Inverse tracking method and device applied to photovoltaic tracking system array, and storage medium

Abstract

The invention discloses an inverse tracking method and device applied to a photovoltaic tracking system array, and a storage medium. The method comprises the steps of obtaining central point coordinates of each photovoltaic tracking system, the length 2R of a photovoltaic module, a light incident angle alpha at the moment and an initial tracking angle beta; based on the center point coordinates (x0, z0) and beta of the current row of tracking systems, calculating the highest point coordinates (x0-Rcos beta, z0 + Rsin beta) of the current row of tracking systems; calculating coordinates (x1 + Rcos gamma, z1-Rsin gamma) of the lowest point of the photovoltaic module of the next row of tracking system based on the coordinates (x1, z1) of the central point of the next row of tracking system and the inclination angle gamma; on the basis of the lowest point coordinates (x1 + Rcos gamma, z1-Rsin gamma) and alpha, calculating and calculating a critical position height at which the current row of tracking system does not generate shadow shielding on the next row of tracking system at the moment according to an incident ray formula; and comparing the critical position height with the highest point height of the current row of photovoltaic tracking system, and determining a tracking mode according to a comparison result. The photovoltaic array inverse tracking angle is adjusted according to the real-time change of the incident angle of the sun, and is suitable for any rugged topography.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and more specifically, to an inverse tracking method, apparatus, and storage medium for photovoltaic tracking system arrays. Background Technology

[0002] Currently, during sunrise and sunset, the front-row tracking systems shade the photovoltaic modules of the rear-row tracking systems, causing a sharp decrease in the power generation of the rear-row systems. Existing photovoltaic tracking systems typically use inverse tracking algorithms to adjust the tilt angle of the rear-row tracking systems to prevent their photovoltaic modules from being shaded by the front-row tracking systems.

[0003] However, existing inverse tracking algorithms are two-dimensional inverse tracking methods. When the system enters inverse tracking control, it controls all photovoltaic tracking systems to adopt the same tilt angle to solve the shading problem based on previously set parameters. These methods ignore factors such as actual terrain elevation differences, uneven component spacing, and differences in tilt angles between adjacent photovoltaic tracking systems. As a result, these inverse tracking methods still suffer from significant shading losses in actual operation, thus limiting the effect of improving power generation through inverse tracking. Summary of the Invention

[0004] One of the objectives of this invention is to address the problem that existing photovoltaic inverse tracking methods still suffer from significant shadow loss and limited power generation under undulating terrain conditions. This invention proposes an inverse tracking method, device, and computer-readable storage medium for photovoltaic tracking system arrays, which is a 3D inverse tracking method that obtains the target inverse tracking angle of each photovoltaic tracking system based on three-dimensional terrain and illumination analysis.

[0005] To address the aforementioned technical problems, in a first aspect, embodiments of the present invention provide a reverse tracking method applied to a photovoltaic tracking system array. The photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals along an east-west direction. Each photovoltaic tracking system extends north-south and includes a photovoltaic tracking bracket and photovoltaic modules mounted on the bracket. The tracking systems in the photovoltaic tracking system array that are relatively closer to the sun are defined as front-row tracking systems, and the tracking systems that are relatively farther from the sun are defined as rear-row tracking systems. The method includes: S1. Obtain the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length of the photovoltaic module 2R, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; S2. Based on the coordinates of the center point of the current row of tracking systems (x0, z0) and the initial tracking angle β, calculate the coordinates of the highest point of the current row of tracking systems as (x0-Rcosβ, z0+Rsinβ); based on the coordinates of the center point of the next row of tracking systems (x1, z1) and the tilt angle γ of the next row of tracking systems, calculate the coordinates of the lowest point of the photovoltaic module of the next row of tracking systems as (x1+Rcosγ, z1-Rsinγ). Based on the lowest point coordinates of the photovoltaic modules of the subsequent tracking system (x1+Rcosγ, z1-Rsinγ) and the incident angle α, the incident ray formula is calculated. Then, based on the incident ray formula, the critical position height at which the current tracking system does not cast a shadow on the subsequent tracking system is calculated. ; S3, adjust the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

[0006] Furthermore, in the technical solution provided by the embodiments of the present invention, the method further includes: The current row of tracking systems is taken as the new next row of tracking systems, and the adjacent previous row of tracking systems of the current row of tracking systems is taken as the new current row of tracking systems. S2-S3 are executed recursively until the target inverse tracking angle calculation of the last row of tracking systems in the photovoltaic tracking system array is completed. Control all photovoltaic tracking systems to rotate to the corresponding target inverse tracking angle.

[0007] Optionally, in one possible design, the coordinates of the lowest point of the photovoltaic module based on the rear row tracking system are (x1+Rcosγ, z1-Rsinγ), and the incident angle of the light ray α is used. The formula for calculating the incident light ray at this time specifically includes: Based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, the formula for calculating the incident light passing through the lowest point of the photovoltaic module of the rear row tracking system is Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

[0008] Optionally, in one possible design, the critical position height for which the highest point of the current row of tracking systems does not cast a shadow on the next row of tracking systems is calculated according to the incident ray formula. Specifically, it includes: Based on the incident ray formula Z(X) and the x-coordinate of the highest point of the current tracking system as x0-Rcosβ, calculate the critical position height at this point. It is tanα*[(x0-Rcosβ)-(x1+Rcosγ)]+(z1-Rsinγ).

[0009] Optionally, in one possible design, the current row tracking system enters the reverse tracking mode, and calculating the target reverse tracking angle of the current row tracking system specifically includes: Based on the incident ray formula Z(X)=tanα*[X-(x1 +Rcosγ)]+(z1 -Rsinγ), and the range of the curve that the current tracking system can rotate around (x0,z0) as a point, (X-x0). 2 +(Z-z0) 2 =R 2 Calculate the coordinates (x, y) of the highest point when the current row of tracking systems just does not produce shadow occlusion on the next row of tracking systems. h ,z h ); Based on the new highest point coordinates (x) h ,z h The target inverse tracking angle of the current tracking system is calculated as angle = arccos[(x0-x0)]. h ) / R].

[0010] Furthermore, in the technical solution provided by the embodiments of the present invention, the method further includes: S4. Determine whether the angle difference between the target reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems exceeds a preset angle difference threshold. If it does, perform angle correction on the current row of tracking systems. The angle correction specifically includes: The tracking system angle is incremented / decremented using a preset step value. The angle value after incrementing / decrementing is used as input to determine whether the angle difference between the reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems is within a preset angle difference threshold. If it is outside the preset angle difference threshold, the stepping continues. If it is within the preset angle difference threshold, the reverse tracking angle is the optimal reverse tracking angle, and the stepping ends.

[0011] Furthermore, in the technical solution provided by the embodiments of the present invention, the method further includes: Take the adjacent previous row of the current row of tracking system as the new current row of tracking system, and recursively execute S2-S4 until the optimal inverse tracking angle of the last row of tracking system in the photovoltaic tracking system array is calculated. Control all photovoltaic tracking systems to rotate to the corresponding optimal reverse tracking angle.

[0012] Secondly, to solve the technical problem of the present invention, embodiments of the present invention also provide a reverse tracking device applied to a photovoltaic tracking system array, wherein the photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals in an east-west direction, each photovoltaic tracking system extending north-south, including a photovoltaic tracking bracket and photovoltaic modules mounted on the photovoltaic tracking bracket, defining the tracking systems relatively closer to the sun in the photovoltaic tracking system array as front-row tracking systems, and the tracking systems relatively farther from the sun as rear-row tracking systems, the device comprising: The operating parameter acquisition unit is used to acquire the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length 2R of the photovoltaic module, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; The first calculation unit is used to calculate the coordinates of the highest point of the current row tracking system as (x0-Rcosβ,z0+Rsinβ) based on the coordinates of the center point of the current row tracking system as (x0,z0) and the initial tracking angle β. The second calculation unit is used to calculate the coordinates of the lowest point of the photovoltaic module of the rear tracking system as (x1+Rcosγ, z1-Rsinγ) based on the coordinates of the center point of the rear tracking system (x1, z1) and the tilt angle γ of the rear tracking system. The third calculation unit is used to calculate the incident ray formula based on the lowest point coordinates of the photovoltaic modules of the next row of tracking systems (x1+Rcosγ, z1-Rsinγ) and the incident ray angle α. Based on the incident ray formula, it calculates the critical position height at which the current row of tracking systems does not cast a shadow on the next row of tracking systems. ; The inverse tracking unit is used to determine the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

[0013] Optionally, in one possible design, the third calculation unit calculates the incident ray passing through the lowest point of the photovoltaic module of the rear row tracking system based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, using the formula Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

[0014] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor or calculator, cause the processor to perform the method described above.

[0015] Compared with the prior art, the reverse tracking method and apparatus for photovoltaic tracking system arrays provided by the embodiments of the present invention have terrain adaptability in the tilt angle adjustment of the photovoltaic tracking system, and the reverse tracking angle adjustment of the photovoltaic tracking system array changes in real time according to the solar incident angle, which has a good effect on any undulating terrain, thereby significantly improving the power generation during the reverse tracking stage. The addition of a reverse tracking angle correction mechanism can ensure overall angle coordination when solving shading problems, making the product more competitive in the market. In addition, the reverse tracking function can be packaged separately, which facilitates program upgrades and modifications. Attached Figure Description

[0016] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of the present invention.

[0017] Figure 1 This is a flowchart illustrating an inverse tracking method applied to a photovoltaic tracking system array according to an embodiment of the present invention; Figure 2 This is a 3D inverse tracking visualization model diagram of an inverse tracking method applied to a photovoltaic tracking system array according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the array reverse tracking recursive reverse tracking of the photovoltaic tracking system according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the photovoltaic tracking system array reverse tracking and row-by-row bracket recursive correction according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a computing device structure according to an embodiment of the present invention. Detailed Implementation

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0019] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In the embodiments of this invention, "one" not only means "only one," but can also mean "more than one." The following detailed description of the implementation of the technical solution of this invention will primarily use some specific embodiments as examples.

[0020] When the sun's altitude angle is low in the early morning and late afternoon, photovoltaic (PV) tracking systems positioned in the front row can shade the modules of tracking systems behind them. This means that tracking systems closer to the sun will block the PV modules of the systems behind them, resulting in a sharp decrease in power generation for the latter tracking systems. Existing PV tracking systems typically employ inverse tracking algorithms, adjusting the tilt angle of the rear tracking systems to avoid shading. However, existing inverse tracking algorithms usually apply a uniform tilt angle to all PV tracking systems to avoid shading, ignoring factors such as actual terrain undulations, uneven module spacing, and differences in tilt angles between adjacent PV tracking systems. This leads to significant shading losses during actual operation, thus limiting the power generation improvement effect of inverse tracking.

[0021] To address the problems existing in the prior art, this application provides an inverse tracking method for photovoltaic tracking system arrays. This method can determine the target inverse tracking angle for each photovoltaic tracking system based on factors such as actual terrain undulations and component spacing, eliminating shading losses caused by terrain differences. Compared to conventional inverse tracking methods that use a uniform tilt angle, this application effectively improves the overall power generation efficiency of the photovoltaic tracking system array through refined and differentiated inverse tracking angle control.

[0022] like Figure 1As shown, to achieve the objective of this invention, the present invention provides an inverse tracking method for a photovoltaic tracking system array. The photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals along an east-west direction. Each photovoltaic tracking system extends north-south and includes a photovoltaic tracking bracket and photovoltaic modules mounted on the bracket. The tracking systems in the photovoltaic tracking system array that are relatively closer to the sun are defined as front-row tracking systems, and the tracking systems that are relatively farther from the sun are defined as rear-row tracking systems. The method includes: S1. Obtain the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length of the photovoltaic module 2R, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; S2. Based on the coordinates of the center point of the current row of tracking systems (x0, z0) and the initial tracking angle β, calculate the coordinates of the highest point of the current row of tracking systems as (x0-Rcosβ, z0+Rsinβ); based on the coordinates of the center point of the next row of tracking systems (x1, z1) and the tilt angle γ of the next row of tracking systems, calculate the coordinates of the lowest point of the photovoltaic module of the next row of tracking systems as (x1+Rcosγ, z1-Rsinγ). Based on the lowest point coordinates of the photovoltaic modules of the subsequent tracking system (x1+Rcosγ, z1-Rsinγ) and the incident angle α, the incident ray formula is calculated. Then, based on the incident ray formula, the critical position height at which the current tracking system does not cast a shadow on the subsequent tracking system is calculated. ; S3, adjust the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

[0023] The embodiments of this invention first perform three-dimensional terrain modeling. For example... Figure 2As shown, the three-dimensional coordinates (X, Y, Z) of the center point of each photovoltaic tracking system end are collected one by one using a measuring instrument. This center point can accurately represent the actual height and horizontal position of the photovoltaic tracking system. This coordinate data can accurately reflect the height difference and horizontal offset of the tracking system caused by terrain undulations. Based on this, combined with information such as the length 2R of the photovoltaic modules of the photovoltaic tracking system and the spacing between adjacent photovoltaic tracking systems, a 3D inverse tracking visualization model of the photovoltaic tracking system array is constructed, thus providing a precise data foundation for subsequent differentiated inverse tracking angle control. Figure 2 In this context, the current solar incidence angle is denoted as α. It should be noted that the solar incidence angle referred to in this application is the solar altitude angle, which is the angle between the sunlight and the ground plane.

[0024] Specifically, the photovoltaic tracking system is equipped with a control box containing an astronomical calendar algorithm. This algorithm accurately calculates the current solar incidence angle α based on the current geographical location and real-time time. Based on this solar incidence angle α, the system can further calculate the initial tracking angle β of the photovoltaic tracking system under ideal tracking conditions. This is the tilt angle of the tracking system required to ensure that sunlight perpendicularly illuminates the photovoltaic module, without considering shading. Furthermore, this embodiment of the invention combines a 3D inverse tracking model with the solar incidence angle α to calculate the inverse tracking angle when the current row of tracking systems just does not obstruct the row of tracking systems behind it. This inverse tracking angle is the target inverse tracking angle for the current row of tracking systems.

[0025] Based on the coordinates of the center point of the current row tracking system as (x0, z0) and the initial tracking angle β of the photovoltaic tracking system at this time, the coordinates of the highest point of the current row tracking system are calculated as (x0-Rcosβ, z0+Rsinβ). Based on the coordinates of the center point of the next row of tracking systems (x1, z1) and the tilt angle γ of the next row of tracking systems, the coordinates of the lowest point of the next row of tracking systems are calculated as (x1 + Rcosγ, z1 - Rsinγ). Here, the highest point of the current row of tracking systems is the shading critical point, i.e., the highest point of its photovoltaic module (the upper edge of the module), while the lowest point of the next row of tracking systems is the potential shading critical point, i.e., the lowest point of its photovoltaic module (the lower edge of the module). When the shadow cast by the highest point of the current row of tracking systems is projected onto the lowest point of the photovoltaic module of the next row of tracking systems or the area below it, the current row of tracking systems does not shade the next row of tracking systems.

[0026] The tilt angle of the rear row of supports is γ. Specifically, if the rear row of tracking systems is the first row of tracking systems in the photovoltaic tracking system array (i.e., the row of tracking systems furthest from the sun in the entire array, and will not cast shadows on any tracking system), then its tilt angle γ is the initial tracking angle β under ideal tracking conditions. This is because the first row of tracking systems does not need to worry about shading the adjacent tracking systems behind it, so the angle control can be directly aimed at maximizing the solar irradiance received. If the rear row of tracking systems is not the first row of tracking systems (i.e., there are other photovoltaic tracking systems behind it), then its tilt angle γ is the corresponding target inverse tracking angle obtained after iterative calculation by the inverse tracking algorithm. This angle ensures that it will not cast shadows on the adjacent tracking systems behind it, thereby achieving safe operation without shadow loss.

[0027] Based on the coordinates of the lowest point of the photovoltaic module in the subsequent tracking system (x1+Rcosγ, z1-Rsinγ) and the incident angle α, the formula for the incident ray is calculated, which is the formula for the solar incident ray passing through the lowest point of the photovoltaic module in the subsequent tracking system. Simply put, it simulates the equation of the straight line that simulates the sunlight just brushing past the lower edge of the module in the subsequent tracking system at the current moment. Based on the incident ray formula, the critical position height at which the current tracking system does not cast a shadow on the subsequent tracking system is calculated. By establishing the equation of the incident ray, the height of the critical position of the highest point (upper edge of the component) of the current row of tracking systems can be accurately calculated when the shadow of the current row of tracking systems falls exactly on the lowest point (lower edge of the component) of the next row of tracking systems.

[0028] The critical position height Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it means that the highest point of the current row of tracking systems is below the critical position, the next row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the highest point of the current row of tracking systems is above the critical position, and the next row of tracking systems is occluded by a shadow. The current row of tracking systems enters the reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

[0029] By utilizing the 3D inverse tracking model of this application combined with the real-time solar incident ray formula, it is possible to accurately determine whether each front-row tracking system will cast shadows on its adjacent rear tracking systems. This allows for the individual determination of whether each photovoltaic tracking system needs to enter inverse tracking operation. For front-row tracking systems at risk of shadowing, the system calculates its target inverse tracking angle to avoid casting shadows on its adjacent rear tracking systems; for front-row tracking systems without shadowing risk, it maintains ideal tracking. This precise identification and differentiated control method comprehensively considers the actual height difference and horizontal spacing between adjacent photovoltaic tracking systems, providing a reliable guarantee for achieving efficient operation of the photovoltaic tracking system array without shadowing losses.

[0030] Preferred, such as Figure 3 As shown, the method further includes: The current row of tracking systems is used as the new next row of tracking systems, and the adjacent previous row of tracking systems of the current row of tracking systems is used as the new current row of tracking systems. S2-S3 are executed recursively until the target inverse tracking angle of the last row of tracking systems in the photovoltaic tracking system array (i.e., the row closest to the sun in the entire array, with no obstruction source in front of it) is calculated. Control all photovoltaic tracking systems to rotate to the corresponding target inverse tracking angle.

[0031] This application utilizes a constructed 3D inverse tracking visualization model, combined with the real-time solar incident ray equation, to perform row-by-row recursive calculations on the photovoltaic tracking system array, thereby obtaining the tilt angle corresponding to each photovoltaic tracking system at the current moment. This angle can maximize the solar irradiance received by the photovoltaic modules while ensuring no shading, thus effectively avoiding shadow loss caused by terrain undulations and uneven spacing, and achieving refined and differentiated inverse tracking control of the entire photovoltaic tracking system array.

[0032] Preferably, the coordinates of the lowest point of the photovoltaic module based on the rear row tracking system are (x1+Rcosγ, z1-Rsinγ) and the incident angle α of the light ray. The formula for calculating the incident light ray at this time specifically includes: Based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, the formula for calculating the incident light passing through the lowest point of the photovoltaic module of the rear row tracking system is Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

[0033] Preferably, the critical position height for calculating, based on the incident ray formula, when the highest point of the current row of tracking systems does not cast a shadow on the next row of tracking systems is determined. Specifically, it includes: Based on the incident ray formula Z(X) and the x-coordinate of the highest point of the current tracking system as x0-Rcosβ, calculate the critical position height at this point. It is tanα*[(x0-Rcosβ)-(x1+Rcosγ)]+(z1-Rsinγ).

[0034] Specifically, the critical position height is the height at which the current row of tracking systems just does not obscure the next row of tracking systems, that is, the height at which the shadow of the highest point (upper edge of the component) of the current row of tracking systems falls exactly on the lowest point (lower edge of the component) of the next row of tracking systems. Therefore, this critical position height can be calculated using the x-coordinate of the highest point of the current row of tracking systems and the formula for the incidence of sunlight.

[0035] Preferably, the current row tracking system enters the reverse tracking mode, and the calculation of the target reverse tracking angle of the current row tracking system specifically includes: Based on the incident ray formula Z(X)=tanα*[X-(x1 +Rcosγ)]+(z1 -Rsinγ), and the range of the curve that the current tracking system can rotate around (x0,z0) as a point, (X-x0). 2 +(Z-z0) 2 =R 2 Calculate the coordinates (x, y) of the highest point when the current row of tracking systems just does not produce shadow occlusion on the next row of tracking systems. h ,z h ); Based on the new highest point coordinates (x) h ,z h The target inverse tracking angle of the current tracking system is calculated as angle = arccos[(x0-x0)]. h ) / R].

[0036] In this embodiment of the invention, the formula for the rotatable range of the current row tracking system is x0. 2 +z0 2 =R 2 Solving for the intersection of the rotation range formula and the incident ray formula will yield the optimal height point for the critical shadow.

[0037] Here, because <z h At that time, the shadow occlusion of the rear tracking system will occur, so the incident light formula and the support rotation formula usually have 2 intersection points. The best height point is selected according to the current time period (morning / afternoon).

[0038] Specifically, two tiltable inverse tracking angles are calculated based on the arcsine wave, and the corresponding target inverse tracking angle is selected according to the current time period. The target inverse tracking angle range is generally 30°-90° in the morning and 90°-150° in the afternoon. By controlling the tracking bracket to rotate to the corresponding target inverse tracking angle, shadow occlusion can be perfectly avoided.

[0039] In the above embodiments of the present invention, the inverse tracking angle adjustment of the photovoltaic tracking system array is changed in real time according to the solar incidence angle. In the morning, it is adjusted from west to east; in the afternoon, it is adjusted from east to west. The terrain and component parameters of the photovoltaic tracking system are taken into account, and it has a good effect on any undulating terrain.

[0040] Furthermore, such as Figure 4 As shown, the method further includes: S4. Determine whether the angle difference between the target reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems exceeds a preset angle difference threshold. If it does, perform angle correction on the current row of tracking systems. The angle correction specifically includes: The tracking system angle is incremented / decremented using a preset step value. The angle value after incrementing / decrementing is used as input to determine whether the angle difference between the reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems is within a preset angle difference threshold. If it is outside the preset angle difference threshold, the stepping continues. If it is within the preset angle difference threshold, the reverse tracking angle is the optimal reverse tracking angle, and the stepping ends. Using the adjacent previous row of tracking systems as the new current row of tracking systems, S2-S4 are recursively executed until the optimal reverse tracking angle of the last row of tracking systems in the photovoltaic tracking system array is calculated. Then, all photovoltaic tracking systems are controlled to rotate to the corresponding optimal reverse tracking angle.

[0041] When using a row-by-row recursive calculation method to calculate the inverse tracking angle of a tracking system, excessive angle deflection may occur in some tracking systems, affecting the overall stability of the system. This problem arises because during the recursive calculation, if a row of tracking systems maintains a relatively flat posture to avoid occlusion constraints, the tracking systems in the row preceding it will be excessively tilted to avoid occlusion. This tilt further affects the calculation results of the row before that, creating progressively amplified angle fluctuations, ultimately causing instability in the overall angle distribution of the system. By incorporating a deflection correction mechanism, individual tracking systems with abnormal angle deviations are screened, and their tilt angles are adjusted locally to return to a reasonable range. Then, a second recursive calculation is performed based on the corrected state. By adding a deflection correction mechanism, the propagation effect of local anomalies on the global system can be effectively suppressed, ensuring a reasonable angle distribution for the entire tracking system, thereby improving the stability and reliability of the system in actual operation.

[0042] For example, the tracking system angle is incremented (morning) or decremented (afternoon) by 5° increments to make the tracking system smoother. At the same time, the angle values ​​after decrementing / increasing are used as input to continue calculating the target inverse tracking angle of the next tracking system. It is determined whether the angle difference between the inverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems is within 15°. If it is outside 15°, the stepping continues; if it is within 15°, the stepping ends and new tilt angle data is used.

[0043] The calculation is performed recursively row by row until all tracking systems are adjusted to the optimal inverse tracking angle.

[0044] The above embodiments of the present invention have terrain adaptability in adjusting the illumination angle of the tracking system, and the reverse tracking angle adjustment of the photovoltaic array changes in real time according to the solar incident angle, which has a good effect on any undulating terrain, thereby significantly improving the power generation during the reverse tracking stage. The addition of a reverse tracking correction mechanism can ensure the coordination of the tilt angle of the components of the entire photovoltaic tracking system array even when there is a shadow problem, making the product more competitive in the market. In addition, the reverse tracking function can be packaged separately, which facilitates program upgrades and modifications.

[0045] Secondly, to solve the technical problem of the present invention, embodiments of the present invention also provide a reverse tracking device applied to a photovoltaic tracking system array. The photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals in an east-west direction. Each photovoltaic tracking system extends north-south and includes a photovoltaic tracking bracket and photovoltaic modules mounted on the photovoltaic tracking bracket. The tracking systems relatively closer to the sun in the photovoltaic tracking system array are defined as front-row tracking systems, and the tracking systems relatively farther from the sun are defined as rear-row tracking systems. The device includes: The operating parameter acquisition unit is used to acquire the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length 2R of the photovoltaic module, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; The first calculation unit is used to calculate the coordinates of the highest point of the current row tracking system as (x0-Rcosβ,z0+Rsinβ) based on the coordinates of the center point of the current row tracking system as (x0,z0) and the initial tracking angle β. The second calculation unit is used to calculate the coordinates of the lowest point of the photovoltaic module of the rear tracking system as (x1+Rcosγ, z1-Rsinγ) based on the coordinates of the center point of the rear tracking system (x1, z1) and the tilt angle γ of the rear tracking system. The third calculation unit is used to calculate the incident ray formula based on the lowest point coordinates of the photovoltaic modules of the next row of tracking systems (x1+Rcosγ, z1-Rsinγ) and the incident ray angle α. Based on the incident ray formula, it calculates the critical position height at which the current row of tracking systems does not cast a shadow on the next row of tracking systems. ; The inverse tracking unit is used to determine the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

[0046] The third calculation unit calculates the incident ray passing through the lowest point of the photovoltaic module of the rear row tracking system based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, using the formula Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

[0047] Here, the inverse tracking device applied to the photovoltaic tracking system array is based on the same technical concept as the aforementioned inverse tracking method applied to the photovoltaic tracking system array. Therefore, its implementation method is consistent with the method's implementation method, and will not be described in detail again.

[0048] Thirdly, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a processor or calculator, cause the processor or calculator to perform the method described above.

[0049] like Figure 5 As shown in the figure, an embodiment of this application provides a computing device 1000, which includes a processor or calculator (not shown) 1001 and a computer-readable storage medium 1002. The processor or calculator 1001 and the computer-readable storage medium 1002 can be interconnected via a communication bus 1003. The communication bus 1003 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1003 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the computer-readable storage medium 1002 is used to store a computer program, which includes program instructions. The processor 1001 is configured to call the program instructions, and the program includes steps for performing some or all of the steps in the aforementioned methods.

[0050] The processor 1001 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the above-mentioned program.

[0051] The computer-readable storage medium 1002 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The computer-readable storage medium may exist independently and be connected to the processor via a bus. The computer-readable storage medium may also be integrated with the processor.

[0052] The computing device 1000 may further include a communication module 1004 and a display 1005. The communication module 1004 can communicate with the optical tracking device. The communication module 1004 can be a wireless communication module (e.g., a WiFi module, a Bluetooth module, etc.) or a wired communication module.

[0053] In addition, the computing device 1000 may also include general components such as communication interfaces (e.g., USB interfaces, microphone interfaces, etc.) and antennas, which will not be described in detail here.

[0054] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0055] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0056] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0057] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0058] Furthermore, the functional units in the various embodiments of the application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0059] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned computer-readable storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0060] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only storage medium, a random access device, a magnetic disk, or an optical disk, etc.

[0061] The embodiments of this application have been described in detail above. Specific examples have been used in the embodiments of this invention to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0062] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An inverse tracking method applied to a photovoltaic tracking system array, characterized in that, The photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals along an east-west direction. Each photovoltaic tracking system extends north-south and includes a photovoltaic tracking bracket and photovoltaic modules mounted on the photovoltaic tracking bracket. The tracking systems relatively closer to the sun in the photovoltaic tracking system array are defined as front-row tracking systems, and the tracking systems relatively farther from the sun are defined as rear-row tracking systems. The method includes: S1. Obtain the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length of the photovoltaic module 2R, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; S2. Based on the coordinates of the center point of the current row of tracking systems (x0, z0) and the initial tracking angle β, calculate the coordinates of the highest point of the current row of tracking systems as (x0-Rcosβ, z0+Rsinβ); based on the coordinates of the center point of the next row of tracking systems (x1, z1) and the tilt angle γ of the next row of tracking systems, calculate the coordinates of the lowest point of the photovoltaic module of the next row of tracking systems as (x1+Rcosγ, z1-Rsinγ). Based on the lowest point coordinates of the photovoltaic modules of the subsequent tracking system (x1+Rcosγ, z1-Rsinγ) and the incident angle α, the incident ray formula is calculated. Then, based on the incident ray formula, the critical position height at which the current tracking system does not cast a shadow on the subsequent tracking system is calculated. ; S3, adjust the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

2. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 1, characterized in that, The method further includes: The current row of tracking systems is taken as the new next row of tracking systems, and the adjacent previous row of tracking systems of the current row of tracking systems is taken as the new current row of tracking systems. S2-S3 are executed recursively until the target inverse tracking angle calculation of the last row of tracking systems in the photovoltaic tracking system array is completed. Control all photovoltaic tracking systems to rotate to the corresponding target inverse tracking angle.

3. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 1, characterized in that, The coordinates of the lowest point of the photovoltaic module based on the rear row tracking system are (x1+Rcosγ, z1-Rsinγ), and the incident angle of the light ray α is used to calculate the incident light ray at this time. The specific formula includes: Based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, the formula for calculating the incident light passing through the lowest point of the photovoltaic module of the rear row tracking system is Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

4. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 3, characterized in that, The critical position height at which the highest point of the current row of tracking systems does not cast a shadow on the next row of tracking systems is calculated based on the incident ray formula. Specifically, it includes: Based on the incident ray formula Z(X) and the x-coordinate of the highest point of the current tracking system as x0-Rcosβ, calculate the critical position height at this point. It is tanα*[(x0-Rcosβ)-(x1+Rcosγ)]+(z1-Rsinγ).

5. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 4, characterized in that, The current row tracking system enters the reverse tracking mode, and the calculation of the target reverse tracking angle of the current row tracking system specifically includes: Based on the incident ray formula Z(X)=tanα*[X-(x1 +Rcosγ)]+(z1 -Rsinγ), and the range of the curve that the current tracking system can rotate around (x0,z0) as a point, (X-x0). 2 +(Z-z0) 2 =R 2 Calculate the coordinates (x, y) of the highest point when the current row of tracking systems just does not produce shadow occlusion on the next row of tracking systems. h ,z h ); Based on the new highest point coordinates (x) h ,z h The target inverse tracking angle of the current tracking system is calculated as angle = arccos[(x0-x0)]. h ) / R].

6. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 1, characterized in that, The method further includes: S4. Determine whether the angle difference between the target reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems exceeds a preset angle difference threshold. If it does, perform angle correction on the current row of tracking systems. The angle correction specifically includes: The tracking system angle is incremented / decremented using a preset step value. The angle value after incrementing / decrementing is used as input to determine whether the angle difference between the reverse tracking angle of the current row of tracking systems and the tilt angle γ of the next row of tracking systems is within a preset angle difference threshold. If it is outside the preset angle difference threshold, the stepping continues. If it is within the preset angle difference threshold, the reverse tracking angle is the optimal reverse tracking angle, and the stepping ends.

7. The inverse tracking method applied to a photovoltaic tracking system array as described in claim 6, characterized in that, The method further includes: Take the adjacent previous row of the current row of tracking system as the new current row of tracking system, and recursively execute S2-S4 until the optimal inverse tracking angle of the last row of tracking system in the photovoltaic tracking system array is calculated. Control all photovoltaic tracking systems to rotate to the corresponding optimal reverse tracking angle.

8. An inverse tracking device for use in a photovoltaic tracking system array, characterized in that, The photovoltaic tracking system array includes multiple photovoltaic tracking systems arranged in rows at intervals along an east-west direction. Each photovoltaic tracking system extends north-south and includes a photovoltaic tracking bracket and photovoltaic modules mounted on the photovoltaic tracking bracket. The tracking systems relatively closer to the sun in the photovoltaic tracking system array are defined as front-row tracking systems, and the tracking systems relatively farther from the sun are defined as rear-row tracking systems. The device includes: The operating parameter acquisition unit is used to acquire the center point coordinates of each photovoltaic tracking system in the photovoltaic tracking system array, the length 2R of the photovoltaic module, the current incident angle of light α, and the initial tracking angle β of the photovoltaic tracking system at this time; The first calculation unit is used to calculate the coordinates of the highest point of the current row tracking system as (x0-Rcosβ,z0+Rsinβ) based on the coordinates of the center point of the current row tracking system as (x0,z0) and the initial tracking angle β. The second calculation unit is used to calculate the coordinates of the lowest point of the photovoltaic module of the rear tracking system as (x1+Rcosγ, z1-Rsinγ) based on the coordinates of the center point of the rear tracking system (x1, z1) and the tilt angle γ of the rear tracking system. The third calculation unit is used to calculate the incident ray formula based on the lowest point coordinates of the photovoltaic modules of the next row of tracking systems (x1+Rcosγ, z1-Rsinγ) and the incident ray angle α. Based on the incident ray formula, it calculates the critical position height at which the current row of tracking systems does not cast a shadow on the next row of tracking systems. ; The inverse tracking unit is used to determine the height of the critical position. Compare with the highest point height z0+Rsinβ of the current row tracking system, if If z ≥ z0 + Rsinβ, it indicates that the following row of tracking systems is in an unobstructed state, and the current row of tracking systems enters normal tracking mode; if <z h This indicates that the following row of tracking systems is occluded by a shadow, and the current row of tracking systems enters reverse tracking mode and calculates the target reverse tracking angle of the current row of tracking systems.

9. The inverse tracking device for a photovoltaic tracking system array as described in claim 8, characterized in that, The third calculation unit calculates the incident ray passing through the lowest point of the photovoltaic module of the rear row tracking system based on the coordinates (x1+Rcosγ, z1-Rsinγ) of the lowest point of the photovoltaic module of the rear row tracking system and the incident angle α of the light, using the formula Z(X)= tanα*[X-(x1+Rcosγ)]+(z1-Rsinγ).

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor or calculator to perform the method as described in any one of claims 1 to 7.

Images