CN109308078B - Heliostat control method and device, computer-readable storage medium and terminal equipment - Google Patents
Heliostat control method and device, computer-readable storage medium and terminal equipment Download PDFInfo
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Abstract
The invention relates to the field of solar photo-thermal power generation, and provides a heliostat control method, a heliostat control device, a computer-readable storage medium and terminal equipment, which are used for improving tracking precision of a heliostat, so that the tracking precision of the heliostat is improvedThe energy flow is precisely controlled. The method comprises the following steps: acquiring a heliostat h at the current moment according to a sun position algorithm2A normal vector of (a); according to heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses of (d); indicating heliostat h2The servo motor operates to calculate the azimuth axis pulse number and the height pulse number so as to ensure the heliostat h2And moving to the target position. On one hand, the invention can quickly, reliably and efficiently solve the system error generated in the production and installation links; on the other hand, various errors do not need to be measured, and the installation and processing costs of the heliostat are reduced.
Description
Technical Field
The invention belongs to the field of solar photo-thermal power generation, and particularly relates to a heliostat control method and device, a computer readable storage medium and terminal equipment.
Background
Heliostats (heliostats) are optical devices that reflect the rays of the sun or other celestial bodies in a fixed direction, also called star mirrors, that use a flat mirror placed in an equatorial device and can move in the declination direction. Compared with a heliostat, the heliostat has the main advantages of no need of a guide rail and simple and compact structure. The change of the incident angle of the light ray in the tracking process is small, the polarization of the instrument is close to a constant within one day, and the measurement of the transverse component of the magnetic field on the surface of the sun is facilitated.
The heliostat has a wide application range, and one common application scenario is solar thermal power generation (solar thermal power generation). The solar photo-thermal power generation is that solar heat energy is collected by utilizing a large-scale array parabolic or dish-shaped mirror surface, steam is provided through a heat exchange device, and the process of a traditional turbonator is combined, so that the purpose of power generation is achieved. The solar photo-thermal power generation technology is adopted, so that an expensive silicon crystal photoelectric conversion process is avoided, and the cost of solar power generation can be greatly reduced. Moreover, the solar energy utilization in the form has an incomparable advantage compared with other forms of solar energy conversion, namely water heated by solar energy can be stored in a huge container, and a turbine can still be driven to generate electricity for several hours after the sun lands.
In the existing tower-type photo-thermal power generation system, to calculate the pulse number of the servo control system, a series of parameters such as time, date, longitude, latitude, poster, temperature and the like are input through a Solar Position Algorithm (SPA), a zenith angle and an azimuth angle of the sun are calculated, then a normal vector (namely, an elevation angle and an azimuth angle of a heliostat) of the heliostat is calculated according to a coordinate of the heliostat in a mirror field by using a space vector principle, then the length of a push rod of an elevation axis and the length of a push rod of an azimuth axis are calculated respectively through a trigonometric function relation, and finally the pulse number of two axes is calculated according to parameters such as the distance of the push rod, the reduction ratio of a planetary reducer, the electronic gear ratio of a servo motor and the like.
The existing tower-type solar-thermal power generation system has the defect that only the mirror bracket can be used in an ideal state, however, in practical application, errors can be generated in the processing and installation processes of the mirror bracket, so that parameters of the mirror bracket, such as the inclination of the upright column, the non-perpendicularity of the azimuth axis and the height axis, the non-perpendicularity of the triangular plane where the push rod is located and the corresponding axis, and the like can be changed. Due to the difficulty of error measurement and the complex calculation of compensation algorithm, the tracking accuracy of the heliostat is often not accurate enough, so that the energy flow control cannot be accurately carried out.
The above technical problems need to be solved in the industry.
Disclosure of Invention
The invention provides a heliostat control method, a heliostat control device, a computer-readable storage medium and terminal equipment, which are used for improving tracking precision of a heliostat so as to accurately control energy flow.
A first aspect of the invention provides a heliostat control method, the method comprising:
acquiring a heliostat h at the current moment according to a sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
According to the heliostat h2Height axis push of heliostat measured by four adjacent point positions of current time positionPole length, azimuth axis push rod length, elevation angle and azimuth angle and heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to the target position.
A second aspect of the present invention provides a heliostat control apparatus, the apparatus comprising:
an acquisition module for acquiring the heliostat h at the current moment according to the sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
A pulse number calculation module according to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an elevation angle and an azimuth angle of the heliostat are measured at four adjacent points of the current position, and the heliostat h at the current time2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
an indication module for indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to the target position.
A third aspect of the present invention provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
acquiring a heliostat h at the current moment according to a sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
According to the heliostat h2Four adjacent points of the current position are measuredThe length of the height axis push rod, the length of the azimuth axis push rod, the elevation angle and the azimuth angle of the heliostat and the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to the target position.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the steps of:
acquiring a heliostat h at the current moment according to a sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
According to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an elevation angle and an azimuth angle of the heliostat are measured at four adjacent points of the current position, and the heliostat h at the current time2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to the target position.
According to the technical scheme provided by the invention, the length, the azimuth axis push rod length, the elevation angle and the azimuth angle of the heliostat can be measured according to the adjacent four points of the current position of the heliostat, and the elevation angle beta of the heliostat at the current time2And an azimuth angle alpha2Calculating heliostat h2The azimuth axis pulse number and the height pulse number are adopted, so that the technical scheme provided by the invention can quickly, reliably and efficiently solve the problem of system error generated in production and installation linksA difference; on the other hand, measurement of various errors is not needed, so that the requirements on the installation or processing precision of the heliostat can be reduced, and the installation and processing costs of the heliostat are greatly reduced.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an implementation of a heliostat control method according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a heliostat control apparatus according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a heliostat control device according to another embodiment of the invention;
FIG. 4 is a schematic diagram of a heliostat control device according to another embodiment of the invention;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation of a heliostat control method according to an embodiment of the present invention, which mainly includes the following steps S101 to S103, described in detail below:
s101, according toSun position algorithm for obtaining heliostat h at current moment2Wherein the normal vector comprises the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2。
The Solar Position Algorithm (SPA) is issued by the United states energy agency (open source), Solar zenith angles and azimuth angles are calculated, calculation results are calculated based on time, date and earth positions from 2000 before the Gongyuan to 6000 Gongyuan, and the accuracy of the calculation results reaches +/-0.0003 degrees. According to an embodiment of the invention, a heliostat h at the current moment is acquired according to a sun position algorithm2The normal vector of (a) can be realized by the following steps S1011 and S1012:
and S1011, calculating the sun zenith angle and azimuth angle at the current moment according to a sun position algorithm.
Specifically, parameters such as time, date, longitude, latitude, time zone, altitude, atmospheric pressure, temperature, and atmospheric refractive index are input, and a spa _ calculated (spa _ data _ spa) function is called to calculate the solar zenith angle and the solar azimuth angle, where spa _ data _ spa is a structural body including the input parameters.
S1012, according to the heliostat h2Coordinates in the field of the heliostat, calculating heliostat h2Is measured.
Specifically, the normal vector of the heliostat is calculated by applying the principle of a space vector according to the coordinate of the heliostat in a heliostat field.
S102, according to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The azimuth axis pulse number and the height pulse number of (1).
According to heliostat h as one embodiment of the invention2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses of (a) may be realized by the following steps S1021 to S1023:
s1021, searching heliostat h by inquiring the Hash table2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position.
In the embodiment of the present invention, the heliostat h2The length of the height axis push rod, the length of the azimuth axis push rod, the height angle and the azimuth angle of the heliostat, which are measured at four adjacent points of the current position, can be measured in advance and stored in a hash table mode. Specifically, the height axis push rod length, the azimuth axis push rod length, the altitude angle and the azimuth angle of the heliostat at any point position can be detected, a group of height axis push rod length, azimuth axis push rod length, altitude angle and azimuth angle data of the heliostat at each point position are obtained, each obtained group of data is one unit and is stored in a memory of a controller of each heliostat in a hash table mode, namely, for any point position S, the height axis push rod length of the heliostat at the point position is detected through equipment such as an electronic compass and an inclination angle sensor
Length of azimuth axis push rod
Height angle betaSAnd an azimuth angle alphaSThe set of detected parameters is used as a set of data, i.e. a quadruple of data S at the point S
Storing the data in a memory of a controller of each heliostat in a form of a hash table; and after the length of the height axis push rod, the length of the azimuth axis push rod, the height angle and the azimuth angle of the heliostat at all point positions in the heliostat field are detected, the data quadruple at all the point positions can be obtained. For example, the height axis push rod length of a heliostat that can detect A, B, C, D, E, F six point positions
A. B, C, D, E, F length of azimuth axis push rod of heliostat with six points
A. B, C, D, E, F height angle beta of six point heliostatA、βB、βC、βD、βE、βFAnd A, B, C, D, E, F azimuth angle α of six point heliostatA、αB、αC、αD、αE、αFThe four-element groups of data stored to six points in the memory of the controller of each heliostat in the form of a hash table are respectively A
B
C
D
E
F
S1022, connecting the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position as known parameters, and a linear interpolation method is adopted to calculate the heliostat h at the current time2Height of the shaft push rod
And length of push rod of azimuth axis
With heliostat h2For example, the four adjacent points at the current time are A, B, C and D, respectively, and the step S1022 may be specifically implemented by the following steps S1 to S3:
s1 according to the formula
And formula
Length of azimuth axis push rod of heliostat at E point
And height of the shaft push rod
Wherein point E is through heliostat h2One end point of the line segment at the position of the current time,
and alphaARespectively the length of a height axis push rod, the length of an azimuth axis push rod and the azimuth angle of the heliostat measured by the point A,
and alphaBThe height axis pushrod length, azimuth axis pushrod length and azimuth angle of the heliostat, measured for point B, respectively, are on the same latitude line, A, B and point E.
S2 according to the formula
And formula
Length of azimuth axis push rod of heliostat at F point
And height of the shaft push rod
Wherein point F is through heliostat h2The other end points of the line segment at the current moment, namely the point E and the point F are the points passing through the heliostat h2The two end points of the line segment at the current time are located,
and alphaCRespectively measuring the length of a height axis push rod, the length of an azimuth axis push rod and an azimuth angle of the heliostat by a point C,
and alphaDThe heliostat height axis pushrod length, azimuth axis pushrod length and azimuth angle, measured for point D, respectively, C, D and point F are on the same latitude line.
S3 according to the formula
And formula
Respectively obtaining the heliostats h at the current moment2Length of push rod of azimuth axis
And height of the shaft push rod
Wherein, betaEHeight angle, beta, of heliostat measured for E pointFAngle of elevation of the heliostat measured for point F, and βE＝βA＝βB，βF＝βC＝βD，βA、βB、βCAnd betaDThe height angle of the heliostat measured at point A, B, C and D, respectively.
S1023, according to the formula
Finding heliostat h2Number of azimuth axis pulses
And according to a formula
Finding heliostat h2Number of height axis pulses
Wherein, KαIs a heliostat h2Length-to-pulse conversion coefficient of azimuth axis of (1), KβIs a heliostat h2Length-to-pulse conversion factor of the height axis.
S103, indicating the heliostat h2The servo motor of (a) runs the number of azimuth axis pulses and the number of height pulses calculated through step S102 to make the heliostat h2And moving to the target position.
In an embodiment of the present invention, the target location is heliostat h2The number of azimuth axis pulses calculated in step S102 is applied to the operation of the servo motor
Number of sum height pulses
Rear, heliostat h2The position to which it has been moved.
As can be seen from the heliostat control method illustrated in fig. 1, the length, the elevation angle and the azimuth angle of the height axis push rod of the heliostat and the elevation angle β of the heliostat at the current time can be measured according to four adjacent points of the current time of the heliostat2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses, therefore, the technical scheme provided by the invention can be used for realizing the purpose of increasing the accuracy of the azimuth axis pulse and the height pulseThe system error generated in the production and installation links is quickly, reliably and efficiently solved; on the other hand, various errors are not required to be measured, so that the requirements on the installation or processing precision of the heliostat can be reduced, and the installation and processing costs of the heliostat are greatly reduced; in the third aspect, the debugging work of the acquired data and the like is automatically completed by software and relevant instrument equipment without manual intervention, and the debugging work can be carried out within 24 hours; and in the fourth aspect, when the corresponding hash table is acquired, the shorter the set step distance is, the higher the accuracy of the linear difference method is, so that the actual accuracy requirements in each step are met, and even if the foundation is greatly settled after many years, the automatic operation equipment is only required to acquire data again.
Fig. 2 is a schematic diagram of a heliostat control device provided in an embodiment of the present invention, which mainly includes an acquisition module 201, a pulse number calculation module 202, and an indication module 203, and is described in detail as follows:
an obtaining module 201, configured to obtain a heliostat h at a current moment according to a sun position algorithm2Normal vector of, heliostat h at the current moment2Includes heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2。
Further, the obtaining module 201 includes a sun angle calculating unit and a vector calculating unit, wherein the sun angle calculating unit is configured to calculate a sun zenith angle and an azimuth angle at the current moment according to a sun position algorithm, and the vector calculating unit is configured to calculate a sun zenith angle and an azimuth angle according to the heliostat h2Coordinates in the field of the heliostat, calculating heliostat h2Is measured.
A pulse number calculation module 202 according to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The azimuth axis pulse number and the height pulse number of (1).
An indication module 203 for indicating the heliostat h2The number of azimuth axis pulses and the height of the servo motor operation pulses calculated by the pulse number calculation module 202Number of pulses of degree to make heliostat h2And moving to the target position.
It should be noted that, since the apparatus provided in the embodiment of the present invention is based on the same concept as the method embodiment of the present invention, the technical effect brought by the apparatus is the same as the method embodiment of the present invention, and specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The pulse number calculation module 202 illustrated in fig. 2 may include a search unit 301, a linear interpolation unit 302, and a calculation unit 302, such as the heliostat control apparatus illustrated in fig. 3, wherein:
a search unit 301, configured to search for heliostat h by querying the hash table2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position;
a linear interpolation unit 302 for interpolating the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position as known parameters, and a linear interpolation method is adopted to calculate the heliostat h at the current time2Height of the shaft push rod
And length of push rod of azimuth axis
A calculation unit 303 for calculating according to the formula
Finding heliostat h2Number of azimuth axis pulses
And according to a formula
Finding heliostat h2Number of height axis pulses
Wherein, KαIs a heliostat h2Length-to-pulse conversion coefficient of azimuth axis of (1), KβIs a heliostat h2Length-to-pulse conversion factor of the height axis.
The linear interpolation unit 302 illustrated in fig. 3 may include a first solving unit 401, a second solving unit 402, and a third solving unit 403, such as the heliostat control apparatus illustrated in fig. 4, wherein:
a first solving unit 401 for solving
And formula
Length of azimuth axis push rod of heliostat at E point
And height of the shaft push rod
Wherein point E is through heliostat h2One end point of the line segment at the position of the current time,
and alphaARespectively the length of a height axis push rod, the length of an azimuth axis push rod and the azimuth angle of the heliostat measured by the point A,
and alphaBThe length of a height axis push rod, the length of an azimuth axis push rod and the azimuth angle of the heliostat are measured respectively at the point B, and A, B and the point E are on the same latitude line;
a second solving unit 402 for solving
And formula
Length of azimuth axis push rod of heliostat at F point
And height of the shaft push rod
Point F is through heliostat h2The other end point of the line segment at the position of the current time,
and alphaCRespectively measuring the length of a height axis push rod, the length of an azimuth axis push rod and an azimuth angle of the heliostat by a point C,
and alphaDThe length of a height axis push rod, the length of an azimuth axis push rod and the azimuth angle of the heliostat are measured respectively at the point D, and C, D and the point F are on the same latitude line;
a third evaluation unit 403 for evaluating
And formula
Respectively obtaining the heliostats h at the current moment2Length of push rod of azimuth axis
And height of the shaft push rod
βEHeight angle, beta, of heliostat measured for E pointFAngle of elevation of the heliostat measured for point F, and βE＝βA＝βB，βF＝βC＝βD，βA、βB、βCAnd betaDMeasured days A, B, C and D points, respectivelyThe height angle of the mirror.
The heliostat control apparatus of any of the examples of fig. 2-4 can further include a detection module and a preservation module, wherein:
the detection module is used for detecting the length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat at any point position to obtain a group of data of the length of the height axis push rod, the length of the azimuth axis push rod, the altitude angle and the azimuth angle of the heliostat at each point position;
and the storage module is used for storing each group of data detected by the detection module into a memory of the controller of each heliostat in a hash table mode.
Fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 5, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, such as a program of a heliostat control method, stored in the memory 51 and executable on the processor 50. The steps in the heliostat control method embodiment described above, such as steps S101 to S103 shown in fig. 1, are implemented when the processor 50 executes the computer program 52. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the acquisition module 201, the pulse number calculation module 202, and the indication module 203 shown in fig. 2.
Illustratively, the computer program 52 of the heliostat control method mainly includes: acquiring a heliostat h at the current moment according to a sun position algorithm2Wherein the normal vector comprises the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2(ii) a According to heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses of (d); indicating heliostat h2The servo motor operates to calculate the azimuth axis pulse number and the height pulse number so as to ensure the heliostat h2And moving to the target position. ComputingThe machine program 52 may be divided into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to accomplish the present invention. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of computer program 52 in computing device 5. For example, the computer program 52 may be divided into functions (modules in a virtual device) of the acquisition module 201, the pulse number calculation module 202, and the indication module 203, and the specific functions of each module are as follows: an obtaining module 201, configured to obtain a heliostat h at a current moment according to a sun position algorithm2Wherein the normal vector comprises the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2(ii) a A pulse number calculating module 202 for calculating the number of pulses according to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses of (d); an indication module 203 for indicating the heliostat h2The servo motor operates to calculate the azimuth axis pulse number and the height pulse number so as to ensure the heliostat h2And moving to the target position.
The terminal device 5 may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 5 and does not constitute a limitation of terminal device 5 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk provided on the terminal device 5, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 51 may also include both an internal storage unit of the terminal device 5 and an external storage device. The memory 51 is used for storing computer programs and other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method of the embodiments described above may be implemented by a computer program, the computer program of the heliostat control method may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the embodiments of the methods described above may be implemented, that is, acquiring the heliostat h at the current time according to the sun position algorithm2Wherein the normal vector comprises the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2(ii) a According to heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an altitude angle and an azimuth angle of the heliostat and the heliostat h at the current moment are measured at four adjacent points of the position at the current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating heliostat h2The number of azimuth axis pulses and the number of height pulses of (d); indicating heliostat h2The servo motor operates to calculate the azimuth axis pulse number and the height pulse number so as to ensure the heliostat h2And moving to the target position. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals. The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is still possible to modify the solutions described in the preceding embodiments, orThe equivalent substitution of some technical characteristics is carried out; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A heliostat control method, the method comprising:
acquiring a heliostat h at the current moment according to a sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
According to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an elevation angle and an azimuth angle of the heliostat are measured at four adjacent points of the current position, and the heliostat h at the current time2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to a target position to correct system errors generated by the heliostat in production and installation links.
2. The heliostat control method of claim 1, wherein the acquiring heliostat h at the current time is performed according to a sun position algorithm2Comprises:
calculating the sun zenith angle and azimuth angle at the current moment according to the sun position algorithm;
according to the heliostat h2Coordinates in the field of the heliostat, calculating the heliostat h2Is measured.
3. The heliostat control method of claim 1, wherein the h is according to the heliostat2Of heliostats located at four adjacent points of the current positionLength of height axis push rod, length of azimuth axis push rod, height angle and azimuth angle, and heliostat h at current moment2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The azimuth axis pulse number and the height pulse number of (1), comprising:
searching the heliostat h by inquiring a hash table2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position;
the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position as known parameters, and a linear interpolation method is adopted to calculate the heliostat h at the current time2Height of the shaft push rod
And length of push rod of azimuth axis
According to the formula
Finding the heliostat h2Number of azimuth axis pulses
And according to a formula
Finding the heliostat h2Number of height axis pulses
Said KαIs the heliostat h2Length-to-pulse conversion coefficient of the azimuth axis of (a), KβIs the heliostat h2Length-to-pulse conversion coefficient of the height axis。
4. The heliostat control method of claim 3, wherein the heliostat h2The four adjacent point positions of the current time are A, B, C and D respectively, and the heliostat h is connected2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position as known parameters, and a linear interpolation method is adopted to calculate the heliostat h at the current time2Height of the shaft push rod
And length of push rod of azimuth axis
The method comprises the following steps:
according to the formula
And formula
Length of azimuth axis push rod of heliostat at E point
And height of the shaft push rod
Point E is through the heliostat h2An end point of a line segment at the current time, the
And alphaARespectively measuring the height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat at the point A, wherein
And alphaBThe height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat are respectively measured at the point B, and the points A, B and E are on the same latitude line;
according to the formula
And formula
Length of azimuth axis push rod of heliostat at F point
And height of the shaft push rod
The F point is the other end point of the line segment, and the
And alphaCThe length of the height axis push rod, the length of the azimuth axis push rod and the azimuth angle of the heliostat are respectively measured at the point C, and the length and the azimuth angle of the azimuth axis push rod are measured at the point C
And alphaDThe height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat are respectively measured at the point D, and the point C, D and the point F are on the same weft;
according to the formula
And formula
Respectively obtaining the heliostat h at the current moment2Length of push rod of azimuth axis
And height of the shaft push rod
Beta is the same asEAngle of elevation of heliostat measured for said E point, said betaFAngle of elevation of the heliostat measured for said F point, and βE＝βA＝βB，βF＝βC＝βDSaid beta isA、βB、βCAnd betaDThe height angle of the heliostat as measured at points A, B, C and D, respectively.
5. Method for heliostat control according to any of claims 1 to 4 wherein the acquisition of heliostat h at the current moment is based on a sun position algorithm2Before the normal vector, the method further comprises:
detecting the length of a height axis push rod, the length of an azimuth axis push rod, an elevation angle and an azimuth angle of a heliostat at any point position to obtain a group of data of the length of the height axis push rod, the length of the azimuth axis push rod, the elevation angle and the azimuth angle of the heliostat at each point position;
and taking each group of data as a unit, and storing the unit into a memory of a controller of each heliostat in a hash table mode.
6. A heliostat control apparatus, characterized in that the apparatus comprises:
an acquisition module for acquiring the heliostat h at the current moment according to the sun position algorithm2The normal vector comprising the heliostat h at the current moment2Angle of elevation beta2And an azimuth angle alpha2；
A pulse number calculation module according to the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, an elevation angle and an azimuth angle of the heliostat are measured at four adjacent points of the current position, and the heliostat h at the current time2Angle of elevation beta2And an azimuth angle alpha2Calculating the heliostat h2The number of azimuth axis pulses and the number of height pulses of (d);
an indication module for indicating the heliostat h2The servo motor operates the calculated azimuth axis pulse number and height pulse number to enable the heliostat h to be positioned2And moving to a target position to correct system errors generated by the heliostat in production and installation links.
7. The heliostat control device of claim 6, wherein the pulse number calculation module comprises:
a search unit for searching the heliostat h by searching the hash table2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position;
a linear interpolation unit for interpolating the heliostat h2The length of a height axis push rod, the length of an azimuth axis push rod, the height angle and the azimuth angle of the heliostat are measured at four adjacent points of the current position as known parameters, and a linear interpolation method is adopted to calculate the heliostat h at the current time2Height of the shaft push rod
And length of push rod of azimuth axis
A calculation unit for calculating according to a formula
Finding the heliostat h2Number of azimuth axis pulses
And according to a formula
Finding the heliostat h2Number of height axis pulses
Said KαIs the heliostat h2Length-to-pulse conversion coefficient of the azimuth axis of (a), KβIs the heliostat h2Length-to-pulse conversion factor of the height axis.
8. The heliostat control apparatus of claim 7, wherein the linear interpolation unit comprises:
a first solving unit for solving
And formula
Length of azimuth axis push rod of heliostat at E point
And height of the shaft push rod
Point E is through the heliostat h2An end point of a line segment at the current time, the
And alphaARespectively measuring the height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat at the point A, wherein
And alphaBThe height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat are respectively measured at the point B, and the points A, B and E are on the same latitude line;
a second solving unit for solving
And formula
Length of azimuth axis push rod of heliostat at F point
And height of the shaft push rod
The F point is the other end point of the line segment, and the
And alphaCThe length of the height axis push rod, the length of the azimuth axis push rod and the azimuth angle of the heliostat are respectively measured at the point C, and the length and the azimuth angle of the azimuth axis push rod are measured at the point C
And alphaDThe height axis push rod length, the azimuth axis push rod length and the azimuth angle of the heliostat are respectively measured at the point D, and the point C, D and the point F are on the same weft;
a third solving unit for solving
And formula
Respectively obtaining the heliostat h at the current moment2Length of push rod of azimuth axis
And height of the shaft push rod
Beta is the same asEMeasured for said E pointAltitude angle of the sunglasses, said betaFAngle of elevation of the heliostat measured for said F point, and βE＝βA＝βB，βF＝βC＝βDSaid beta isA、βB、βCAnd betaDThe height angle of the heliostat as measured at points A, B, C and D, respectively.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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