Bracket control system, flexible tracking bracket, and photovoltaic device

Abstract

The present application discloses a bracket control system, a flexible tracking bracket, and a photovoltaic device. The bracket control system is used for controlling a photovoltaic flexible tracking bracket, and comprises: a first controller connected to a first motor of a first bracket unit; and a second controller wirelessly connected to the first controller, and connected to a second motor of a second bracket unit, wherein the first controller is configured to drive, on the basis of a received first instruction, the first motor to operate, and send a second instruction to the second controller; and the second controller is configured to drive, on the basis of the received second instruction, the second motor operate synchronously with the first motor, so as to jointly adjust the angle of a flexible cable bearing structure. The present application allows for coordinated angle control between the bracket units of the flexible tracking bracket, and avoids difficulties in bracket layout and problems such as component distortion and fracture caused by terrain undulation and other factors, thereby improving the angle adjustment efficiency and lowering the production cost of the flexible tracking bracket, and ensuring the installation adaptability of the flexible tracking bracket to a variety of complex terrains, broadening application scenarios.

Description

Support control system, flexible tracking support and photovoltaic device TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic control, in particular to a support control system, a flexible tracking support and a photovoltaic device. BACKGROUND

[0002] With the development of new energy technology, the photovoltaic industry continues to expand. In order to obtain more sufficient solar energy, photovoltaic panels and other photovoltaic components are often set in areas with sufficient light intensity and long light time. However, some areas suitable for establishing photovoltaic power stations have large changes in terrain, and the support of photovoltaic devices needs to be reasonably set according to the terrain. Photovoltaic flexible supports emerge as the times require. The existing photovoltaic flexible supports are divided into photovoltaic flexible fixed supports and photovoltaic flexible tracking supports. Photovoltaic flexible tracking supports can track the angle position of the sun in a day and maximize the irradiation, and are increasingly favored by customers. Single-row photovoltaic flexible tracking supports need to set driving devices at at least two positions of a single row to drive the flexible bearing mechanism at the corresponding position to rotate, thereby driving the photovoltaic components to rotate. One existing structure form is to synchronously transmit the power of the driving device to other driving devices through the synchronous shaft of the mechanical structure, but this structure has high cost and complex structure, and the synchronous shaft is easy to bend under long-distance structure, which has hidden troubles and is difficult to adapt to photovoltaic flexible tracking supports under long-distance structure.

[0003] SUMMARY

[0004] Therefore, the present application provides a support control system, a flexible tracking support and a photovoltaic device to reduce the cost and structural complexity of the flexible tracking support.

[0005] In a first aspect, a support control system is provided, which is applied to control a photovoltaic flexible tracking support. The single-row photovoltaic flexible tracking support includes at least two support units and a flexible cable bearing structure arranged between adjacent two support units. The support unit includes a motor for adjusting the angle of the flexible cable bearing structure. The support control system includes: a first controller connected with a first motor of a first support unit; a second controller wirelessly connected with the first controller and connected with a second motor of a second support unit; the first controller is configured to drive the first motor to operate based on a received first instruction, and send a second instruction to the second controller; and the second controller is configured to drive the second motor to operate synchronously with the first motor based on the received second instruction, and jointly adjust the angle of the flexible cable bearing structure.

[0006] The scheme of the above support control system coordinates the control among the first motor, the second controller and the second motor through the first controller, so as to complete the angle adjustment of the flexible cable bearing structure in the whole flexible tracking support, avoid the problem that the support unit is difficult to jointly adjust the angle of the support bearing structure due to the terrain undulation or at least two support units, and cause the support component to be distorted, mechanically damaged or even broken. Ensure that the photovoltaic module supported by the flexible tracking support is flat when it is directed to the specified angle, improve the power generation efficiency, avoid bending and improve the service life. At the same time, the above support control system can replace the traditional mechanical structure synchronous shaft to synchronously transmit the power of the driving device to other driving devices, further saving the production cost.

[0007] Optionally, the first controller is single, the first support unit is single, and the first controller is connected with the first motor of the first support unit; the second controller is at least two, and the second support unit is at least two, wherein the at least two second controllers are connected with the at least two second support units one by one.

[0008] Optionally, the first controller and the second controller establish wireless communication through LoRa wireless communication protocol, or through Zigbee wireless communication protocol, or through Bluetooth wireless communication protocol;

[0009] When the second controller is at least two, and the first controller and the at least two second controllers establish wireless communication through Zigbee or lora wireless communication protocol, the at least two second controllers establish wireless communication through Zigbee or lora wireless communication protocol.

[0010] The scheme of the above support control system flexibly applies reasonable wireless communication protocol, improves the communication reliability of the support control system in remote areas or areas with poor environmental conditions, avoids complex wiring arrangement, and increases the application scenarios of the support control system.

[0011] Optionally, the first controller is further configured to send a second instruction based on a preset interval time, and the second instruction includes a start instruction, a rotation direction instruction or a rotation angle instruction.

[0012] Optionally, the second controller is further configured to send parameter information to the first controller, and the parameter information includes an actual rotation angle, a target rotation angle, a rotation direction, a motor current, a motor voltage or fault information.

[0013] Optionally, the first controller is further configured to determine a failure state of the second controller, and the failure state includes communication interruption, control disorder or machine damage. The first controller sends a parameter acquisition instruction to the second controller, and receives parameter information of each second controller within a preset time length. The control disorder is determined based on the parameter information.

[0014] When the first controller does not receive the parameter information of one of the second controllers within a preset time length, it is determined that the second controller is in a failure state, and the first controller sends a relay instruction to the other second controller, the relay instruction being used to instruct the other second controller to establish wireless communication with the second controller in the failure state;

[0015] The first controller judges whether the other second controller establishes wireless communication with the second controller in the failure state, when the wireless communication is established, it is judged that the second controller in the failure state is in communication interruption with the first controller, and the other second controller transmits the parameter information of the second controller in the failure state to the first controller; when the wireless communication is not established, it is determined that the second controller in the failure state is damaged.

[0016] The above scheme of the support control system can effectively monitor the working state of the second controller and the second motor corresponding to the second controller through the first controller, and when communication interruption, control imbalance or machine damage occurs, the problem can be found in time to help the operation and maintenance personnel to quickly solve the fault problem.

[0017] Optionally, when the parameter information does not satisfy the preset parameter information, the first controller resets the second controller; when the number of reset times of the first controller reaches a preset number of times and the parameter information still does not satisfy the preset parameter information, it is determined that the second controller is in control imbalance.

[0018] The above scheme of the support control system can reduce the control failure caused by factors such as line signal blockage or register capacity limitation, restore the control function of the second controller as much as possible, and improve the reliability of the whole system.

[0019] Optionally, the support control system further comprises a debugging terminal, which establishes wireless communication with the first controller and the second controller respectively, and is used to set the device parameters of the first controller and set the device parameters of the second controller.

[0020] In a second aspect, a flexible tracking support is provided, comprising: at least two support units; a flexible cable load-bearing structure arranged between adjacent two support units of the at least two support units; and the support control system provided in the first aspect connected with the at least two support units, which controls at least two motors of the at least two support units to run synchronously, and adjusts the angle of the flexible cable load-bearing structure together.

[0021] In a third aspect, a photovoltaic device is provided, comprising: a photovoltaic assembly, and the flexible tracking support provided in the second aspect supporting the photovoltaic assembly. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings used in the description of the embodiments of the present application are briefly introduced as follows:

[0023] Fig. 1 shows a structural schematic diagram of a single-row flexible tracking support provided by an embodiment of the present application;

[0024] Fig. 2 shows a structural schematic diagram of a support control system provided by an embodiment of the present application;

[0025] Fig. 3 shows a structural schematic diagram of a plurality of support control systems provided by an embodiment of the present application;

[0026] Fig. 4 shows a structural schematic diagram of another flexible tracking support provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, specific embodiments of the present application will be described below with reference to the drawings. The drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings or embodiments can be obtained from these drawings or embodiments without creative labor, and adjustments and improvements made without departing from the concept of the present application are within the scope of protection of the present application.

[0028] In order to make the drawing simple, each drawing only schematically represents the part related to the embodiment, and it does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only part of the components with the same structure or function are schematically shown, and there can be more or less components with the same structure or function.

[0029] In the present application, unless otherwise explicitly specified and limited, ordinal numbers such as "first", "second", etc. are only used to distinguish the description of the associated objects, and cannot be understood as indicating or implying the relative importance or order between the associated objects; in addition, it also does not represent the number of the associated objects. "At least two" includes two or more than two, and other quantifiers are similar. " / " is used to describe the relationship between the associated objects, which represents the "or" relationship between the associated objects. "And / or" is used to describe the relationship between the associated objects, which includes any combination relationship between the associated objects, for example, "a and / or b" includes: "a alone", "b alone", or "a and b". "One or at least two" or "at least one" of at least two objects means any object or any combination of at least two objects, for example, "one or at least two of a1, a2, a3" or "at least one of a1, a2, a3" includes: "a1 alone", "a2 alone", "a3 alone", "a1 and a2", "a1 and a3", "a2 and a3", or "a1, a2 and a3".

[0030] With the development of new energy technology, the photovoltaic industry continues to expand. In order to obtain more solar energy, photovoltaic components are often set in areas with sufficient light intensity and long light time. However, some areas suitable for establishing photovoltaic power stations have large changes in terrain, and it is necessary to reasonably set up the support of photovoltaic equipment according to the terrain. The current mainstream photovoltaic tracking support usually passes through a flat main shaft (flat single shaft), and relies on the rotation of the main shaft to drive other photovoltaic components to change the tracking angle, which makes it unable to be installed and used in areas with large changes in terrain. In order to be able to use the terrain with large changes, the existing technology also does not use the main shaft, but uses a steel cable between the columns, but due to the rugged terrain, the number of columns is extremely limited, and multiple steel cables are used between the columns, so the single control box in the flat single shaft cannot be used to drive the entire support, therefore, the design of the flexible tracking support is extremely difficult.

[0031] The following will be described with reference to the accompanying drawings:

[0032] Please refer to FIG. 1, which is a structural schematic diagram of a single-row photovoltaic flexible tracking support provided by an embodiment of the present application. As shown in FIG. 1, the flexible photovoltaic tracking support 10 includes a support unit 11, and the photovoltaic flexible tracking support can be composed of at least two support units 11. The support unit 11 includes a motor 12, a rotary driver and an inclined beam, and a flexible cable bearing structure 13 is installed between the inclined beams of the adjacent two support units 11. When the motor 12 rotates, it drives the inclined beam to rotate through the rotary driver, and in turn can rotate the flexible cable bearing structure 13 on the upper part of the support which carries the photovoltaic components 20. The flexible cable bearing structure 13 is used to install the photovoltaic components. Due to the different positions of the sun in a day, in order to maximize the power generation, the photovoltaic components can track the sun position for adjustment. However, the length of the flexible photovoltaic tracking support is often long, and the row of photovoltaic components installed on the flexible photovoltaic tracking support is long, so it is difficult for a single support unit 11 to complete the angle adjustment of the entire photovoltaic component, and at least two support units 11 are needed to work together to complete the adjustment. Therefore, when the angle of the row of photovoltaic components needs to be adjusted, the motors 12 on the support units 11 can jointly assist in adjusting the angle of the flexible cable bearing structure, and in turn change the orientation of the row of photovoltaic components 20.

[0033] Therefore, the embodiment of the present application controls the photovoltaic flexible tracking support, designs at least two wireless connected controllers to control the motors of the flexible tracking support respectively, synchronously drives the at least two motors, and jointly adjusts the angle of the flexible tracking support, reduces the limitation of the terrain on the arrangement of the flexible tracking support, optimizes the entire support structure, removes the synchronous shaft, reduces the cost and reduces the failure points. The control efficiency of the support is improved, the entire system structure is optimized, and the cost of the support is reduced.

[0034] Please refer to FIG. 2, which is a structural schematic diagram of a support control system provided by an embodiment of the present application. The support control system 200 is applied to control at least two support units 11 of a photovoltaic flexible tracking support 10, as shown in FIG. 2, and comprises: a first controller 211 connected with a first motor 221 of the first support unit; a second controller 212 wirelessly connected with the first controller 211 and connected with a second motor 222 of the second support unit; the first controller 211 is configured to drive the first motor 221 to operate based on a received first instruction and send a second instruction to the second controller 212; and the second controller 212 is configured to drive the second motor 222 to synchronously operate with the first motor 221 based on the received second instruction to jointly adjust the angle of the flexible cable-supported structure 13.

[0035] The first controller 211 can perform corresponding actions when the external control terminal sends the first instruction. The first instruction can include one or at least two of a start instruction, an information acquisition instruction, a rotation direction instruction, or a rotation angle instruction. For example, when the first instruction is the start instruction, the rotation direction instruction, and the rotation angle instruction, after the first controller 211 receives the first instruction, the first controller 211 controls the first motor 221 to start through the motor control algorithm pre-set in the first controller 211, controls the first motor 221 to move according to the rotation direction and the rotation angle indicated by the first instruction, and further drives the support components mechanically connected with the first motor 221 to rotate to adjust the angle of the flexible tracking support. At the same time, in order to complete the angle adjustment of the entire flexible tracking support and avoid problems such as distortion, mechanical wear and tear, and even breakage of the support components due to the motor control angle deviation between the at least two support units 11, the first controller 211 sends a second instruction to the second controller 212. The second instruction can include one or at least two of a start instruction, a rotation direction instruction, or a rotation angle instruction. When the second controller 212 receives the second instruction, the state of the second motor 222 driven by the second controller 212 is synchronously adjusted. For example, if the first motor 221 is controlled to adjust 40 degrees in the positive direction, the second motor 222 is synchronously adjusted by 40 degrees or a pre-set angle, such as 35 degrees, to ensure that the photovoltaic module 20 supported by the flexible tracking support is flat when it is directed to a specified angle, improve the power generation efficiency, avoid bending, and improve the service life.

[0036] The first controller 211 and the second controller 212 are connected through wireless connection, which saves the synchronous shaft and avoids the wiring complexity problem caused by wired connection between the two controllers. Further, the setting scene of the flexible tracking support is more extensive, which overcomes the problems of difficult wiring and inconvenient layout caused by uneven ground.

[0037] The number of the second controllers 212 can be at least two, which can be wirelessly connected with the first controller 211 respectively, so that when the first controller 211 controls the first motor 221 according to the first instruction, the first controller 211 sends the second instruction to the at least two second controllers 212, and the at least two second controllers 212 simultaneously or time-divisionally control the second motors 222 under their control. For example, due to the influence of factors such as terrain and photovoltaic module length, the first controller 211 needs to control the at least two second controllers 212 time-divisionally based on a preset interval time according to the first instruction to adjust the angle of the photovoltaic module of the flexible tracking support. After the first second controller 212 receives the second instruction, it adjusts the first second motor 222 to rotate by a first preset angle at a first time. After the second second controller 212 receives the second instruction, it adjusts the second second motor 222 to rotate by a second preset angle at a second time. After the third second controller 212 receives the second instruction, it adjusts the third second motor 222 to rotate by a third preset angle at a third time. And so on. At the same time, the rotation angle of the second motor 222 can also be adjusted immediately after the at least two second controllers 212 receive the second instruction.

[0038] In some embodiments, the second controller 212 is at least two, and the second support unit is at least two, wherein the at least two second controllers 212 are connected one by one with the at least two second support units.

[0039] In some embodiments, the first controller 211 and the second controller 212 communicate through the LoRa wireless communication protocol. LoRa wireless communication technology is a low-power wide-area network communication technology, which is particularly suitable for application scenarios that require wide-area coverage and low power consumption. Because it uses spread spectrum technology, it can achieve ultra-long distance wireless transmission, wide coverage, and strong penetration, which is suitable for being carried in the outdoor control scene of the flexible tracking support, reducing the influence of environmental factors such as trees on communication establishment. In a scenario with at least two second controllers 212 and the first controller 211 establishing communication, based on the LoRa wireless communication protocol, at least two second controllers 212 can be set to simultaneously establish wireless communication with the first controller 211, the first controller 211 can simultaneously send the second instruction to one or at least two second controllers 212, and one or at least two second controllers 212 can also simultaneously send information to the first controller 211, and wireless communication can be established between the at least two second controllers 212.

[0040] In some embodiments, the first controller 211 and the second controller 212 are connected through a ZigBee wireless communication protocol. ZigBee wireless communication technology is mainly used for short-distance, low-complexity, low-power, low-data-rate bidirectional wireless communication. Since this technology is conducive to building a large-scale wireless connection array, the transmission distance can be expanded from the standard 75 meters to several hundred meters or even several kilometers, and it can be connected with other existing networks, so it can be applied to the flexible tracking support of the photovoltaic power plant, and each flexible tracking support has at least two support units. Based on the ZigBee wireless communication protocol, when at least two second controllers 212 are set, the first controller 211 can be connected with the first second controller 212, the first second controller 212 can be connected with the second second controller 212, the second second controller 212 can be connected with the third second controller 212, and so on. At least two second controllers 212 are sequentially connected wirelessly to establish a whole ZigBee controller array.

[0041] In some embodiments, the first controller 211 and the second controller 212 establish wireless communication through a Bluetooth wireless communication protocol. Bluetooth wireless communication technology is mainly used for connecting various mobile devices such as mobile phones and computers within a short distance. It supports the establishment of a continuous wireless connection and has low power consumption characteristics, suitable for Internet of Things applications that require long battery life. Based on the Bluetooth wireless communication protocol, when at least two second controllers 212 are set, they can simultaneously establish wireless communication with the first controller 211. The first controller 211 can simultaneously send second instructions to one or at least two second controllers 212, and one or at least two second controllers 212 can also simultaneously send information to the first controller 211.

[0042] The above LoRa wireless communication protocol, ZigBee wireless communication protocol and Bluetooth wireless communication protocol can be set between the first controller 211 and the second controller 212. One or more, such as only through the LoRa wireless communication protocol or the ZigBee wireless communication protocol or the Bluetooth wireless communication protocol to establish a connection, such as through the ZigBee wireless communication protocol and the Bluetooth wireless communication protocol to establish a connection, or through the LoRa wireless communication protocol and the ZigBee wireless communication protocol to establish a connection.

[0043] When the first controller 211 and the second controller 212 are debugged, wireless communication can facilitate the staff to complete parameter setting or testing and the like. Referring to FIG. 3, a structure schematic diagram of a plurality of support control systems in the debugging process is shown. The debugging terminal 30 can simultaneously establish wireless connection with the first controller 211 and the second controller 212, or simultaneously establish wireless connection with the first controller 211 and the second controller 212 in at least two support control systems. Meanwhile, wireless communication can not be established between different support control systems, so as to prevent signal interference. When debugging, the first controller 211 and the second controller 212 receive debugging information from the debugging terminal 30. For example, the debugging terminal 30 and the support control system establish wireless connection by using a Bluetooth wireless communication protocol. When the support control system is shipped, the Bluetooth connection address information of the first controller 211 and the second controller 212 is read, and the information is stored in a two-dimensional code or other readable information identifier, which can be attached to the controller shell. When testing, the debugging terminal 30 can establish connection with the first controller 211 or the second controller 212 by scanning or reading the identifier information on the shell, so as to modify parameter information, set device parameters of the first controller 211 and set device parameters of the second controller 212. The debugging terminal 30 can be configured to communicate with the first controller 211 separately, so as to distinguish from the second controller 212. Moreover, during normal operation of the first controller 211, the debugging terminal 30 can also adjust and set device parameters of the first controller 211 or the second controller 212.

[0044] In some embodiments, the second controller 212 is further configured to send parameter information to the first controller 211, and the parameter information includes an actual rotation angle, a target rotation angle, a rotation direction, a motor current, a motor voltage or fault information.

[0045] Influenced by factors such as terrain and size of the photovoltaic module, the motors on at least two support units of the flexible tracking support need to be rotated at different times or synchronously to realize angle adjustment of the photovoltaic module as a whole when the photovoltaic module tracks the sun. In order to coordinate synchronous operation of the first motor 221 and the second motor 222, the first controller 211 can obtain parameter information of the second motor 222 controlled by the second controller 212. The second controller 212 can send the parameter information to the first controller 211 when a preset triggering condition is met, and the preset triggering condition can include: the second motor 222 fails, an information query instruction sent by the first controller 211 is received, or a preset information feedback duration is reached. The second controller 212 can obtain the parameter information of the second motor 222 through a sensor or other information acquisition device arranged on the second motor 222, and the parameter information can include: an actual rotation angle, a target rotation angle, a rotation direction, a motor current, a motor voltage or fault information, and the fault information can include: motor disconnection, phase-to-phase short circuit, motor overload or other motor faults. The first controller 211 can send corresponding control instructions by obtaining the parameter information from the second controller 212. The first controller 211 can determine whether the second controller 212 fails according to the parameter information fed back by the second controller 212. For example, when the parameter information shows that the second motor 222 or the second controller 212 fails, an alarm is sent to the control center, and the second motor 222 and the second controller 212 are cut out of the system according to the specific failure condition.

[0046] In some embodiments, the first controller 211 is further configured to determine a failure state of the second controller 212, and the failure state includes: communication interruption, control disorder; wherein the control disorder is determined based on the parameter information. When the parameter information does not meet the preset parameter information, the first controller 211 resets the second controller 212; when the number of reset times of the first controller 211 reaches a preset number of times, and the parameter information still does not meet the preset parameter information, it is determined that the second controller is out of control.

[0047] In the support control system, the second controller 212 can be out of control due to factors such as line signal blockage or register capacity limitation. At this time, in order to ensure that the control of the flexible tracking support can be carried out smoothly, the first controller 211 can reset the second controller 212 and send the second instruction and other control instructions to the second controller 212 again to drive the second motor 222 to work. If the parameter information of the second motor 222 still cannot meet the preset parameter information through a predetermined number of reset operations, it is determined that the failure state of the second controller 212 is control disorder.

[0048] The first controller 211 is further configured to send a parameter acquisition instruction to the second controller 212, and determine that the second controller is invalid when the first controller 211 fails to receive the parameter information within a preset acquisition time length.

[0049] Based on the above embodiment, the second controller 212 is at least two; when the first controller 211 determines that one second controller 212 is in an invalid state, the first controller 211 sends a relay instruction to another second controller 212, and the relay instruction is used to instruct the other second controller 212 to establish wireless communication with the second controller 212 in the invalid state.

[0050] The first controller 211 is further configured to determine whether the other second controller 212 establishes wireless communication with the second controller 212 in the invalid state, and when the wireless communication is established, determine that the second controller 212 in the invalid state is in communication interruption with the first controller 211, and the other second controller 212 transmits the parameter information of the second controller 212 in the invalid state to the first controller 211; when the wireless communication is not established, determine that the second controller in the invalid state is damaged, so as to accurately determine the failure reason between the second controller 212 and the first controller 211, and facilitate engineers to take corresponding defect elimination processes.

[0051] The other second controller 212 is any second controller 212 in the single-row photovoltaic flexible tracking support except the second controller 212 in the invalid state. Preferably, the other second controller 212 is the second controller 212 adjacent to the second controller 212 in the invalid state, so as to shorten the communication distance between the first controller 211 and the second controller 212 in the invalid state, and exclude the communication failure caused by communication interference or distance attenuation and the like.

[0052] Please refer to FIG. 4, which shows a structural schematic diagram of a flexible tracking support provided in some embodiments of the present application. The flexible tracking support comprises at least two support units 41, and the support control system provided in any of the above embodiments connected with the at least two support units 41. In the flexible tracking support, the first controller 421 and the support unit 41 where the first controller 421 is located can be installed at the middle position of the flexible tracking support, and one or at least two second controllers 422 and the support unit 41 where the second controller 422 is located can be placed symmetrically with the position where the first controller 421 is located, or as close as possible to the position where the first controller 421 is located, so as to ensure that the communication between the first controller 421 and the at least two second controllers 422 is smooth. Under the coordinated control of the first controller 421 and the second controller 422, the first motor 431 and the second motor 432 jointly adjust the angle of the flexible cable bearing structure 440, and then adjust the angle of the photovoltaic module installed thereon.

[0053] Based on the same technical concept, the application further provides a photovoltaic device, comprising a photovoltaic assembly and the flexible tracking support provided by the above embodiment supporting the photovoltaic assembly.

[0054] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the application, and it should be pointed out that, for those skilled in the art, without departing from the principles of the application, a number of improvements and refinements can be made, which should be considered as the protection scope of the application.

Claims

1. A stent control system, characterized by, The application is applied to control photovoltaic flexible tracking support, single row of the photovoltaic flexible tracking support includes at least two support units and flexible cable bearing structure arranged between adjacent two support units, the support unit includes motor for adjusting the angle of the flexible cable bearing structure, comprising: A first controller is connected with the first motor of the first support unit; A second controller is wirelessly connected with the first controller and connected with the second motor of the second support unit; The first controller is configured to drive the first motor to operate based on the received first instruction, and send the second instruction to the second controller; The second controller is configured to drive the second motor to operate synchronously with the first motor based on the received second instruction, and jointly adjust the angle of the flexible cable bearing structure.

2. The support control system according to claim 1, wherein the first controller is single, the first support unit is single, and the first controller is connected with the first motor of the first support unit; The second controller is at least two, and the second support unit motor is at least two, wherein at least two of the second controller are connected with the second motor of at least two of the second support unit one by one. The first controller and the second controller establish wireless communication through LoRa wireless communication protocol, or through Zigbee wireless communication protocol, or through Bluetooth wireless communication protocol; 3. The support control system of claim 1, wherein, When the second controller is at least two, and the first controller and at least two of the second controller establish wireless communication through the Zigbee or lora wireless communication protocol, at least two of the second controller establish wireless communication through the Zigbee or lora wireless communication protocol. The first controller is also used to send the second instruction based on a preset interval time, and the second instruction includes start instruction, rotation direction instruction or rotation angle instruction. The second controller is also used to send parameter information to the first controller, and the parameter information includes actual rotation angle, target rotation angle, rotation direction, motor current, motor voltage or fault information.

4. The stent control system of any of claims 1-3, wherein, The first controller is also used to determine the failure state of the second controller, and the failure state includes communication interruption, control disorder or machine damage; 5. The support control system of claim 1, wherein, The first controller sends acquisition parameter instruction to the second controller, and receives parameter information of each second controller within a preset time length, and the control disorder is determined based on the parameter information; 6. The support control system of claim 5, wherein, When the first controller does not receive parameter information of one of the second controllers within a preset time length, it is determined that the second controller is in a failure state, the first controller sends relay instruction to another second controller, and the relay instruction is used to instruct the another second controller to establish wireless communication with the second controller in the failure state; ​ ​ The first controller judges whether the other second controller and the second controller in the failure state establish wireless communication, when wireless communication is established, it is judged that the second controller in the failure state is in communication interruption with the first controller, the other second controller transmits the parameter information of the second controller in the failure state to the first controller; when wireless communication is not established, it is determined that the second controller in the failure state is machine damage.

7. The support control system according to claim 6, wherein, When the parameter information does not satisfy the preset parameter information, the first controller resets the second controller; When the reset number of the first controller reaches the preset number, and the parameter information still does not satisfy the preset parameter information, it is determined that the second controller control is out of adjustment.

8. The support control system of claim 1, wherein, Further comprising: A debugging terminal, which establishes wireless communication with the first controller and the second controller respectively, is used for setting the device parameters of the first controller and setting the device parameters of the second controller.

9. A flexible tracking arm, characterized in that Including: At least two support units; A flexible cable bearing structure is arranged between adjacent two support units of the at least two support units; And the support control system of any one of claims 1-8 connected with the at least two support units controls at least two motors of the at least two support units to run synchronously, and adjusts the angle of the flexible cable bearing structure together.

10. A photovoltaic device, characterized by, Including: A photovoltaic module, and the flexible tracking support of claim 9 supporting the photovoltaic module.

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