipment on a level surface at the designated location and adjust it to the reference plane using the foot pads;

[0030] S2. The four-quadrant photosensitive array collects light intensity data in real time, and the terminal simultaneously obtains geographical location (latitude and longitude, altitude) and time information.

[0031] S3. The information receiving terminal combines the light intensity difference with the astronomical model to calculate the current spot offset and the theoretical tracking angle. It then uses Kalman filtering to fuse the measured and predicted values ​​to generate dual-axis adjustment commands, namely azimuth angle Δθ and elevation angle Δα, and sends the results to the electronic control module.

[0032] S4. After receiving the information, the electronic control module drives the rotary motor and the push rod motor to realize the synchronous adjustment of the azimuth angle and elevation angle of the solar panel. The adjustment time is ≤20 seconds.

[0033] S5, the rectifier module optimizes the output of the solar panel through the maximum power point tracking algorithm (MPPT) to supply power to the load or charge the battery.

[0034] The main benefits of this invention are: it enables dynamic optimization of the dual-axis angle of solar panels, thereby improving energy utilization efficiency. Attached Figure Description

[0035] Figure 1This is a structural diagram of a portable dual-axis solar power system based on a four-quadrant array photosensitive sensor for positioning.

[0036] Figure 2 yes Figure 1 A sectional view.

[0037] Figure 3 This is a diagram of a solar power system.

[0038] The attached diagram is labeled as follows: 1-rotary motor, 2-push rod motor, 3-external load, 4-drive gear, 5-push rod motor up / down switch, 6-power switch, 7-box handle, 8-solar panel, 9-box structure, 10-box base, 11-four-quadrant array photosensitive sensor, 12-battery, 13-electronic control module, 14-rectifier module. Detailed Implementation

[0039] The present invention will now be further described with reference to the accompanying drawings.

[0040] Reference Figures 1-3 A portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning includes a solar power supply device. The device comprises a housing structure 9, a solar panel 8, a four-quadrant array photosensitive sensor 11, an electronic control module 13, a drive mechanism, and an energy management unit. The solar panel 8 is mounted on the top cover of the housing structure 9. The four-quadrant array photosensitive sensor 11 consists of photosensitive sensors respectively installed at the midpoints of the four sides of the top cover. The drive mechanism includes a rotary motor 1 for horizontal rotation of the housing structure and a push rod motor 2 for pitch control of the top cover. The housing structure 9 is connected to the output side of the rotary motor 1, and the actuating end of the push rod motor 2 is connected to the top cover of the housing structure 9. The electronic control module 13 controls the push rod motor 2 and the rotary motor 1, controlling the pitch of the top cover and the horizontal rotation of the housing structure to achieve the optimal solar energy reception position, thereby providing maximum power generation through the solar panel. The output of the solar panel 8 is connected to the energy management unit.

[0041] Furthermore, the energy management unit includes a battery 12 and a rectifier module 14. The output of the solar panel 8 is connected to the rectifier module 14, the rectifier module 14 is connected to the battery 12, and the battery 12 is connected to the electronic control module 13.

[0042] Preferably, the battery is a built-in 12V / 10Ah lithium iron phosphate battery, and the rectifier module integrates an MPPT controller and a Buck-Boost circuit, with an output voltage adjustable from 5-24V to meet the voltage and current requirements of the external load.

[0043] Furthermore, the portable dual-axis solar power system also includes an information receiving terminal, which includes a rotation mode algorithm module. The processing procedure is as follows:

[0044] Step 1: The four-quadrant array photosensitive sensor 11 collects the current solar radiation intensity and sends it to the processing terminal of the solar power equipment. The processing terminal calculates the location, which includes altitude, longitude and latitude.

[0045] Step 2: Calculate the required rotation mode information based on the current information;

[0046] Step 3: Issue commands to the electronic control module 13 according to the rotation mode;

[0047] Step 4: According to the instructions issued by the electronic control module 3 in step 3, the electronic control module 13 controls the push rod motor 2 and the rotary motor 1 to push the box to rotate left and right or open the box cover up and down to achieve the best position to receive solar energy, and then provide the maximum power generation through the solar panel 8.

[0048] The processing terminal is connected to the four-quadrant array photosensitive sensor 11 and the electronic control module 13. The processing terminal remotely controls the electronic control module based on the data obtained by the four-quadrant array photosensitive sensor 11 and the location of the solar power supply equipment.

[0049] In step 2, the process of determining the rotation mode information is as follows:

[0050] Step 2.1: Combine the location data from the information receiving terminal, i.e., longitude λ and latitude. With time t, the theoretical azimuth angle θ0 and altitude angle α0 are pre-calculated using the solar position calculation formula, and used as the initial positioning reference for the dual-axis system.

[0051]

[0052] Where H is the solar hour angle and δ is the solar declination. The coordinates are geographic latitude, with a calculation accuracy of ±0.2°.

[0053] Step 2.2: Establish a Kalman filter fusion model, iteratively correct the measured spot offset of the photosensitive sensor with the astronomical model prediction, and update the optimal angle iteratively through the state equation and observation equation:

[0054] State vector: (Including angle and angular velocity)

[0055] Observation vector: z = [ΔI] E -ΔI W ,ΔI N -ΔI S (Difference in light intensity between the four quadrants)

[0056] Step 2.3: Based on the light intensity (determined by the total light intensity value of the photosensitive sensor) and the remaining battery power, dynamically adjust the maximum allowable deviation between the actual angle of the solar panel and the target angle of the optimal solar energy receiving position, i.e., the angle deviation threshold ε and the motor speed, to realize a multi-mode intelligent control strategy.

[0057] Precision tracking mode: Illumination intensity ≥800 lux, battery status ≥30%, angle deviation threshold ε=1.0°, motor speed 3° / min. This mode is suitable for high-efficiency power generation in sunny weather.

[0058] Energy-saving tracking mode: light intensity 200~800 lux, battery status 10%~30%, angle deviation threshold ε=1.5°, motor speed 1.5° / min. This mode is suitable for cloudy or low battery situations.

[0059] Sleep mode: When the light intensity is less than 200, the battery level is below 10%, there is no angle deviation threshold (the motor does not operate), and the motor speed is 0, this mode is suitable for nighttime or extremely low light conditions.

[0060] When the data from the four-quadrant array photosensitive sensor 11 shows an abnormal jump (such as a sudden drop in light intensity of >30% in one direction), the occlusion detection algorithm is activated: if it is determined to be a local shadow (such as foliage occlusion), the current angle is maintained and the tracking frequency is reduced; if it is determined to be a complete occlusion (such as cloud cover), the tracking is switched to the astronomical model prediction value to avoid invalid motor actions.

[0061] Step 2.4: Establish the mapping relationship between solar trajectory speed and motor power consumption. Train an LSTM neural network using historical data to predict the angle adjustment amount in the next hour, plan the motor action path in advance, and reduce start-stop impact. When the battery power is >90%, automatically enter the angle holding mode (calibrated only once per hour), prioritize the consumption of the real-time output power of the solar panel to prevent overcharging. When the load power is >solar output, activate the angle compensation algorithm: temporarily increase the tracking threshold to 2.0° to reduce motor energy consumption and ensure continuous power supply to critical loads.

[0062] The housing structure 9 of this embodiment integrates all functional modules of the system. The top cover of the housing is a solar panel mounting plane. The housing structure is provided with a housing handle 7. The housing structure 9 is rotatably mounted on the housing base 10. The rotating shaft of the housing structure 9 is mounted on the housing base 10. A passive gear is mounted on the rotating shaft of the housing structure. The passive gear meshes with the active gear 4. The active gear 4 is connected to the output shaft of the rotary motor 1.

[0063] The solar panel 8 uses a flexible, high-efficiency thin-film battery (conversion efficiency ≥18%), with an area of ​​0.5m². 2 It can withstand winds of up to level 10;

[0064] The four-quadrant array photosensitive sensor 11 is composed of four-quadrant array photosensitive sensors respectively installed on the housing, forming a 2×2 detection array, which collects the light intensity values ​​in the four directions of east, south, west and north in real time (resolution 0.1 lux), with a detection accuracy of ±1.5°.

[0065] The electronic control module 13 integrates an STM32 microcontroller and a wireless communication module, and incorporates a Kalman filter algorithm and a dynamic tracking strategy. The electronic control module 13 controls the push rod motor 2 and the rotary motor 1 according to the information. It is equipped with a push rod motor up and down switch 5 and a power switch 6 to control the pitch and horizontal rotation of the top cover of the housing to achieve the optimal position for receiving solar energy, thereby providing maximum power generation through the solar panel.

[0066] The rotary motor 1 is a low-power stepper motor (power consumption ≤ 2W) that controls the horizontal rotation of the housing (azimuth angle adjustment range 0~360°, accuracy ±0.5°).

[0067] The push rod motor 2 is equipped with a miniature electric push rod (50mm stroke, 50N thrust) to control the pitch of the top cover of the housing structure (height angle adjustment range 0~90°, accuracy ±1°);

[0068] The energy management unit includes a battery 12 and a rectifier module 14, and the battery is connected to the external load 3.

[0069] The information receiving terminal is a smart device (mobile phone / tablet) equipped with a dedicated APP, which has functions such as geolocation calculation (accuracy ≤5m), historical data storage, and remote parameter configuration.

[0070] A portable dual-axis solar-powered method for sun tracking based on a four-quadrant array photosensitive sensor includes the following steps:

[0071] S1. Place the solar power equipment on a level surface at the designated location and adjust it to the reference plane using the foot pads;

[0072] S2. The four-quadrant array photosensitive sensor collects light intensity data in real time, and the terminal simultaneously obtains geographical location (latitude and longitude, altitude) and time information.

[0073] S3. The information receiving terminal combines the light intensity difference with the astronomical model to calculate the current spot offset and the theoretical tracking angle. It then uses Kalman filtering to fuse the measured and predicted values ​​to generate dual-axis adjustment commands, namely azimuth angle Δθ and elevation angle Δα, and sends the results to the electronic control module.

[0074] S4. After receiving the information, the electronic control module drives the rotary motor and the push rod motor to realize the synchronous adjustment of the azimuth angle and elevation angle of the solar panel. The adjustment time is ≤20 seconds.

[0075] S5, the rectifier module optimizes the output of the solar panel through the maximum power point tracking algorithm (MPPT) to supply power to the load or charge the battery.

[0076] The embodiments described in this specification are merely examples of implementations of the inventive concept and are for illustrative purposes only. The scope of protection of this invention should not be considered limited to the specific forms described in these embodiments; rather, it extends to equivalent technical means conceived by those skilled in the art based on the inventive concept.

Claims

1. A portable dual-axis solar power supply system for sun tracking based on a four-quadrant array photosensitive sensor, characterized in that, The device includes a solar power supply unit, which comprises a housing structure, solar panels, a four-quadrant array photosensitive sensor, an electronic control module, a drive mechanism, and an energy management unit. The solar panels are mounted on the top cover of the housing structure. The four-quadrant array photosensitive sensor consists of photosensitive sensors respectively mounted at the midpoints of the four sides of the top cover. The drive mechanism includes a rotary motor for driving the housing structure to rotate horizontally and a push rod motor for controlling the pitch of the top cover. The housing structure is connected to the output side of the rotary motor, and the actuating end of the push rod motor is connected to the top cover. The electronic control module is used to control the push rod motor and the rotary motor, control the pitch of the top cover and the horizontal rotation of the box structure to achieve the optimal position for receiving solar energy, and then provide maximum power generation through the solar panel. The output of the solar panel is connected to the energy management unit.

2. The portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning as described in claim 1, characterized in that, The energy management unit includes a battery and a rectifier module. The output of the solar panel is connected to the rectifier module, and the rectifier module is connected to the battery.

3. The portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning as described in claim 1 or 2, characterized in that, The rotating shaft of the housing structure is mounted on the housing base, and a driven gear is installed on the rotating shaft of the housing structure. The driven gear meshes with the driving gear, and the driving gear is connected to the output shaft of the rotary motor.

4. The portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning as described in claim 1 or 2, characterized in that, The portable dual-axis solar power system for tracking the sun includes an information receiving terminal, which includes a rotation mode algorithm module. The processing procedure is as follows: Step 1: The four-quadrant array photosensitive sensor collects the current solar radiation intensity and sends it to the processing terminal of the solar power equipment. The processing terminal calculates the location, which includes altitude, longitude and latitude. Step 2: Calculate the required rotation mode information based on the current information; Step 3: Issue commands to the electronic control module according to the rotation mode; Step 4: According to the instructions issued by the electronic control module in Step 3, the electronic control module controls the push rod motor and the rotary motor to push the box to rotate left and right or open the top cover up and down to achieve the best position to receive solar energy, and then provide the maximum power generation through the solar panel. The processing terminal is connected to the photosensitive sensor and the electronic control module. The processing terminal remotely controls the electronic control module based on the data obtained from the photosensitive sensor and the location of the solar power supply equipment.

5. The portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning as described in claim 4, characterized in that, In step 2, the process of determining the rotation mode information is as follows: Step 2.1: Combine the location data from the information receiving terminal, i.e., longitude λ and latitude. With time t, the theoretical azimuth angle θ0 and altitude angle α0 are pre-calculated using the solar position calculation formula, and used as the initial positioning reference for the dual-axis system. Where H is the solar hour angle and δ is the solar declination. The coordinates are geographic latitude, with a calculation accuracy of ±0.2°. Step 2.2: Establish a Kalman filter fusion model, iteratively correct the measured spot offset of the photosensitive sensor with the predicted value of the astronomical model, and update the optimal angle iteratively through the state equation and observation equation: State vector: Observation vector: z = [ΔI] E -ΔI W ,ΔI N -ΔI S ] Step 2.3: Based on the light intensity and the remaining battery power, dynamically adjust the maximum allowable deviation between the actual angle of the solar panel and the target angle of the optimal solar energy receiving position, i.e., the angle deviation threshold ε and the motor speed, to realize a multi-mode intelligent control strategy. Precision tracking mode: Illumination intensity ≥800 lux, battery status ≥30%, angle deviation threshold ε=1.0°, motor speed 3° / min. This mode is suitable for high-efficiency power generation in sunny weather. Energy-saving tracking mode: light intensity 200~800 lux, battery status 10%~30%, angle deviation threshold ε=1.5°, motor speed 1.5° / min. This mode is suitable for cloudy or low battery situations. Sleep mode: When the light intensity is less than 200, the battery level is below 10%, there is no angle deviation threshold, and the motor speed is 0, this mode is suitable for nighttime or extremely low light conditions. When the data from the four-quadrant sensor shows an abnormal jump, the occlusion detection algorithm is activated: if it is determined to be a partial shadow, the current angle is maintained and the tracking frequency is reduced; if it is determined to be a complete occlusion, the tracking is switched to the astronomical model prediction value to avoid invalid motor actions. Step 2.4: Establish the mapping relationship between solar trajectory speed and motor power consumption. Train an LSTM neural network using historical data to predict the angle adjustment amount in the next hour, plan the motor action path in advance, and reduce start-stop impact. When the battery power is >90%, automatically enter the angle holding mode, prioritize the consumption of real-time output power from the solar panel to prevent overcharging. When the load power is >solar output, activate the angle compensation algorithm: temporarily increase the tracking threshold to 2.0° to reduce motor energy consumption and ensure continuous power supply to critical loads.

6. A method for a portable dual-axis solar power supply system based on a four-quadrant array photosensitive sensor for positioning as described in claim 1, characterized in that, The method includes the following steps: S1. Place the solar power equipment on a level surface at the designated location and adjust it to the reference plane using the foot pads; S2: The four-quadrant photosensitive array collects light intensity data in real time, and the terminal simultaneously obtains geographical location and time information; S3. The information receiving terminal combines the light intensity difference with the astronomical model to calculate the current spot offset and the theoretical tracking angle. It then uses Kalman filtering to fuse the measured and predicted values ​​to generate dual-axis adjustment commands, namely azimuth angle Δθ and elevation angle Δα, and sends the results to the electronic control module. S4. After receiving the information, the electronic control module drives the rotary motor and the push rod motor to achieve synchronous adjustment of the azimuth and elevation angles of the solar panel. S5, the rectifier module optimizes the output of the solar panel through the maximum power point tracking algorithm to supply power to the load or charge the battery.

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