Motor control method, device and system of photovoltaic tracking support and storage medium

Abstract

The invention discloses a motor control method, device and system of a photovoltaic tracking support and a storage medium. The method comprises the steps that motor parameters of a motor and transmission parameters of a transmission mechanism are obtained, the motor parameters at least comprise the Hall pulse number corresponding to the unit rotation angle of the motor, and the transmission parameters at least comprise the transmission ratio between a motor output shaft and a torque tube; based on the Hall pulse number and the transmission ratio corresponding to the unit rotation angle of the motor, establishing a mapping relation between the rotation angle of the motor and the rotation angle of the torque tube, and based on the mapping relation, converting the target rotation angle of the torque tube into a target rotation angle of the motor and a target Hall pulse number corresponding to the target rotation angle of the motor; and obtaining a torque tube target rotation angle parameter, converting the torque tube target rotation angle parameter into an operation condition instruction including a motor target rotation angle and a target Hall pulse number according to the mapping relation, adjusting a driving parameter of the motor based on the operation condition instruction, and driving the motor to rotate. According to the invention, the accuracy of photovoltaic tracking support motor control can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of photovoltaic bracket technology, and in particular to a motor control method, device, system and storage medium for a photovoltaic tracking bracket. Background Technology

[0002] With the rapid development of new energy technologies, the photovoltaic (PV) power generation industry continues to grow. In the PV power generation process, PV tracking systems adjust the angle of PV modules in real time to follow the sun's trajectory, thereby maximizing power generation efficiency. Currently, PV tracking systems typically use brushed or brushless motors with constant rotation speeds and rely on tilt sensors mounted on torque tubes for angle feedback control to adjust the angle of the PV modules. However, this control method has significant drawbacks in severe weather conditions. For example, in strong winds, the enormous wind load can cause the main shaft connecting the PV modules to twist, causing the tilt sensor to detect this wind-induced deformation and resulting in misjudgment of the angle control. This leads to incorrect control of the motor on the PV tracking system, posing a risk to the tracker and continuously depleting the controller's reserve power, causing power depletion. Therefore, the motor control problem of PV tracking systems deserves attention. Summary of the Invention

[0003] In view of this, the present disclosure provides a method, apparatus, system and storage medium for controlling the motor of a photovoltaic tracking bracket, in order to improve the accuracy of motor control of the photovoltaic tracking bracket.

[0004] Firstly, a motor control method for a photovoltaic tracking bracket is provided. The motor is equipped with a Hall sensor, and the motor drives a torque tube to rotate around its central axis via a transmission mechanism. The motor control method includes: acquiring motor parameters and transmission parameters of the transmission mechanism; the motor parameters include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters include at least the transmission ratio between the motor output shaft and the torque tube; establishing a mapping relationship between the motor rotation angle and the torque tube rotation angle based on the number of Hall pulses corresponding to a unit rotation angle of the motor and the transmission ratio, and converting the target rotation angle of the torque tube into a target rotation angle of the motor and a target number of Hall pulses corresponding to the target rotation angle of the motor based on the mapping relationship; acquiring the target rotation angle parameters of the torque tube, converting the target rotation angle parameters of the torque tube into an operating condition command including the target rotation angle of the motor and the target number of Hall pulses according to the mapping relationship, and adjusting the motor's drive parameters based on the operating condition command to drive the motor to rotate.

[0005] The above embodiments of the motor control method can construct a mapping relationship between the motor rotation angle and the torque tube rotation angle by obtaining the Hall pulse count corresponding to the unit rotation angle of the motor and the transmission ratio between the motor output shaft and the rotating shaft. After carrying the target rotation angle of the torque tube in the operating condition command, the controller uniformly completes the conversion from the torque tube angle to the target rotation angle of the motor and then to the target Hall pulse count. This allows the entire control chain to achieve precise control of the torque tube rotation angle by using the Hall pulse on the motor side as the only position feedback quantity. This avoids dependence on the torque tube or additional angle sensors on the bracket, and can even eliminate the need for angle sensors altogether. This reduces system complexity and cost, and improves the motor control accuracy and photovoltaic module angle control accuracy in the photovoltaic tracking process.

[0006] Optionally, the type of operating condition command includes a tracking condition command; adjusting the motor's drive parameters based on the operating condition command to drive the motor to rotate includes: under the tracking condition command, comparing the current Hall pulse count of the motor with the first target Hall pulse count to determine the angle deviation between the current rotation angle of the motor and the first target rotation angle of the motor; adjusting the motor's drive parameters based on a preset first speed control strategy to make the motor rotate towards the first target rotation angle of the motor at a first preset speed until the first angle deviation is within a first preset range.

[0007] Optionally, the operating condition command type also includes a wind protection condition command; under the wind protection condition command, the current Hall pulse count of the motor is compared with the second target Hall pulse count to determine the angle deviation between the current rotation angle of the motor and the second target rotation angle of the motor, and the driving parameters of the motor are adjusted based on the preset second speed control strategy so that the motor rotates towards the second target rotation angle of the motor at the second preset speed until the second angle deviation is within the second preset range.

[0008] Optionally, the tracking operation command is determined based on the illumination calculation results and / or time information; the wind protection operation command is determined based on the comparison results of wind speed detection results and preset wind speed thresholds.

[0009] Optionally, the motor rotating at a first preset speed is configured to rotate at a constant speed, and the motor rotating at a second preset speed is configured to rotate at an accelerated speed.

[0010] Optionally, the driving parameters include: voltage parameters or magnetic flux parameters; when driving the motor to rotate, the following are included: adjusting the motor speed based on the adjusted voltage parameters; or, adjusting the motor speed based on the adjusted magnetic flux parameters; or, adjusting the motor speed based on both the adjusted voltage parameters and the adjusted magnetic flux parameters.

[0011] Secondly, a motor control device for a photovoltaic tracking bracket is provided. The motor is equipped with a Hall sensor, and the motor drives a torque tube to rotate around its central axis via a transmission mechanism. The motor control device includes: an acquisition unit for acquiring motor parameters and transmission parameters of the transmission mechanism; the motor parameters include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters include at least the transmission ratio between the motor output shaft and the torque tube; a conversion unit for establishing a mapping relationship between the motor rotation angle and the torque tube rotation angle based on the number of Hall pulses corresponding to a unit rotation angle of the motor and the transmission ratio, and converting the target rotation angle of the torque tube into a target rotation angle of the motor and a target number of Hall pulses corresponding to the target rotation angle of the motor based on the mapping relationship; and an adjustment unit for acquiring the target rotation angle parameters of the torque tube, converting the target rotation angle parameters into an operating condition command including the target rotation angle of the motor and the target number of Hall pulses according to the mapping relationship, and adjusting the motor's drive parameters based on the operating condition command to drive the motor to rotate.

[0012] Optionally, the operating condition command type also includes a wind protection condition command; the adjustment unit is also used to compare the current Hall pulse count of the motor with the second target Hall pulse count under the wind protection condition command, determine the angle deviation between the current rotation angle of the motor and the second target rotation angle of the motor, and adjust the driving parameters of the motor based on the preset second speed control strategy, so that the motor rotates towards the second target rotation angle of the motor at the second preset speed until the second angle deviation is within the second preset range.

[0013] Thirdly, a photovoltaic tracking bracket system is provided, comprising: a transmission mechanism connected to a photovoltaic module; a motor connected to a torque tube of the transmission mechanism via a motor output shaft; and a controller configured to control the rotation of the motor based on the motor control method of the photovoltaic tracking bracket provided in the first aspect.

[0014] Fourthly, a computer-readable storage medium is provided, comprising: a memory having instructions stored thereon, wherein when the instructions are read by a processor, the motor control method for a photovoltaic tracking bracket as provided in the first aspect is implemented. Attached Figure Description

[0015] The accompanying drawings used in the description of the embodiments of this disclosure are briefly introduced below: Figure 1 The present application provides a schematic diagram of the structure of a photovoltaic tracking bracket system in some embodiments. Figure 2 A schematic flowchart of a motor control method for a photovoltaic tracking bracket provided in some embodiments of this application is shown; Figure 3 The diagram illustrates a wind speed protection control strategy implemented by a motor control method based on a photovoltaic tracking bracket in some embodiments of this application. Figure 4A schematic diagram of the structure of a motor control device for a photovoltaic tracking bracket provided in some embodiments of this application is shown. Detailed Implementation

[0016] To more clearly illustrate the technical solutions in the embodiments of this disclosure, examples of implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0017] To keep the drawings simple, each figure only schematically shows the parts relevant to the embodiments, and they do not represent the actual structure of the product. In addition, for the sake of clarity and ease of understanding, some figures only schematically show parts of components with the same structure or function, and there may actually be more or fewer components with the same structure or function.

[0018] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as “first”, “second”, etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects; furthermore, they do not represent the quantity of related objects. “Multiple” includes two or more, and other quantifiers are similar. “ / ” is used to describe the relationship between related objects, indicating an “or” relationship between them. “And / or” is used to describe the relationship between related objects, including any combination relationship between them, such as “a and / or b” including: “a alone”, “b alone”, or “a and b”. “One or more” or “at least one” of multiple objects refers to any object or any combination of multiple objects, such as “one or more of a1, a2, a3” or “at least one of a1, a2, a3” including: “a1 alone”, “a2 alone”, “a3 alone”, “a1 and a2”, “a1 and a3”, “a2 and a3”, or “a1, a2 and a3”.

[0019] Photovoltaic tracking brackets are core components of photovoltaic power plants. They drive photovoltaic modules to rotate around an axis via a drive motor, reducer, torque tube, and other transmission mechanisms, tracking the sun's trajectory in real time to increase power generation. In existing engineering applications, to achieve closed-loop control, tilt sensors are typically installed on the torque tube or module support beams. The angle signals collected are used as position feedback to control the modules to track the sun daily or adjust to a specific angle. However, due to the long transmission chain of the photovoltaic bracket and the elasticity of the torque tube itself, it is highly susceptible to elastic torsional deformation under severe weather loads such as strong winds. This deformation, combined with installation errors and the drift error of the tilt sensor itself, can lead to a significant deviation between the angle measured by the sensor and the actual attitude of the photovoltaic module. If the control strategy still relies solely on the tilt sensor as feedback, the system is highly susceptible to signal distortion, resulting in decreased tracking accuracy and even control oscillations or misalignment. To address this, this application proposes a motor control scheme. By using a motor equipped with a Hall sensor, a mapping relationship between the motor rotation angle and the torque tube rotation angle is established using the motor parameters and transmission mechanism parameters. Based on this, the control strategy is optimized under different operating conditions, effectively avoiding interference from transmission mechanism deformation and external environment on control accuracy, and improving the angle control accuracy of photovoltaic modules.

[0020] The following description is in conjunction with the accompanying drawings: Figure 1 This illustration shows a schematic diagram of a photovoltaic tracking bracket system according to some embodiments of this application. The photovoltaic tracking bracket system 100 includes: a transmission mechanism 110 connected to a photovoltaic module 10; the transmission mechanism 110 includes a reducer, a torque tube, and a purlin assembly mounted on the torque tube; a motor 120 connected to the input shaft of the reducer via its output shaft; the output shaft of the reducer is connected to the torque tube; the purlins are fixedly mounted on the torque tube via clamps (the structure of the clamps is prior art and will not be described in detail); and a controller 130 configured to control the motor rotation based on a preset motor control method. Figure 2 This diagram illustrates a flowchart of a motor control method for a photovoltaic tracking bracket according to some embodiments of this application. The motor control method drives a motor 120 of the photovoltaic tracking bracket. The motor 120 is equipped with a Hall sensor. The motor 120, through a transmission mechanism 110, drives a torque tube to rotate around its central axis. The photovoltaic module and the torque tube rotate synchronously, meaning they rotate in unison. The method includes at least the following steps: S210: Obtain the motor parameters of the motor and the transmission parameters of the transmission mechanism. The motor parameters shall include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters shall include at least the transmission ratio between the motor output shaft and the torque tube. S220: Based on the Hall pulse count corresponding to a unit rotation angle of the motor and the transmission ratio between the motor output shaft and the torque tube, a mapping relationship between the motor rotation angle and the torque tube rotation angle is established. Based on this mapping relationship, the target rotation angle of the torque tube is converted into the target rotation angle of the motor and the corresponding target Hall pulse count. The target rotation angle of the torque tube is the target angle to which the torque tube is planned to rotate according to the algorithm; this target angle is the angle between the plane of the photovoltaic module and the mounting reference plane of the tracker column. The target rotation angle of the motor is the target angle to which the motor is planned to rotate.

[0021] S230: Obtain the target rotation angle parameter of the torque tube, convert the target rotation angle parameter of the torque tube into an operating condition command including the target rotation angle of the motor and the target Hall pulse count according to the mapping relationship, and adjust the driving parameters of the motor based on the operating condition command to drive the motor to rotate.

[0022] In the above embodiments, the controller 130 acquires the motor parameters of the motor 120 and the transmission parameters of the transmission mechanism 110. The motor parameters can be pre-measured and stored in the controller 130's memory during production or calibration. For example, if the Hall sensor outputs 3600 Hall pulses per revolution of the motor rotor, then the number of Hall pulses corresponding to a unit motor rotation angle is determined to be 10 Hall pulses per 1° of motor rotation angle. The transmission parameters characterize the transmission relationship between the motor output shaft and the torque tube of the transmission mechanism 110. For example, if the total transmission ratio between the reducer and the torque tube is 50:1, then when the motor output shaft rotates 50 revolutions, the rotation shaft of the transmission mechanism 110 rotates 1 revolution, corresponding to a torque tube rotation angle of 360°. During system installation and commissioning, the controller 130 can write the above motor parameters and transmission parameters into an internal parameter table by reading the product parameter table or through on-site calibration. Based on the number of Hall pulses corresponding to a unit motor rotation angle and the transmission ratio, the controller 130 establishes a mapping relationship between the motor rotation angle and the torque tube rotation angle. Based on the transmission ratio, the proportional relationship between the torque tube rotation angle and the motor rotation angle can be obtained. For example, when the torque tube rotates 1°, the motor needs to rotate 50°. Combining this with the relationship that 1° of motor rotation corresponds to 10 Hall pulses, we can obtain that 1° of torque tube rotation corresponds to 500 Hall pulses, that is, the number of Hall pulses N = torque tube rotation angle θ. n× transmission ratio i × number of Hall pulses p corresponding to a unit rotation angle of the motor. Controller 130 can generate a mapping formula or lookup table based on the above relationship and store it as control parameters. When the upper-level system provides a target rotation angle for the torque tube, for example, if it wants the photovoltaic module 10 to rotate +20° relative to the reference position, controller 130 can calculate the corresponding target rotation angle of the motor as 20° × 50 = 1000° based on the mapping relationship, and further calculate the target number of Hall pulses corresponding to this target rotation angle as 1000° × 10 = 10000 pulses. Similarly, when the target rotation angle of the torque tube is -30°, the target rotation angle of the motor can be calculated as -1500°, and the corresponding target number of Hall pulses is -15000 pulses. Thus, any given target rotation angle of the torque tube can be automatically converted into a target rotation angle of the motor and a target number of Hall pulses through the mapping relationship. The controller 130 acquires operating condition commands and adjusts the drive parameters of the motor 120 based on these commands, thereby driving the motor 120 to rotate. The operating condition commands can be generated by the host computer, tracking controller, or local control algorithm of the photovoltaic power station. These commands include at least parameters indicating the target rotation angle of the torque tube, such as angle values, position numbers, or preset operating condition identifiers, and are transmitted to the controller 130. Upon receiving the operating condition commands, the controller 130 parses the target rotation angle of the torque tube from the commands and calculates the target Hall pulse count using the mapping relationship established in step S220. During operation, the controller 130 determines the angular deviation between the current rotation angle and the target rotation angle of the motor based on the difference between the current Hall pulse count output by the Hall sensor and the target Hall pulse count. Combined with a preset drive parameter adjustment strategy, the controller 130 adjusts the drive voltage, magnetic flux, and other drive parameters of the motor 120 to make the motor 120 rotate at the desired speed and direction until the torque tube rotation angle approaches the target rotation angle, meeting the preset control accuracy requirements. Through the above steps, without changing the mechanical structure of the motor and transmission mechanism, the controller 130 can utilize the motor's own Hall pulse signal and transmission ratio to achieve automatic conversion and closed-loop control from the target rotation angle of the torque tube to the actual motor action. By adopting the above-mentioned photovoltaic tracking bracket system structure and motor control method, this application can construct a mapping relationship between the motor rotation angle and the torque tube rotation angle by obtaining the Hall pulse count corresponding to the unit rotation angle of the motor and the transmission ratio between the motor output shaft and the rotating shaft. After carrying the target rotation angle of the torque tube in the operating condition command, the controller uniformly completes the conversion from the torque tube angle to the target rotation angle of the motor, and then to the target Hall pulse count. This allows the entire control chain to achieve precise control of the torque tube rotation angle using the motor-side Hall pulse as the only position feedback quantity, avoiding dependence on the torque tube or additional angle sensors on the bracket, and even eliminating the need for tilt sensors. This reduces system complexity and cost, and improves the motor control accuracy and photovoltaic module angle control accuracy during photovoltaic tracking.

[0023] In some embodiments of this application, the type of operating condition command includes a tracking operating condition command; adjusting the motor's drive parameters based on the operating condition command to drive the motor to rotate includes: under the tracking operating condition command, comparing the current Hall pulse count of the motor with the first target Hall pulse count to determine the angle deviation between the current rotation angle of the motor and the first target rotation angle of the motor; adjusting the motor's drive parameters based on a preset first speed control strategy to make the motor rotate towards the first target rotation angle of the motor at a first preset speed until the first angle deviation is within a first preset range.

[0024] When the photovoltaic power station is under normal power generation, the host computer or local tracking algorithm periodically calculates the optimal orientation of the photovoltaic modules at the current moment and encapsulates the target torque tube rotation angle into a tracking condition command, which is then sent to the controller. Upon receiving the tracking condition command, the controller, based on the aforementioned mapping relationship between motor rotation angle and torque tube rotation angle, converts the target torque tube rotation angle into a first target motor rotation angle and the corresponding first target Hall pulse count. Under the tracking condition command, the controller continuously collects the current Hall pulse count of the motor, compares it with the first target Hall pulse count, obtains the difference between the two, and determines the angular deviation between the current motor rotation angle and the first target motor rotation angle. The sign of the angular deviation indicates the direction the motor needs to rotate, and the magnitude of the angular deviation characterizes the degree of deviation from the target position. After obtaining the angular deviation, the controller adjusts the motor's drive parameters according to a preset first speed control strategy, causing the motor to rotate towards the first target motor rotation angle at a first preset speed. The first speed control strategy employs constant speed control, segmented speed control, or a simple proportional adjustment strategy. For example, when the angular deviation is large, it operates at a first preset speed; when the angular deviation approaches the first preset range, the drive voltage or magnetic flux is gradually reduced, causing the motor to decelerate and approach the target position, thus achieving precise adjustment. During motor operation, the controller continuously updates the current Hall pulse count and angular deviation. When the first angular deviation is detected to be within the first preset range, it determines that the motor has reached the tracking target position and stops or maintains slight compensation rotation to complete the tracking adjustment. The first preset range is 5% of the target angle.

[0025] In some embodiments of this application, the operating condition command also includes a wind protection condition command. Under the wind protection condition command, the current Hall pulse count of the motor is compared with the second target Hall pulse count to determine the angular deviation between the current motor rotation angle and the second target motor rotation angle. Based on a preset second speed control strategy, the motor's drive parameters are adjusted so that the motor rotates towards the second target motor rotation angle at a second preset speed until the second angular deviation is within a second preset range. The second preset range is 7% of the target angle.

[0026] When the wind speed in the area where the photovoltaic power station is located reaches or exceeds a preset wind speed threshold, or when the meteorological system predicts strong winds, the host computer or local control program generates a wind protection operating condition command and sends the target torque tube angle for wind protection to the controller. Based on the aforementioned mapping relationship between motor angle and torque tube angle, the controller converts the target torque tube angle required for wind protection into a second target motor angle, and the corresponding second target Hall pulse count. Under the wind protection operating condition command, the controller reads the current Hall pulse count output by the Hall sensor, compares the current Hall pulse count with the second target Hall pulse count, obtains the difference between the two, and determines the angular deviation between the current motor angle and the second target motor angle. The controller adjusts the motor's drive parameters based on a preset second speed control strategy, causing the motor to rotate at a second preset speed towards the second target motor angle. In one implementation, the second speed control strategy increases the motor's acceleration during startup and acceleration phases by increasing the motor drive voltage, current, or given magnetic flux, resulting in a higher acceleration than the first speed control strategy. Specifically, the acceleration at the second preset speed is greater than the acceleration at the first preset speed, thus shortening the time required to rotate from the current orientation to the wind protection orientation. During motor operation according to the second speed control strategy, the controller continuously updates the current Hall pulse count and angle deviation. When the second angle deviation is detected to be within the second preset range, it is determined that the motor has reached the wind protection target position. Acceleration can then be stopped, and the motor can be kept in a locked or low-power hold state, maintaining the photovoltaic module in the wind protection orientation.

[0027] In some embodiments of this application, the tracking operation command is determined based on the illumination calculation results and / or time information; the wind protection operation command is determined based on the comparison results of wind speed detection results and preset wind speed thresholds.

[0028] The controller can calculate the current solar altitude and azimuth angles based on the latitude and longitude of the power station's location, the current date and time, and then obtain the target rotation angle of the torque tube for photovoltaic tracking. It then generates a tracking operation command carrying this target rotation angle. Simultaneously, the controller can also adjust the theoretically calculated target rotation angle based on the detection results from an online illuminance sensor to adapt to factors such as local shading or cloud changes. Wind protection operation commands can be determined based on a comparison between wind speed detection results and preset wind speed thresholds. For example, a wind speed sensor installed at the power station uploads the current wind speed to the controller. When the current wind speed reaches or exceeds a preset wind speed threshold, or remains above a preset time threshold, the controller determines that it needs to enter wind protection mode, generates a wind protection operation command, and sets the corresponding target rotation angle of the torque tube for wind protection in this command.

[0029] Figure 3The diagram illustrates a wind speed protection control strategy implemented using a motor control method based on a photovoltaic tracking bracket in some embodiments of this application. For example... Figure 3 As shown, the horizontal axis represents time (unit: min), and the vertical axis represents wind speed (unit: m / s). The graph contains two wind speed curves. The sharply fluctuating solid line represents the instantaneous wind speed signal collected in real time by the wind speed sensor. Due to the characteristics of natural wind, this signal typically contains many high-frequency fluctuations. The relatively stable solid line represents the 30-second average wind speed signal processed by the control system algorithm. This signal is smoother and is used as the main basis for the control logic's judgment. The graph also shows two key judgment threshold lines: a higher upper wind speed threshold and a lower lower wind speed threshold. Under this control strategy, when the ambient wind speed increases and the 30-second average wind speed signal rises and exceeds the preset upper wind speed threshold, the control system immediately determines that the strong wind condition has been met. This point corresponds to the strong wind alarm trigger time shown in the graph. Subsequently, the system enters the strong wind protection mode activation state (as shown in the bracketed area in the graph). In this state, the control box will output a wind protection operating condition command, driving the motor to quickly rotate the photovoltaic module to a preset strong wind protection angle (e.g., horizontal position or a specific tilt angle) to reduce wind load. To avoid frequent motor start-stop cycles due to wind speed fluctuations near the threshold (i.e., to prevent vibration), this application allows the system to remain in high-wind protection mode even when the wind speed weakens and the 30-second average wind speed signal drops but has not yet fallen below the lower wind speed threshold. Only when the average wind speed signal further decreases and falls below the lower wind speed threshold does the system enter the lower limit detection window (the default duration in the example diagram is 180 seconds). During this window period, the control system continuously monitors the wind speed. Only when the average wind speed remains below the lower limit threshold throughout the entire window duration will the system determine that the weather conditions have returned to safety at the end of the window, execute the high-wind alarm deactivation operation, and then control the motor to resume normal tracking operation.

[0030] In some embodiments of this application, a motor rotating at a first preset speed is configured to rotate at a constant speed, and a motor rotating at a second preset speed is configured to rotate at an accelerated speed.

[0031] The motor rotating at a first preset speed is configured to rotate at a constant speed. That is, under the tracking condition command, after the motor starts and reaches the first preset speed, the controller keeps the motor at a basically constant speed as it approaches the first target rotation angle, in order to reduce the mechanical impact of frequent acceleration and deceleration on the transmission mechanism and photovoltaic modules. The motor rotating at a second preset speed is configured to accelerate. That is, under the wind protection condition command, when the controller detects that wind protection needs to be executed, it first increases the driving parameters to generate a larger starting torque and acceleration in the motor, so that the motor speed gradually increases from a low speed until it approaches the second preset speed, thereby shortening the time from the current posture to the wind protection posture, in order to meet the requirements of rapid folding.

[0032] In some embodiments of this application, the driving parameters include: voltage parameters or magnetic flux parameters; when driving the motor to rotate, the method includes: adjusting the motor speed based on the adjusted voltage parameters; or, adjusting the motor speed based on the adjusted magnetic flux parameters; or, adjusting the motor speed based on both the adjusted voltage parameters and the adjusted magnetic flux parameters.

[0033] In the above embodiments, the relationship between the speed of a DC motor and the input parameters is taken as an example, referring to Formula 1.

[0034] Formula 1 Where n is the rotational speed, U is the input voltage across the armature, and I... a R is the armature current. a K is the armature winding resistance. e Let U be the motor structure constant and Φ be the excitation flux. Therefore, the motor speed can be controlled by adjusting the input voltage U across the armature and / or adjusting the excitation flux Φ. The controller can change the voltage parameters applied to the motor windings by adjusting the output voltage of the motor drive circuit to increase or decrease the motor speed; or, it can change the flux parameters by adjusting the flux setpoint in the motor control algorithm to change the output torque and acceleration of the motor under limited voltage conditions, thereby indirectly adjusting the motor speed. The controller can simultaneously adjust the voltage and flux parameters to achieve comprehensive control of the motor speed and acceleration while ensuring that the motor operates within a safe voltage and current range, adapting to different speed control strategies under tracking and wind protection conditions.

[0035] Based on the same technological concept Figure 4 A schematic diagram of a motor control device for a photovoltaic tracking bracket provided in some embodiments of this application is shown. The motor control device 400 is used to drive the motor of the photovoltaic tracking bracket. A Hall sensor is installed on the motor. The motor drives a torque tube to rotate around its central axis via a transmission mechanism. The motor control device 400 includes: an acquisition unit 410, used to acquire motor parameters and transmission parameters of the transmission mechanism. The motor parameters include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters include at least the transmission ratio between the motor output shaft and the rotation shaft; a conversion unit 420, used to establish a mapping relationship between the motor rotation angle and the torque tube rotation angle based on the number of Hall pulses corresponding to a unit rotation angle of the motor and the transmission ratio, and to convert the target rotation angle of the torque tube into a target rotation angle of the motor and a target number of Hall pulses corresponding to the target rotation angle of the motor based on the mapping relationship; and an adjustment unit 430, used to acquire operating condition commands and adjust the driving parameters of the motor based on the operating condition commands to drive the motor to rotate. The operating condition commands include parameters indicating the target rotation angle of the torque tube.

[0036] In some embodiments, the type of operating condition command also includes a wind protection condition command; the adjustment unit 430 is further configured to, under the wind protection condition command, compare the current Hall pulse count of the motor with the second target Hall pulse count, determine the angle deviation between the current rotation angle of the motor and the second target rotation angle of the motor, and adjust the driving parameters of the motor based on a preset second speed control strategy, so that the motor rotates towards the second target rotation angle of the motor at a second preset speed until the second angle deviation is within a second preset range, wherein the acceleration of the second preset speed is greater than the acceleration of the first preset speed.

[0037] Based on the same technical concept, this application also provides a computer-readable storage medium, including: a memory having instructions stored thereon, wherein when the instructions are read by a processor, they implement the motor control method as provided in the first aspect.

[0038] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A motor control method for a photovoltaic tracking bracket, characterized in that, The motor is equipped with a Hall sensor, and the motor drives a torque tube to rotate around its central axis via a transmission mechanism. The motor control method includes: Obtain the motor parameters of the motor and the transmission parameters of the transmission mechanism. The motor parameters include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters include at least the transmission ratio between the motor output shaft and the torque tube. Based on the number of Hall pulses corresponding to the unit rotation angle of the motor and the transmission ratio, a mapping relationship between the motor rotation angle and the torque tube rotation angle is established, and based on the mapping relationship, the target rotation angle of the torque tube is converted into the target rotation angle of the motor and the target number of Hall pulses corresponding to the target rotation angle of the motor. The target rotation angle parameter of the torque tube is obtained, and the target rotation angle parameter of the torque tube is converted into an operating condition command including the target rotation angle of the motor and the target Hall pulse count according to the mapping relationship. Based on the operating condition command, the driving parameters of the motor are adjusted to drive the motor to rotate.

2. The motor control method for the photovoltaic tracking bracket according to claim 1, characterized in that, The types of operating condition commands include tracking operating condition commands; The step of adjusting the motor's drive parameters based on the operating condition command to drive the motor to rotate includes: Under the tracking condition command, the current Hall pulse count of the motor is compared with the first target Hall pulse count to determine the angular deviation between the current rotation angle of the motor and the first target rotation angle of the motor; The driving parameters of the motor are adjusted based on a preset first speed control strategy, so that the motor rotates at a first preset speed toward the first motor target angle until the first angle deviation is within a first preset range.

3. The motor control method for the photovoltaic tracking bracket according to claim 2, characterized in that, The types of operating condition commands also include wind protection operating condition commands; Under the wind protection condition command, the current Hall pulse count of the motor is compared with the second target Hall pulse count to determine the angle deviation between the current rotation angle of the motor and the second target rotation angle of the motor. Based on the preset second speed control strategy, the driving parameters of the motor are adjusted so that the motor rotates towards the second target rotation angle at the second preset speed until the second angle deviation is within the second preset range.

4. The motor control method for the photovoltaic tracking bracket according to claim 3, characterized in that, The tracking condition command is determined based on the illumination calculation results and / or time information; The wind protection operating condition command is determined based on the comparison between the wind speed detection result and the preset wind speed threshold.

5. The electrode control method for a photovoltaic tracking bracket according to claim 3, characterized in that, The motor rotating at the first preset speed is configured to rotate at a constant speed, and the motor rotating at the second preset speed is configured to rotate at an accelerated speed.

6. The motor control method for a photovoltaic tracking bracket according to any one of claims 1 to 5, characterized in that, The driving parameters include: voltage parameters or magnetic flux parameters; When driving the motor to rotate, the method includes: adjusting the motor speed based on adjusted voltage parameters; or, adjusting the motor speed based on adjusted magnetic flux parameters; or, adjusting the motor speed based on both the adjusted voltage parameters and the adjusted magnetic flux parameters.

7. A motor control device for a photovoltaic tracking bracket, characterized in that, The motor is equipped with a Hall sensor, and the motor drives a torque tube to rotate around its central axis via a transmission mechanism. The motor control device includes: The acquisition unit is used to acquire the motor parameters of the motor and the transmission parameters of the transmission mechanism. The motor parameters include at least the number of Hall pulses corresponding to a unit rotation angle of the motor, and the transmission parameters include at least the transmission ratio between the motor output shaft and the torque tube. The conversion unit is used to establish a mapping relationship between the motor rotation angle and the torque tube rotation angle based on the number of Hall pulses corresponding to the unit rotation angle of the motor and the transmission ratio, and to convert the target rotation angle of the torque tube into the target rotation angle of the motor and the target number of Hall pulses corresponding to the target rotation angle of the motor based on the mapping relationship; An adjustment unit is used to acquire the target rotation angle parameter of the torque tube, convert the target rotation angle parameter of the torque tube into an operating condition command including the target rotation angle of the motor and the target Hall pulse count according to the mapping relationship, and adjust the driving parameters of the motor based on the operating condition command to drive the motor to rotate.

8. The motor control device for the photovoltaic tracking bracket according to claim 7, characterized in that, The types of operating condition commands also include wind protection operating condition commands; The adjustment unit is further configured to, under the wind protection condition command, compare the current Hall pulse count of the motor with the second target Hall pulse count, determine the angle deviation between the current rotation angle of the motor and the second target rotation angle of the motor, and adjust the driving parameters of the motor based on the preset second speed control strategy, so that the motor rotates towards the second target rotation angle of the motor at the second preset speed until the second angle deviation is within the second preset range.

9. A photovoltaic tracking bracket system, characterized in that, include: The transmission mechanism is connected to the photovoltaic module; The motor is connected to the torque tube of the transmission mechanism via its output shaft; The controller is configured to control the rotation of the motor based on the motor control method of the photovoltaic tracking bracket according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, include: A memory storing instructions that, when read by a processor, implement the motor control method for a photovoltaic tracking bracket as described in any one of claims 1 to 6.

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