Photovoltaic support flat single-axis tracking system

Abstract

The invention discloses a photovoltaic support flat single-axis tracking system, and relates to the technical field of photovoltaic support angle regulation and control systems, and the system comprises a time sequence reference circuit which is provided with high-steady-state clock hardware with an independent energy maintenance topology, provides an irreversible global timestamp index for the system, outputs a current precise timestamp, and has a time sequence error less than or equal to + / -1ms; meanwhile, a standby clock signal is provided to deal with an RTC fault scene, and continuous operation of the system is guaranteed. A photovoltaic support flat single-axis tracking system thoroughly eliminates tracking oscillation and misjudgment caused by random disturbance of environment illumination by constructing a deterministic control model decoupled from the environment, and realizes all-weather dimension trajectory robustness at the same time, so that the system can be used for tracking a photovoltaic support without relying on feedback of an external illumination sensor. A rigid instruction is output according to a built-in space-time model, and convergence and stability of tracking precision under any meteorological condition are ensured.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic bracket angle adjustment system technology, specifically a photovoltaic bracket single-axis tracking system. Background Technology

[0002] As the physical limits of photovoltaic energy conversion efficiency are continuously approached, photovoltaic tracking technology based on kinematic attitude optimization has become a key path to improve energy efficiency. This technology aims to maximize luminous flux by adjusting the spatial normal vector of the photovoltaic array in real time to maintain a minimum angle with the solar incident vector. However, existing passive light sensing systems are highly dependent on ambient light flux. Under nonlinear weather conditions such as cloud cover, scattering, and partial shading, the systems are prone to random oscillations and local optimization failures, leading to a sharp drop in energy efficiency conversion (ECE). Furthermore, traditional discrete hardware architectures inherently suffer from signal link redundancy and volatile spatiotemporal references. In complex electromagnetic environments and power supply disturbances, the systems lack underlying logic self-healing capabilities and absolute temporal continuity, making industrial-grade unattended operation and maintenance impossible. Summary of the Invention

[0003] The purpose of this invention is to provide a single-axis tracking system for photovoltaic support to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic support single-axis tracking system, comprising: Timing reference circuit: It has a highly stable clock hardware with independent power supply to maintain the topology, provides an irreversible global timestamp index for the system, outputs the current accurate timestamp, and has a timing error of ≤±1ms, providing an accurate basis for time interval retrieval. It is also equipped with a backup clock signal to cope with RTC failure scenarios and ensure the continuous operation of the system. Data storage module: Non-volatile storage medium with embedded celestial kinematic model parameters, used to complete hardware-level mapping from the time domain to the spatial angle domain. It is pre-loaded with a spatiotemporal trajectory matrix optimized based on local latitude and longitude, seasonal solar altitude angle variation, and photovoltaic module photoelectric conversion efficiency. It supports power-off retention and annual updates. It stores a set of key-value pairs between discretized time nodes and their corresponding theoretically optimal tilt angles, eliminating the need for real-time astronomical calculations and reducing computational pressure. Edge computing control module: It is used to undertake core tasks such as trajectory mapping calculation, control deviation calculation, and drive decision output, and is adapted to low computing power scenarios. It is also the central processing hardware that integrates the kinematics solution engine, responsible for the real-time throughput of multi-dimensional data streams and the generation of vector instructions. Closed-loop control module: It is responsible for collecting the actual physical angle of the photovoltaic support and providing feedback data for closed-loop control, which corresponds to the data collection requirements in the original control logic; Action execution control module: used to automatically receive drive commands from MCU, drive photovoltaic bracket to rotate around flat single axis, achieve rigid fitting between actual angle and target angle, corresponding to the motor drive and execution mechanism in the original control logic; System stability assurance module: It is used to provide auxiliary support for the stable operation of the system, deal with various abnormal scenarios, and correspond to the abnormal handling and fault tolerance design in the original solution.

[0005] Furthermore, the edge computing control module includes an edge computing core unit, an algorithm computing unit, a data preprocessing unit, and a data output unit. The edge computing core unit adopts an edge computing core MCU, which is responsible for the real-time throughput of multi-dimensional data streams (RTC time data, angle feedback data) and vector commands (target attitude vector generation, and real-time reading of RTC timestamps through I2C / SPI interface, execution of trajectory mapping calculation (time interval retrieval, linear interpolation / direct mapping calculation), while reading actual angle feedback data, calculating control deviation, and performing dead zone judgment and drive decision, with a calculation time of ≤10ms.

[0006] Furthermore, the algorithm operation unit incorporates a time-series indexing and trajectory mapping algorithm (linear interpolation algorithm, direct mapping algorithm) and a differential comparison and dead-zone suppression composite control algorithm, including auxiliary operation logic such as deviation filtering and dynamic dead-zone adaptation, to ensure operation accuracy and control stability. The data preprocessing unit is used to automatically compare the calculated data. If the calculated data exceeds the set threshold, the algorithm operation unit is controlled to recalculate. If the calculated data is within the threshold range, the data is transmitted to the data output unit and then sent to the subsequent modules for further operations.

[0007] Furthermore, the closed-loop control module consists of a dual-axis angle sensor and a backup angle calculation unit. The dual-axis angle sensor is the core detection component, and its detection accuracy needs to be within ±0.1°. It collects the current actual physical angle of the photovoltaic array in real time at a frequency of 10Hz and feeds the data back to the MCU in real time. At the same time, it needs to have a signal anti-interference design to reduce the impact of environmental noise on the detection accuracy.

[0008] Furthermore, the backup angle calculation unit is used to automatically switch to the time integration angle calculation mode when the angle sensor feedback is abnormal (signal interruption, data jump). It performs indirect integration calculation by recording the effective running time of the motor and the rated angular velocity of the reducer output shaft to ensure that the feedback link is not interrupted.

[0009] Furthermore, the action execution control module includes a power vector modulation unit, a drive motor control unit, an electromagnetic brake control unit, and a flat single-axis mechanical support control unit. The power vector modulation unit is used to automatically convert logic levels into power stage circuits that drive pulses. It directly couples to the actuator (drive motor) and receives drive decision signals from the MCU, outputting drive signals with adjustable duty cycles. The duty cycle is positively correlated with the absolute value of the control deviation, thereby realizing dynamic adjustment of the motor speed and improving the angle adjustment efficiency.

[0010] Furthermore, the drive motor control unit (supporting both DC and AC geared motor adaptation modes, and adjusting to the corresponding mode for drive control according to the installed drive motor model) is used to drive the motor to run, enabling forward and reverse rotation while responding to the MCU's angle adjustment commands. The electromagnetic brake control unit is used to control the automatic triggering of the brake when the system enters the standby lock state, thereby locking the current angle of the photovoltaic bracket to prevent external forces such as wind from causing angle deviation, protecting the mechanical structure and the motor. The single-axis mechanical bracket control unit is used to control the photovoltaic module to rotate around the horizontal axis.

[0011] Furthermore, the system stability assurance module includes an abnormal alarm unit, a dynamic adaptation unit, and a host computer interaction interface. The abnormal alarm unit is used to immediately trigger an audible and visual alarm when RTC failure, angle sensor malfunction, or motor drive failure occurs, so as to remind staff to handle the situation in a timely manner and record the fault information.

[0012] Furthermore, the dynamic adaptation unit is used to automatically adjust the dead zone threshold range according to the ambient wind speed. When the wind speed is ≥5m / s, the threshold is expanded to suppress jitter, and when the wind speed is <5m / s, the default threshold is restored to balance accuracy and stability. The host computer interaction interface is used to support the calibration and updating of parameters such as dead zone threshold and trajectory matrix, so as to facilitate the staff to optimize system performance according to actual application scenarios and realize flexible adjustment of parameters.

[0013] This invention provides a single-axis tracking system for photovoltaic support, which has the following advantages: 1. This invention completely eliminates tracking oscillations and misjudgments caused by random disturbances in ambient light by constructing a deterministic control model decoupled from the environment. At the same time, it achieves trajectory robustness in all weather conditions, enabling the system to output rigid commands based on the built-in spatiotemporal model without relying on feedback from external light sensors, ensuring the convergence and stability of tracking accuracy under any weather conditions.

[0014] 2. By implementing high-density single-board heterogeneous integration, this invention effectively solves the problems of volume redundancy, poor EMC characteristics and complex engineering deployment in traditional discrete architectures, thereby greatly improving the electromagnetic compatibility and mass production consistency of the system. Furthermore, the integrated hardware topology reduces signal transmission loss and simplifies complex system engineering into standardized device-level applications. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall operation process of a photovoltaic support single-axis tracking system according to the present invention. Detailed Implementation

[0016] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0017] like Figure 1 As shown, a photovoltaic support single-axis tracking system includes: Timing reference circuit: It has a highly stable clock hardware with independent power supply to maintain the topology, provides an irreversible global timestamp index for the system, outputs the current accurate timestamp, and has a timing error of ≤±1ms, providing an accurate basis for time interval retrieval. It is also equipped with a backup clock signal to cope with RTC failure scenarios and ensure the continuous operation of the system. Data storage module: Non-volatile storage medium with embedded celestial kinematic model parameters, used to complete hardware-level mapping from the time domain to the spatial angle domain. It is pre-loaded with a spatiotemporal trajectory matrix optimized based on local latitude and longitude, seasonal solar altitude angle variation, and photovoltaic module photoelectric conversion efficiency. It supports power-off retention and annual updates. It stores a set of key-value pairs between discretized time nodes and their corresponding theoretically optimal tilt angles, eliminating the need for real-time astronomical calculations and reducing computational pressure. Edge computing control module: This module handles core tasks such as trajectory mapping calculations, control deviation calculations, and drive decision outputs. It is adaptable to low-computing-power scenarios and serves as the central processing hardware for the integrated kinematics calculation engine. It is responsible for real-time throughput of multi-dimensional data streams and vector instruction generation. The edge computing control module includes an edge computing core unit, an algorithm calculation unit, a data preprocessing unit, and a data output unit. The edge computing core unit uses an edge computing core MCU to handle real-time throughput of multi-dimensional data streams (RTC time data, angle feedback data) and vector instructions (target attitude vector generation, and real-time reading of RTC timestamps via I2C / SPI interface, execution of trajectory mapping calculations (time interval retrieval, linear interpolation)). The algorithm calculation unit (value / direct mapping calculation) simultaneously reads actual angle feedback data, calculates control deviation, performs dead zone judgment and drive decision, and the calculation time is ≤10ms. The algorithm calculation unit has built-in time sequence indexing and trajectory mapping algorithms (linear interpolation algorithm, direct mapping algorithm) and differential comparison and dead zone suppression composite control algorithm, including deviation filtering, dynamic dead zone adaptation and other auxiliary calculation logic to ensure calculation accuracy and control stability. The data preprocessing unit is used to automatically compare the calculated data. If the calculated data exceeds the set threshold, the algorithm calculation unit is controlled to recalculate. If the calculated data is within the threshold range, the data is transmitted to the data output unit and then sent to the subsequent modules for further operation. Closed-loop control module: This module is responsible for collecting the actual physical angle of the photovoltaic support and providing feedback data for closed-loop control. Corresponding to the data collection requirements in the original control logic, the closed-loop control module consists of a dual-axis angle sensor and a backup angle calculation unit. The dual-axis angle sensor is the core detection component, and its detection accuracy needs to be within ±0.1°. It collects the current actual physical angle of the photovoltaic array in real time at a frequency of 10Hz and feeds the data back to the MCU in real time. It also needs to have a signal anti-interference design to reduce the impact of environmental noise on detection accuracy. The backup angle calculation unit is used to automatically switch to the time integration angle calculation mode when the angle sensor feedback is abnormal (signal interruption, data jump). It performs indirect integration calculation by recording the effective running time of the motor and the rated angular velocity of the reducer output shaft to ensure that the feedback link is not interrupted. Motion execution control module: This module automatically receives drive commands from the MCU, causing the photovoltaic support to rotate around the single-axis plane, achieving a rigid fit between the actual angle and the target angle. Corresponding to the motor drive and execution mechanism in the original control logic, the motion execution control module includes a power vector modulation unit, a drive motor control unit, an electromagnetic brake control unit, and a single-axis mechanical support control unit. The power vector modulation unit automatically converts logic levels into high-energy drive pulses, directly coupling the actuator (drive motor) while simultaneously receiving drive decision signals from the MCU and outputting a drive signal with an adjustable duty cycle. The duty cycle and the absolute value of the control deviation are... Positive correlation enables dynamic adjustment of motor speed, improving angle adjustment efficiency. The drive motor control unit (supports both DC and AC geared motor adaptation modes, and adjusts to the corresponding mode according to the installed drive motor model) is used to drive the motor to run. It can realize forward and reverse rotation while responding to the MCU's angle adjustment commands. The electromagnetic brake control unit is used to control the automatic triggering of the brake when the system enters the standby lock state to lock the current angle of the photovoltaic bracket, prevent external forces such as wind from causing angle deviation, and protect the mechanical structure and motor. The flat single-axis mechanical bracket control unit is used to control the photovoltaic module to rotate around the horizontal axis. System stability assurance module: This module provides auxiliary support for stable system operation and addresses various abnormal scenarios. Corresponding to the anomaly handling and fault tolerance design in the original solution, the system stability assurance module includes an anomaly alarm unit, a dynamic adaptation unit, and a host computer interaction interface. The anomaly alarm unit immediately triggers audible and visual alarms when RTC failure, angle sensor malfunction, or motor drive failure occurs, to remind staff to handle the situation promptly and record fault information. The dynamic adaptation unit automatically adjusts the dead zone threshold range according to the ambient wind speed. When the wind speed is ≥5m / s, the threshold is expanded to suppress jitter; when the wind speed is <5m / s, the default threshold is restored to balance accuracy and stability. The host computer interaction interface supports the calibration and updating of parameters such as dead zone threshold and trajectory matrix, allowing staff to optimize system performance and flexibly adjust parameters according to actual application scenarios.

[0018] In summary, combining Figure 1 As shown, the working principle of the photovoltaic bracket single-axis tracking system is as follows: First, after the equipment is powered on, it completes the self-test of each module (focusing on testing the timing reference circuit, angle sensor, and motor drive module). If a fault is detected, the alarm unit automatically triggers an audible and visual alarm, stops subsequent operation, and waits for troubleshooting. If the self-test is normal, it enters the initialization configuration and then calibrates the current timestamp. After ensuring time accuracy, the spatiotemporal trajectory matrix M is read from the data storage module and loaded into the MCU's cache for easy subsequent retrieval. Then, control parameters (dead zone threshold) are initialized. (The default settings are 0.2°~0.5°, and the sampling frequency is set to 10Hz, etc.). Then, the drive motor rotates the photovoltaic bracket to the initial angle (the angle corresponding to the time in the trajectory matrix is ​​taken by default), and the angle sensor provides real-time feedback. The MCU confirms the initial angle deviation. Afterwards, the system enters standby mode, waiting for the timing retrieval to be triggered; Secondly, the MCU reads the current timestamp output by the RTC in real time at a frequency of 10Hz, triggering the trajectory mapping calculation process, and then performs time interval retrieval: the MCU traverses the trajectory matrix M in the buffer and locates... The discrete time interval in which it is located [ , ],like The default mapping is to [ , The system then uses a time interval to avoid cross-day indexing anomalies, and then calculates the current target attitude vector according to the system's preset mode. Its calculation formula is: If an RTC module failure causes the timestamp to become invalid, the system automatically activates the backup clock signal and calls the corresponding time node of the previous valid time node in the matrix. This serves as a temporary target value, simultaneously triggering fault alarms to maintain continuous system operation. Secondly, when the angle sensor collects the current actual physical angle of the photovoltaic support at a frequency of 10Hz... It feeds back to the MCU, which then substitutes it into the control deviation formula. The real-time deviation is calculated, and the deviation value is processed by moving average filtering (window size 5) to eliminate sensor noise interference. Then the MCU compares the absolute value of the deviation. With dead zone threshold Output the corresponding driver instruction when > The time-power vector modulation unit outputs a drive signal when > When the drive motor rotates in the forward direction, When <0, the drive motor rotates in the reverse direction until ≤ When the electromagnetic brake control unit starts operating, the motor stops running, and the system enters a standby lockout state. (While performing calculations, the system monitors the ambient wind speed in real time; if the wind speed is ≥5m / s, it automatically adjusts the dead zone threshold.) Expand to 0.5°~0.8° to suppress motor vibration; if the wind speed is <5m / s, restore (Default value, ensuring angle fitting accuracy); Finally, once the angle is locked, the system enters a low-power standby state, maintaining only core functions such as RTC time reading, angle sensor sampling, and wind speed detection to reduce energy consumption. At the same time, the MCU reads the RTC timestamp again at a preset frequency (10Hz). The system repeats the trajectory mapping → target angle determination → closed-loop control → angle fitting process to achieve continuous solar trajectory tracking along a single axis of the photovoltaic support until the system loses power or malfunctions. If an angle sensor malfunctions during operation, the system automatically switches to time-integration angle calculation mode, calculating the angle by accumulating motor running time. To maintain closed-loop control, if a motor drive failure occurs, an alarm will be triggered immediately and the current angle will be locked to prevent equipment damage.

[0019] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A photovoltaic support single-axis tracking system, characterized in that, The photovoltaic support single-axis tracking system includes: Timing reference circuit: It has a highly stable clock hardware with independent power supply to maintain the topology, provides an irreversible global timestamp index for the system, outputs the current accurate timestamp, and has a timing error of ≤±1ms, providing an accurate basis for time interval retrieval. It is also equipped with a backup clock signal to cope with RTC failure scenarios and ensure the continuous operation of the system. Data storage module: Non-volatile storage medium with embedded celestial kinematic model parameters, used to complete hardware-level mapping from the time domain to the spatial angle domain. It is pre-loaded with a spatiotemporal trajectory matrix optimized based on local latitude and longitude, seasonal solar altitude angle variation, and photovoltaic module photoelectric conversion efficiency. It supports power-off retention and annual updates. It stores a set of key-value pairs between discretized time nodes and their corresponding theoretically optimal tilt angles, eliminating the need for real-time astronomical calculations and reducing computational pressure. Edge computing control module: It is used to undertake core tasks such as trajectory mapping calculation, control deviation calculation, and drive decision output, and is adapted to low computing power scenarios. It is also the central processing hardware that integrates the kinematics solution engine, responsible for the real-time throughput of multi-dimensional data streams and the generation of vector instructions. Closed-loop control module: It is responsible for collecting the actual physical angle of the photovoltaic support and providing feedback data for closed-loop control, which corresponds to the data collection requirements in the original control logic; Action execution control module: used to automatically receive drive commands from MCU, drive photovoltaic bracket to rotate around flat single axis, achieve rigid fitting between actual angle and target angle, corresponding to the motor drive and execution mechanism in the original control logic; System stability assurance module: It is used to provide auxiliary support for the stable operation of the system, deal with various abnormal scenarios, and correspond to the abnormal handling and fault tolerance design in the original solution.

2. The photovoltaic support single-axis tracking system according to claim 1, characterized in that, The edge computing control module includes an edge computing core unit, an algorithm computing unit, a data preprocessing unit, and a data output unit. The edge computing core unit adopts an edge computing core MCU, which is responsible for the real-time throughput of multi-dimensional data streams and vector commands. At the same time, it reads actual angle feedback data, calculates control deviations, performs dead zone judgment and drive decisions, and the computing time is ≤10ms.

3. A photovoltaic support single-axis tracking system according to claim 2, characterized in that, The algorithm operation unit incorporates a time-series indexing and trajectory mapping algorithm, as well as a differential comparison and dead-zone suppression composite control algorithm. It includes auxiliary operation logic such as deviation filtering and dynamic dead-zone adaptation to ensure operation accuracy and control stability. The data preprocessing unit is used to automatically compare the calculated data. If the calculated data exceeds the set threshold, the algorithm operation unit is controlled to recalculate. If the calculated data is within the threshold range, the data is transmitted to the data output unit and then sent to the subsequent modules for further operations.

4. A photovoltaic support single-axis tracking system according to claim 1, characterized in that, The closed-loop control module consists of a dual-axis angle sensor and a backup angle calculation unit. The dual-axis angle sensor is the core detection component, and its detection accuracy needs to be within ±0.1°. It collects the current actual physical angle of the photovoltaic array in real time at a frequency of 10Hz and feeds the data back to the MCU in real time. At the same time, it needs to have a signal anti-interference design to reduce the impact of environmental noise on the detection accuracy.

5. A photovoltaic support single-axis tracking system according to claim 4, characterized in that, The backup angle calculation unit is used to automatically switch to the time integration angle calculation mode when the angle sensor feedback is abnormal. It performs indirect integration calculation by recording the effective running time of the motor and the rated angular velocity of the reducer output shaft to ensure that the feedback link is not interrupted.

6. A photovoltaic support single-axis tracking system according to claim 1, characterized in that, The action execution control module includes a power vector modulation unit, a drive motor control unit, an electromagnetic brake control unit, and a flat single-axis mechanical support control unit. The power vector modulation unit is used to automatically convert logic levels into power stage circuits that directly couple to the actuator and receive drive decision signals from the MCU. It outputs drive signals with adjustable duty cycles. The duty cycle is positively correlated with the absolute value of the control deviation, thereby realizing dynamic adjustment of the motor speed and improving the angle adjustment efficiency.

7. A photovoltaic support single-axis tracking system according to claim 6, characterized in that, The drive motor control unit is used to drive the motor to run, and can realize forward and reverse rotation while responding to the MCU's angle adjustment command. The electromagnetic brake control unit is used to control the automatic triggering of the brake when the system enters the standby lock state, so as to lock the current angle of the photovoltaic bracket, prevent external forces such as wind from causing angle deviation, and protect the mechanical structure and motor. The single-axis mechanical bracket control unit is used to control the photovoltaic module to rotate around the horizontal axis.

8. A photovoltaic support single-axis tracking system according to claim 1, characterized in that, The system stability assurance module includes an abnormal alarm unit, a dynamic adaptation unit, and a host computer interaction interface. The abnormal alarm unit is used to immediately trigger an audible and visual alarm when RTC failure, angle sensor malfunction, or motor drive failure occurs, so as to remind staff to handle the situation in time and record the fault information.

9. A photovoltaic support single-axis tracking system according to claim 8, characterized in that, The dynamic adaptation unit is used to automatically adjust the dead zone threshold range according to the ambient wind speed. When the wind speed is ≥5m / s, the threshold is expanded to suppress jitter. When the wind speed is <5m / s, the default threshold is restored to balance accuracy and stability. The host computer interaction interface is used to support the calibration and updating of parameters such as dead zone threshold and trajectory matrix, so that staff can optimize system performance according to actual application scenarios and achieve flexible adjustment of parameters.

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