A solar active lead tracking control method and device based on feedforward driving

Abstract

The application provides a kind of solar active leading tracking control method and device based on feedforward drive, it is related to solar active tracking technical field, the present application obtains spatial positioning parameter to construct time sequence tracking node sequence;With the law of solar apparent motion track, by solving basic space-time parameters and matching azimuth control coefficient, the solar elevation angle and solar azimuth are solved in turn, and then the corresponding expected tracking attitude angle is calculated;The control angular displacement increment between adjacent nodes is calculated, which is converted into drive pulse control quantity combined with mechanical transmission parameters to generate feedforward drive pulse sequence;Finally, a time sequence triggering mechanism based on internal timing is established, and the corresponding drive pulse control quantity is extracted as a control signal output at the triggering time, which drives the tracking device to move to the expected tracking attitude angle corresponding to the next time sequence tracking node, thereby realizing the active leading tracking of the sun.

Description

Technical Field

[0001] This invention relates to the field of active solar tracking technology, specifically to a method and apparatus for active solar tracking control based on feedforward drive. Background Technology

[0002] Northern and northwestern my country possess abundant solar energy resources, making them a core area for the large-scale deployment of solar thermal and photovoltaic equipment. However, extreme climates such as high altitude, cold weather, and strong winds and sandstorms expose these equipment to severe disturbances from alternating environments. As the core mechanism for acquiring radiant energy, solar tracking devices are highly susceptible to interference from apparent solar-terrestrial motion and geographical factors, leading to a sharp drop in energy efficiency due to trajectory deviations. Currently, conventional passive optical detection suffers from significant response lag, and photoelectric sensors are prone to malfunction when faced with cloud cover, dust accumulation, or snow cover, making it difficult to meet the urgent need for all-weather active forward tracking and interference-resistant timing scheduling.

[0003] Existing automatic solar tracking control methods are mainly divided into two categories: photoelectric detection tracking and apparent solar motion trajectory tracking. Conventional photoelectric tracking typically involves pre-setting multiple sets of photosensitive sensors on the motion platform to assess the yaw state by collecting instantaneous incident light intensity differences, and then converting this data into real-time drive commands for the motors via the control unit. Conventional apparent solar trajectory tracking, on the other hand, relies on an independent time module and standard astronomical geometric formulas. It calculates the solar altitude angle and azimuth angle at specific discrete moments by inputting static position parameters, and directly outputs this instantaneous absolute angle as the target signal. In terms of control logic, existing technologies generally adopt passive response mechanisms based on instantaneous feedback or fixed time node triggering, focusing on mechanical comparison and single-point adjustment of the absolute yaw value at the current observation point.

[0004] However, conventional control methods often suffer from insurmountable physical defects when faced with complex and ever-changing environmental conditions. On the one hand, traditional pure photoelectric detection methods are highly susceptible to interference from local cloud cover or transient sandstorms, leading to frequent distortion of the acquired signals and inducing high-frequency oscillations in the transmission mechanism. On the other hand, conventional apparent solar motion trajectory calculations rely heavily on simplified closed geometric operators, lacking dynamic quadrant-based fine-grained segmentation corrections tailored to specific geographic and spatiotemporal contexts. This can easily result in azimuth quadrant ambiguity or logical decision divergence in certain regions. Furthermore, such passive response regulation exhibits a significant physical lag effect in transmission execution, resulting in a substantial control response delay and preventing true proactive anticipation tracking.

[0005] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a solar active advanced tracking control method and device based on feedforward drive, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A solar active advanced tracking control method based on feedforward drive, comprising the following steps: Step 1: Obtain the spatial positioning parameters of the target area, including local longitude and local latitude, and construct a time-series tracking node sequence according to a preset time step within a preset daytime tracking cycle. The time-series tracking node sequence includes discrete specific time parameters and corresponding date numbers. Step 2: Combining the apparent motion trajectory of the sun, by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients, the solar elevation angle and solar azimuth angle corresponding to each time-series tracking node in the time-series tracking node sequence are calculated in sequence. Step 3: Based on the solar azimuth and solar altitude angles corresponding to each time-series tracking node, calculate the desired tracking attitude angle for the corresponding time-series tracking node; Step 4: Calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and combine it with the mechanical transmission parameters of the tracking device to convert the control angular displacement increment into the corresponding drive pulse control quantity, thereby generating a feedforward drive pulse sequence that matches the timing tracking node sequence; Step 5: Establish a timing triggering mechanism based on internal timing. When the triggering time corresponding to the current timing tracking node is reached, extract the matching drive pulse control quantity from the feedforward drive pulse sequence as the control signal output, and drive the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

[0008] Furthermore, the specific steps for constructing the time-series tracking node sequence are as follows: Using the start and end times of the preset daytime tracking cycle as time boundary endpoints, sampling is performed at equal time intervals on the time axis segment between the start and end times according to the preset time step, generating a series of discrete time nodes containing specific time parameters, and binding the current date number to each discrete time node to form a time-series tracking node sequence.

[0009] Furthermore, the basic spatiotemporal parameters include the solar declination angle and the solar hour angle; The specific steps for calculating the solar declination angle are as follows: The extracted date sequence number under the corresponding time-series tracking node is summed with the preset date offset constant, and the summation result is divided by the preset total number of days in the year to construct the annual conversion ratio. The annual conversion ratio is multiplied by the preset circumference constant, and the result of the multiplication is sineed. The result of the sine is then multiplied by the preset obliquity of the ecliptic constant to calculate the solar declination angle. The specific steps for calculating the solar hour angle are as follows: The difference between the local longitude and the preset standard longitude is calculated, and the result of the difference calculation is divided by the preset rotational angular velocity constant to construct the longitude compensation term; Divide the preset true solar time difference by the preset time conversion constant to construct the orbital time difference term. Perform algebraic sum operations on the extracted specific time parameters, longitude compensation terms, and orbital time difference terms under the corresponding time series tracking nodes to calculate the true solar time. The difference between the true solar time and the preset noon reference time constant is calculated to obtain the noon offset. The noon offset is then multiplied with the preset rotation angular velocity constant to calculate the solar hour angle at the corresponding time tracking node.

[0010] Furthermore, the specific steps for calculating the solar altitude angle are as follows: The local latitude of the target area is sine-operated to be calibrated as the latitude sine value, the solar declination angle is sine-operated to be calibrated as the declination angle sine value, and the latitude sine value and the declination angle sine value are multiplied to construct the basic altitude term; The local latitude of the target area is cosine-operated to be calibrated as the latitude cosine value, the solar declination angle is cosine-operated to be calibrated as the declination angle cosine value, the solar hour angle under the corresponding time-series tracking node is cosine-operated to be calibrated as the hour angle cosine value, and the latitude cosine value, declination angle cosine value and hour angle cosine value are multiplied together to construct the dynamic height term; The basic altitude term and the dynamic altitude term are summed to obtain the sine value of the solar altitude angle. Then, an arcsine operation is performed on this sine value to calculate the solar altitude angle at the corresponding time-tracking node. The specific calculation formula is as follows: In the formula, The solar altitude angle, The latitude is the local latitude. The solar declination angle, It is the solar hour angle.

[0011] Furthermore, the orientation control coefficient includes east-west direction coefficient, north-south direction coefficient, and quadrant correction coefficient; The specific matching steps for the azimuth control coefficient are as follows: The difference between the preset right angle constant and the solar elevation angle under the corresponding time tracking node is calculated to solve the solar zenith angle under the corresponding time tracking node; The solar hour angle is sine-operated to obtain the hour angle sine value. The hour angle sine value is multiplied with the declination angle cosine value to construct the mapping numerator. The solar zenith angle is sine-operated to obtain the zenith angle sine value. The zenith angle sine value is summed with a preset zero constant to construct the mapping denominator. Divide the numerator of the mapping by the denominator and perform an arcsine operation to calculate the reference azimuth angle. Divide the sine of the declination angle by the cosine of the declination angle to obtain the tangent of the declination angle; divide the cosine of the latitude by the sine of the latitude to obtain the cotangent of the latitude; multiply the tangent of the declination angle by the cotangent of the latitude; and perform an inverse cosine operation on the product result to calculate the boundary time angle term. Substitute the boundary time angle and solar time angle into the preset trajectory determination rules to match and obtain the east-west direction coefficient, north-south direction coefficient and quadrant correction coefficient under the corresponding time-series tracking node.

[0012] Furthermore, the specific steps for calculating the solar azimuth angle are as follows: The east-west direction coefficient and the north-south direction coefficient are multiplied to construct a quadrant determination term, and the quadrant determination term is multiplied with the reference azimuth angle to construct a basic mapping term; The difference between the value one and the quadrant determination term is calculated, and the result of the difference calculation is divided by the value two to construct the jump trigger term. The jump trigger term, the quadrant correction coefficient and the preset semicircular constant are multiplied together to construct the semi-cycle compensation term. The basic mapping term and the half-cycle compensation term are summed to calculate the solar azimuth angle at the corresponding time-tracking node. The specific calculation formula is as follows: In the formula, The azimuth of the sun. This is the east-west direction coefficient. This is the north-south direction coefficient. As the reference azimuth, Quadrant correction coefficient, This is a preset semicircle constant.

[0013] Furthermore, the specific mapping steps for the desired tracking attitude angle are as follows: Perform a sine operation on the solar azimuth angle under the corresponding time-tracking node to obtain the azimuth sine value, and perform a tangent operation on the solar altitude angle under the corresponding time-tracking node to obtain the altitude tangent value; The elevation angle tangent value is summed with a preset zero-prevention constant to construct the attitude conversion denominator. Divide the azimuth sine value by the attitude transformation denominator to construct the attitude transformation ratio term. Perform an arctangent operation on the attitude transformation ratio term to calculate the expected tracking attitude angle of the tracking device at the corresponding timing tracking node. The specific calculation formula is as follows: In the formula, To track the attitude angle, The azimuth of the sun. The solar altitude angle, This is a preset zero-prevention constant.

[0014] Furthermore, the specific steps for generating the feedforward driving pulse sequence are as follows: The difference between the expected tracking attitude angle of the next timing tracking node and the expected tracking attitude angle of the current timing tracking node is calculated to obtain the control angle displacement increment. The control angular displacement increment, the preset total transmission ratio (which is the mechanical transmission parameter), and the preset pulse conversion modulus are multiplied together, and the result of the multiplication is divided by the preset circumference constant to construct a pulse mapping term. The pulse mapping term is rounded up to calculate the drive pulse control quantity corresponding to the current timing tracking node; Based on the specific time parameters of each corresponding timing tracking node, the control quantities of each driving pulse are sorted and encapsulated step by step according to the timing progression order to generate a feedforward driving pulse sequence. The specific calculation formula for the driving pulse control quantities is as follows: In the formula, For drive pulse control quantity, For the first The expected tracking attitude angle of each time-series tracking node. For the first The expected tracking attitude angle of each time-series tracking node. To preset the overall transmission ratio, The preset pulse conversion modulus, To preset the circumference constant, This is the index for the time-series tracking node.

[0015] Furthermore, the specific steps for driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node are as follows: Start the internal timer and accumulate the time according to the preset timing period to obtain the current running time of the system; The current running time is compared in real time with the specific time parameters bound to the current time-series tracking node; When the current running time reaches the specific time parameter bound to the current timing tracking node, in order to compensate for the objective physical response time required for the mechanical transmission of the tracking device, the drive pulse control quantity that matches the next timing tracking node in the feedforward drive pulse sequence is extracted and directly output. The tracking device is controlled to perform displacement deflection in advance to the expected tracking attitude angle corresponding to the next timing tracking node, so as to ensure that the tracking device completes mechanical operation and stops in advance before the real solar beam reaches the spatial apparent motion position corresponding to the node. After the tracking device moves into position, the next time-series tracking node is updated to the current time-series tracking node, and the current running time is continuously compared with the specific time parameters bound to the updated current time-series tracking node in real time, until all time-series tracking nodes within the preset daytime tracking cycle have been traversed.

[0016] The present invention also provides a feedforward-driven active solar tracking control device, which is used to implement the above-mentioned feedforward-driven active solar tracking control method, comprising: The time-series construction module is used to obtain the spatial positioning parameters of the target area, including the local longitude and local latitude, and construct a time-series tracking node sequence according to a preset time step within a preset daytime tracking cycle. The time-series tracking node sequence contains discrete specific time parameters and corresponding date numbers. The angle calculation module is used to combine the apparent motion trajectory of the sun, calculate the solar altitude angle and solar azimuth angle of each time-series tracking node in the time-series tracking node sequence by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients. The attitude angle mapping module is used to calculate the desired tracking attitude angle for each time-series tracking node based on the solar azimuth and solar altitude angles calculated for each time-series tracking node. The pulse conversion module is used to calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and, in combination with the mechanical transmission parameters of the tracking device, convert the control angular displacement increment into the corresponding drive pulse control quantity, generating a feedforward drive pulse sequence that matches the timing tracking node sequence. The advance drive module is used to establish a timing triggering mechanism based on internal timing. When the triggering time corresponding to the current timing tracking node is reached, the matching drive pulse control quantity in the feedforward drive pulse sequence is extracted as a control signal output, driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

[0017] Compared with the prior art, the beneficial effects of the present invention are: Based on the apparent motion trajectory of the sun, this invention calculates the solar altitude angle and solar azimuth angle of each time-series tracking node in the time-series tracking node sequence by solving the basic spatiotemporal parameters and matching the corresponding east-west direction coefficient, north-south direction coefficient and quadrant correction coefficient, and calculates the desired tracking attitude angle. This process overcomes the shortcomings of traditional pure photoelectric detection, which is easily affected by meteorological interference such as variable clouds and sudden sandstorms, resulting in high-frequency oscillations of the system. It also solves the problems of azimuth quadrant ambiguity and logical judgment divergence caused by the lack of dynamic segmentation correction in conventional apparent solar trajectory algorithms, and further eliminates passive interference from the external environment. This invention also calculates the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes and converts it into drive pulse control quantities by combining mechanical transmission parameters, generating a feedforward drive pulse sequence that matches the timing tracking node sequence; it establishes a timing triggering mechanism based on internal timing, extracting the matching drive pulse control quantity as a control signal output at the triggering moment. This mechanism enables the tracking device to move to the desired tracking attitude angle corresponding to the next timing tracking node in advance, rather than waiting for the lag feedback of the actual yaw value, overcoming the physical lag effect in mechanical transmission of traditional passive response adjustment, eliminating response time lag by using open-loop feedforward, and realizing active advance tracking. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall method flow of the present invention; Figure 2 This is a timing mapping diagram of the desired tracking attitude angle and the drive pulse control quantity; Figure 3 This is a schematic diagram of the overall device structure of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0020] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example: Please see Figures 1-2 The present invention provides a technical solution: A solar active advanced tracking control method based on feedforward drive, comprising the following steps: Step 1: Obtain the spatial positioning parameters of the target area, including local longitude and local latitude, and construct a time-series tracking node sequence according to a preset time step within a preset daytime tracking period. The time-series tracking node sequence contains discrete specific time parameters and corresponding date numbers.

[0022] The apparent motion trajectory of the sun is significantly influenced by the Earth's rotation and revolution, exhibiting remarkable spatiotemporal variability. To achieve accurate tracking without external photoelectric detection signals and to deeply adapt to application scenarios in northern my country where sunlight resources are abundant but climate conditions are harsh, this embodiment acquires the local longitude and latitude of the target area to anchor the absolute geographic spatial location of the tracking device. Local longitude is the core geographic reference for correcting the deviation between mean solar time and true solar time and determining the current instantaneous solar hour angle; local latitude determines the projection relationship of the solar declination angle onto the local horizontal plane. Accurate longitude and latitude positioning is the physical basis for ensuring all-weather spatial sun-finding accuracy in high-latitude northern regions.

[0023] To address the continuous nature of the time dimension, the start and end times of the preset daytime tracking cycle are used as time boundary endpoints. Along the time axis segment between these start and end times, samples are taken at equal time intervals according to a preset time step, generating a series of discrete time nodes containing specific time parameters. Because the distribution of solar radiation energy exhibits strong diurnal alternation, the solar altitude angle is low at sunrise and before sunset, the radiation penetrates the atmosphere over long distances, and energy attenuation is severe, making them less valuable for effective capture. Therefore, this embodiment, considering the distribution pattern of core effective sunshine duration in northern regions, sets the start time of the preset daytime tracking cycle to 8:00 AM Beijing time and the end time to 6:00 PM. This core period with the highest photothermal conversion efficiency is selected as the effective boundary endpoint to ensure that inefficient and ineffective actions at both ends are eliminated.

[0024] Since the Earth's rotational angular velocity is approximately... Therefore, the apparent angular displacement of the sun's motion every 10 minutes during mean solar time is approximately To balance tracking accuracy, this embodiment sets the preset time step to 10 minutes. This further prevents a precipitous drop in energy reception efficiency due to severe mismatch and also thoroughly discretizes the continuous tracking trajectory. Finally, each discrete time node is bound to the current date sequence number to form a complete time-series tracking node sequence. The date sequence number identifies the current date's position in the annual calendar; this parameter is a fundamental variable for determining the Earth's position on the ecliptic plane. Binding the date sequence number to discrete moments ensures that the constructed time-series tracking node sequence not only includes the current day's time scale but also incorporates the seasonal attributes of the Earth's revolution.

[0025] Step 2: Combining the apparent motion trajectory of the sun, by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients, the solar elevation angle and solar azimuth angle corresponding to each time-series tracking node in the time-series tracking node sequence are calculated in sequence.

[0026] In an open-loop tracking environment without external photoelectric detection feedback, the apparent motion trajectory of the sun is not driven by a single variable, but is interwoven by the seasonal elevation shifts caused by the Earth's revolution and the daytime east-west crossings caused by the Earth's rotation. To accurately obtain the three-dimensional spatial pointing vector, this embodiment first calculates the basic spatiotemporal parameters, including the solar declination angle and the solar hour angle.

[0027] This embodiment sums the extracted date sequence number under the corresponding time-series tracking node with a preset date offset constant, and divides the sum by a preset total number of days in a year to construct an annual conversion ratio. Subsequently, the annual conversion ratio is multiplied by a preset circumferential constant, and a sine operation is performed on the product result. Finally, the sine result is multiplied by a preset obliquity of the ecliptic constant to calculate the solar declination angle. Specifically, to ensure the date sequence number aligns with the Earth's actual orbital phase, this embodiment sets the preset date offset constant to 284 based on the annual day deviation corresponding to the vernal equinox in the astronomical calendar; the preset total number of days in a year is set to 365 based on the Earth's orbital period in a normal year; the preset circumferential constant is set to 360 to map the time ratio to a circumferential phase; and the preset obliquity of the ecliptic constant is set to [value missing] based on the inherent physical angle between the Earth's rotation axis and its orbital plane. This is to limit the maximum amplitude of the sinusoidal fluctuation. The specific formula for calculating the solar declination angle is as follows: In the formula, The solar declination angle, This refers to the date sequence number under the corresponding time-series tracking node.

[0028] The solar declination angle represents the perpendicular angle between the incident solar ray and the Earth's equatorial plane. Its positive and negative extreme values ​​correspond to the peak elevation angle at the summer solstice and the trough elevation angle at the winter solstice, respectively, while approaching zero represents the equinoxes. This parameter uses the date sequence as the independent variable, and generates an annual conversion ratio by superimposing a preset date offset constant and dividing by the total number of days in the year, thereby accurately locating the Earth's orbital phase on the ecliptic plane. This conversion ratio is transformed by a sine function to reflect the annual harmonic oscillation characteristics of the solar cycle. At the same time, the formula introduces a preset ecliptic obliquity constant as the amplitude, defining the physical boundary of the declination angle fluctuation. This nonlinear mapping logic replicates the seasonal light projection offset caused by the tilt of the Earth's rotation axis.

[0029] To further quantify the instantaneous physical offset caused by Earth's rotation, this embodiment performs a difference calculation between the local longitude and a preset standard longitude, and divides the result by a preset rotation angular velocity constant to construct a longitude compensation term. This term is used to smooth out the static time difference caused by the actual observation location deviating from the standard time zone meridian. Simultaneously, a preset true mean solar time difference is divided by a preset time conversion constant to construct an orbital time difference term, compensating for the non-uniform dynamic error caused by Earth's elliptical orbital motion. Next, the specific time parameters extracted from the time-tracking nodes, the longitude compensation term, and the orbital time difference term are algebraically summed to calculate the true solar time. The true solar time is then differenced from a preset noon reference time constant to obtain the noon offset, and this noon offset is multiplied by a preset rotation angular velocity constant to calculate the solar hour angle at the corresponding time-tracking node. Here, to anchor the reference meridian of the time zone to which Beijing time belongs, this embodiment sets the preset standard longitude as follows: Combined with the Earth's 24-hour rotation According to the physical laws, the preset spin angular velocity constant is set to... Since the preset true mean solar time difference is a periodic variable that dynamically changes with the Earth's orbit, the preset true mean solar time difference for the corresponding date can be extracted by referring to the "Ground Meteorological Observation Specifications" issued by the China Meteorological Administration. To uniformly reduce the error term from minutes to hours, the preset time conversion constant is set to 60. Based on the position of the sun reaching its physical maximum point on a single day, the preset noon reference time constant is set to 12. The specific calculation formula for the solar hour angle is as follows: In the formula, Solar hour angle, For specific time parameters, The longitude is the local longitude. To preset the standard longitude, To preset the true flat solar time difference.

[0030] The solar hour angle reflects the absolute angular distance between the meridian of the observation point and the instantaneous meridian of the sun. A value of zero indicates that the sun is at its highest physical point at noon, while a larger absolute value indicates that the sun is closer to its lowest elevation angle in the morning or evening. It is positively driven by specific time parameters and defines the zero point of the noon-afternoon reversal. Simultaneously, the difference between the local longitude and the preset standard longitude is introduced to eliminate static geographical spatial bias, and it is adjusted by a preset true mean solar hour difference to compensate for the dynamic non-uniform distortion caused by the Earth's elliptical revolution. This further eliminates the noise error caused by artificial standard time zones.

[0031] The local latitude of the target area is sinusoidally calculated to obtain the latitude sine value. The solar declination angle is sinusoidally calculated to obtain the declination angle sine value. The latitude sine value and the declination angle sine value are multiplied to construct the basic altitude term. The local latitude of the target area is cosinely calculated to obtain the latitude cosine value. The solar declination angle is cosinely calculated to obtain the declination angle cosine value. The solar hour angle at the corresponding time-tracking node is cosinely calculated to obtain the hour angle cosine value. The latitude cosine value, the declination angle cosine value, and the hour angle cosine value are multiplied together to construct the dynamic altitude term. The basic altitude term and the dynamic altitude term are summed to obtain the solar altitude angle sine value. An arcsine operation is performed on this solar altitude angle sine value to calculate the solar altitude angle at the corresponding time-tracking node, which reflects the vertical incidence elevation angle of sunlight on the ground plane of the target area. The specific calculation formula for the solar altitude angle is as follows: In the formula, The solar altitude angle, The latitude is the local latitude. The solar declination angle, It is the solar hour angle.

[0032] The solar altitude angle represents the vertical elevation angle of sunlight relative to the target area's horizontal plane. A larger value indicates that the sun is high in the sky, resulting in a short path through the atmosphere and high energy density, while a smaller value indicates that the sun is close to the horizon, leading to lower capture value. It is jointly driven by local latitude, solar declination, and solar hour angle. Local latitude defines the basic tilt angle of the projection plane, solar declination anchors the seasonal upper limit of the daily trajectory, and solar hour angle dominates the dynamic spatial scanning from dawn to dusk. The sine product of local latitude and solar declination is used to construct the steady-state basic altitude term, and the cosine product of the three is used to construct the time-modulated dynamic altitude term. This reconstructs the nonlinear spherical projection transformation from the celestial sphere to the horizontal coordinates, accurately isolating the coupling interference between the Earth's rotation and revolution.

[0033] The solar zenith angle at the corresponding time-tracking node is calculated by performing a difference operation between a preset rectangular constant and the solar elevation angle at the corresponding time-tracking node. In this embodiment, the preset rectangular constant is set to... The solar hour angle is sine-sineed to obtain its sine value. This sine value is then multiplied by the cosine of the declination angle to construct the numerator of the mapping. The solar zenith angle is sine- ... In the formula, The zenith angle of the sun. The solar altitude angle, As the reference azimuth, The solar declination angle, Solar hour angle, When it is a boundary term, The latitude is the local latitude. To pre-set a zero-prevention constant, this embodiment sets its value to be [value missing]. This is used to avoid the division-by-zero singularity caused when the sun is directly overhead at the zenith.

[0034] The solar zenith angle reflects the angle between the incident ray and the zenith normal at the observation point. It forms a geometrically complementary relationship with the solar altitude angle under the constraint of a preset right-angle constant. A smaller value indicates that the sun is closer to directly overhead, the path of light through the atmosphere is shorter, and the radiation energy is more concentrated; conversely, a larger value indicates that the sun is deflected towards the horizon. The reference azimuth angle establishes the initial yaw reference for the sun on the horizontal plane. This parameter is calculated based on the sine of the solar hour angle, reflecting the lateral displacement caused by the Earth's rotation. It also uses the cosine of the declination angle to define the seasonal boundary, and finally uses the sine of the zenith angle as the divisor to reduce the three-dimensional celestial coordinates to a two-dimensional horizontal plane. Furthermore, the boundary hour angle term defines the critical time node for the sun's apparent motion to cross the east-west reference axis. It is obtained by multiplying the local latitude cotangent and the solar declination tangent, reflecting the combined interference of the observation site's latitude and seasonal changes on the extreme solar trajectory. The above operational logic decouples the complex interwoven motions of celestial bodies into planar fundamental angles and critical time scales, effectively eliminating the inherent nonlinear geometric distortions of spherical projections and overcoming the data divergence defects of conventional inverse trigonometric functions at specific spatial boundaries.

[0035] Substituting the boundary time angle and solar time angle into a preset trajectory determination rule, the east-west direction coefficient, north-south direction coefficient, and quadrant correction coefficient for the corresponding time-series tracking node are obtained. The preset trajectory determination rule is as follows: First, match the east-west direction coefficient: extract the solar hour angle under the current time-series tracking node and determine the positive or negative state of the value. If the solar hour angle is greater than or equal to zero, it means that the current time is in the noon or afternoon period, and the apparent motion trajectory of the sun is determined to be in the westward direction. In this case, the east-west direction coefficient is assigned a value of positive one. If the solar hour angle is less than zero, it means that the current time is in the morning period, and the apparent motion trajectory of the sun is determined to be in the eastward direction. In this case, the east-west direction coefficient is assigned a value of negative one.

[0036] Secondly, the north-south direction coefficient is matched: the absolute value of the current solar hour angle is extracted and compared with the boundary hour angle term. If the absolute value of the solar hour angle is less than or equal to the boundary hour angle term, it indicates that the sun's trajectory has not yet crossed the east-west reference limit, that is, it has not crossed the east-west circle in space, and the north-south direction coefficient is assigned a value of positive one; if the absolute value of the solar hour angle is greater than the boundary hour angle term, it indicates that the sun's trajectory has crossed the physical critical point and a north-south spatial crossing has occurred, and the north-south direction coefficient is assigned a value of negative one.

[0037] Finally, the quadrant correction coefficient is matched: the matching logic of this coefficient also depends entirely on the positive or negative state of the solar hour angle. Its core function is to dynamically determine the exact physical direction of angle jump compensation when quadrant folding occurs during trajectory calculation. If the solar hour angle is greater than or equal to zero, the quadrant correction coefficient is assigned a value of positive one; if the solar hour angle is less than zero, the quadrant correction coefficient is assigned a value of negative one.

[0038] The east-west direction coefficient and the north-south direction coefficient are multiplied to construct a quadrant determination term. The quadrant determination term is then multiplied with a reference azimuth angle to construct a basic mapping term. A difference operation is performed between the first value and the quadrant determination term, and the result is divided by the second value to construct a jump trigger term. The jump trigger term, the quadrant correction coefficient, and a preset semicircular constant are then multiplied together to construct a half-cycle compensation term. In this embodiment, the preset semicircular constant is set to... The basic mapping term and the half-cycle compensation term are summed to calculate the solar azimuth angle at the corresponding time-tracking node. The specific calculation formula is as follows: In the formula, The azimuth of the sun. As the reference azimuth, This is the east-west direction coefficient. This is the north-south direction coefficient. This is the quadrant correction coefficient.

[0039] The solar azimuth angle represents the horizontal polar coordinate yaw angle with true south as the absolute zero reference. Its value shows a continuous monotonically increasing trend from negative to positive from dawn to dusk, reflecting the objective physical traverse of the sun across the dome from east to west. It is driven by the baseline azimuth angle; simultaneously, a quadrant determination term is constructed by multiplying the east-west and north-south direction coefficients, directly intervening in the polarity of the baseline angle to map the physical folding when celestial bodies cross boundaries. Once folding occurs, the jump trigger term constructed by the formula structure immediately changes from zero to one, activating the jump compensation increment composed of the quadrant correction coefficient and the preset semicircular constant. This composite setting logic compensates for the inherent quadrant divergence blind spot of pure trigonometric functions in specific geographic and spatiotemporal calculations, further avoiding destructive reverse abrupt turns caused by data jumps in the yaw mechanism.

[0040] Step 3: Based on the solar azimuth and solar altitude angles corresponding to each time-series tracking node, calculate the desired tracking attitude angle for that time-series tracking node.

[0041] In astronomical terms, altitude and azimuth angles construct a standard horizontal coordinate system vector with the observation point as the origin. However, actual tracking devices, constrained by their specific rotary bearings and support structures, possess an independent mechanical motion coordinate system. This embodiment performs a sine operation on the solar azimuth angle at the corresponding time-series tracking node to obtain the azimuth sine value, used to extract the east-west projection component of sunlight. It also performs a tangent operation on the solar altitude angle at the corresponding time-series tracking node to obtain the altitude tangent value, used to quantify the vertical incidence depth of light relative to the ground plane. The altitude tangent value is summed with a preset zero-prevention constant to construct the attitude conversion denominator. The azimuth sine value is divided by the attitude conversion denominator to construct the attitude conversion ratio term. An arctangent operation is performed on the attitude conversion ratio term to calculate the desired tracking attitude angle of the tracking device at the corresponding time-series tracking node. Specifically, when the sun is close to the horizon (at sunrise or sunset), the altitude angle approaches zero, resulting in a zero tangent value; direct division would cause a fatal division-by-zero error. Therefore, in calculating the attitude transition ratio term, this embodiment uses a preset zero-prevention constant to avoid the division-to-zero singularity induced under low elevation angle conditions at dawn and dusk. The specific calculation formula for the desired tracking attitude angle is as follows: In the formula, To track the attitude angle, The azimuth of the sun. The solar altitude angle, To pre-set a zero-prevention constant, this embodiment sets its value to be [value missing]. This is used to avoid the division-to-zero singularity induced under low elevation angle conditions at dawn and dusk.

[0042] The desired tracking attitude angle directly reflects the actual physical tilt of the tracking device when it aligns with the incident solar beam. A larger value indicates that the panel is tilted at a large angle during dawn and dusk; a smaller value indicates that the panel tends to be horizontal at noon. Logically, the azimuth sine extracts the projection component of the light in the east-west direction, causing the attitude angle to increase accordingly; while the altitude tangent acts as the denominator, exerting a reverse constraint. During dawn and dusk, the azimuth shift is large and the altitude angle is low, increasing the proportion of lateral projection and causing the actuator to deflect significantly; conversely, at noon, the altitude angle rises rapidly, and the surge in its tangent significantly suppresses this ratio, guiding the main axis back to center smoothly. This formula uses the arctangent operator to construct a proportional relationship, successfully reducing the complex three-dimensional celestial trajectory to a one-dimensional specific mechanical rotation plane, ensuring that the normal vector of the illuminated surface is accurately aligned with the incident solar beam, effectively eliminating the loss of radiant energy attenuation caused by spatial cosine refraction.

[0043] Step 4: Calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and combine it with the mechanical transmission parameters of the tracking device to convert the control angular displacement increment into the corresponding drive pulse control quantity, generating a feedforward drive pulse sequence that matches the timing tracking node sequence.

[0044] This embodiment calculates the difference between the expected tracking attitude angle of the next timing tracking node and the expected tracking attitude angle of the current timing tracking node to obtain the control angular displacement increment. The control angular displacement increment, the preset total transmission ratio (as a mechanical transmission parameter), and the preset pulse conversion modulus are multiplied together, and the result is divided by a preset circumferential constant to construct a pulse mapping term. Specifically, by directly obtaining the specific parameters of the tracking device, this embodiment sets the preset total transmission ratio to 800 to establish the lever amplification coefficient at the mechanical level, accurately mapping the high-speed, minute rotation at the motor end to the heavy-load attitude deflection at the output end; the preset pulse conversion modulus is set to 400 to refine the inherent step angle of the motor. The pulse mapping term is rounded up to calculate the drive pulse control quantity corresponding to the current timing tracking node. Based on the specific time parameters of each corresponding timing tracking node, the drive pulse control quantities are sequentially sorted and encapsulated according to the timing progression order to generate a feedforward drive pulse sequence. The specific calculation formula for the drive pulse control quantity is as follows: In the formula, For drive pulse control quantity, For the first The expected tracking attitude angle of each time-series tracking node. For the first The expected tracking attitude angle of each time-series tracking node. To preset the overall transmission ratio, 360 is the preset pulse conversion modulus, and 360 is the preset circumference constant. For indexes of time-series tracking nodes, The function is a floor function.

[0045] The drive pulse control quantity represents the total number of discrete command pulses that need to be sent to the motor at the current moment. When its value is large, it means that the tracking panel needs to perform a large-span yaw rotation between adjacent nodes, such as tracking during dawn and dusk; when the value is small, it represents a short-distance angle fine adjustment during noon. The control angular displacement increment between adjacent nodes serves as the basic calculation base, determining the pulse reference quantity for this action; the preset total transmission ratio reflects the lever amplification capability of the mechanical reduction mechanism, proportionally amplifying the small angle requirement at the output end into the rotation angle of the motor rotor. This formula converts the mechanical-level analog angle quantity into a relative digital pulse command at the electrical level by multiplying the control angular displacement increment, transmission ratio, and preset circumferential constant, and dividing by the preset pulse conversion modulus. Its outer nested rounding operator forces the mapping term to be converted into a valid positive integer, avoiding logical recognition errors caused by decimal pulses in the drive circuit, and preventing the loss of small angles due to truncation and the cumulative deviation under long-term operation.

[0046] Step 5: Establish a timing triggering mechanism based on internal timing. When the triggering time corresponding to the current timing tracking node is reached, extract the matching drive pulse control quantity from the feedforward drive pulse sequence as the control signal output, and drive the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

[0047] To eliminate the tracking lag error caused by the tracking device's own motion time, this solution introduces a time-axis-based advance triggering mechanism to drive the tracking device to move in advance and accurately match the sun's actual trajectory. In this embodiment, an internal timer is started and accumulated according to a preset timing period to obtain the system's current running time. Then, the current running time is compared in real time with the specific time parameters bound to the current timing tracking node. Specifically, regarding the granularity of the internal timer's accumulation, this embodiment sets the preset timing period to [value missing] based on the timer's tracking accuracy requirements. This ensures that the microprocessor will not frequently enter interrupts and cause congestion on the surrounding communication bus due to an excessively short timing cycle, nor will the edge sharpness of the time comparison be lost due to an excessively long timing cycle.

[0048] When the current running time reaches the specific time parameter, the matching drive pulse control quantity in the feedforward drive pulse sequence is extracted and directly output. Given that the mechanical deflection of the tracking device inevitably consumes physical time, if an instantaneous following logic is used, the actual apparent trajectory of the sun will have already shifted by the time the tracking device reaches its position. Therefore, the control signal output here is not for the current spatial position, but directly triggers a misalignment drive for future nodes across a complete time step, controlling the tracking device to move ahead to the desired tracking attitude angle corresponding to the next timing tracking node. By utilizing the aforementioned spatial displacement to accurately offset the time lag of mechanical transmission, it ensures that the tracking device can complete all mechanical operations before the arrival of the actual sunlight, thus allowing it to stop in advance in physical space and wait for the natural sweep of sunlight.

[0049] The determination of whether the tracking device has reached its designated position is based on the completion of all extracted drive pulse control outputs. After confirming that the tracking device has reached its designated position, the next timing tracking node is updated to the current timing tracking node, and the current running time is continuously compared in real time with the specific time parameters bound to the updated current timing tracking node. This process is repeated until all timing tracking nodes within the preset daytime tracking cycle have been traversed.

[0050] After traversing all timing tracking nodes within the preset daytime tracking cycle, the current daytime tracking task ends, and the nighttime reset phase begins. At this time, the tracking device reverses to the initial desired tracking attitude angle corresponding to the first timing tracking node of the next day. After confirming that the tracking device has reversed and reset in place, the accumulated control values ​​recorded at the underlying level are simultaneously reset. Zeroing logic is introduced at the end of the daily operation cycle to clear the daily accumulated execution error caused by the tracking device's frequent fine-tuning and starting / stopping during the day, ensuring that the spatial absolute reference is strictly aligned with the theoretical desired attitude when tracking restarts the next day.

[0051] For the control logic of this scheme, the total tracking error in a single day's operation comes from both actual quantization error and lead delay error: In the process of converting the control angular displacement increment between adjacent timing tracking nodes into discrete drive pulse control quantities, spatial quantization deviations inevitably arise due to the rounding operation. In this embodiment, the theoretical quantization error (i.e., the extreme value of the system's physical resolution) is jointly determined by the pulse conversion modulus of the stepper motor and the preset total transmission ratio of the reduction mechanism. The calculation logic for the theoretical quantized angular displacement corresponding to a single-step pulse is as follows: calculate the product of the pulse conversion modulus and the preset total transmission ratio, and divide the preset circumferential constant by the product to obtain the theoretical quantized angular displacement. This theoretical quantized angular displacement characterizes the microscopic physical resolution boundary at the system's underlying level, constituting the maximum theoretical quantization error limit (i.e., 0.001125°) that can be generated under a single rounding instruction. However, since this control method uses discrete timing node stepper drive, and the start time of the preset daytime tracking cycle is set to 8:00 AM Beijing time and the end time is set to 6:00 PM Beijing time, the small rounding deviation in single-step execution will accumulate during continuous daytime tracking. Therefore, in all-weather dynamic operation, the calculation logic for the actual quantization error is as follows: First, extract the expected tracking attitude angles corresponding to the end and start times of the preset daytime tracking cycle and calculate the difference between them to obtain the total macroscopic angle deflection; second, multiply the total macroscopic angle deflection by the preset total transmission ratio and divide the product by the single-step step angle constant to calculate the absolute expected pulse total at the pure algebraic level, where the single-step step angle constant is obtained by dividing the preset circumference constant by the preset pulse conversion modulus; subsequently, extract the sum of the cumulative executed drive pulse control quantities within the current daytime tracking cycle and perform a difference calculation between the sum of the cumulative executed drive pulse control quantities and the absolute expected pulse total to obtain the underlying cumulative pulse deviation; finally, multiply the cumulative pulse deviation by the inverse mapping coefficient to obtain the actual quantization error, where the inverse mapping coefficient is obtained by dividing the single-step step angle constant by the preset total transmission ratio. Based on actual engineering calculations, within this complete daytime operation range from 8:00 AM to 6:00 PM, the total accumulated actual quantization error is... .

[0052] This embodiment abandons high-frequency real-time tracking and instead adopts a timing-triggered mechanism driven by a preset time step. While the tracking device moves ahead to the desired tracking attitude angle corresponding to the next timing tracking node and pauses to wait for the sunlight to naturally sweep across, the continuous apparent motion trajectory of the real sun will generate a dynamic relative angular displacement with the stationary light-receiving panel. The maximum spatial defocusing deviation generated within a single preset time step is the lead-delay error. Based on the angular velocity of the celestial body and the preset time step, the peak value of this lead-delay error is... .

[0053] In this embodiment, the total daily tracking error under extreme conditions is a linear superposition of the actual quantization error and the lead-delay error, i.e. The extreme value of the total daily tracking error is far below the effective tolerance angle boundary of the receiving surface of conventional solar modules, effectively ensuring the absolute sun-seeking accuracy of the tracking device in spatial pose transformation.

[0054] Table 1 is an example table of integrated data of space astronomical parameters and underlying electromechanical drive mapping of the target area within a preset daytime tracking period.

[0055] Table 1: Comprehensive Data Table of Spatial Parameters of Timing Tracking Nodes and Electromechanical Drive Mapping Table 1 shows the data demonstrating the accurate mapping capability of this method from celestial parameters to electromechanical commands during the core tracking period. From nodes 1 to 5 (08:00 to 08:40), the solar azimuth angle is at its maximum negative offset and the solar altitude angle is low, causing the desired tracking attitude angle to remain in the large tilt range. At this time, the increment of control angle displacement between adjacent nodes is small, and the driving pulse control quantity increases from 1052 to 1715, reflecting the relatively slow rate of change in the spatial attitude of the morning tracking device. From nodes 10 to 15 (09:30 to 10:20), as the solar altitude angle steadily increases, the desired tracking attitude angle deflects synchronously and smoothly, and the driving pulse control quantity increases from 1810 to 1923. This indicates that thanks to the precise constraint of the increment of control angle displacement between adjacent nodes, the evolution of the feedforward driving pulse sequence is highly continuous, without any step jumps. The process changes; entering the noon core area from nodes 28 to 32 (12:30 to 13:10), the solar altitude angle rises to its highest point of the day. At this time, due to the short-term rate of change of the desired tracking attitude angle reaching its extreme value of the day, the drive pulse control quantity is precisely and adaptively increased to the daytime peak range, ensuring that the tracking device can still output sufficient control signals to accurately follow the trajectory even under intense solar apparent motion. In particular, at the end of daytime tracking corresponding to node 61 (18:00), the drive pulse control quantity is 114670. This value is the sum of the positive drive pulse control quantities executed cumulatively within the current daytime tracking cycle, used to trigger the tracking device to enter the nighttime reset phase and reverse back to the initial desired tracking attitude angle. This table fully demonstrates that this embodiment can effectively offset the accumulated errors caused by mechanical transmission by relying on the feedforward drive pulse sequence, and complete the unbiased closed loop of the spatial absolute reference at the end of a single day's operation.

[0056] Please see Figure 3 The present invention also provides a feedforward-driven active solar tracking control device, which is used to implement the above-mentioned feedforward-driven active solar tracking control method, comprising: The time-series construction module is used to obtain the spatial positioning parameters of the target area, including the local longitude and local latitude, and construct a time-series tracking node sequence according to a preset time step within a preset daytime tracking cycle. The time-series tracking node sequence contains discrete specific time parameters and corresponding date numbers. The angle calculation module is used to combine the apparent motion trajectory of the sun, calculate the solar altitude angle and solar azimuth angle of each time-series tracking node in the time-series tracking node sequence by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients. The attitude angle mapping module is used to calculate the desired tracking attitude angle for each time-series tracking node based on the solar azimuth and solar altitude angles calculated for each time-series tracking node. The pulse conversion module is used to calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and, in combination with the mechanical transmission parameters of the tracking device, convert the control angular displacement increment into the corresponding drive pulse control quantity, generating a feedforward drive pulse sequence that matches the timing tracking node sequence. The advance drive module is used to establish a timing triggering mechanism based on internal timing. When the triggering time corresponding to the current timing tracking node is reached, the matching drive pulse control quantity in the feedforward drive pulse sequence is extracted as a control signal output, driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

[0057] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0058] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution.

[0059] 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; 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, depending on actual needs.

[0060] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A solar active advanced tracking control method based on feedforward drive, characterized in that, The specific steps include: The spatial positioning parameters of the target area are obtained, including local longitude and local latitude, and a time-series tracking node sequence is constructed according to a preset time step within a preset daytime tracking cycle. The time-series tracking node sequence contains discrete specific time parameters and corresponding date numbers. By combining the apparent motion trajectory of the sun, and by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients, the solar elevation angle and solar azimuth angle corresponding to each time-series tracking node in the time-series tracking node sequence are calculated sequentially. Based on the solar azimuth and solar altitude angles corresponding to each time-series tracking node, the desired tracking attitude angle for the corresponding time-series tracking node is calculated. Calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and combine it with the mechanical transmission parameters of the tracking device to convert the control angular displacement increment into the corresponding drive pulse control quantity, thereby generating a feedforward drive pulse sequence that matches the timing tracking node sequence. A timing triggering mechanism based on internal timing is established. When the triggering time corresponding to the current timing tracking node is reached, the matching drive pulse control quantity in the feedforward drive pulse sequence is extracted as the control signal output, driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

2. The solar active advanced tracking control method based on feedforward drive according to claim 1, characterized in that: The specific steps for constructing the time-series tracking node sequence are as follows: Using the start and end times of the preset daytime tracking cycle as time boundary endpoints, sampling is performed at equal time intervals on the time axis segment between the start and end times according to the preset time step, generating a series of discrete time nodes containing specific time parameters, and binding the current date number to each discrete time node to form a time-series tracking node sequence.

3. The solar active advanced tracking control method based on feedforward drive according to claim 1, characterized in that: The basic spatiotemporal parameters include the solar declination angle and the solar hour angle; The specific steps for calculating the solar declination angle are as follows: The extracted date sequence number under the corresponding time-series tracking node is summed with the preset date offset constant, and the summation result is divided by the preset total number of days in the year to construct the annual conversion ratio. The annual conversion ratio is multiplied by the preset circumference constant, and the result of the multiplication is sineed. The result of the sine is then multiplied by the preset obliquity of the ecliptic constant to calculate the solar declination angle. The specific steps for calculating the solar hour angle are as follows: The difference between the local longitude and the preset standard longitude is calculated, and the result of the difference calculation is divided by the preset rotational angular velocity constant to construct the longitude compensation term; Divide the preset true solar time difference by the preset time conversion constant to construct the orbital time difference term. Perform algebraic sum operations on the extracted specific time parameters, longitude compensation terms, and orbital time difference terms under the corresponding time series tracking nodes to calculate the true solar time. The difference between the true solar time and the preset noon reference time constant is calculated to obtain the noon offset. The noon offset is then multiplied with the preset rotation angular velocity constant to calculate the solar hour angle at the corresponding time tracking node.

4. The solar active advanced tracking control method based on feedforward drive according to claim 3, characterized in that: The specific steps for calculating the solar altitude angle are as follows: The local latitude of the target area is sine-operated to be calibrated as the latitude sine value, the solar declination angle is sine-operated to be calibrated as the declination angle sine value, and the latitude sine value and the declination angle sine value are multiplied to construct the basic altitude term; The local latitude of the target area is cosine-operated to be calibrated as the latitude cosine value, the solar declination angle is cosine-operated to be calibrated as the declination angle cosine value, the solar hour angle under the corresponding time-series tracking node is cosine-operated to be calibrated as the hour angle cosine value, and the latitude cosine value, declination angle cosine value and hour angle cosine value are multiplied together to construct the dynamic height term; The basic altitude term and the dynamic altitude term are summed to obtain the sine value of the solar altitude angle. Then, an arcsine operation is performed on this sine value to calculate the solar altitude angle at the corresponding time-tracking node. The specific calculation formula is as follows: In the formula, The solar altitude angle, The latitude is the local latitude. The solar declination angle, It is the solar hour angle.

5. The solar active advance tracking control method based on feedforward drive according to claim 4, characterized in that: The orientation control coefficients include east-west direction coefficients, north-south direction coefficients, and quadrant correction coefficients; The specific matching steps for the azimuth control coefficient are as follows: The difference between the preset right angle constant and the solar elevation angle under the corresponding time tracking node is calculated to solve the solar zenith angle under the corresponding time tracking node; The solar hour angle is sine-operated to obtain the hour angle sine value. The hour angle sine value is multiplied with the declination angle cosine value to construct the mapping numerator. The solar zenith angle is sine-operated to obtain the zenith angle sine value. The zenith angle sine value is summed with a preset zero constant to construct the mapping denominator. Divide the numerator of the mapping by the denominator and perform an arcsine operation to calculate the reference azimuth angle. Divide the sine of the declination angle by the cosine of the declination angle to obtain the tangent of the declination angle; divide the cosine of the latitude by the sine of the latitude to obtain the cotangent of the latitude; multiply the tangent of the declination angle by the cotangent of the latitude; and perform an inverse cosine operation on the product result to calculate the boundary time angle term. Substitute the boundary time angle and solar time angle into the preset trajectory determination rules to match and obtain the east-west direction coefficient, north-south direction coefficient and quadrant correction coefficient under the corresponding time-series tracking node.

6. The solar active advance tracking control method based on feedforward drive according to claim 5, characterized in that: The specific steps for calculating the solar azimuth angle are as follows: The east-west direction coefficient and the north-south direction coefficient are multiplied to construct a quadrant determination term, and the quadrant determination term is multiplied with the reference azimuth angle to construct a basic mapping term; The difference between the value one and the quadrant determination term is calculated, and the result of the difference calculation is divided by the value two to construct the jump trigger term. The jump trigger term, the quadrant correction coefficient and the preset semicircular constant are multiplied together to construct the semi-cycle compensation term. The basic mapping term and the half-cycle compensation term are summed to calculate the solar azimuth angle at the corresponding time-tracking node. The specific calculation formula is as follows: In the formula, The azimuth of the sun. This is the east-west direction coefficient. This is the north-south direction coefficient. As the reference azimuth, Quadrant correction coefficient, This is a preset semicircle constant.

7. The solar active advanced tracking control method based on feedforward drive according to claim 1, characterized in that: The specific mapping steps for the desired tracking attitude angle are as follows: Perform a sine operation on the solar azimuth angle under the corresponding time-tracking node to obtain the azimuth sine value, and perform a tangent operation on the solar altitude angle under the corresponding time-tracking node to obtain the altitude tangent value; The elevation angle tangent value is summed with a preset zero-prevention constant to construct the attitude conversion denominator. Divide the azimuth sine value by the attitude transformation denominator to construct the attitude transformation ratio term. Perform an arctangent operation on the attitude transformation ratio term to calculate the expected tracking attitude angle of the tracking device at the corresponding timing tracking node. The specific calculation formula is as follows: In the formula, To track the attitude angle, The azimuth of the sun. The solar altitude angle, This is a preset zero-prevention constant.

8. The solar active advance tracking control method based on feedforward drive according to claim 1, characterized in that: The specific steps for generating the feedforward driving pulse sequence are as follows: The difference between the expected tracking attitude angle of the next timing tracking node and the expected tracking attitude angle of the current timing tracking node is calculated to obtain the control angle displacement increment. The control angular displacement increment, the preset total transmission ratio (which is the mechanical transmission parameter), and the preset pulse conversion modulus are multiplied together, and the result of the multiplication is divided by the preset circumference constant to construct a pulse mapping term. The pulse mapping term is rounded up to calculate the drive pulse control quantity corresponding to the current timing tracking node; Based on the specific time parameters of each corresponding timing tracking node, the control quantities of each driving pulse are sorted and encapsulated step by step according to the timing progression order to generate a feedforward driving pulse sequence. The specific calculation formula for the driving pulse control quantities is as follows: In the formula, For drive pulse control quantity, For the first The expected tracking attitude angle of each time-series tracking node. For the first The expected tracking attitude angle of each time-series tracking node. To preset the overall transmission ratio, The preset pulse conversion modulus, To preset the circumference constant, This is the index for the time-series tracking node.

9. The solar active advance tracking control method based on feedforward drive according to claim 1, characterized in that: The specific steps for driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node are as follows: Start the internal timer and accumulate the time according to the preset timing period to obtain the current running time of the system; The current running time is compared in real time with the specific time parameters bound to the current time-series tracking node; When the current running time reaches the specific time parameter bound to the current timing tracking node, in order to compensate for the objective physical response time required for the mechanical transmission of the tracking device, the drive pulse control quantity that matches the next timing tracking node in the feedforward drive pulse sequence is extracted and directly output. The tracking device is controlled to perform displacement deflection in advance to the expected tracking attitude angle corresponding to the next timing tracking node, so as to ensure that the tracking device completes mechanical operation and stops in advance before the real solar beam reaches the spatial apparent motion position corresponding to the node. After the tracking device moves into position, the next time-series tracking node is updated to the current time-series tracking node, and the current running time is continuously compared with the specific time parameters bound to the updated current time-series tracking node in real time, until all time-series tracking nodes within the preset daytime tracking cycle have been traversed.

10. A solar active anti-tracking control device based on feedforward drive, used to execute the solar active anti-tracking control method based on feedforward drive as described in any one of claims 1-9, characterized in that, include: The time-series construction module is used to obtain the spatial positioning parameters of the target area, including the local longitude and local latitude, and construct a time-series tracking node sequence according to a preset time step within a preset daytime tracking cycle. The time-series tracking node sequence contains discrete specific time parameters and corresponding date numbers. The angle calculation module is used to combine the apparent motion trajectory of the sun, calculate the solar altitude angle and solar azimuth angle of each time-series tracking node in the time-series tracking node sequence by solving the basic spatiotemporal parameters and matching the corresponding azimuth control coefficients. The attitude angle mapping module is used to calculate the desired tracking attitude angle for each time-series tracking node based on the solar azimuth and solar altitude angles calculated for each time-series tracking node. The pulse conversion module is used to calculate the control angular displacement increment between the desired tracking attitude angles of adjacent timing tracking nodes, and, in combination with the mechanical transmission parameters of the tracking device, convert the control angular displacement increment into the corresponding drive pulse control quantity, generating a feedforward drive pulse sequence that matches the timing tracking node sequence. The advance drive module is used to establish a timing triggering mechanism based on internal timing. When the triggering time corresponding to the current timing tracking node is reached, the matching drive pulse control quantity in the feedforward drive pulse sequence is extracted as a control signal output, driving the tracking device to move in advance to the desired tracking attitude angle corresponding to the next timing tracking node.

Images