A control method of a photovoltaic system and a photovoltaic system

Abstract

The application provides a photovoltaic system control method and a photovoltaic system. In the process of driving corresponding motors based on an angle adjustment instruction to adjust the angle of a cross beam where a photovoltaic panel is located to a target angle in the angle adjustment instruction, a first inclination value of each photovoltaic panel is obtained at a preset time interval. An average absolute deviation corresponding to each photovoltaic panel is determined based on the first inclination value of each photovoltaic panel and the total number of the photovoltaic panels. When a photovoltaic panel that needs to adjust the drive duty cycle of the motor is determined based on the deviation angle and the deviation angle of each photovoltaic panel, the drive duty cycle and the adjustment direction of the motor that needs to be adjusted are determined based on the corresponding deviation angle, so as to adjust the rotation speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle. Thus, the tracking controller can realize efficient cooperative tracking of the whole photovoltaic assembly, so as to improve the tracking efficiency of the tracking controller.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic processing technology, and in particular to a control method for a photovoltaic system and a photovoltaic system. Background Technology

[0002] The tracking controller in a photovoltaic system can sense sunlight and adjust the rotation angle of the photovoltaic panels in the photovoltaic module by controlling the motor according to the angle of sunlight incidence, so as to maintain the optimal angle of sunlight incidence.

[0003] The photovoltaic panels in a photovoltaic module may have inconsistent angles due to wind resistance or other factors. When the angle deviation of the photovoltaic panels accumulates to a certain extent, it will lead to a decrease in the tracking efficiency of the tracking controller. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a control method and a photovoltaic system for a photovoltaic system to solve the problem of reduced tracking efficiency of tracking controllers in the prior art.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect discloses a control method for a photovoltaic system, applied to a photovoltaic system including photovoltaic modules, a motor, and a tracking controller, wherein the photovoltaic modules include multiple photovoltaic panels, and the method includes:

[0007] During the process of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, the tracking controller obtains the first tilt angle value of each photovoltaic panel at a preset time interval.

[0008] The corresponding average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels;

[0009] When determining the photovoltaic panel whose drive duty cycle of the motor needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel, the drive duty cycle and adjustment direction of the motor to be adjusted are determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction. The deviation angle of the photovoltaic panel refers to the deviation angle between the first tilt angle value of the photovoltaic panel and the target angle.

[0010] Optional, also includes:

[0011] After the first moment, obtain the first tilt angle value for each photovoltaic panel;

[0012] A first number of deviation angles greater than a first threshold or less than a second threshold is determined based on the deviation angle of each photovoltaic panel;

[0013] If the first quantity is greater than the second quantity, control all photovoltaic panel corresponding motors to stop. The second quantity is the number of motors whose deviation angle is greater than the second threshold or less than the third threshold when the drive duty cycle was adjusted last time.

[0014] The average tilt angle of each photovoltaic panel is determined based on the first tilt angle value of each photovoltaic panel;

[0015] The beam corresponding to the photovoltaic panel whose deviation angle is within a preset range is rotated toward the average tilt angle, and the process returns to the step of executing the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command.

[0016] If the first quantity is less than or equal to the second quantity, then the step of determining the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle is performed, so as to adjust the speed of the motor corresponding to the photovoltaic panel based on the drive duty cycle.

[0017] Optionally, based on the angle adjustment command, the corresponding motor is driven to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, including:

[0018] If it is determined that the current sunshine resources are sufficient, obtain the current time, sunshine direction, historical operation data, the location of the photovoltaic system, and the current beam angle corresponding to each photovoltaic panel;

[0019] The target angle for the current time is determined based on the current time, direction of sunlight, historical operating data, and the location of the photovoltaic system.

[0020] For each photovoltaic panel, based on the target angle and the current beam angle, determine whether the photovoltaic panel needs to be moved towards the target angle.

[0021] If necessary, count all photovoltaic panels that need to be moved to the target angle, and generate corresponding angle adjustment commands based on all photovoltaic panels that need to be moved to the target angle and the target angle.

[0022] Based on the angle adjustment command, all the motors corresponding to the photovoltaic panels that need to move to the target angle are driven, so that the angle of the crossbeam where the photovoltaic panel is located is rotated to the target angle in the angle adjustment command.

[0023] Optionally, the corresponding average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels, including:

[0024] Calculate the average tilt angle based on the first tilt angle value of each photovoltaic panel;

[0025] For each photovoltaic panel, calculate the first tilt angle value and the average tilt angle value corresponding to the photovoltaic panel. The difference is used to obtain the first difference;

[0026] The deviation angle is calculated based on the first difference for each of the photovoltaic panels and the total number of photovoltaic panels.

[0027] Optionally, the drive duty cycle and adjustment direction of the motor to be adjusted are determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction, including:

[0028] The photovoltaic panel that needs adjustment is determined based on the deviation angle of the photovoltaic panel.

[0029] For each photovoltaic panel that needs adjustment, its adjustment level and adjustment direction are determined based on the corresponding deviation angle.

[0030] If it is determined that the drive duty cycle of the motor of the photovoltaic panel is the first adjustment, the corresponding drive duty cycle is determined based on the adjustment level;

[0031] The drive duty cycle and adjustment direction are sent to the motor corresponding to the photovoltaic panel to adjust the motor speed based on the drive duty cycle and drive the motor to rotate in the adjustment direction.

[0032] Optional, also includes:

[0033] If it is determined that the drive duty cycle of the motor of the photovoltaic panel is not being adjusted for the first time, obtain the previous adjustment level of the photovoltaic panel;

[0034] The corresponding drive duty cycle is determined based on the previous adjustment level on the photovoltaic panel and the current adjustment level.

[0035] The drive duty cycle and adjustment direction are sent to the motor corresponding to the photovoltaic panel to adjust the motor speed and adjustment direction based on the drive duty cycle.

[0036] Optionally, the corresponding drive duty cycle is determined based on the previous adjustment level on the photovoltaic panel and the current adjustment level, including:

[0037] If the adjustment level on the photovoltaic panel is the same as the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset increase factor.

[0038] If the previous adjustment level on the photovoltaic panel is lower than the current adjustment level, the previous drive duty cycle will be used as the current drive duty cycle.

[0039] If the previous adjustment level on the photovoltaic panel is greater than the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset reduction factor.

[0040] Optional, also includes:

[0041] For each photovoltaic panel, obtain the current of the motor connected to it, as well as environmental parameters;

[0042] The pre-built processing model is invoked to determine the tilt coupling comfort zone and current mapping value corresponding to the target angle based on the motor current, environmental parameters, and the target angle of the angle adjustment command. The processing model is trained based on multi-source data collected during a preset time period under preset operating conditions. The multi-source data includes at least the historical current, historical tilt angle, and historical environmental parameters of the motor during the preset time period under preset operating conditions.

[0043] Drive the corresponding motor based on the tilt-coupled comfort zone corresponding to the target angle, and adjust the angle of the beam where the photovoltaic panel is located to the tilt-coupled comfort zone corresponding to the target angle.

[0044] Optional, also includes:

[0045] When the angle of the beam where the photovoltaic panel is located reaches the target angle, the current value of the motor corresponding to the photovoltaic panel is obtained;

[0046] If the current value is determined to be less than a preset multiple of the current mapping value, the motor is determined to be in the current comfort zone;

[0047] If the current value is determined to be greater than or equal to a preset multiple of the current mapping value, the motor is determined to be faulty, and the motor is stopped from being driven.

[0048] The second aspect illustrates a photovoltaic system, which includes photovoltaic modules, a motor, and a tracking controller, wherein the photovoltaic modules include multiple photovoltaic panels;

[0049] The tracking controller is configured to, during the process of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, acquire the first tilt angle value of each photovoltaic panel at a preset time interval; determine the corresponding average absolute deviation based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; when determining the photovoltaic panel whose drive duty cycle of the motor needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel, determine the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction.

[0050] Based on the above embodiments of the present invention, a control method and a photovoltaic system for a photovoltaic system are provided. The photovoltaic system includes a photovoltaic module, a motor, and a tracking controller. The photovoltaic module includes multiple photovoltaic panels. The method includes: the tracking controller, in the process of driving the corresponding motor based on an angle adjustment command to adjust the angle of the crossbeam where the photovoltaic panel is located to the target angle in the angle adjustment command, acquires a first tilt angle value of each photovoltaic panel at a preset time interval; determines the corresponding average absolute deviation based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; when determining the photovoltaic panel whose drive duty cycle of the motor needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel; and determines the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle. In this embodiment of the invention, the crossbeams of the photovoltaic panels are determined to be inconsistent by the average absolute deviation and the deviation angle of each photovoltaic panel. If inconsistency exists, the photovoltaic panels whose motor drive duty cycle needs to be adjusted are identified. Then, the drive duty cycle of the motor that needs to be adjusted is determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle. This enables efficient coordinated tracking of the entire string of photovoltaic modules through the tracking controller, thereby improving the tracking efficiency of the tracking controller. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the structure of a photovoltaic system according to an embodiment of the present invention;

[0053] Figure 2 This is a schematic flowchart illustrating a control method for a photovoltaic system according to an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram illustrating the process of adjusting the drive duty cycle according to an embodiment of the present invention;

[0055] Figure 4 This is a flowchart illustrating another control method for a photovoltaic system according to an embodiment of the present invention. Detailed Implementation

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

[0057] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0058] It should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0059] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0060] See Figure 1 This is a schematic diagram of the structure of a photovoltaic system according to an embodiment of the present invention.

[0061] The photovoltaic system includes a photovoltaic module 10, a motor 20, and a tracking controller 30;

[0062] The photovoltaic module 10 includes multiple photovoltaic panels, and each photovoltaic panel is equipped with a tilt sensor for detecting the angle of the corresponding beam of the photovoltaic panel, i.e., the tilt angle.

[0063] The motor 20 and the tracking controller 30 are connected and are both mounted on the photovoltaic module 10. There is one motor 20 for each photovoltaic panel to control its tilt angle.

[0064] The photovoltaic module 10 is mounted on a flexible tracking bracket, and each pipe pile may have a motor 20.

[0065] The tracking controller 30 is used to acquire the first tilt angle value of each photovoltaic panel at preset time intervals during the process of driving the corresponding motor 20 based on the angle adjustment command to adjust the angle of the crossbeam where the photovoltaic panel is located to the target angle in the angle adjustment command; determine the corresponding average absolute deviation based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; when determining the photovoltaic panel whose drive duty cycle of the motor 20 needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel, determine the drive duty cycle and adjustment direction of the motor 20 to be adjusted based on the corresponding deviation angle, so as to adjust the speed and direction of the motor 20 corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction.

[0066] Optionally, the tracking controller 30 is further configured to:

[0067] After the first moment, obtain the first tilt angle value for each photovoltaic panel;

[0068] A first number of deviation angles greater than a first threshold or less than a second threshold is determined based on the deviation angle of each photovoltaic panel;

[0069] If the first quantity is greater than the second quantity, control all photovoltaic panel corresponding motors 20 to stop. The second quantity is the number of deviation angles that are greater than the second threshold or less than the third threshold when the drive duty cycle was adjusted last time.

[0070] The average tilt angle of each photovoltaic panel is determined based on the first tilt angle value of each photovoltaic panel;

[0071] The beam corresponding to the photovoltaic panel whose deviation angle is within the preset range is rotated towards the average tilt angle, and then the corresponding motor 20 is driven to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command.

[0072] If the first quantity is less than or equal to the second quantity, then the drive duty cycle and adjustment direction of the motor 20 to be adjusted are determined based on the corresponding deviation angle, so as to adjust the speed of the motor 20 corresponding to the photovoltaic panel based on the drive duty cycle.

[0073] Optionally, the tracking controller 30, which drives the corresponding motor 20 based on the angle adjustment command to adjust the angle of the crossbeam where the photovoltaic panel is located to the target angle of the angle adjustment command, is specifically used for:

[0074] If it is determined that the current sunshine resources are sufficient, obtain the current time, sunshine direction, historical operation data, the location of the photovoltaic system, and the current beam angle corresponding to each photovoltaic panel;

[0075] The target angle for the current time is determined based on the current time, direction of sunlight, historical operating data, and the location of the photovoltaic system.

[0076] For each photovoltaic panel, based on the target angle and the current beam angle, determine whether the photovoltaic panel needs to be moved towards the target angle.

[0077] If necessary, count all photovoltaic panels that need to be moved to the target angle, and generate corresponding angle adjustment commands based on all photovoltaic panels that need to be moved to the target angle and the target angle.

[0078] Based on the angle adjustment command, all the photovoltaic panels corresponding to the motors 20 that need to move to the target angle are driven, so that the angle of the crossbeam where the photovoltaic panel is located is rotated to the target angle in the angle adjustment command.

[0079] Optionally, the tracking controller 30, which determines the corresponding average absolute deviation based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels, is specifically used for:

[0080] Calculate the average tilt angle based on the first tilt angle value of each photovoltaic panel;

[0081] For each photovoltaic panel, calculate the first tilt angle value and the average tilt angle value corresponding to the photovoltaic panel. The difference is used to obtain the first difference;

[0082] The deviation angle is calculated based on the first difference for each of the photovoltaic panels and the total number of photovoltaic panels.

[0083] Optionally, the tracking controller 30, which determines the drive duty cycle and adjustment direction of the motor 20 to be adjusted based on the corresponding deviation angle, so as to adjust the speed and direction of the motor 20 corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction, is specifically used for:

[0084] The photovoltaic panel that needs adjustment is determined based on the deviation angle of the photovoltaic panel.

[0085] For each photovoltaic panel that requires adjustment of the drive duty cycle of motor 20, its adjustment level and adjustment direction are determined based on the corresponding deviation angle.

[0086] If it is determined that the drive duty cycle of the motor 20 of the photovoltaic panel is the first adjustment, the corresponding drive duty cycle is determined based on the adjustment level;

[0087] The drive duty cycle and adjustment direction are sent to the corresponding motor 20 of the photovoltaic panel to adjust the speed of the motor 20 based on the drive duty cycle and drive the motor 20 to rotate in the adjustment direction.

[0088] Optionally, the tracking controller 30 is also used for:

[0089] If it is determined that the drive duty cycle of the photovoltaic panel motor 20 is not the first adjustment, obtain the previous adjustment level of the photovoltaic panel;

[0090] The corresponding drive duty cycle is determined based on the previous adjustment level on the photovoltaic panel and the current adjustment level.

[0091] The drive duty cycle and adjustment direction are sent to the motor 20 corresponding to the photovoltaic panel to adjust the speed and adjustment direction of the motor 20 based on the drive duty cycle.

[0092] Optionally, the tracking controller 30, which determines the corresponding drive duty cycle based on the previous adjustment level on the photovoltaic panel and the current adjustment level, is specifically used for:

[0093] If the adjustment level on the photovoltaic panel is the same as the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset increase factor.

[0094] If the previous adjustment level on the photovoltaic panel is lower than the current adjustment level, the previous drive duty cycle will be used as the current drive duty cycle.

[0095] If the previous adjustment level on the photovoltaic panel is greater than the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset reduction factor.

[0096] Optionally, the tracking controller 30 is also used for:

[0097] For each photovoltaic panel, the current of the motor 20 connected to it and environmental parameters are obtained;

[0098] The pre-built processing model is invoked to determine the tilt angle coupling comfort zone corresponding to the target angle based on the current of the motor 20, environmental parameters, and the target angle of the angle adjustment command. The processing model is trained based on multi-source data collected during a preset time period under preset operating conditions. The multi-source data includes at least the historical current, historical tilt angle, and historical environmental parameters of the motor during the preset time period under preset operating conditions.

[0099] Based on the tilt-coupled comfort zone corresponding to the target angle, drive the corresponding motor 20 to adjust the angle of the beam where the photovoltaic panel is located to the tilt-coupled comfort zone corresponding to the target angle.

[0100] Optionally, the tracking controller 30 is also used for:

[0101] When the angle of the beam where the photovoltaic panel is located reaches the target angle, the current of the motor 20 corresponding to each photovoltaic panel is obtained;

[0102] If it is determined that the current is less than a preset multiple of the current mapping value, it is determined that the motor 20 is in the current comfort zone;

[0103] If the current is determined to be greater than or equal to a preset multiple of the current mapping value, it is determined that the motor 20 has a fault, and the motor 20 is stopped from being driven.

[0104] In this embodiment of the invention, the crossbeams of the photovoltaic panels are determined to be inconsistent by the average absolute deviation and the deviation angle of each photovoltaic panel. If inconsistency exists, the photovoltaic panels whose motor drive duty cycle needs to be adjusted are identified. Then, the drive duty cycle of the motor that needs to be adjusted is determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle. This enables efficient coordinated tracking of the entire string of photovoltaic modules through the tracking controller, thereby improving the tracking efficiency of the tracking controller.

[0105] Optionally, the tracking controller 30 includes a main controller and multiple sub-controllers (not shown in the figure), the main controller and multiple sub-controllers are connected, each sub-controller is connected to a motor, and a sub-controller and a motor are mounted on the crossbeam of the photovoltaic panel in the photovoltaic module.

[0106] It should be noted that the photovoltaic system also includes a photovoltaic support structure, on which the photovoltaic module 10 is mounted (not shown in the figure).

[0107] Specifically, during the process of the main controller driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, the main controller acquires the first tilt angle value of each photovoltaic panel collected by the tilt sensor of the sub-controller at preset time intervals.

[0108] Next, the main controller determines the corresponding average absolute deviation and the deviation angle of each photovoltaic panel based on the first tilt angle value of each photovoltaic panel fed back by each sub-controller; it determines the photovoltaic panels whose motor drive duty cycle needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel; it determines the drive duty cycle of the motor that needs to be adjusted based on the corresponding deviation angle and sends it to the corresponding sub-controller; so that the sub-controller adjusts the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle.

[0109] Based on the photovoltaic system architecture shown above, the specific process of controlling and processing the photovoltaic system is as follows: Figure 2 The diagram shown is a flowchart illustrating a control method for a photovoltaic system according to an embodiment of the present invention. The method includes:

[0110] Step S201: During the process of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, the tracking controller obtains the first tilt angle value of each photovoltaic panel at a preset time interval.

[0111] It should be noted that the specific implementation of step S201 includes the following steps.

[0112] Step S11: If it is determined that the current sunshine resources are sufficient, obtain the current time, sunshine direction, historical operation data, the position of the photovoltaic system, and the current beam angle corresponding to each photovoltaic panel;

[0113] In the specific implementation of step S11, since the photovoltaic system is used to convert solar energy into electrical energy and store it, the angle adjustment is only performed when it is determined that there is solar radiation, i.e., sunlight. If sunlight is detected, the current time, the direction of sunlight, and the position of the photovoltaic system are obtained.

[0114] Step S12: Determine the target angle for the current time based on the current time, direction of sunlight, historical operating data, and the location of the photovoltaic system.

[0115] The target angle is the beam adjustment angle corresponding to the current optimal angle of solar illumination.

[0116] In the specific implementation of step S12, the current time, the direction of sunlight, and the position of the photovoltaic system are input into a pre-built recognition model so that the recognition model can determine the beam adjustment angle corresponding to the current optimal solar irradiation angle, i.e., the target angle, based on the current time, the direction of sunlight, and the position of the photovoltaic system.

[0117] It should be noted that the recognition model was trained in advance based on the sample set.

[0118] Specifically, the historical current time, sunlight direction, location of the photovoltaic system, and the beam adjustment angle corresponding to the current best solar illumination angle of different historical photovoltaic systems are used as a sample set. Based on the sample set, the recognition model constructed by the deep learning algorithm is trained to obtain a recognition model that can determine the beam adjustment angle corresponding to the current best solar illumination angle based on the current time, sunlight direction, and location of the photovoltaic system.

[0119] Step S13: For each photovoltaic panel, determine whether the photovoltaic panel needs to move towards the target angle based on the target angle and the current beam angle. If it needs to move, proceed to step S14. If it does not need to move, return to process the current beam angle of the next photovoltaic panel, i.e., return to step S13.

[0120] In the specific implementation of step S13, for each photovoltaic panel corresponding to the current beam angle, it is calculated whether the deviation between the target angle and the current beam angle is greater than the third threshold. If so, it is determined that the photovoltaic panel needs to move towards the target angle, and step S14 is executed. Otherwise, it is determined that the photovoltaic panel does not need to move towards the target angle, and the process returns to the current beam angle corresponding to the next photovoltaic panel, that is, it returns to the execution of step S13.

[0121] It should be noted that the third threshold is set in advance based on multiple experiments, and generally it can be set to 1.5 degrees.

[0122] Step S14: Count all photovoltaic panels that need to be moved to the target angle, and generate corresponding angle adjustment commands based on all photovoltaic panels that need to be moved to the target angle and the target angle.

[0123] Step S15: Drive all the motors corresponding to the photovoltaic panels that need to move towards the target angle based on the angle adjustment command, so that they control the angle of the crossbeam where the photovoltaic panel is located to rotate towards the target angle in the angle adjustment command.

[0124] It should be noted that the process of obtaining the first tilt angle value of each photovoltaic panel at a preset time interval is as follows: the first tilt angle value of each photovoltaic panel is obtained at a preset time interval using an angle detector pre-set on the crossbeam of the photovoltaic panel.

[0125] It should be noted that the first tilt angle value refers to the angle value corresponding to the crossbeam angle of the photovoltaic panel.

[0126] Step S202: Determine the corresponding average absolute deviation based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels.

[0127] It should be noted that the specific implementation of step S202 includes the following steps.

[0128] Step S21: Calculate the average tilt angle based on the first tilt angle value of each photovoltaic panel. ;

[0129] In the specific implementation step S21, the first tilt angle value of each photovoltaic panel is accumulated to obtain an accumulated value, and the average tilt angle is obtained by dividing the accumulated value by the number of photovoltaic panels. .

[0130] Step S22: For each photovoltaic panel, calculate the first tilt angle value and the average tilt angle value corresponding to the photovoltaic panel. The difference is used to obtain the first difference;

[0131] Step S23: Calculate the average absolute deviation based on the first difference for each of the photovoltaic panels and the total number of the photovoltaic panels.

[0132] It should be noted that the mean absolute deviation here refers to the mean absolute deviation at the current moment.

[0133] In the specific implementation of steps S22 and S23, for each photovoltaic panel, the first tilt angle value and the average tilt angle value corresponding to the photovoltaic panel are... Calculate the first difference and sum the absolute values ​​of the first difference for each photovoltaic panel to obtain the summed value; then, calculate the ratio of the summed value to the total number of photovoltaic panels to obtain the mean absolute deviation (MAD), as shown in formula (1).

[0134] Formula (1):

[0135]

[0136] in, Let be the first tilt angle value corresponding to the i-th photovoltaic panel. is the average tilt angle, and n is the total number of photovoltaic panels.

[0137] It should be noted that the mean absolute deviation is used to determine the average distance between the actual data point (first inclination value) and the fitted data point (inclination average).

[0138] Step S203: Based on the average absolute deviation and the deviation angle of each photovoltaic panel, determine whether the photovoltaic panel needs to adjust the drive duty cycle of the motor. If so, proceed to step S204; otherwise, return to step S201.

[0139] The deviation angle of the photovoltaic panel refers to the deviation angle between the first tilt angle value of the photovoltaic panel and the target angle.

[0140] In the specific implementation of step S203, for each photovoltaic panel, the difference between the first tilt angle value and the target angle is calculated to obtain the deviation angle. First, the first number of deviation angles of each photovoltaic panel that are greater than the second threshold or less than the third threshold is counted. Then, it is determined whether the average absolute deviation is greater than the preset threshold and whether the first number is greater than the preset number. If both are greater, the drive duty cycle of the photovoltaic panel motor needs to be adjusted. Then, step S204 is executed to recalculate and adjust the PWM duty cycle parameters of the motor driver, that is, to readjust the control speed of each motor so that the angle adjustment efficiency of each motor tends to be consistent, thereby reducing the deviation from continuing to expand. If the deviation angle is less than the preset threshold and / or the first number is less than the preset number, it is determined that the drive duty cycle of the photovoltaic panel motor does not need to be adjusted. Then, step S201 is returned to be executed to obtain the first tilt angle value of the photovoltaic panel in the next time interval according to the time interval.

[0141] It should be noted that the preset threshold is set by technicians based on multiple experiments, and the preset threshold can generally be set to 2 degrees.

[0142] Optionally, after performing steps S202 and S203, the following steps are also included:

[0143] The corresponding average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels;

[0144] Determine whether the average absolute deviation is greater than a preset threshold. If it is, determine that the drive duty cycle of the photovoltaic panel's motor needs to be adjusted, and execute step S204.

[0145] Step S204: Determine the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction.

[0146] It should be noted that the specific implementation of step S204 includes the following steps.

[0147] Step S31: Determine the photovoltaic panel that needs to be adjusted based on the deviation angle of the photovoltaic panel.

[0148] In the specific implementation of step S31, the photovoltaic panels whose deviation angle is greater than the second threshold or less than the third threshold are identified as photovoltaic panels that need to be adjusted.

[0149] Step S32: For each photovoltaic panel that needs adjustment, determine its adjustment level and adjustment direction based on the corresponding deviation angle.

[0150] In the specific implementation step S32, the adjustment level of the photovoltaic panel whose deviation angle needs to be adjusted is determined based on the correspondence between the deviation angle and the level; then, it is determined whether the deviation angle is greater than zero. If it is, the adjustment direction of the photovoltaic panel is determined to be westward; otherwise, the adjustment direction of the photovoltaic panel is determined to be eastward.

[0151] It should be noted that when the adjustment direction is westward, the tilt angle of the photovoltaic panel will gradually increase as it rotates; when the adjustment direction is eastward, the tilt angle of the photovoltaic panel will gradually decrease as it rotates.

[0152] Step S32: During the process of adjusting the angle of the beam where the photovoltaic panel is located to the target angle of the angle adjustment command, determine whether the drive duty cycle of the photovoltaic panel motor is being adjusted for the first time. If yes, proceed to step S33; otherwise, it means that it is not the first adjustment and proceed to step S34.

[0153] In the specific implementation of step S32, during the process of adjusting the angle of the beam where the photovoltaic panel is located to the target angle of the angle adjustment command, the record is searched to determine whether the drive duty cycle of the photovoltaic panel motor is the first adjustment. If yes, step S33 is executed; if no, it means that it is not the first adjustment and step S34 is executed.

[0154] Step S33: Determine the corresponding drive duty cycle based on the adjustment level;

[0155] It should be noted that the drive duty cycle refers to the drive pulse-width modulation (PWM) duty cycle.

[0156] In the specific implementation step S33, the corresponding relationship between the preset adjustment level and the drive duty cycle is found, and the drive duty cycle corresponding to the adjustment level is determined.

[0157] Step S34: Obtain the previous adjustment level on the photovoltaic panel.

[0158] Step S35: Determine the corresponding drive duty cycle based on the previous adjustment level on the photovoltaic panel and the current adjustment level;

[0159] It should be noted that the specific implementation of step S35 includes the following steps.

[0160] Step S41: Determine the relationship between the previous adjustment level on the photovoltaic panel and the current adjustment level. If the previous adjustment level on the photovoltaic panel and the current adjustment level are the same, proceed to step S42. If the previous adjustment level on the photovoltaic panel is lower than the current adjustment level, proceed to step S43. If the previous adjustment level on the photovoltaic panel is higher than the current adjustment level, proceed to step S44.

[0161] In the specific implementation of step S41, based on the change between the current adjustment level and the previous adjustment level of the photovoltaic panel, it is determined whether the drive duty cycle needs to be increased or decreased. That is, the relationship between the previous adjustment level and the current adjustment level of the photovoltaic panel is compared. If the previous adjustment level and the current adjustment level of the photovoltaic panel are the same, it means that the difference between the first tilt angle value corresponding to the photovoltaic panel and other tilt angles is still the same. Therefore, the duty cycle needs to be increased, i.e., step S32 is executed. If the previous adjustment level of the photovoltaic panel is less than the current adjustment level, it means that the previous adjustment is effective, and step S33 is executed. If the previous adjustment level of the photovoltaic panel is greater than the current adjustment level, it means that the previous adjustment was too excessive, and step S44 is executed.

[0162] Step S42: Determine the corresponding drive duty cycle based on the adjustment level and the preset increase factor.

[0163] In the specific implementation step S42, the corresponding relationship between the preset adjustment level and the drive duty cycle is found, and the drive duty cycle corresponding to the adjustment level is determined; then the product of the drive duty cycle and the preset increase factor is calculated to obtain the new drive duty cycle; and the new drive duty cycle is used as the drive duty cycle corresponding to the current time.

[0164] It should be noted that the preset multiplier was set by technical personnel based on multiple experiences, and is a multiple greater than 1.

[0165] Step S43: Use the previous drive duty cycle as the current drive duty cycle.

[0166] Step S44: Determine the corresponding drive duty cycle based on the adjustment level and the preset reduction factor.

[0167] It should be noted that the specific implementation process of step S44 is the same as that of step S42, and they can be referred to each other.

[0168] It should be noted that the preset reduction factor was set by technicians based on multiple experiences, and is a factor less than 1 and greater than 0.

[0169] Step S36: Send the drive duty cycle and adjustment direction to the motor corresponding to the photovoltaic panel, so as to adjust the motor speed based on the drive duty cycle and drive the motor to rotate in the adjustment direction.

[0170] In the specific implementation of step S36, the drive duty cycle and adjustment direction are sent to the motor corresponding to the photovoltaic panel. If the adjustment direction is eastward, the drive duty cycle of the motor driver is reduced; if the adjustment direction is westward, the drive duty cycle of the motor driver is increased. Then, the motor is started based on the drive duty cycle to adjust the motor speed.

[0171] Optionally, since the photovoltaic modules of the cable-stayed flexible tracking bracket are fixed to steel strands, and the steel strands are coupled to the crossbeams with U-bolts, the system also includes:

[0172] The corresponding count value is obtained by using a tension gauge or stress gauge; if the count value is determined to be greater than the pre-design value, an unexpected situation may have occurred, an alarm message will be output, and all motors will be stopped from driving.

[0173] Optional, also includes:

[0174] If it is determined that the photovoltaic system is currently in a preset scenario, such as nighttime or periods of insufficient sunlight, day-night transition, or continuous rain, the current environmental parameters and weather parameters are obtained.

[0175] The pre-trained model is invoked to make predictions based on current environmental and weather parameters, and to determine the angle with the lowest energy consumption, thereby achieving continuous tracking and emergency attitude adjustment of the entire support structure with minimal battery power consumption.

[0176] Rapid prediction and response enable continuous tracking and emergency attitude adjustment of the entire photovoltaic tracking system with minimal battery power consumption; thereby significantly improving energy utilization and effectively extending the battery life of energy storage equipment, providing an innovative solution for the intelligent and energy-saving operation of photovoltaic tracking systems.

[0177] In this embodiment of the invention, the crossbeams of the photovoltaic panels are determined to be inconsistent by the average absolute deviation and the deviation angle of each photovoltaic panel. If inconsistency exists, the photovoltaic panels whose motor drive duty cycle needs to be adjusted are identified. Then, the drive duty cycle of the motor that needs to be adjusted is determined based on the corresponding deviation angle, so that the speed and direction of the motor corresponding to the photovoltaic panel can be adjusted based on the drive duty cycle to drive the crossbeam adjustment with minimal energy consumption. This enables efficient collaborative tracking of the entire string of photovoltaic modules through the tracking controller, thereby improving the tracking efficiency of the tracking controller and achieving low-power consistent tracking.

[0178] Optionally, based on the control method of the photovoltaic system shown in the above embodiments of the present invention, correspondingly, the embodiments of the present invention also show a flowchart of another control method for a photovoltaic system, such as... Figure 3 As shown, after performing step S36, the method further includes:

[0179] Step S301: After the first time, obtain the first tilt angle value for each photovoltaic panel;

[0180] Step S302: Determine a first number of deviation angles that are greater than a first threshold or less than a second threshold based on the deviation angle of each photovoltaic panel;

[0181] In the specific implementation of step S301, after the motor rotates for a period of time, i.e., after the first time, the first tilt angle value of each photovoltaic panel is obtained again, the difference between the first tilt angle value corresponding to the photovoltaic panel and the target angle is calculated, and the deviation angle is obtained; finally, the first number of deviation angles that are greater than the first threshold or less than the second threshold is counted.

[0182] It should be noted that both the first and second thresholds were set based on multiple experiments. Generally, the first threshold can be set to 5, and the second threshold can be set to -5.

[0183] Optionally, after performing step S302, the following may also be included:

[0184] The average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; when the average absolute deviation is determined to be greater than a preset threshold, step S303 is executed.

[0185] In this embodiment of the invention, after adjusting the rotation of the photovoltaic panel for a first time, the first tilt angle value of each photovoltaic panel is obtained again to determine whether the tilt angle still needs to be adjusted.

[0186] Step S303: Determine whether the first quantity is greater than the second quantity. If it is greater, proceed to step S304; otherwise, proceed to step S204. In other words, the current adjustment strategy is correct, and continue to rotate towards the previous target angle.

[0187] The second quantity is the number of deviation angles that are greater than the first threshold or less than the second threshold when the drive duty cycle was last adjusted.

[0188] Step S304: Stop all motors corresponding to the photovoltaic panels.

[0189] In the specific implementation of step S304, first control all currently running motors to stop running.

[0190] Step S305: Determine the average tilt angle of each photovoltaic panel based on the first tilt angle value of each photovoltaic panel;

[0191] It should be noted that the specific implementation process of step S304 is the same as the specific implementation process of step S202 described above, and they can be referred to each other.

[0192] Step S306: Control the beam corresponding to the photovoltaic panel whose deviation angle is within the preset range to rotate towards the average tilt angle, and return to execute step S201, which drives the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command.

[0193] It should be noted that the preset range refers to the range that is greater than the first endpoint or less than the second endpoint.

[0194] The first and second endpoints are set in advance by technicians based on multiple experiments. The first endpoint is generally set to 2, and the second endpoint is generally set to -2.

[0195] Optionally, after performing step S306, all motors are started to continue rotating toward the previous target angle, in order to return to performing step S201.

[0196] In this invention, after a first time, a first number of deviation angles greater than a first threshold or less than a second threshold is counted; if the first number is greater than the second number, all motors corresponding to photovoltaic panels are stopped; then the beams corresponding to photovoltaic panels with deviation angles within a preset range are moved towards the average tilt angle, and the corresponding motors are driven again based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command. This achieves efficient collaborative tracking of the entire string of photovoltaic modules through the tracking controller, thereby improving the tracking efficiency of the tracking controller and achieving low-power consistent tracking.

[0197] Optionally, based on the control method of the photovoltaic system shown in the above embodiments of the present invention, correspondingly, the embodiments of the present invention also show a flowchart of another control method for a photovoltaic system, such as... Figure 4 As shown, the method further includes:

[0198] Step S401: For each photovoltaic panel, obtain the current of the motor connected to it and the environmental parameters;

[0199] Step S402: Call the pre-built processing model to determine the tilt coupling comfort zone and current mapping value corresponding to the target angle based on the motor current, environmental parameters, and the target angle of the angle adjustment command;

[0200] In the specific implementation of step S402, the motor current, environmental parameters, and the target angle in the angle adjustment command are substituted into the pre-built processing model to determine the tilt coupling comfort zone and current mapping value corresponding to the target angle.

[0201] The tilt-coupled comfort zone is a range of angles.

[0202] It should be noted that the pre-built processing module can be a random forest regression model.

[0203] The processing model is trained by collecting multi-source data within a preset historical time period under preset operating conditions. The multi-source data includes at least the historical current, historical tilt angle, and historical environmental parameters of the motor within the preset historical time period under preset operating conditions.

[0204] It should be noted that the preset working conditions are set in advance according to the actual situation, and can generally be the solar tracking mode (e.g., free control in test mode, continuous movement from -50° to +50° to -50°).

[0205] The historical preset time period refers to the time period set in advance by technicians based on the actual situation, which can generally be set to the past 48 hours to the past 72 hours.

[0206] Specifically, for each photovoltaic panel in the photovoltaic system, the tracking controller collects historical tilt angle values ​​and motor current data updated once per second for a historical preset time period under preset operating conditions, as well as multi-source data such as wind speed, wind direction, current, and PWM duty cycle, and uses them as sample data.

[0207] It should be noted that the accuracy of the historical tilt angle values ​​is within 1 degree.

[0208] The sample data is cleaned to obtain cleaned sample data;

[0209] Specifically, the sample data is subjected to time synchronization, outlier removal, and missing value imputation to obtain cleaned sample data;

[0210] Next, feature engineering is performed on the cleaned sample data to obtain the dataset;

[0211] Feature engineering includes feature construction, feature selection, feature encoding, feature scaling, and time window processing. The next step is target variable design and physical constraint integration, which involves the specific target of model prediction and the physical rules and behavioral logic of the engineering system.

[0212] Then, the dataset is divided into training and testing sets, and parameters such as the number of trees and maximum depth of the model are determined.

[0213] The processing model is trained based on the training set, the number of trees in the model, the maximum depth, and other parameters to obtain the trained processing model. Then, the processing model is validated using a test set to determine the energy consumption of a certain tilt angle in different tilt angle coupling comfort zones. The tilt angle coupling comfort zone with the lowest energy consumption is determined as the tilt angle coupling comfort zone of that tilt angle, and the current at this time is recorded and used as the current mapping value of that tilt angle.

[0214] In this application, sample data is used for training so that the trained processing model can output the current mapping value of each motor at different target angles and the tilt coupling comfort zone.

[0215] It should be noted that the trained processing model will have a tilt-coupled comfort zone and current mapping value for each angle of each photovoltaic panel.

[0216] Step S403: Drive the corresponding motor based on the tilt-coupled comfort zone corresponding to the target angle to adjust the angle of the beam where the photovoltaic panel is located to the tilt-coupled comfort zone corresponding to the target angle.

[0217] Optionally, after performing step S402, the following may also be included:

[0218] Step S51: When the angle of the beam where the photovoltaic panel is located reaches the target angle, obtain the current value of the motor corresponding to the photovoltaic panel;

[0219] In the specific implementation of step S51, when it is determined that the angle of the beam where the photovoltaic panel is located reaches the target angle, the current value of the motor corresponding to the photovoltaic panel is collected.

[0220] Step S52: Determine whether the current value is less than a preset multiple of the current mapping value. If it is less, proceed to step S53. If it is greater than or equal to the current value, proceed to step S54.

[0221] In the specific implementation of step S52, the current value is compared with the current mapping value of a preset multiple. If it is determined that the current value is less than the current mapping value of the preset multiple, then step S53 is executed. If it is determined that the current value is greater than or equal to the current mapping value of the preset multiple, then step S54 is executed.

[0222] Step S53: Determine that the motor is in the current comfort zone;

[0223] In the specific implementation of step S53, it is determined that the motor is in a normal rotation state, for example, rotation control can be performed.

[0224] Step S54: Determine that the motor is faulty and stop driving the motor.

[0225] During the specific implementation of step S54, the motor may experience unexpected faults such as stalling or interference. In this case, rotation control cannot be performed, and the motor must be stopped.

[0226] In this application, if it is determined that the current value is greater than or equal to the current mapping value of a preset multiple, it may be due to unexpected situations such as stalling or interference. In this case, the alarm information should be forwarded to the upper-level device of the tracking controller, namely the communication box, and then forwarded to the owner management system by the communication box.

[0227] The specific principles and execution processes of each unit in the photovoltaic system disclosed in the embodiments of the present invention are the same as the corresponding contents in the control method of the photovoltaic system provided in the above embodiments of the present invention. Please refer to the corresponding parts in the control method of the photovoltaic system disclosed in the above embodiments of the present invention.

[0228] In this embodiment of the invention, the tilt coupling comfort zone corresponding to the target angle is determined by using environmental parameters, motor current, and the target angle of the angle adjustment command; so that continuing to rotate eastward or westward requires only a small current, driving the crossbeam adjustment with minimal energy consumption, thereby achieving efficient collaborative tracking of the entire string of photovoltaic modules through the tracking controller, thereby improving the tracking efficiency of the tracking controller and low-power consistent tracking.

[0229] This application provides an electronic device, which includes a processor and a memory. The memory is used to store control program code and data of a photovoltaic system, and the processor is used to call the program instructions in the memory to execute the steps shown in the control method of the photovoltaic system in the above embodiments.

[0230] This invention provides a storage medium, which includes the electronic device provided in the above-described embodiments of this application. The electronic device is used to execute the control method of the photovoltaic system disclosed in the embodiments of this application.

[0231] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0232] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0233] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a photovoltaic system, characterized in that, Applied to a photovoltaic system, the photovoltaic system including photovoltaic modules, a motor, and a tracking controller, the photovoltaic modules including multiple photovoltaic panels, the method includes: During the process of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, the tracking controller obtains the first tilt angle value of each photovoltaic panel at a preset time interval. The corresponding average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; When determining the photovoltaic panel whose drive duty cycle of the motor needs to be adjusted based on the average absolute deviation and the deviation angle of each photovoltaic panel, the drive duty cycle of the motor to be adjusted and the adjustment direction are determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and the adjustment direction. The deviation angle of the photovoltaic panel refers to the deviation angle between the first tilt angle value of the photovoltaic panel and the target angle. After the first moment, obtain the first tilt angle value for each photovoltaic panel; A first number of deviation angles greater than a first threshold or less than a second threshold is determined based on the deviation angle of each photovoltaic panel; If the first quantity is greater than the second quantity, control all photovoltaic panel corresponding motors to stop. The second quantity is the number of motors whose deviation angle is greater than the second threshold or less than the third threshold when the drive duty cycle was adjusted last time. The average tilt angle of each photovoltaic panel is determined based on the first tilt angle value of each photovoltaic panel; The beam corresponding to the photovoltaic panel whose deviation angle is within a preset range is rotated toward the average tilt angle, and the process returns to the step of executing the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command. If the first quantity is less than or equal to the second quantity, then the step of determining the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle is performed, so as to adjust the speed of the motor corresponding to the photovoltaic panel based on the drive duty cycle.

2. The method according to claim 1, characterized in that, Based on the angle adjustment command, the corresponding motor is driven to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command, including: If it is determined that the current sunshine resources are sufficient, obtain the current time, sunshine direction, historical operation data, the location of the photovoltaic system, and the current beam angle corresponding to each photovoltaic panel; The target angle for the current time is determined based on the current time, direction of sunlight, historical operating data, and the location of the photovoltaic system. For each photovoltaic panel, based on the target angle and the current beam angle, determine whether the photovoltaic panel needs to be moved towards the target angle. If necessary, count all photovoltaic panels that need to be moved to the target angle, and generate corresponding angle adjustment commands based on all photovoltaic panels that need to be moved to the target angle and the target angle. Based on the angle adjustment command, all the motors corresponding to the photovoltaic panels that need to move to the target angle are driven, so that the angle of the crossbeam where the photovoltaic panel is located is rotated to the target angle in the angle adjustment command.

3. The method according to claim 1, characterized in that, The average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels, including: Calculate the average tilt angle based on the first tilt angle value of each photovoltaic panel; For each photovoltaic panel, the difference between the first tilt angle value and the average tilt angle value corresponding to the photovoltaic panel is calculated to obtain the first difference; The deviation angle is calculated based on the first difference for each of the photovoltaic panels and the total number of photovoltaic panels.

4. The method according to claim 1, characterized in that, Based on the corresponding deviation angle, the drive duty cycle and adjustment direction of the motor to be adjusted are determined, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction, including: The photovoltaic panel that needs adjustment is determined based on the deviation angle of the photovoltaic panel. For each photovoltaic panel that needs adjustment, its adjustment level and adjustment direction are determined based on the corresponding deviation angle. If it is determined that the drive duty cycle of the motor of the photovoltaic panel is the first adjustment, the corresponding drive duty cycle is determined based on the adjustment level; The drive duty cycle and adjustment direction are sent to the motor corresponding to the photovoltaic panel to adjust the motor speed based on the drive duty cycle and drive the motor to rotate in the adjustment direction.

5. The method according to claim 4, characterized in that, Also includes: If it is determined that the drive duty cycle of the motor of the photovoltaic panel is not being adjusted for the first time, obtain the previous adjustment level of the photovoltaic panel; The corresponding drive duty cycle is determined based on the previous adjustment level on the photovoltaic panel and the current adjustment level. The drive duty cycle and adjustment direction are sent to the motor corresponding to the photovoltaic panel to adjust the motor speed and adjustment direction based on the drive duty cycle.

6. The method according to claim 5, characterized in that, The corresponding drive duty cycle is determined based on the previous adjustment level on the photovoltaic panel and the current adjustment level, including: If the adjustment level on the photovoltaic panel is the same as the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset increase factor. If the previous adjustment level on the photovoltaic panel is lower than the current adjustment level, the previous drive duty cycle will be used as the current drive duty cycle. If the previous adjustment level on the photovoltaic panel is greater than the current adjustment level, the corresponding drive duty cycle is determined based on the adjustment level and the preset reduction factor.

7. The method according to claim 1, characterized in that, Also includes: For each photovoltaic panel, obtain the current of the motor connected to it, as well as environmental parameters; The pre-built processing model is invoked to determine the tilt coupling comfort zone and current mapping value corresponding to the target angle based on the motor current, environmental parameters, and the target angle of the angle adjustment command. The processing model is trained based on multi-source data collected during a preset time period under preset operating conditions. The multi-source data includes at least the historical current, historical tilt angle, and historical environmental parameters of the motor during the preset time period under preset operating conditions. Drive the corresponding motor based on the tilt-coupled comfort zone corresponding to the target angle, and adjust the angle of the beam where the photovoltaic panel is located to the tilt-coupled comfort zone corresponding to the target angle.

8. The method according to claim 7, characterized in that, Also includes: When the angle of the beam where the photovoltaic panel is located reaches the target angle, the current value of the motor corresponding to the photovoltaic panel is obtained; If the current value is determined to be less than a preset multiple of the current mapping value, the motor is determined to be in the current comfort zone; If the current value is determined to be greater than or equal to a preset multiple of the current mapping value, the motor is determined to be faulty, and the motor is stopped from being driven.

9. A photovoltaic system, characterized in that, The photovoltaic system includes photovoltaic modules, a motor, and a tracking controller; the photovoltaic modules include multiple photovoltaic panels. The tracking controller is used to acquire the first tilt angle value of each photovoltaic panel at a preset time interval during the process of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command; The average absolute deviation is determined based on the first tilt angle value of each photovoltaic panel and the total number of photovoltaic panels; when determining which photovoltaic panel requires adjustment of the motor's drive duty cycle based on the average absolute deviation and the deviation angle of each photovoltaic panel, the drive duty cycle and adjustment direction of the motor to be adjusted are determined based on the corresponding deviation angle, so as to adjust the speed and direction of the motor corresponding to the photovoltaic panel based on the drive duty cycle and adjustment direction; after the first time, the first tilt angle value of each photovoltaic panel is obtained; Based on the deviation angle of each photovoltaic panel, a first number of deviation angles greater than a first threshold or less than a second threshold is determined; if the first number is greater than the second number, all motors corresponding to the photovoltaic panels are controlled to stop, where the second number is the number of deviation angles greater than the second threshold or less than the third threshold during the last drive duty cycle adjustment; based on the first tilt angle value of each photovoltaic panel, the average tilt angle of each photovoltaic panel is determined; the beam corresponding to the photovoltaic panel whose deviation angle is within a preset range is controlled to rotate towards the average tilt angle, and the process returns to the step of driving the corresponding motor based on the angle adjustment command to adjust the angle of the beam where the photovoltaic panel is located to the target angle in the angle adjustment command; if the first number is less than or equal to the second number, the process of determining the drive duty cycle and adjustment direction of the motor to be adjusted based on the corresponding deviation angle is executed, so as to adjust the speed of the motor corresponding to the photovoltaic panel based on the drive duty cycle.

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