3D photovoltaic tracking support shadow backtracking optimization method

Abstract

The present application relates to the technical field of solar photovoltaic power generation, and proposes a 3D photovoltaic tracking support shadow backtracking optimization method, which comprises obtaining the spatial position parameters, panel width parameters and current solar position information of each photovoltaic tracker in a photovoltaic array; constructing a three-dimensional geometric model of each photovoltaic tracker according to the spatial position parameters and panel width parameters, and determining the true tracking angle of each photovoltaic tracker based on the solar position information; performing iterative shadow detection on each photovoltaic tracker according to the three-dimensional geometric model and the solar position information, determining whether there is inter-row shadow obstruction in the photovoltaic array, and quantifying the severity of the inter-row shadow obstruction; according to the severity and direction of the inter-row shadow obstruction, iteratively backtracking and adjusting the rotation axis angle of the photovoltaic tracker through a preset adjustment rule; outputting the angle of each photovoltaic tracker after backtracking and adjustment, and transmitting it to the corresponding photovoltaic tracker to perform tracking action.

Description

Technical Field

[0001] This invention relates to the field of solar photovoltaic power generation technology, and in particular to a method for optimizing the shadow backtracking of a 3D photovoltaic tracking bracket. Background Technology

[0002] Traditional single-axis photovoltaic (PV) tracking systems typically employ control strategies based on simple geometric calculations, aiming to align solar panels as perpendicularly as possible to sunlight to maximize solar radiation absorption. However, in practical applications with densely packed PV tracker arrays, the inter-row shadows created by mutual shading between trackers become a critical factor limiting power generation efficiency. Existing methods for shadow avoidance often rely on simplified two-dimensional models for approximate analysis or perform limited local adjustments at specific time points. These methods struggle to accurately handle the complex three-dimensional geometric shadow effects caused by tracker axial variations, leading to significant discrepancies between shadow analysis results and actual conditions. Furthermore, while some advanced shadow analysis methods, such as three-dimensional ray tracing, achieve high accuracy, their computational costs are too high to meet the real-time requirements of dynamic tracking systems, hindering efficient deployment in practical engineering. Therefore, existing technologies lack a shadow backtracking optimization method that can accurately characterize the three-dimensional shadow effect while maintaining computational efficiency. Consequently, the inter-row shadow shading problem in dense PV arrays remains unresolved, significantly limiting overall power generation efficiency. Summary of the Invention

[0003] To address the aforementioned shortcomings, the present invention aims to propose a 3D photovoltaic tracking bracket shadow backtracking optimization method. This method aims to accurately identify and eliminate complex three-dimensional inter-row shadow occlusion in dense photovoltaic arrays by constructing a three-dimensional geometric model of the photovoltaic tracker and combining iterative shadow detection and adaptive backtracking adjustment mechanisms. This will improve the overall tracking accuracy and power generation performance while ensuring the real-time response capability of the tracking system.

[0004] To achieve this objective, the present invention adopts the following technical solution: A method for optimizing the shadow backtracking of a 3D photovoltaic tracking bracket includes the following steps: S1: Obtain the spatial position parameters, panel width parameters, and current solar position information of each photovoltaic tracker in the photovoltaic array; S2: Based on the spatial position parameters and the panel width parameters, construct a three-dimensional geometric model of each photovoltaic tracker, and determine the true tracking angle of each photovoltaic tracker based on the solar position information; S3: Based on the three-dimensional geometric model and the solar position information, perform iterative shadow detection on each photovoltaic tracker to determine whether there is inter-row shadow occlusion in the photovoltaic array and quantify the severity of the inter-row shadow occlusion; S4: When it is determined that the inter-row shadow occlusion exists, the rotation axis angle of the photovoltaic tracker is iteratively adjusted according to the severity and direction of the inter-row shadow occlusion through a preset adjustment rule, so that the shadow occlusion of the photovoltaic array is lower than the preset value. S5: Output the adjusted angles of each photovoltaic tracker and transmit them to the corresponding photovoltaic tracker to perform the tracking action.

[0005] Preferably, step S2 includes: The photovoltaic tracker is abstracted as a rectangular surface, and the coordinates of the north endpoint of the rotation axis of the photovoltaic tracker are determined using spatial position parameters. South endpoint coordinates and panel width parameters ; Calculate the unit vector of the rotation axis The following relation is satisfied: ; in, Represents the unit vector of the rotation axis. Represents the direction vector of the rotation axis. The magnitude of the vector representing the direction of the rotation axis; Construct an orthogonal coordinate system, wherein the orthogonal coordinate system is defined by the unit vector of the rotation axis. A unit vector perpendicular to the axis of rotation. and with , orthogonal unit vectors Composed of elements that satisfy the right-handed coordinate system relation, where vectors... Satisfying the relation: ; in, Represents a unit vector orthogonal to the axis of rotation. This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents the vector cross product operation; Establish the normal vector of the photovoltaic tracker panel The following relation is satisfied: ; in, Indicates the tracker rotation angle. This represents the operation of the sine function. This represents the operation of the cosine function; The true tracking angle of the photovoltaic tracker in an unobstructed state is calculated based on the sun's position information.

[0006] Preferably, calculating the true tracking angle of the photovoltaic tracker in an unobstructed state, based on the tracker rotation angle and the solar position information, includes: Calculate the solar unit vector Projection component on the plane perpendicular to the axis of rotation The following relation is satisfied: ; in, Represents the solar unit vector. Represents the unit vector of the rotation axis. This represents the dot product of the solar unit vector and the rotation axis unit vector; According to the projection components Calculate the true tracking angle The following relation is satisfied: ; in, Represents the arctangent function in the four quadrants. This indicates that the projected component is in the unit vector dot product in the direction, This indicates that the projected component is in the unit vector dot product in the direction, This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents a unit vector orthogonal to the axis of rotation.

[0007] Preferably, the acquisition of the solar position information includes: Obtain the longitude, latitude, and current year of the geographical location. and current solar time ; Calculate the solar declination angle The following relation is satisfied: ; in, Indicates the solar declination angle. This represents a fixed value for the obliquity of the ecliptic. This represents the annual day correction parameter corresponding to the vernal equinox. Indicates accumulated days over a year. This indicates the total number of days in a year. Calculate the solar hour angle The following relation is satisfied: ; in, Indicates solar hour angle, This represents the Earth's rotation angle per hour. When referring to the sun, This represents the hour value corresponding to local noon. Based on solar altitude angle With solar azimuth Construct a solar unit vector pointing to the sun. The following relation is satisfied: ; in, This represents the sine value of the azimuth angle. This represents the cosine value of the azimuth angle. Represents the cosine value of the altitude angle. This represents the sine value of the altitude angle.

[0008] Preferably, iterative shadow detection for each photovoltaic tracker includes: The corner coordinates of the photovoltaic tracker panel Projected to ground reference height Plane, calculate the projection scale factor The following relation is satisfied: ; in, Indicates the projection scale factor. Represents the coordinates of the corner point The height coordinates, Indicates the ground reference height. Represents the solar unit vector The vertical component; Calculate the coordinates of the corner point Projected coordinates on the ground The following relation is satisfied: ; in, Represents the coordinates of the corner point Projected coordinates on the ground, Represents the three-dimensional coordinates of the corner points of the tracker plate. Represents the solar unit vector. Indicates the projection scale factor; Calculate the intersection area of ​​the projected polygons of the two photovoltaic trackers. The following relation is satisfied: ; in, This represents the intersection area of ​​the projected polygons of the front and rear photovoltaic trackers. and Represent the intersecting polygons respectively. The planar coordinates of the vertices, This represents the total number of vertices of the intersecting polygons. This represents a vertex loop summation operation. This represents the absolute value operation; Based on the intersecting area Compared with the preset shadow detection area threshold To determine whether there is inline shadow occlusion in the relationship between the two lines, when If the condition is met, then it is determined that there is inline shadow occlusion; otherwise, it is determined that there is no inline shadow occlusion.

[0009] Preferably, the process of iteratively backtracking and adjusting the rotation axis angle includes: The rotation axis angle of each photovoltaic tracker is initialized to zero degrees, and the preset iterative optimization loop is entered; In the iterative optimization loop, each photovoltaic tracker in the array is traversed, and it is determined whether the current photovoltaic tracker has inter-row shadow occlusion; If the inter-row shadow occlusion is detected, the rotation axis angle of the current photovoltaic tracker is adjusted back according to the preset back step size; If the interline shadow occlusion is not detected, the rotation axis angle is moved closer to the true tracking angle according to the preset approximation step size; The iterative optimization loop continues to be executed until the quantization result of the inter-row shadow occlusion is less than or equal to the preset shadow determination area threshold, and the change in the rotation axis angle of each photovoltaic tracker is less than the preset angle change threshold, at which point the iteration stops. Throughout the entire backtracking adjustment process, the absolute value of the backtracking tracking angle of the photovoltaic tracker is always constrained to not exceed the absolute value of the true tracking angle.

[0010] Preferably, the step of adjusting the rotation axis angle of the current photovoltaic tracker according to a preset backtracking step size includes: Calculate in real time the proportion of the current photovoltaic tracker panel's shaded area to the total panel area; Based on the percentage of shadow occlusion area, the degree of shadow occlusion is divided into three levels: first level, second level, and third level. When the shadow occlusion level is the first level, perform a backoff adjustment of one base step size; When the shadow occlusion level is the second level, perform a backoff adjustment with double the base step size; When the shadow occlusion level is the third level, perform a backoff adjustment of three times the base step size; The first level corresponds to the minimum threshold range for the proportion of shadow occlusion area, while the third level corresponds to the maximum threshold range for the proportion of shadow occlusion area.

[0011] Preferably, step S5 includes: After a single round of traversal and completion of the angle adjustment of each photovoltaic tracker in the array, the global shading status of the photovoltaic array and the angle change of each photovoltaic tracker at the current moment are detected. When it is determined that all photovoltaic trackers in the photovoltaic array are in a state without inter-row shadow occlusion, or the change in the rotation axis angle of each photovoltaic tracker between the current round and the previous round is less than the preset angle change threshold, the iterative optimization loop is determined to have reached the convergence state and the iteration is stopped. After the iterative optimization cycle is completed, the final backtracking angle of each photovoltaic tracker is output as the optimized control parameter and transmitted to the actuator of each photovoltaic tracker to adjust the photovoltaic tracker to the corresponding angle.

[0012] One of the above technical solutions has the following advantages or beneficial effects: This invention acquires the spatial position parameters, panel width parameters, and current solar position information of each tracker in a photovoltaic array. First, it establishes a 3D geometric model for each tracker based on an input scheme with two endpoints and calculates its true tracking angle in an unobstructed state, thus providing an accurate spatial geometric reference for subsequent shadow analysis. Using this 3D geometric model combined with solar position information, iterative shadow detection is performed on each tracker. This not only accurately determines whether inter-row shadow occlusion exists in the array but also quantifies and grades the severity of shadow occlusion, overcoming the limitation of traditional 2D models in failing to accurately reflect complex 3D shadow effects. Subsequently, based on the detected shadow severity and direction, iterative backtracking adjustments are performed on the rotation axis angle of each tracker using preset adjustment rules, gradually converging the shadow occlusion below a preset threshold. Simultaneously, the backtracking angle is always constrained to not exceed the true tracking angle to avoid excessive deviation from the solar incidence direction. Finally, the optimized tracking angle is output and transmitted to the corresponding actuator to complete the tracking action. This invention achieves accurate detection and backtracking elimination of three-dimensional inter-row shadows in dense photovoltaic arrays without employing computationally expensive three-dimensional ray tracing methods. It significantly improves the accuracy of shadow analysis and the real-time feasibility of tracking control, effectively solving the problem of insufficient shadow detection accuracy and difficulty in balancing computational efficiency in existing technologies. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0014] Figure 1 This is a flowchart of the 3D photovoltaic tracking bracket shadow backtracking optimization method provided in the embodiments of the present invention. Detailed Implementation

[0015] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0016] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0017] A method for optimizing the shadow backtracking of a 3D photovoltaic tracking bracket, such as Figure 1 As shown, a preferred embodiment of the present invention includes the following steps: S1: Obtain the spatial position parameters, panel width parameters, and current solar position information of each photovoltaic tracker in the photovoltaic array; It should be noted that spatial position parameters refer to the set of parameters used to determine the geometric position of the photovoltaic tracker in three-dimensional space. These parameters typically include the coordinates of the north and south ends of the tracker's rotation axis. This parameter uniquely determines the spatial orientation and position of the tracker's rotation axis. Panel width parameters refer to the extension dimension of the photovoltaic tracker panel along the direction perpendicular to the rotation axis. This parameter, together with the spatial position parameters, is used to determine the actual coverage area of ​​the tracker panel in three-dimensional space. Solar position information refers to the description of the sun's azimuth relative to the ground observation point at the current moment. This typically includes the solar altitude angle and solar azimuth angle, or astronomical parameters such as latitude and longitude, annual day, and solar time used to calculate the above angles. This information is used to determine the incident direction of sunlight.

[0018] Understandably, by obtaining the spatial position parameters and panel width parameters of the photovoltaic trackers in advance, a complete and accurate spatial positioning basis can be provided for the subsequent construction of the three-dimensional geometric models of each tracker, avoiding model construction deviations due to missing geometric descriptions; by obtaining the current solar position information, a real-time solar ray direction reference can be provided for subsequent true tracking angle calculation and shadow detection.

[0019] S2: Based on the spatial position parameters and the panel width parameters, construct a three-dimensional geometric model of each photovoltaic tracker, and determine the true tracking angle of each photovoltaic tracker based on the solar position information; It should be noted that the three-dimensional geometric model refers to the spatial geometric expression formed by abstractly describing the photovoltaic tracker panel and its rotation axis in a three-dimensional coordinate system using mathematical methods. This model is used to accurately characterize the spatial attitude and boundary range of the tracker panel at the current rotation angle. The true tracking angle refers to the ideal rotation angle that the photovoltaic tracker should maintain to maximize the reception of solar radiation in an unshaded state. This angle is determined by the solar position information and the spatial orientation of the tracker's rotation axis. For example, the three-dimensional geometric model can be described by a local coordinate system constructed by the rotation axis unit vector, the horizontal unit vector perpendicular to the rotation axis, and the unit vector orthogonal to the above vectors. The true tracking angle can be obtained by projecting the solar unit vector onto the plane perpendicular to the rotation axis and then using the arctangent operation in the four quadrants.

[0020] Understandably, by constructing a 3D geometric model based on spatial position parameters and panel width parameters, the physical tracker can be transformed into a spatial geometric object capable of mathematical operations, providing an accurate description of panel boundaries and pose for subsequent shadow detection. By determining the true tracking angle based on the sun's position information, an ideal tracking benchmark can be established in an unobstructed state. Through the model construction and true tracking angle determination operations in step S2, the physical array is transformed into a computable 3D geometric system, and a target angle benchmark for shadow backtracking optimization is established, thereby providing a unified geometric computation framework and ideal tracking reference for subsequent iterative shadow detection and angle adjustment.

[0021] S3: Based on the three-dimensional geometric model and the solar position information, perform iterative shadow detection on each photovoltaic tracker to determine whether there is inter-row shadow occlusion in the photovoltaic array and quantify the severity of the inter-row shadow occlusion; It should be noted that iterative shadow detection refers to the process of repeatedly executing shadow determination calculations according to preset loop rules. This process is used to dynamically track changes in the shadow occlusion state in the array. Inter-row shadow occlusion refers to the phenomenon of projection occlusion formed by the front row tracker panels on the rear row tracker panels in the direction of sunlight incidence. This phenomenon causes the occluded area to be unable to effectively receive solar radiation. The severity of shadow occlusion refers to the result of a numerical classification and evaluation of the shadow occlusion range or area. This result is used to guide the magnitude of subsequent angle adjustments. For example, iterative shadow detection can be achieved by projecting the corner points of the tracker panels along the solar vector direction onto a ground reference plane and calculating the intersection area of ​​the projected polygons of the front and rear trackers. The severity can be divided into three levels: slight occlusion, moderate occlusion, and severe occlusion, based on the proportion of the occluded area to the total panel area.

[0022] Understandably, by performing iterative shadow detection on each tracker based on the 3D geometric model and the sun's position information, the propagation path of sunlight can be simulated using precise 3D spatial geometric relationships, thereby accurately identifying the actual inter-row shadow occlusion in the array. By quantifying the severity of shadow occlusion, the qualitative determination of shadow existence can be transformed into a quantitative assessment of occlusion degree. Through the iterative detection and quantification operation in step S3, accurate perception and hierarchical representation of the array's shadow state are achieved, thus providing direct state input and adjustment range basis for subsequent adaptive angle adjustment, avoiding shadow misjudgment or omission caused by geometric simplification in traditional 2D models.

[0023] S4: When it is determined that the inter-row shadow occlusion exists, the rotation axis angle of the photovoltaic tracker is iteratively adjusted according to the severity and direction of the inter-row shadow occlusion through a preset adjustment rule, so that the shadow occlusion of the photovoltaic array is lower than the preset value. It should be noted that the shadow occlusion direction refers to the spatial distribution orientation of the interline shadows on the occluded tracker panel. This information is used to determine the direction of the rotation axis angle backtracking adjustment. The preset adjustment rule is a control strategy that matches different angle adjustment ranges according to the severity level of the shadow. This rule is used to achieve a balance between eliminating shadows and maintaining sun alignment. Iterative backtracking adjustment refers to the process of gradually reducing the degree of deviation of the rotation axis angle from the true tracking angle or gradually backtracking the rotation axis angle in multiple loops. This process is used to progressively eliminate shadow occlusion. For example, the adjustment rule can set a basic fine-tuning step size and perform backtracking adjustments of one, two, and three times the basic step size for slight occlusion, moderate occlusion, and severe occlusion, respectively. Iterative backtracking adjustment can make small corrections to the tracker angle in each iteration based on the current shadow state until the shadow occlusion converges to the allowable range.

[0024] Understandably, by performing iterative backtracking adjustments based on severity and direction when interline shadow occlusion is detected, differentiated angle correction magnitudes can be applied to different occlusion levels, thereby quickly eliminating large-area shadows while avoiding over-adjustment of minor occlusions; by iteratively correcting the tracker angle, the shadow state can be reassessed in each round of adjustment, ensuring the accuracy and stability of angle correction.

[0025] S5: Output the adjusted angles of each photovoltaic tracker and transmit them to the corresponding photovoltaic tracker to perform the tracking action.

[0026] It should be noted that the tracker angle after backtracking adjustment refers to the target angle of each tracker's rotation axis finally determined after iterative shadow detection and adaptive angle correction. This angle serves as a control command parameter to drive the tracker's actuator. The tracking action refers to the physical movement process in which the photovoltaic tracker drives the motor or hydraulic device to rotate the panel to the target posture according to the received angle command. This process is used to convert the optimized angle into the actual spatial posture of the panel. For example, the backtracked adjusted angles can be stored in the central control unit's memory in the form of an angle list, and the tracking action can be implemented by the industrial control computer sending angle commands to the drive motors of each tracker via the communication box.

[0027] It is understandable that by outputting the adjusted tracker angles, the numerical results obtained from iterative optimization calculations can be transformed into control parameters that can be recognized by the actuators; by transmitting the above angles to the corresponding trackers to perform tracking actions, a complete closed-loop control link from optimization calculation to physical execution can be established.

[0028] Preferably, step S2 includes: The photovoltaic tracker is abstracted as a rectangular surface, and the coordinates of the north endpoint of the rotation axis of the photovoltaic tracker are determined using spatial position parameters. South endpoint coordinates and panel width parameters ; Calculate the unit vector of the rotation axis The following relation is satisfied: ; in, Represents the unit vector of the rotation axis. Represents the direction vector of the rotation axis. The magnitude of the vector representing the direction of the rotation axis; Construct an orthogonal coordinate system, wherein the orthogonal coordinate system is defined by the unit vector of the rotation axis. A unit vector perpendicular to the axis of rotation. and with , orthogonal unit vectors Composed of elements that satisfy the right-handed coordinate system relation, where vectors... Satisfying the relation: ; in, Represents a unit vector orthogonal to the axis of rotation. This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents the vector cross product operation; Establish the normal vector of the photovoltaic tracker panel The following relation is satisfied: ; in, Indicates the tracker rotation angle. This represents the operation of the sine function. This represents the operation of the cosine function; The true tracking angle of the photovoltaic tracker in an unobstructed state is calculated based on the sun's position information.

[0029] It should be noted that the photovoltaic tracker abstracted as a rectangular surface refers to simplifying the physical photovoltaic panel into a planar rectangle with four corner points and a defined spatial orientation, used in the mathematical model to accurately describe the panel's spatial occupancy and orientation. (Coordinates of the north endpoint of the rotation axis) South endpoint coordinates These represent the position coordinates of the two endpoints of the tracker's rotation axis in three-dimensional space, consisting of three components: X, Y, and Z. They are used to uniquely determine the spatial position and orientation of the rotation axis. Panel width parameter. This represents the lateral dimension of the photovoltaic panel in the direction perpendicular to the rotation axis, used to calculate the three-dimensional coordinates of the panel corner points in conjunction with the rotation axis length. Rotation axis unit vector. A unit vector representing the direction of the rotation axis, with a magnitude of 1, used to define the reference axis of the tracker's rotation. A unit vector perpendicular to the rotation axis. This represents a unit vector perpendicular to the rotation axis in the horizontal plane, used to establish the horizontal reference direction of the local coordinate system. orthogonal unit vectors This represents the unit vector obtained through the cross product operation, and... and All three basis vectors are perpendicular, forming the third axis of a right-handed coordinate system. A right-handed coordinate system is one in which the three basis vectors satisfy... A coordinate system that is pairwise orthogonal and conforms to the right-hand rule is used to uniquely determine the rotational representation of the panel normal vector. Panel normal vector. Indicates the effect of rotation angle The changing unit vector of the panel normal direction, by and To each and The weighted combination is used to describe the spatial orientation of the panel at different rotation angles. Tracker rotation angle The true tracking angle represents the angle at which the panel rotates about its rotation axis relative to the reference attitude, and is a core variable for controlling the tracker's attitude. The true tracking angle represents the optimal rotation angle required for the panel's normal to be perpendicularly aligned with the sun's direction when there is no obstruction under the current sun position, and is used as the ideal target angle for subsequent shadow backtracking optimization.

[0030] Understandably, by abstracting the photovoltaic tracker as a rectangular surface and defining it using two endpoints plus width, a precise geometric model of the tracker is established in three-dimensional space. At the same time, a local right-handed coordinate system is constructed, consisting of a unit vector A of the rotation axis, horizontal and vertical vectors U, and orthogonal vectors V. Using trigonometric functions, an expression for the panel normal vector that varies with the rotation angle is established, so that any spatial pose of the tracker panel can be accurately described by a single rotation angle parameter. Then, the true tracking angle is calculated by combining the solar position information, providing a unified mathematical description framework for subsequent shadow detection and angle optimization. This achieves the effect of enabling the geometric relationship of complex three-dimensional arrays to be efficiently calculated and manipulated in a simplified coordinate system.

[0031] Preferably, calculating the true tracking angle of the photovoltaic tracker in an unobstructed state, based on the tracker rotation angle and the solar position information, includes: Calculate the solar unit vector Projection component on the plane perpendicular to the axis of rotation The following relation is satisfied: ; in, Represents the solar unit vector. Represents the unit vector of the rotation axis. This represents the dot product of the solar unit vector and the rotation axis unit vector; According to the projection components Calculate the true tracking angle The following relation is satisfied: ; in, Represents the arctangent function in the four quadrants. This indicates that the projected component is in the unit vector dot product in the direction, This indicates that the projected component is in the unit vector dot product in the direction, This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents a unit vector orthogonal to the axis of rotation.

[0032] It should be noted that the solar unit vector This represents a unitized three-dimensional vector pointing from the ground observation point towards the sun, calculated from the solar altitude angle and azimuth angle, used to describe the incident direction of sunlight. The plane perpendicular to the rotation axis refers to the unit vector perpendicular to the rotation axis. A vertical plane, the projection component of the solar vector onto that plane. This represents the solar direction component after removing the component along the rotation axis. This projected component reflects the effective portion of the solar direction that actually drives the panel to rotate around the axis. Dot product This represents the dot product operation between the solar unit vector and the rotation axis unit vector, resulting in a scalar value representing the projected length of the solar direction along the rotation axis. This value is used to calculate the axial components that need to be removed. True tracking angle. This represents the rotation angle required to align the panel normal perpendicularly to the projected direction of the sun; it is the ideal target angle for the tracker in an unobstructed state. Four-quadrant arctangent function. Indicates according to and The sign of the function is automatically determined by the quadrant in which it is located. The arctangent calculation function outputs in the negative range. To Zheng This is used to accurately determine the rotation angle without introducing quadrant ambiguity. The projection component is in the unit vector... dot product in direction This represents the magnitude of the projection vector's component along the U-axis. The projection components are on the unit vector. dot product in direction This indicates the magnitude of the components of the projection vector on the V-axis.

[0033] Understandably, by calculating the projection component of the solar unit vector onto the plane perpendicular to the rotation axis, invalid components along the rotation axis in the solar direction are eliminated, ensuring that the remaining components lie entirely within the plane where the panel can rotate. Then, using the component ratio of this projection component on the U-axis and V-axis of the local coordinate system, the true tracking angle is calculated through the four-quadrant arctangent function. This allows the panel to achieve optimal alignment with the solar direction by rotating around a single rotation axis, thus enabling the tracking angle calculation to adapt to any solar azimuth and rotation axis attitude while avoiding quadrant judgment errors.

[0034] Preferably, the acquisition of the solar position information includes: Obtain the longitude, latitude, and current year of the geographical location. and current solar time ; Calculate the solar declination angle The following relation is satisfied: ; in, Indicates the solar declination angle. This represents a fixed value for the obliquity of the ecliptic. This represents the annual day correction parameter corresponding to the vernal equinox. Indicates accumulated days over a year. This indicates the total number of days in a year. Calculate the solar hour angle The following relation is satisfied: ; in, Indicates solar hour angle, This represents the Earth's rotation angle per hour. When referring to the sun, This represents the hour value corresponding to local noon. Based on solar altitude angle With solar azimuth Construct a solar unit vector pointing to the sun. The following relation is satisfied: ; in, This represents the sine value of the azimuth angle. This represents the cosine value of the azimuth angle. Represents the cosine value of the altitude angle. This represents the sine value of the altitude angle.

[0035] It should be noted that longitude represents the east-west angular coordinates of a geographical location relative to the Prime Meridian, while latitude represents the north-south angular coordinates of a geographical location relative to the equator. Both together uniquely determine the location of the photovoltaic array on the Earth's surface. (Yearly accumulated days) Solar time indicates the current date's sequential number within the year, starting from 1, and is used to determine the Earth's position in its orbit around the sun. Represents local time with reference to the sun's center, expressed in hours, and used to characterize the day-night cycle caused by the Earth's rotation. Solar declination angle. The obliquity of the ecliptic represents the north-south angle of the point where the sun is directly overhead relative to the Earth's equator, reflecting the influence of seasonal changes on the sun's position. This represents the constant angle between the Earth's rotational axis and the normal to its orbital plane, approximately 23.45 degrees. The annual day correction parameter corresponding to the vernal equinox. This represents an empirical constant used in astronomical algorithms to adjust the starting point for the year's calendar, and is approximately 80. The total number of days in a year. Represents the number of days in one orbital period, usually taken as 365. Solar hour angle. This indicates the deviation of the sun's angle from local noon at the current time, reflecting the impact of time on the sun's east-west position. Earth's hourly rotation angle parameter. This represents the angle the Earth rotates through per hour, approximately 15 degrees per hour. The hour value corresponding to local noon. Solar time, usually 12, indicates the time when the sun is due south. Solar altitude angle. The azimuth angle indicates the angle between the sun's rays and the horizontal plane, reflecting the sun's altitude. The solar unit vector represents the horizontal angle between the projection of sunlight onto a horizontal plane and the direction of true north, reflecting the sun's azimuth. It represents a normalized three-dimensional vector pointing from a ground observation point to the sun, constructed from a combination of trigonometric functions of elevation and azimuth angles.

[0036] Understandably, by obtaining the latitude and longitude of the photovoltaic array's location and the current yearly day and solar time, the solar declination angle and solar hour angle are calculated using astronomical empirical formulas, thereby determining the solar altitude angle and azimuth angle. Finally, a solar unit vector pointing towards the sun is constructed, enabling the calculation of the sun's position to accurately reproduce the three-dimensional incident direction of sunlight based on geographical location and time parameters. This provides a dynamic and accurate illumination reference for shadow detection and true tracking angle calculation in three-dimensional geometric modeling.

[0037] Preferably, iterative shadow detection for each photovoltaic tracker includes: The corner coordinates of the photovoltaic tracker panel Projected to ground reference height Plane, calculate the projection scale factor The following relation is satisfied: ; in, Indicates the projection scale factor. Represents the coordinates of the corner point The height coordinates, Indicates the ground reference height. Represents the solar unit vector The vertical component; Calculate the coordinates of the corner point Projected coordinates on the ground The following relation is satisfied: ; in, Represents the coordinates of the corner point Projected coordinates on the ground, Represents the three-dimensional coordinates of the corner points of the tracker plate. Represents the solar unit vector. Indicates the projection scale factor; Calculate the intersection area of ​​the projected polygons of the two photovoltaic trackers. The following relation is satisfied: ; in, This represents the intersection area of ​​the projected polygons of the front and rear photovoltaic trackers. and Represent the intersecting polygons respectively. The planar coordinates of the vertices, This represents the total number of vertices of the intersecting polygons. This represents a vertex loop summation operation. This represents the absolute value operation; Based on the intersecting area Compared with the preset shadow detection area threshold To determine whether there is inline shadow occlusion in the relationship between the two lines, when If the condition is met, then it is determined that there is inline shadow occlusion; otherwise, it is determined that there is no inline shadow occlusion.

[0038] It should be noted that the corner coordinates This represents the coordinates of the four vertices of the rectangular photovoltaic tracker panel in three-dimensional space. Each corner point consists of three components: X, Y, and Z, used to accurately describe the spatial boundary of the panel. Ground reference height. This indicates the height coordinates of the selected reference horizontal plane, typically taken as the average elevation of the terrain where the array is located or the reference value of the installation height of the rotation axis, used to unify the projection plane. Projection scale factor. This represents the scaling factor required to project a corner point onto a ground reference plane along the direction of the solar unit vector. It is obtained by dividing the height difference between the corner point and the ground reference height by the vertical component of the solar unit vector. (Height coordinates) Represents the coordinates of the corner point Component values ​​in the vertical direction. Solar unit vector. vertical component This represents the component of the solar unit vector in the celestial or altitude direction, determining the tilt of the projected light rays. Projection coordinates. This represents the two-dimensional plane coordinates formed by projecting the corner point along the opposite direction of the sun onto the ground reference plane, used to construct the shadow projection polygon of the panel on the ground. The intersection area of ​​the projected polygons of the two photovoltaic trackers is also shown. This represents the area of ​​the overlapping portion of the projected areas of the front and rear trackers on the ground reference plane. This area reflects the degree to which the rear trackers are obscured by the shadows of the front trackers. The intersecting polygon is... Planar coordinates of each vertex and This represents the positions of each vertex in the two-dimensional coordinate system on the ground of the new polygon formed by the intersection of two projected polygons. Total number of vertices. This indicates the number of vertices of the intersecting polygons. The vertex loop summation operation calculates the sum of the product differences of the coordinates of adjacent vertices in the order of the polygon vertices, used to calculate the polygon area from the vertex coordinates. The absolute value operation ensures the result is non-negative, guaranteeing a positive area value. Shading area threshold. This represents the area threshold used to distinguish between areas with and without shadows. When the overlapping area exceeds this threshold, the shadow is considered to have a substantial impact on power generation.

[0039] It is understandable that by projecting the corner points of the tracker panel along the direction of the solar unit vector onto the ground reference plane, the shadow occlusion problem in three-dimensional space is transformed into the problem of overlapping projected polygons on a two-dimensional plane. The projection scale coefficient is used to accurately calculate the projection position of each corner point, and then the degree of projection overlap of the trackers before and after is quantified by the polygon intersection area formula. The overlap area is compared with a preset threshold to determine the existence of inter-row shadows, thereby significantly reducing the complexity of shadow calculation while maintaining the accuracy of three-dimensional analysis.

[0040] Preferably, the process of iteratively backtracking and adjusting the rotation axis angle includes: The rotation axis angle of each photovoltaic tracker is initialized to zero degrees, and the preset iterative optimization loop is entered; In the iterative optimization loop, each photovoltaic tracker in the array is traversed, and it is determined whether the current photovoltaic tracker has inter-row shadow occlusion; If the inter-row shadow occlusion is detected, the rotation axis angle of the current photovoltaic tracker is adjusted back according to the preset back step size; If the interline shadow occlusion is not detected, the rotation axis angle is moved closer to the true tracking angle according to the preset approximation step size; The iterative optimization loop continues to be executed until the quantization result of the inter-row shadow occlusion is less than or equal to the preset shadow determination area threshold, and the change in the rotation axis angle of each photovoltaic tracker is less than the preset angle change threshold, at which point the iteration stops. Throughout the entire backtracking adjustment process, the absolute value of the backtracking tracking angle of the photovoltaic tracker is always constrained to not exceed the absolute value of the true tracking angle.

[0041] It should be noted that initializing the rotation axis angle to zero degrees means uniformly setting the panel angles of all trackers to a reference zero position before the iteration begins. This zero position typically corresponds to a horizontal attitude with the panel normal facing upwards or a design reference attitude, providing a unified starting point for iteration. The iterative optimization loop refers to the calculation process of repeatedly executing shadow detection and angle adjustment until the termination condition is met. Each loop re-evaluates the shadow state based on the angle updated in the previous loop. The backtracking step size refers to the fixed or variable angle increment by which the tracker angle shifts towards the direction of reducing shadows when a shadow is detected, used to gradually eliminate occlusion. The approximation step size refers to the fixed or variable angle increment by which the tracker angle recovers towards the true tracking angle when there are no shadows, used to restore effective alignment with the sun after shadow elimination. The angle change threshold refers to the allowable upper limit of the angle difference of the same tracker in two adjacent iterations. The system is considered to have reached a stable state when the changes of all trackers are below this threshold. The absolute value of the backtracking angle refers to the numerical value of the tracker rotation angle after backtracking adjustment. The absolute value of the true tracking angle refers to the numerical value of the tracker rotation angle under ideal conditions without occlusion. The constraint that the absolute value of the backtracking angle does not exceed the absolute value of the true tracking angle means ensuring that the tracker does not rotate to a position larger than the ideal angle during shadow avoidance, thus avoiding excessive deviation from the direction of the sun.

[0042] Understandably, by uniformly initializing the angle of each tracker to zero degrees and entering an iterative optimization loop, the shadow state of each tracker is judged in the loop. When there is a shadow, back off is performed to reduce projection overlap. When there is no shadow, the tracker approaches the true tracking angle to optimize light energy reception. At the same time, the iteration termination is controlled by the dual conditions of shadow area threshold and angle change threshold, and the absolute value of the true tracking angle is used as the upper limit of rotation for constraint. This allows the array to gradually converge to the suboptimal posture of minimizing shadows in the dynamic iteration, thereby achieving the effect of eliminating inter-row shadows while preventing the trackers from rotating excessively and losing too much solar radiation.

[0043] Preferably, the step of adjusting the rotation axis angle of the current photovoltaic tracker according to a preset backtracking step size includes: Calculate in real time the proportion of the current photovoltaic tracker panel's shaded area to the total panel area; Based on the percentage of shadow occlusion area, the degree of shadow occlusion is divided into three levels: first level, second level, and third level. When the shadow occlusion level is the first level, perform a backoff adjustment of one base step size; When the shadow occlusion level is the second level, perform a backoff adjustment with double the base step size; When the shadow occlusion level is the third level, perform a backoff adjustment of three times the base step size; The first level corresponds to the minimum threshold range for the proportion of shadow occlusion area, while the third level corresponds to the maximum threshold range for the proportion of shadow occlusion area.

[0044] It should be noted that the percentage of shadow occlusion area to the total panel area refers to the ratio of the area of ​​the rear tracker panel covered by the shadow of the front tracker to the total area of ​​the rear tracker panel, expressed as a percentage, used to quantify the impact of shadows on a single tracker. First, second, and third levels refer to three grade intervals divided according to the percentage of occlusion, used to differentiate the severity of the shadow's impact. A single base step size refers to the reference angle adjustment amount used for first-level shadows, typically set to 0.5 to 1 degree, used for minor avoidance in cases of slight occlusion. A double base step size refers to twice the reference angle adjustment amount used for second-level shadows, used for larger-scale shadow removal in cases of moderate occlusion. A triple base step size refers to three times the reference angle adjustment amount used for third-level shadows, used for rapid and significant avoidance in cases of severe occlusion. The minimum threshold range refers to the range with the lowest percentage of occlusion, typically set to less than 15%. The maximum threshold range refers to the range with the highest percentage of occlusion, typically set to greater than 40%.

[0045] Understandably, by calculating the proportion of shadow occlusion area in real time and dividing the shadow severity into three levels, different base step size multiples are matched to different levels. When there is a slight shadow, a single step size is used for small adjustments to maintain the alignment accuracy with the sun. When there is a moderate shadow, a double step size is used to moderately eliminate the shadow. When there is a severe shadow, a triple step size is used to quickly avoid it. This allows the angle retreat strategy to adaptively adjust according to the actual severity of occlusion.

[0046] Preferably, step S5 includes: After a single round of traversal and completion of the angle adjustment of each photovoltaic tracker in the array, the global shading status of the photovoltaic array and the angle change of each photovoltaic tracker at the current moment are detected. When it is determined that all photovoltaic trackers in the photovoltaic array are in a state without inter-row shadow occlusion, or the change in the rotation axis angle of each photovoltaic tracker between the current round and the previous round is less than the preset angle change threshold, the iterative optimization loop is determined to have reached the convergence state and the iteration is stopped. After the iterative optimization cycle is completed, the final backtracking angle of each photovoltaic tracker is output as the optimized control parameter and transmitted to the actuator of each photovoltaic tracker to adjust the photovoltaic tracker to the corresponding angle.

[0047] It should be noted that a single-round traversal refers to the complete process of performing shadow detection and angle adjustment on all photovoltaic trackers in the array sequentially according to a predetermined order in the iterative optimization loop. The global shadow occlusion state refers to the comprehensive judgment result of whether inter-row shadow occlusion exists for all trackers in the entire photovoltaic array at the current moment, usually obtained by checking the shadow judgment flags of each tracker. The angle change refers to the absolute value of the difference in rotation axis angle between two adjacent iterations for the same tracker, used to measure the stability of the iterative process. The convergence state refers to the stable calculation state reached after the iterative optimization loop meets the termination condition; at this point, further iteration no longer produces significant angle improvement. The backtracking angle refers to the final rotation axis angle determined for each tracker after iterative shadow backtracking optimization, which is the optimal angle after balancing shadow avoidance and solar tracking. The optimized control parameters refer to the digital angle commands used to drive the physical actions of the trackers. The actuators refer to the electromechanical equipment such as motors, reducers, and transmission devices installed on the photovoltaic trackers, used to drive the panel to rotate to the target angle according to the received control parameters.

[0048] Understandably, by detecting the global shadow state and angle change after each round of traversal, and using the absence of shadows or angle change less than a threshold as the convergence criterion, the iteration process is terminated in time when the array reaches the minimum shadow or the attitude is stable, avoiding unnecessary computational overhead. At the same time, the final backtracking angle is output as a control parameter and transmitted to the actuator, so that the digital optimization result can be transformed into the tracking action in the physical world.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for optimizing the shadow backtracking of a 3D photovoltaic tracking bracket, characterized in that, Includes the following steps: S1: Obtain the spatial position parameters, panel width parameters, and current solar position information of each photovoltaic tracker in the photovoltaic array; S2: Based on the spatial position parameters and the panel width parameters, construct a three-dimensional geometric model of each photovoltaic tracker, and determine the true tracking angle of each photovoltaic tracker based on the solar position information; S3: Based on the three-dimensional geometric model and the solar position information, perform iterative shadow detection on each photovoltaic tracker to determine whether there is inter-row shadow occlusion in the photovoltaic array and quantify the severity of the inter-row shadow occlusion; S4: When it is determined that the inter-row shadow occlusion exists, the rotation axis angle of the photovoltaic tracker is iteratively adjusted according to the severity and direction of the inter-row shadow occlusion through a preset adjustment rule, so that the shadow occlusion of the photovoltaic array is lower than the preset value. S5: Output the adjusted angles of each photovoltaic tracker and transmit them to the corresponding photovoltaic tracker to perform the tracking action.

2. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 1, characterized in that, Step S2 includes: The photovoltaic tracker is abstracted as a rectangular surface, and the coordinates of the north endpoint of the rotation axis of the photovoltaic tracker are determined using spatial position parameters. South endpoint coordinates and panel width parameters ; Calculate the unit vector of the rotation axis The following relation is satisfied: ； in, Represents the unit vector of the rotation axis. Represents the direction vector of the rotation axis. The magnitude of the vector representing the direction of the rotation axis; Construct an orthogonal coordinate system, wherein the orthogonal coordinate system is defined by the unit vector of the rotation axis. A unit vector perpendicular to the axis of rotation. and with , orthogonal unit vectors Composed of elements that satisfy the right-handed coordinate system relation, where vectors... Satisfying the relation: ； in, Represents a unit vector orthogonal to the axis of rotation. This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents the vector cross product operation; Establish the normal vector of the photovoltaic tracker panel The following relation is satisfied: ； in, Indicates the tracker rotation angle. This represents the operation of the sine function. This represents the operation of the cosine function; The true tracking angle of the photovoltaic tracker in an unobstructed state is calculated based on the sun's position information.

3. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 2, characterized in that, Based on the tracker rotation angle and the solar position information, the calculation of the true tracking angle of the photovoltaic tracker in an unobstructed state includes: Calculate the solar unit vector Projection component on the plane perpendicular to the axis of rotation The following relation is satisfied: ； in, Represents the solar unit vector. Represents the unit vector of the rotation axis. This represents the dot product of the solar unit vector and the rotation axis unit vector; According to the projection components Calculate the true tracking angle The following relation is satisfied: ； in, Represents the arctangent function in the four quadrants. This indicates that the projected component is in the unit vector dot product in the direction, This indicates that the projected component is in the unit vector dot product in the direction, This represents a unit vector that is horizontal and perpendicular to the axis of rotation. This represents a unit vector orthogonal to the axis of rotation.

4. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 1, characterized in that, The acquisition of the solar position information includes: Obtain the longitude, latitude, and current year of the geographical location. and current solar time ; Calculate the solar declination angle The following relation is satisfied: ； in, Indicates the solar declination angle. This represents a fixed value for the obliquity of the ecliptic. This represents the annual day correction parameter corresponding to the vernal equinox. Indicates accumulated days over a year. This indicates the total number of days in a year; Calculate the solar hour angle The following relation is satisfied: ； in, Indicates solar hour angle, This represents the Earth's rotation angle per hour. When referring to the sun, This represents the hour value corresponding to local noon. Based on solar altitude angle With solar azimuth Construct a solar unit vector pointing to the sun. The following relation is satisfied: ； in, This represents the sine value of the azimuth angle. This represents the cosine value of the azimuth angle. Represents the cosine value of the altitude angle. This represents the sine value of the altitude angle.

5. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 1, characterized in that, Iterative shadow detection for each photovoltaic tracker includes: The corner coordinates of the photovoltaic tracker panel Projected to ground reference height Plane, calculate the projection scale factor The following relation is satisfied: ； in, Indicates the projection scale factor. Represents the coordinates of the corner point The height coordinates, Indicates the ground reference height. Represents the solar unit vector The vertical component; Calculate the coordinates of the corner point Projected coordinates on the ground The following relation is satisfied: ； in, Represents the coordinates of the corner point Projected coordinates on the ground, Represents the three-dimensional coordinates of the corner points of the tracker plate. Represents the solar unit vector. Indicates the projection scale factor; Calculate the intersection area of ​​the projected polygons of the two photovoltaic trackers. The following relation is satisfied: ； in, This represents the intersection area of ​​the projected polygons of the front and rear photovoltaic trackers. and Represent the intersecting polygons respectively. The planar coordinates of the vertices, This represents the total number of vertices of the intersecting polygons. This represents a vertex loop summation operation. This represents the absolute value operation; Based on the intersecting area Compared with the preset shadow detection area threshold To determine whether there is inline shadow occlusion in the relationship between the two lines, when If the condition is met, then it is determined that there is inline shadow occlusion; otherwise, it is determined that there is no inline shadow occlusion.

6. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 1, characterized in that, The process of iteratively backtracking and adjusting the rotation axis angle includes: The rotation axis angle of each photovoltaic tracker is initialized to zero degrees, and the preset iterative optimization loop is entered; In the iterative optimization loop, each photovoltaic tracker in the array is traversed, and it is determined whether the current photovoltaic tracker has inter-row shadow occlusion; If the inter-row shadow occlusion is detected, the rotation axis angle of the current photovoltaic tracker is adjusted back according to the preset back step size; If the interline shadow occlusion is not detected, the rotation axis angle is moved closer to the true tracking angle according to the preset approximation step size; The iterative optimization loop continues to be executed until the quantization result of the inter-row shadow occlusion is less than or equal to the preset shadow determination area threshold, and the change in the rotation axis angle of each photovoltaic tracker is less than the preset angle change threshold, at which point the iteration stops. Throughout the entire backtracking adjustment process, the absolute value of the backtracking tracking angle of the photovoltaic tracker is always constrained to not exceed the absolute value of the true tracking angle.

7. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 6, characterized in that, The step of adjusting the rotation axis angle of the current photovoltaic tracker according to the preset backtracking step size includes: Calculate in real time the proportion of the current photovoltaic tracker panel's shaded area to the total panel area; Based on the percentage of shadow occlusion area, the degree of shadow occlusion is divided into three levels: first level, second level, and third level. When the shadow occlusion level is the first level, perform a backoff adjustment of one base step size; When the shadow occlusion level is the second level, perform a backoff adjustment with double the base step size; When the shadow occlusion level is the third level, perform a backoff adjustment of three times the base step size; The first level corresponds to the minimum threshold range for the proportion of shadow occlusion area, while the third level corresponds to the maximum threshold range for the proportion of shadow occlusion area.

8. The 3D photovoltaic tracking bracket shadow backtracking optimization method according to claim 1, characterized in that, Step S5 includes: After a single round of traversal and completion of the angle adjustment of each photovoltaic tracker in the array, the global shading status of the photovoltaic array and the angle change of each photovoltaic tracker at the current moment are detected. When it is determined that all photovoltaic trackers in the photovoltaic array are in a state without inter-row shadow occlusion, or the change in the rotation axis angle of each photovoltaic tracker between the current round and the previous round is less than the preset angle change threshold, the iterative optimization loop is determined to have reached the convergence state and the iteration is stopped. After the iterative optimization cycle is completed, the final backtracking angle of each photovoltaic tracker is output as the optimized control parameter and transmitted to the actuator of each photovoltaic tracker to adjust the photovoltaic tracker to the corresponding angle.

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