CN104949357A - Stable tracking control method applied to trough type solar condenser - Google Patents

Stable tracking control method applied to trough type solar condenser Download PDF

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Publication number
CN104949357A
CN104949357A CN201510324640.2A CN201510324640A CN104949357A CN 104949357 A CN104949357 A CN 104949357A CN 201510324640 A CN201510324640 A CN 201510324640A CN 104949357 A CN104949357 A CN 104949357A
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tracking
angle
value
angle difference
control
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CN104949357B (en
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宋哲
王志峰
原郭丰
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Institute of Electrical Engineering of CAS
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Institute of Electrical Engineering of CAS
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/40—Solar thermal energy, e.g. solar towers
    • Y02E10/47—Mountings or tracking

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Abstract

The invention discloses a stable tracking control method applied to a trough type solar condenser. A controller detects that a tracking control starting signal is effective, and enters a stable tracking processing module. The method comprises the steps that firstly, an angle difference value delta theta is calculated and judged; then, the obtained angle difference value is compared with a set value delta theta 0, and a tracking mode is determined; if the angle different value is larger than the set value, a control motor carries out tracking with constant rotating speed; if the angle difference value is smaller than or equal to the set value, a control method of two-point calibration is adopted, and the instantaneous value v of the speed is obtained through a computational formula according to a time instantaneous value t to control the rotating speed of the control motor for tracking. The rotating speed of the control motor is changed in real time, therefore, the defects that according to a traditional control method, speed steps exist in the tracking process, consequently, the tracking angle is hard to control, and tracking precision is insufficient are overcome, and the stability of tracking control is improved.

Description

Be applied to the steady tracking control method of groove type solar concentrator
Technical field
The present invention relates to a kind of control method of trough type solar power generation.
Background technology
In recent years, day by day serious along with energy and environment problem, make the focus that the research and apply of regenerative resource becomes current, and solar energy is because it is rich and persistence arouses great concern especially.
Solar electrical energy generation is a kind of important channel of development and utilization solar energy, and its generating kind is mainly divided into solar energy power generating and solar energy thermal-power-generating.Before photovoltaic technology not yet obtains important breakthrough, solar energy thermal-power-generating comparatively photovoltaic generation has more advantage in large-scale application.At present, common solar energy thermal-power-generating mode mainly contains tower, slot type, butterfly and linear Fresnel formula etc., wherein only has trough type solar power generation to achieve commercialized running.In order to make the collection of groove type solar concentrator maximal efficiency and utilize sunlight, must follow-up control apparatus be adopted in thermal-arrest process, make concentrator follow the tracks of the sun.
In traditional tracking and controlling method, normally according to the size of following the tracks of angle difference, different tracking velocities is set, realizes the tracing control of actual angle to angle on target with this.But the method speed setting value is limited, and there is larger velocity step ladder, cause following the tracks of angle and be difficult to control, the stationarity of tracking is poor.
Summary of the invention
The object of the invention is the deficiency overcoming traditional control method existence, propose a kind of control method being applied to trough type solar power generation, the method can improve stationarity and the tracking accuracy of the tracking of groove type solar concentrator angle on target.
Tracking and controlling method of the present invention comprises the steps:
(1) when solar heat power generation system startup tracking signal is effective, groove type solar concentrator angle on target tracing control is carried out;
(2) obtained the angle on target θ followed the tracks of by angle calculation formula, utilize position sensor to record the actual angle θ ' of tracking, both subtract each other and obtain angle difference △ θ;
(3) according to the setting value △ θ of angle difference △ θ and angle difference 0determine tracking control, if △ θ > △ is θ 0, then step (4) is performed, if △ θ≤△ is θ 0, then step (5) is performed;
(4) controller controls the motor of slot type solar concentrator with constant rotational speed v 0drive slot type solar concentrator to carry out angle on target tracking, perform step (2), until angle difference △ θ is less than or equal to setting value △ θ 0;
(5) adopt the control method of two-point calibration, calculate instantaneous state of velocity v by instantaneous time t, and control motor speed with this v value, drive concentrator to carry out angle on target tracking;
(6) repeat step (2) to (5), until angle difference is zero, motor stops.
Compared with traditional tracking and controlling method, the present invention sets and follows the tracks of angle difference and timing time, have employed the control method of two-point calibration, size according to following the tracks of angle difference regulates tracking velocity automatically, changes the control mode of original single position ring and adds speed ring, realizing double-closed-loop control, eliminate in tracing process and there is velocity step ladder, cause following the tracks of angle to be difficult to control, the shortcoming of tracking accuracy deficiency, improves the stationarity of tracing control.
According to the difference of angle difference, tracing control of the present invention has two kinds of duties: when the difference △ θ of angle on target and actual angle is greater than setting value △ θ 0time, controller controls motor with constant rotational speed v 0drive concentrator tracking target angle, the actual angle of concentrator moves closer in angle on target, and angle difference △ θ moves closer in setting value △ θ 0; When angle difference △ θ is less than or equal to setting value △ θ 0time, timer is from setting-up time t 0start timing until 0, and periodic output time instantaneous value t, controller according to instantaneous time t by speed computing formula v=K 0t calculates instantaneous state of velocity v, and controls motor speed with this v value, drives concentrator tracking target angle, until instantaneous state of velocity v is zero, motor stops.Wherein, K 0by constant rotational speed v 0with setting-up time t 0the proportionality constant determined, i.e. K 0=v 0/ t 0.
The present invention utilizes the control method of two-point calibration, according to instantaneous time t, by Linearity Formula determination instantaneous state of velocity v, adopts position and speed double close-loop control mode, realizes following the tracks of angle difference and the tracking velocity linear approximation to zero point respectively.
For ensureing tracking effect and the stationarity of consideration tracking, the reference value of set angle difference and timing time, is designated as △ θ respectively 0and t 0; Reference value need be chosen according to engineering experience and actual needs: reference value is less than normal, and the real-time of tracking is better, and thus tracking effect is better, but system frequent start-stop and acceleration are comparatively large, cause the less stable of tracking unavoidably; Reference value is bigger than normal, and actual angle is close to angle on target gradually, and the stationarity of tracking is better, but tracing process is relatively slow, and the real-time of tracking is poor, and tracking effect must be affected.
Accompanying drawing explanation
Fig. 1 is the rate curve comparison diagram of two kinds of control methods;
Fig. 2 is concentrator steady tracking schematic diagram;
Fig. 3 follows the tracks of angle difference and tracking time graph of a relation;
Fig. 4 is tracking velocity and tracking time graph of a relation;
Fig. 5 is tracing control flow chart of the present invention.
Detailed description of the invention
As shown in Figure 5, the steady tracking control method being applied to groove type solar concentrator of the present invention, specific implementation step is as follows:
(1) define the automatic tracking control of groove type solar concentrator: if the difference △ θ of angle on target θ and actual angle θ ' is greater than zero, then motor rotates forward; If angle difference △ θ is less than zero, then motor reversal; If angle difference △ θ equals zero, then motor stops;
(2) according to the actual requirement of engineering such as stability and real-time, the setting value △ θ of set angle difference 0with timing time t 0;
(3) detect the startup tracking signal of solar heat power generation system: when tracking signal is effective, then carry out the tracing control of groove type solar concentrator angle on target, perform step (4); When tracking signal is invalid, then terminate tracing control;
(4) obtained the angle on target θ followed the tracks of by angle calculation formula, utilize position sensor to record the actual angle θ ' of tracking, both subtract each other and obtain angle difference △ θ;
(5) angle difference △ θ and setting value △ θ is compared 0determine tracking control: if △ θ > △ is θ 0, then carry out motor constant speed control, perform step (6); If △ θ≤△ is θ 0, then carry out steady tracking control, perform step (7);
(6) motor of controller control slot type solar concentrator drives slot type solar concentrator to carry out angle on target tracking with constant rotational speed, performs step (4), until angle difference △ θ is less than or equal to setting value △ θ 0;
(7) interrupt service subroutine of controller is entered; Timer is from setting-up time t 0start timing, until 0, and periodic output time instantaneous value t;
(8) controller by instantaneous time t according to speed computing formula v=K 0t calculates instantaneous state of velocity v, and controls motor speed with this v value, drives concentrator tracking target angle; Wherein K 0=v 0/ t 0;
(9) judge instantaneous state of velocity v: if v value is zero, then motor stops, and terminates to follow the tracks of; If v value is non-vanishing, then perform step (8), continue to follow the tracks of;
(10) repeated execution of steps (3) ~ (9).
In order to deepen explanation of the invention, below in conjunction with reference to accompanying drawing, the present invention is described in further detail.This embodiment only for explaining the present invention, does not form limiting the scope of the present invention.
As shown in Figure 1, in figure, solid line is the rate curve adopting traditional tracking and controlling method.When the difference △ θ of angle on target and actual angle is greater than setting value 0.8 °, controller controls motor and follows the tracks of with the rotating speed of 1000r/min; When angle difference △ θ is between 0.5 ° and 0.8 °, the tracking velocity of motor is 500r/min; When angle difference △ θ is less than 0.5 °, the rotating speed of motor is 100r/min; When angle difference △ θ is zero, motor stops.Form three grades of ladders of speed thus, be unfavorable for steady control, particularly when concentrator inertia is larger, easy formation control vibration, concentrator deflects repeatedly, thus affects tracking accuracy and tracking effect.
In Fig. 1, dotted line is the rate curve adopting tracking and controlling method of the present invention.When the difference △ θ of angle on target and actual angle is greater than setting value 0.8 °, controller controls motor and follows the tracks of with the rotating speed of 1000r/min; When the difference △ θ of angle on target and actual angle is less than or equal to setting value 0.8 °, calculates motor speed v and carry out tracing control with this by correlation formula, until angle difference is zero, motor stops.
As shown in Figure 2, adopt tracking and controlling method of the present invention, when concentrator moves to 0, target location gradually by current location A point, angle difference △ θ and tracking velocity v t and changing all is in time the function of time.The present invention adopts the control method of two-point calibration, and angle difference △ θ and tracking velocity v is the linear function of time t, and three-dimensional coordinate is decomposed into two-dimensional coordinate, namely obtains the curve shown in Fig. 3 and Fig. 4.
As shown in Figure 3, when angle difference △ θ reduces gradually, the time, t also reduced gradually, until level off to zero.Thus, angle difference △ θ can be expressed as:
Δθ = Δ θ 0 t 0 t - - - ( 1 )
As shown in Figure 4, when tracking velocity v reduces gradually, the time, t also reduced gradually, until level off to zero.Thus, tracking velocity v can be expressed as:
v = v 0 t 0 t - - - ( 2 )
In tracing process, angle difference △ θ and tracking velocity v t and changing in time simultaneously, namely angle difference and tracking velocity level off to zero time equal, can be obtained by computing formula (1) and computing formula (2):
△θ·v 0＝v·△θ 0(3)
In tracing process, v 0for angle difference △ θ does not arrive setting value △ θ 0time constant rotational speed, be known; △ θ 0for the setting value of angle difference, can set according to Practical Project.From computing formula (3), the angle difference △ θ of tracking and tracking velocity v is interrelated, becomes positive correlation.
In computing formula (2), by scale factor be designated as K 0, then the another kind obtaining tracking velocity v represents:
v＝K 0·t (4)
In computing formula (4), time t value by timer timing and the cycle export.When angle difference △ θ is less than or equal to setting value △ θ 0time, trigging control interrupts entering service subprogram, and timer is from setting-up time t 0start timing until 0, and periodic output time instantaneous value t; Tried to achieve the instantaneous state of velocity v of tracking by computing formula (4), and follow the tracks of with v value control motor speed, until v value is zero, motor stops.
As can be seen from computing formula (3), when tracking velocity v changes, angle difference △ θ changes with v positive correlation.Because timing course is a countdown process successively decreased, therefore, in whole process, tracking velocity v constantly reduces, and angle difference △ θ also constantly reduces.When time t value is zero, instantaneous state of velocity v is zero, motor stalls, and angle difference △ θ is zero or is approximately zero (consideration error), and actual angle, close to angle on target, realizes the steady tracking of speed and angle thus.

Claims (4)

1. be applied to a steady tracking control method for groove type solar concentrator, it is characterized in that described control method comprises the following steps:
(1) when solar heat power generation system startup tracking signal is effective, groove type solar concentrator angle on target tracing control is carried out;
(2) obtained the angle on target θ followed the tracks of by angle calculation formula, utilize position sensor to record the actual angle θ ' of tracking, both subtract each other and obtain angle difference △ θ;
(3) according to the setting value △ θ of angle difference △ θ and angle difference 0determine tracking control, if △ θ > △ is θ 0, then step (4) is carried out, if △ θ≤△ is θ 0, then step (5) is carried out;
(4) motor of controller control slot type solar concentrator drives slot type solar concentrator to carry out angle on target tracking with constant rotational speed, performs step (2), until angle difference is less than or equal to setting value;
(5) adopt the control method of two-point calibration, calculate instantaneous state of velocity v by instantaneous time t, and control motor speed with this v value, drive concentrator to carry out angle on target tracking;
(6) repeat step (2) to (5), until angle difference is zero, motor stops.
2. the steady tracking control method being applied to groove type solar concentrator according to claim 1, is characterized in that: when the difference △ θ of angle on target and actual angle is greater than setting value △ θ 0time, controller controls motor and drives slot type solar concentrator tracking target angle with constant rotational speed, and actual angle moves closer in angle on target, and angle difference △ θ moves closer in setting value △ θ 0; When angle difference △ θ is less than or equal to setting value △ θ 0time, timer is from setting-up time t 0start timing until 0, and periodic output time instantaneous value t, controller calculates instantaneous state of velocity v according to t value, and controls motor speed tracking target angle with v value, until v value is zero, motor stops.
3. the steady tracking control method being applied to groove type solar concentrator according to claim 1, it is characterized in that: the control method utilizing two-point calibration, the acquisition of instantaneous state of velocity v is determined by Linearity Formula, adopt position and speed double circle controling mode, realize following the tracks of angle difference and the tracking velocity linear approximation to zero point respectively.
4. the steady tracking control method being applied to groove type solar concentrator according to claim 1, is characterized in that: for ensureing tracking effect and the stationarity of consideration tracking, the reference value △ θ of set angle difference 0with the reference value t of timing time 0; Choosing of angle difference and timing time reference value need according to engineering experience and actual needs: reference value is less than normal, and the real-time of tracking is better, and thus tracking effect is better, but system frequent start-stop and acceleration are comparatively large, cause the less stable of tracking unavoidably; Reference value is bigger than normal, and actual angle is close to angle on target gradually, and the stationarity of tracking is better, but tracing process is relatively slow, and the real-time of tracking is poor, and tracking effect must be affected.
CN201510324640.2A 2015-06-12 2015-06-12 Stable tracking control method applied to trough type solar condenser Expired - Fee Related CN104949357B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108917208A (en) * 2018-07-05 2018-11-30 常州龙腾光热科技股份有限公司 A kind of groove type heat collector tracking
CN109521804A (en) * 2018-11-05 2019-03-26 上海新时达电气股份有限公司 A kind of motion control method of robot, servo controller and readable storage medium storing program for executing
CN111207525A (en) * 2020-02-10 2020-05-29 南京南瑞继保电气有限公司 Intermittent driving method and device for heat collecting groove of groove type photo-thermal solar system
CN115877872A (en) * 2023-03-03 2023-03-31 中国人民解放军军事科学院国防科技创新研究院 Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier

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CN102242980A (en) * 2011-07-14 2011-11-16 南京科远自动化集团股份有限公司 Heliostat tracking control device and tracking control method thereof
US20130048049A1 (en) * 2011-08-22 2013-02-28 Kent Flanery Method and apparatus for controlling photovoltaic plant output using lagging or leading tracking angle

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Publication number Priority date Publication date Assignee Title
US6284968B1 (en) * 2000-06-19 2001-09-04 Joseph Z. Niesyn Solar-tracking system
WO2004102083A1 (en) * 2003-05-19 2004-11-25 Solar Systems Pty Ltd A tracking system
KR20110016264A (en) * 2009-08-11 2011-02-17 대덕대학산학협력단 Tracking type solar power generation apparatus
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US20130048049A1 (en) * 2011-08-22 2013-02-28 Kent Flanery Method and apparatus for controlling photovoltaic plant output using lagging or leading tracking angle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108917208A (en) * 2018-07-05 2018-11-30 常州龙腾光热科技股份有限公司 A kind of groove type heat collector tracking
CN109521804A (en) * 2018-11-05 2019-03-26 上海新时达电气股份有限公司 A kind of motion control method of robot, servo controller and readable storage medium storing program for executing
CN109521804B (en) * 2018-11-05 2022-01-18 上海新时达电气股份有限公司 Robot motion control method, servo controller and readable storage medium
CN111207525A (en) * 2020-02-10 2020-05-29 南京南瑞继保电气有限公司 Intermittent driving method and device for heat collecting groove of groove type photo-thermal solar system
CN111207525B (en) * 2020-02-10 2021-05-28 南京南瑞继保电气有限公司 Intermittent driving method and device for heat collecting groove of groove type photo-thermal solar system
CN115877872A (en) * 2023-03-03 2023-03-31 中国人民解放军军事科学院国防科技创新研究院 Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier

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