CN102393752A - Solar tracking device and control system thereof - Google Patents
Solar tracking device and control system thereof Download PDFInfo
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- CN102393752A CN102393752A CN2011102956800A CN201110295680A CN102393752A CN 102393752 A CN102393752 A CN 102393752A CN 2011102956800 A CN2011102956800 A CN 2011102956800A CN 201110295680 A CN201110295680 A CN 201110295680A CN 102393752 A CN102393752 A CN 102393752A
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Abstract
The invention relates to a solar tracking device and a control system thereof. The device comprises a solar panel component installation frame, a gear transmission device, a double-shaft hydraulic driving device and a solar tracking device control system. The hydraulic driving device and an electro-hydraulic servo control system perform servo positioning control over a hydraulic cylinder, and a servo positioning task in a double-shaft direction required by the solar tracking device is finished.
Description
Invention field
The present invention relates to the solar tracking system field.
Background technology
Tap a new source of energy with regenerative resource be the common issue that the whole world faces, solar electrical energy generation has become one of fastest technology of global evolution.One of main mode that solar energy power generating utilizes as sun power has characteristics such as resource potential is big, sustainable use.
At present, many solar tracking systems adopt driven by servomotor, though have advantages such as control is convenient, composition is flexible, have gearing complicacy, weak points such as dynamic stability is not enough, bearing accuracy is not enough, cost height.
Summary of the invention
Goal of the invention: the objective of the invention is in order to overcome the deficiency of prior art, a kind of locate accurate, that dynamic stability is high, cost is low solar energy tracking device and control system thereof are provided.
The technical scheme that the present invention adopts: a kind of solar energy tracking device comprises solar cell panel assembly erecting frame, cogwheel gearing, dual-axle hydraulic drive unit; The solar cell panel assembly erecting frame comprises unit installing board and support base plate, is connected between unit installing board and support base plate; Cogwheel gearing comprises first gear, second gear, and first gear, second gear intermesh; The dual-axle hydraulic drive unit comprises: pull bar hydraulic cylinder, servo oscillating cylinder, pull bar cylinder servo-valve, oscillating cylinder servo-valve, displacement transducer, estimate a little magnet and hydraulic pump, oil filter, surplus valve, tensimeter, retaining valve; Described hydraulic pump, oil filter, surplus valve, tensimeter, retaining valve are connected in series, and hydraulic pump is connected with pull bar cylinder servo-valve, oscillating cylinder servo-valve respectively; The cylinder body tail end of said pull bar hydraulic cylinder is connected with described support base plate, and the piston rod external part of this pull bar hydraulic cylinder is connected with described unit installing board; Under the promotion of this pull bar hydraulic cylinder, the realization unit installing board is done luffing with respect to the support base plate, thereby accomplishes first axial servo positioning; The rear end of the sensing head of described displacement transducer and pull bar hydraulic cylinder is rigidly connected; The described magnet of estimating a little is connected with the mobile piston of pull bar hydraulic cylinder; Described second gear is connected with the support base plate; The internal piston driven wheel tooth bar mechanism of the cylinder body of said servo oscillating cylinder moves from the rotating shaft output corner; Through the transmission of first gear and second gear corner is exported the support base plate that is delivered to the solar cell panel assembly erecting frame again, drive unit installing board and pull bar hydraulic cylinder and rotate, realize second axial servo positioning around the rotating shaft of second gear.
As preferably, connect through the hinge edge opposite side between described unit installing board and the support base plate, unit installing board can rotate in 0 ° of-90 ° of scope with respect to the support base plate around this hinge.
As preferably, described unit installing board and pull bar hydraulic cylinder rotate in 0 ° of-360 ° of scope around the rotating shaft of second gear.
As preferably, be connected through the hinge between the cylinder body tail end of said pull bar hydraulic cylinder and described support base plate; The external part of the piston rod of said pull bar hydraulic cylinder is connected with described unit installing board through hinge.
As preferably, described displacement transducer is band magnetostriction linear displacement transducer.
A kind of control system like above-mentioned solar energy tracking device; Comprise microprocessor, touch screen interface, first electro-hydraulic position servo system, second electro-hydraulic position servo system, the touch screen human-computer interface that touch screen interface constitutes carries out parameter setting and working condition monitoring to first electro-hydraulic position servo system, second electro-hydraulic position servo system; First electro-hydraulic position servo system comprises A/D (Analog/Digital analog/digital) interface, DO (output of Digital Output numeral) interface, PWM (Pulse-Width Modulation pulse-length modulation) pulse output end, polarity switching, servo amplifying circuit, pull bar cylinder servo-valve, displacement transducer; Servoamplifier is electrically connected with the pull bar servo-valve; Displacement transducer is electrically connected with the pull bar hydraulic cylinder, and displacement transducer carries out position probing to the pull bar hydraulic cylinder; Second electro-hydraulic position servo system comprises DI (input of Digital Input numeral) interface, DO interface, pwm pulse output terminal, polarity switching, servo amplifying circuit, angular encoder; Servoamplifier is electrically connected with the oscillating cylinder servo-valve, and angular encoder is electrically connected with servo oscillating hydraulic cylinder.
Described first electro-hydraulic position servo system carries out servocontrol to the pull bar hydraulic cylinder: microprocessor passes through the simulating signal that the A/D translation interface is gathered the displacement transducer output of pull bar hydraulic cylinder, this simulating signal is sent to carries out digital filtering, linearization process in the microprocessor, obtains the measured displacements amount; Compare calculating to this measured displacements amount and the displacement that control requires, draw the margin of error, again according to this margin of error output controlled quentity controlled variable; From the output of DO interface, control the PWM pulse-width signal with this controlled quentity controlled variable, the PWM pulse-width signal is exported from the pwm pulse output terminal; Through polarity switching, servo amplifying circuit, the PWM pulse-width signal is carried out polar switching, amplification, the control signal after the amplification gets in the input coil of pull bar cylinder servo-valve; The action of drive stay cylinder servo-valve, the piston motion that produces flow control pull bar hydraulic cylinder is when the margin of error exists; Pull bar cylinder servo-valve produces a corresponding flow; Make the piston drive load motion of pull bar hydraulic cylinder, and the movable end of the piston motion of pull bar hydraulic cylinder drive displacement transducer is estimated magnet movement a little, thereby the displacement detecting signal of feedback changes thereupon also; Through the feedback adjustment of not stopping; The delivery rate of pull bar cylinder servo-valve also reduces thereupon, thereby the piston motion of pull bar hydraulic cylinder begins to slow down, and arrives up to the margin of error within the scope of setting;
Second electro-hydraulic position servo system and the difference of first electro-hydraulic position servo system are that position probing adopts incremental angle encoder; This incremental angle encoder output pulse digital signal; Directly handle from DI interface input microprocessor, the output signal that obtains after the processing is through DO interface, pwm pulse output terminal, polarity switching, servo amplifying circuit; Get in the input coil of oscillating cylinder servo-valve, drive the servo oscillating hydraulic cylinder action.
Useful effect: the present invention is power resources with the hydraulic system, realizes the servo positioning control to hydraulic cylinder through fluid pressure drive device and electrohydraulic servo-controlling system, and then accomplishes the servo positioning task of the required biaxially oriented of solar energy tracking device.Compare with the twin shaft servo-drive system that adopts driven by servomotor fully, outstanding advantage of the present invention is that volume is little, in light weight, inertia is little, stability is strong, power or moment are big, thereby has effectively improved the real-time of system responses.Simultaneously; It is the core control element that electrohydraulic servo-controlling system of the present invention adopts the 32-bit microprocessor based on the ARM framework; Have stronger data-handling capacity and a fairly large number of interface type, so the extensibility of software and peripheral hardware is strong, helps making full use of various embedded system control technologys and resource; Further improve the automaticity of solar tracking system, realize that pilotless, process controls and remote monitoring automatically.
Description of drawings
Fig. 1 is a solar tracking system general structure synoptic diagram of the present invention.
Fig. 2 is that dual-axle hydraulic drive unit of the present invention is formed structural representation.
Fig. 3 is that the control system of solar energy tracking device of the present invention is formed synoptic diagram.
Embodiment
Below in conjunction with embodiment the present invention is described further:
Like Fig. 1, shown in 2, a kind of solar energy tracking device comprises solar cell panel assembly erecting frame, dual-axle hydraulic drive unit, cogwheel gearing, twin shaft electrohydraulic servo-controlling system.
The solar cell panel assembly erecting frame comprises: be used to install solar panel unit installing board 1, support base plate 11, be used for the hinge 2 of coupling assembling installing plate 1 and support base plate 11.Unit installing board 1 can rotate in 0 °～90 ° scopes with respect to support base plate 11 around hinge 2.But the solar panel plane is laid and is fixed on the unit installing board 1, rotates with unit installing board 1.Cogwheel gearing comprises gear 3 and gear 7.Gear 3 is installed on the output revolving shaft of servo oscillating cylinder 5, with this output revolving shaft rotation.Gear 7 and 11 fixed installations of support base plate, through with the gear motion of gear 3, drive of the rotating shaft rotation of support base plate 11 around gear 7.
The dual-axle hydraulic drive unit comprises: hydraulic circuit elements such as pull bar hydraulic cylinder 9, servo oscillating cylinder 5, pull bar cylinder servo-valve 22, oscillating cylinder servo-valve 16 and hydraulic pump 17, oil filter 18, surplus valve 19, tensimeter 20, retaining valve 21; Described hydraulic pump 17, oil filter 18, surplus valve 19, tensimeter 20, retaining valve 21 are connected in series, and hydraulic pump 17 is connected with pull bar cylinder servo-valve 22, oscillating cylinder servo-valve 16 respectively.11 of the cylinder body tail end of pull bar hydraulic cylinder 9 and the support base plates of solar cell panel assembly erecting frame are connected through hinge 10, and its piston rod 8 external parts are connected with the unit installing board 1 of solar cell panel assembly erecting frame through hinge 12.Under the promotion of pull bar hydraulic cylinder 9, realization unit installing board 1 is done 0 °～90 ° luffing in the scope with respect to support base plate 11, thereby accomplishes first axial servo positioning.The cylinder body 4 internal piston driven wheel tooth bar mechanisms of servo oscillating cylinder 5 move from rotating shaft 6 output corners; Through meshing gear 3 and gear 7 corner output is delivered to the support base plate 11 of solar cell panel assembly erecting frame again; Drive solar cell panel assembly erecting frame and pull bar hydraulic cylinder 9 and in 0 °～360 ° scopes, rotate, realize second axial servo positioning around the rotating shaft of gear 7.The position probing of pull bar hydraulic cylinder 9 is carried out through displacement transducer 14; This displacement transducer 14 adopts band magnetostriction linear displacement transducer; The rear end of its sensing head and pull bar hydraulic cylinder 9 is rigidly connected, and then is connected on the mobile piston of pull bar hydraulic cylinder 9 as the magnet of estimating a little 13.The corner of servo oscillating cylinder 5 detects and carries out through incremental angle encoder 15.
Like Fig. 2, shown in Figure 3: a kind of control system of as above-mentioned solar energy tracking device; Comprise microprocessor 23, touch screen interface 36, first electro-hydraulic position servo system, second electro-hydraulic position servo system, the touch screen human-computer interface that touch screen interface (36) constitutes carries out parameter setting and working condition monitoring to described first electro-hydraulic position servo system, second electro-hydraulic position servo system; First electro-hydraulic position servo system comprises A/D interface (29), DO interface 24, pwm pulse output terminal 25, polarity switching 26, servo amplifying circuit 27, pull bar cylinder servo-valve 22, displacement transducer 14; Servoamplifier 27 is electrically connected with pull bar servo-valve 22; Displacement transducer 14 is electrically connected with pull bar hydraulic cylinder 9, and 14 pairs of pull bar hydraulic cylinders of displacement transducer 9 carry out position probing; Second electro-hydraulic position servo system comprises DI interface 30, DO interface 35, pwm pulse output terminal 34, polarity switching 33, servo amplifying circuit 32, angular encoder 15; Servoamplifier 32 is electrically connected with oscillating cylinder servo-valve 16, and angular encoder 15 is electrically connected with servo oscillating hydraulic cylinder 5.
Described first electro-hydraulic position servo system carries out servocontrol to pull bar hydraulic cylinder 9: microprocessor 23 passes through the simulating signal 28 that A/D translation interface 29 is gathered displacement transducer 14 outputs of pull bar hydraulic cylinders 9, this simulating signal 28 is sent to carries out digital filtering, linearization process in the microprocessor 23, obtains the measured displacements amount; Compare calculating to this measured displacements amount and the displacement that control requires, draw the margin of error, again according to this margin of error output controlled quentity controlled variable; From 24 outputs of DO interface, control the PWM pulse-width signal with this controlled quentity controlled variable, the PWM pulse-width signal is from 25 outputs of pwm pulse output terminal; Through polarity switching (26), servo amplifying circuit 27; The PWM pulse-width signal is carried out polar switching, amplification, and the control signal after the amplification gets in the input coil of pull bar cylinder servo- valve 22,22 actions of drive stay cylinder servo-valve; Produce the piston motion of flow control pull bar hydraulic cylinder 9; When the margin of error existed, pull bar cylinder servo-valve 22 produced a corresponding flow, made the piston drive load motion of pull bar hydraulic cylinder 9; And the movable end of the piston motion of pull bar hydraulic cylinder 9 drive displacement transducer 14 is estimated magnet 13 motions a little; Thereby the also variation thereupon of the displacement detecting signal of feedback, through the feedback adjustment of not stopping, the delivery rate of pull bar cylinder servo-valve 22 also reduces thereupon; Thereby the piston motion of pull bar hydraulic cylinder (9) begins to slow down, and arrives within the scope of setting up to the margin of error.
Second electro-hydraulic position servo system and the difference of first electro-hydraulic position servo system are that position probing adopts incremental angle encoder 15; These incremental angle encoder 15 output pulse digital signals 31; Directly handle from DI interface 30 input microprocessors 23, the output signal that obtains after the processing is through DO interface 35, pwm pulse output terminal 34, polarity switching 33, servo amplifying circuit 32; Get in the input coil of oscillating cylinder servo-valve 16, drive servo oscillating hydraulic cylinder 5 actions.
More than show and described ultimate principle of the present invention, but protection scope of the present invention is not limited to the above embodiments, for those skilled in the art of the present technique; Under enlightenment of the present invention; Can from this patent disclosure, directly derive or associate the identical basic distortion of some principles, or use substituting of known technology in the prior art always, and the mutual various combination between characteristic; The technical characterictic of same or similar technique effect simply changes, and all belongs to protection domain of the present invention.
Claims (6)
1. a solar energy tracking device is characterized in that: comprise solar cell panel assembly erecting frame, cogwheel gearing, dual-axle hydraulic drive unit; The solar cell panel assembly erecting frame comprises unit installing board (1) and support base plate (11), is connected between unit installing board (1) and support base plate (11); Cogwheel gearing comprises first gear (3), second gear (7), and first gear (3), second gear (7) intermesh; The dual-axle hydraulic drive unit comprises: pull bar hydraulic cylinder (9), servo oscillating cylinder (5), pull bar cylinder servo-valve (22), oscillating cylinder servo-valve (16), displacement transducer (14), incremental angle encoder (15), estimate a little magnet (13) and hydraulic pump (17), oil filter (18), surplus valve (19), tensimeter (20), retaining valve (21), hydraulic pump (17) is connected with pull bar cylinder servo-valve (22), oscillating cylinder servo-valve (16) respectively; The cylinder body tail end of said pull bar hydraulic cylinder (9) is connected with described support base plate (11), and piston rod (8) external part of this pull bar hydraulic cylinder (9) is connected with described unit installing board (1); Under the promotion of this pull bar hydraulic cylinder (9), realization unit installing board (1) is done luffing with respect to support base plate (11), accomplishes first axial servo positioning; The rear end of the sensing head of described displacement transducer (14) and pull bar hydraulic cylinder (9) is rigidly connected; The described magnet of estimating a little (13) is connected with the mobile piston of pull bar hydraulic cylinder (9); Described second gear (7) is connected with support base plate (11); The internal piston driven wheel tooth bar mechanism of the cylinder body (4) of said servo oscillating cylinder (5) moves from rotating shaft (6) output corner; Transmission through first gear (3) and second gear (7) is delivered to described support base plate (11) with corner output; Drive unit installing board (1) and pull bar hydraulic cylinder (9) and rotate, realize second axial servo positioning around the rotating shaft of second gear (7).
2. solar energy tracking device according to claim 1; It is characterized in that: connect through hinge (2) edge-to-edge between described unit installing board (1) and the support base plate (11), unit installing board (1) can rotate in 0 ° of-90 ° of scope with respect to support base plate (11) around this hinge (2).
3. solar energy tracking device according to claim 1 is characterized in that: described unit installing board (1) and pull bar hydraulic cylinder (9) can rotate in 0 ° of-360 ° of scope around the rotating shaft of second gear (7).
4. solar energy tracking device according to claim 1 is characterized in that: be connected through hinge (10) between the support base plate (11) of the cylinder body tail end of said pull bar hydraulic cylinder (9) and solar cell panel assembly erecting frame; The external part of the piston rod (8) of said pull bar hydraulic cylinder (9) is connected with described unit installing board (1) through hinge (12).
5. according to any described solar energy tracking device among the claim 1-4, it is characterized in that: described displacement transducer (14) is band magnetostriction linear displacement transducer.
6. the control system of a solar energy tracking device as claimed in claim 1; It is characterized in that: comprise microprocessor (23), touch screen interface (36), first electro-hydraulic position servo system, second electro-hydraulic position servo system, the touch screen human-computer interface that touch screen interface (36) constitutes carries out parameter setting and working condition monitoring to described first electro-hydraulic position servo system, second electro-hydraulic position servo system; First electro-hydraulic position servo system comprises A/D interface (29), DO interface (24), pwm pulse output terminal (25), polarity switching (26), servo amplifying circuit (27), pull bar cylinder servo-valve (22), displacement transducer (14); Servoamplifier (27) is electrically connected with pull bar servo-valve (22); Displacement transducer (14) is electrically connected with pull bar hydraulic cylinder (9), and displacement transducer (14) carries out position probing to pull bar hydraulic cylinder (9); Second electro-hydraulic position servo system comprises DI interface (30), DO interface (35), pwm pulse output terminal (34), polarity switching (33), servo amplifying circuit (32), angular encoder (15); Servoamplifier (32) is electrically connected with oscillating cylinder servo-valve (16), and angular encoder (15) is electrically connected with servo oscillating hydraulic cylinder (5);
Described first electro-hydraulic position servo system carries out servocontrol to pull bar hydraulic cylinder (9): microprocessor (23) passes through the simulating signal (28) that A/D translation interface (29) is gathered displacement transducer (14) output of pull bar hydraulic cylinder (9), this simulating signal (28) is sent in the microprocessor (23) carries out digital filtering, linearization process, obtains the measured displacements amount; Compare calculating to this measured displacements amount and the displacement that control requires; Draw the margin of error, according to this margin of error output controlled quentity controlled variable, export from DO interface (24) again with this controlled quentity controlled variable; Control PWM pulse-width signal; The PWM pulse-width signal through polarity switching (26), servo amplifying circuit (27), carries out polar switching, amplification to the PWM pulse-width signal from pwm pulse output terminal (25) output; Control signal after the amplification gets in the input coil of pull bar cylinder servo-valve (22); Drive stay cylinder servo-valve (22) action, the piston motion that produces flow control pull bar hydraulic cylinder (9) is when the margin of error exists; Pull bar cylinder servo-valve (22) produces a corresponding flow; Make the piston drive load motion of pull bar hydraulic cylinder (9), and the movable end of the piston motion of pull bar hydraulic cylinder (9) drive displacement transducer (14) is estimated magnet (13) motion a little, thereby the displacement detecting signal of feedback changes thereupon also; Through the feedback adjustment of not stopping; The delivery rate of pull bar cylinder servo-valve (22) also reduces thereupon, thereby the piston motion of pull bar hydraulic cylinder (9) begins to slow down, and arrives up to the margin of error within the scope of setting;
Second electro-hydraulic position servo system and the difference of first electro-hydraulic position servo system are that position probing adopts incremental angle encoder (15); This incremental angle encoder (15) output pulse digital signal (31); Directly handle from DI interface (30) input microprocessor (23); The output signal that obtains after the processing is through DO interface (35), pwm pulse output terminal (34), polarity switching (33); Servo amplifying circuit (32) gets in the input coil of oscillating cylinder servo-valve (16), drives servo oscillating hydraulic cylinder (5) action.
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| CN2011102956800A CN102393752A (en) | 2011-09-29 | 2011-09-29 | Solar tracking device and control system thereof |
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Cited By (6)
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| CN102749935A (en) * | 2012-07-31 | 2012-10-24 | 中南大学 | Method and device for tracking sun by solar panel |
| CN103064428A (en) * | 2012-12-05 | 2013-04-24 | 苏州市思玛特电力科技有限公司 | Driving sun chasing system for photovoltaic power generation and based on liquid level drive |
| CN104300878A (en) * | 2014-09-23 | 2015-01-21 | 中天科技光纤有限公司 | Energy recovery device of drawing furnace |
| CN106054937A (en) * | 2016-06-24 | 2016-10-26 | 程政文 | Solar cell panel light elevation angle automatic following system |
| CN106441080A (en) * | 2016-08-30 | 2017-02-22 | 赵跃 | Separate solar tracking system rotation angle measurement apparatus based on magnetic field detection |
| CN109839244A (en) * | 2019-01-02 | 2019-06-04 | 天长市九星仪表有限公司 | A kind of pressure gauge shell equipped with solar energy panel seat |
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| CN106054937A (en) * | 2016-06-24 | 2016-10-26 | 程政文 | Solar cell panel light elevation angle automatic following system |
| CN106441080A (en) * | 2016-08-30 | 2017-02-22 | 赵跃 | Separate solar tracking system rotation angle measurement apparatus based on magnetic field detection |
| CN106441080B (en) * | 2016-08-30 | 2019-07-05 | 赵跃 | Separate type sun tracing system rotational angle measurement apparatus based on magnetic field detection |
| CN109839244A (en) * | 2019-01-02 | 2019-06-04 | 天长市九星仪表有限公司 | A kind of pressure gauge shell equipped with solar energy panel seat |
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Application publication date: 20120328 |