CN115202406A - Solar direct radiometer and automatic tracking method thereof - Google Patents
Solar direct radiometer and automatic tracking method thereof Download PDFInfo
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Abstract
The invention relates to a solar direct radiometer and an automatic tracking method thereof, wherein the device comprises a stepping motor module, a master control module, a photoelectric detection module and a radiation detection module, wherein the stepping motor module comprises an azimuth axis stepping motor and a height axis stepping motor, and the master control module is respectively connected with the stepping motor module, the photoelectric detection module and the radiation detection module; acquiring information such as current detection time, longitude and latitude and the like through a main control module, calculating a current solar altitude angle and an azimuth angle through a sun-viewing motion trajectory algorithm, controlling the solar direct radiation measuring instrument to preliminarily track the sun, acquiring radiation intensity on four quadrants by utilizing a photoelectric detection module, and finely adjusting the solar trajectory by combining the detection value of the radiation detection module; the invention makes up the respective defects of the photoelectric detection technology and the apparent solar motion trajectory technology, and improves the tracking and detection precision of the solar direct radiation measuring instrument.
Description
Technical Field
The invention relates to a solar direct radiometer and an automatic tracking method thereof, belonging to the technical field of detection.
Background
At present, the design of direct solar radiation measurement in China mainly comprises fixed and single-axis tracking, the adopted method is single, the single-axis tracking mode can only aim at the sun in the azimuth axis direction, manual adjustment is needed every few days in the vertical direction, and only semi-automatic detection can be carried out.
Meanwhile, in the existing full-automatic tracking mode, the tracking mode of the apparent day movement track cannot automatically eliminate the accumulated error, and the single photoelectric tracking mode is easily influenced by complex weather.
Therefore, a new radiometer is needed to be designed, and a tracking method based on the radiometer can solve the problem of inaccurate measurement caused by real-time sun tracking.
Disclosure of Invention
The invention provides a solar direct radiometer and an automatic tracking method thereof, which improve the accuracy of sun tracking measurement.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a solar direct radiometer comprises a stepping motor module, a main control module, a photoelectric detection module and a radiation detection module, wherein the stepping motor module comprises an azimuth axis stepping motor and a height axis stepping motor, the azimuth axis stepping motor is fixed on a base, a motor shaft of the azimuth axis stepping motor is vertically installed in the center of the base, the center of the base is taken as an original point, a coordinate plane formed by an X axis and a Y axis which penetrate through the original point is parallel to the plane of the base, and the axial direction of the motor shaft of the azimuth axis stepping motor is taken as a Z axis to construct a three-dimensional coordinate system;
the height axis stepping motor is arranged at the top of the azimuth axis stepping motor in the Y-axis direction, and a motor shaft of the height axis stepping motor is arranged in a direction vertical to the Z-axis direction;
the photoelectric detection module and the radiation detection module are connected to form a detection component, and a motor shaft of the height shaft stepping motor is connected with the detection component;
the main control module is simultaneously communicated with the stepping motor module and the detection component, the main control module sends a starting instruction to the azimuth axis stepping motor, the detection component can move in a coordinate plane formed by an X axis and a Y axis, the main control module sends a starting instruction to the height axis stepping motor, and the detection component can move in the coordinate plane formed by the X axis and the Z axis and the coordinate plane formed by the Y axis and the Z axis;
as a further preferable aspect of the present invention, the detection component is installed in a cylindrical light cylinder, and one end of the cylindrical light cylinder is installed with a radiation detection module, wherein the radiation detection module comprises a lens, an induction surface, a thermopile and a measurement base, the thermopile, the induction surface and the lens are sequentially stacked on the surface of the measurement base, and the lens covers an end port of the cylindrical light cylinder;
and the lens faces the sun direction;
as a further preference of the invention, a light cylinder clamping wheel is sleeved on the outer wall of the box body of the cylindrical box body, and the light cylinder clamping wheel is fixed with a motor shaft of the height shaft stepping motor;
as a further preferred aspect of the present invention, the photoelectric detection module is a photoelectric detection sensor, and the plurality of photoelectric detection sensors are uniformly distributed along the circumference of the lens;
as a further preferred aspect of the present invention, four photoelectric detection sensors are provided, and are uniformly distributed along four quadrants of the circumference of the lens;
as a further preferred option of the invention, the stepping motor module and the master control module are both arranged in the square box body, and a motor shaft of the azimuth axis stepping motor of the stepping motor module extends out of the square box body and is fixed with the base;
a motor tray is arranged at the bottom in the square box body, and an azimuth axis stepping motor is arranged on the motor tray;
as a further preferred aspect of the present invention, the main control module includes an STM32 microprocessor, a stepping motor driving module, a wireless communication module, and a peripheral circuit, which are connected;
the photoelectric detection module, the radiation detection module and the stepping motor module are simultaneously communicated with the main control module, the stepping motor module is communicated with the radiation detection module, and the photoelectric detection module, the radiation detection module and the stepping motor module also comprise an upper computer module which is also communicated with the main control module;
as a further preferable mode of the present invention, the wireless communication module uses ZigBee for data transmission.
An automatic tracking method based on the solar direct radiometer specifically comprises the following steps:
step S1: the host computer sends a starting instruction to the main control module through ZigBee wireless communication, obtains the longitude, the latitude and the time of the current detection place through the main control module, and calculates a solar time angle omega, wherein the calculation formula is as follows:
in the formula (1), ω is the solar time angle, N 0 As the longitude of the current survey ground, N ST Standard longitude, T, used for defining standard time 0 W is the time of the current detection place and is a longitude correction coefficient;
step S2: the longitude, the latitude and the time of the current detection place are obtained through the main control module, and the solar declination angle delta is calculated according to the following calculation formula:
in the formula (2), B is the angle of the sun relative to the earth, and
n is the number of days, and the number of days is recorded from 1 month and 1 day of each year;
and step S3: calculating a solar altitude angle and a solar azimuth angle according to the solar hour angle and the solar declination angle obtained by the calculation in the step S1 and the step S2, wherein the solar altitude angle gamma is S The calculation formula of (2) is as follows:
in the formula (3), delta is the declination angle of the sun, phi is the latitude angle of the detection ground, and omega is the solar hour angle;
the calculation formula of the solar azimuth angle is as follows:
in the formula (4), τ s Is the azimuth angle of the sun, delta is the declination angle of the sun, phi is the latitude angle of the detection ground, gamma S Is the solar altitude;
and step S4: according to the step S3, a solar altitude angle and a solar azimuth angle are obtained, and the initial position of the solar direct radiometer is adjusted to enter an initial state;
step S5: if no accumulative error exists after the initial state tracking, directly obtaining a direct solar radiation measurement value, and if the accumulative error exists after the tracking, performing the next step;
step S6: the sun directly radiates to track the sun movement locus, the sunlight forms circular light spots in four photoelectric detectors, the parts of the light spots in four quadrants are respectively assumed to be I, II, III and IV, and the electric signals generated by the photoelectric effect are respectively V Ⅰ 、V Ⅱ 、V Ⅲ 、V Ⅳ The deviation value between the center of the light spot and the detection member in the coordinate plane formed by the X axis and the Y axis is set as G xy The deviation value between the center of the light spot and the coordinate plane formed by the X-axis and the Z-axis and the deviation value between the center of the light spot and the coordinate plane formed by the Y-axis and the Z-axis of the detection member are G h The calculation formula of the deviation value is respectively as follows:
meanwhile, the radiation measurement module obtains the radiation measurement value of the current time and the radiation measurement value of the last time of the sun, and calculates the relative change value of the direct solar radiation:
S＝(S 1 -S 0 )/(S 1 +S 0 ) (6)
in the formula (6), S 1 For this radiation measurement, S 0 Is the last solar radiation measurement;
step S7: calculating the movement directions of the current azimuth axis stepping motor and the current altitude axis stepping motor by the deviation value obtained in the step S6 and the relative change value of the direct solar radiation, namely
Dxy＝aG xy +bS (7)
Dh＝aG h +bS (8)
In the formulas (7) and (8), a is a weight coefficient of the photoelectric detection sensor, 0.4 is taken as a weight coefficient of a solar radiation measurement value, 0.6 is taken as a weight coefficient of an azimuth axis stepping motor in a coordinate plane formed by an X axis and a Y axis, dxy is taken as a moving azimuth of an azimuth axis stepping motor in the coordinate plane formed by the X axis and the Z axis, and Dh is taken as a moving azimuth of a height axis stepping motor in the coordinate plane formed by the X axis and the Z axis;
step S8: the main control module respectively performs stepping rotation fine adjustment on the azimuth axis stepping motor and the altitude axis stepping motor according to Dxy and Dh, simultaneously respectively detects a solar direct radiation value and the photoelectric sensor and calculates Dxy and Dh, and respectively stops adjusting until the azimuth angle and the altitude angle are adjusted when the signs of Dxy and Dh, namely the directions are changed;
step S9: the posture of the detection component is adjusted according to the steps S1-S7 repeatedly every 1 minute until an error-free direct solar radiation measurement value is obtained, and the result is transmitted to an upper computer through ZigBee wireless communication, and tracking is finished;
as a further preferred embodiment of the present invention, the specific steps of acquiring the measured value of the solar direct radiation in step S9 are as follows:
step S91: the sunlight is directly irradiated to the surface of the lens and is transmitted to the sensing surface through the lens, and when the sensing surface receives the sunlight radiation and reaches the relative heat balance, the calculation formula is
I＝K 1 *(t 1 -t 2 )+(1-ε)*I+K 2 *(t 1 -t 3 ) (9)
In the formula (9), K 1 Measuring the heat transfer coefficient of the base for conduction to the bottom, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface, t 2 For measuring the temperature of the base, ε is the absorption of the sensing surface, I is the value of the detected incident radiation, t 3 Is the air temperature;
step S92: calculating the electromotive force generated by the thermopile by obtaining the temperature difference between the induction surface and the measuring base, wherein the formula is
V＝I 0 *(t 1 -t 2 ) (10)
In the formula (10), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, t 1 Is the temperature of the sensing surface, t 2 To measure the temperature of the base;
step S93: combining the formula (9) of step S91 and the formula (10) of step S92, the calculation formula for obtaining the electromotive force signal is
In the formula (11), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, K 1 Measuring the heat transfer coefficient of the base for conduction to the bottom, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface, t 2 For measuring the temperature of the base, ε is the absorption of the sensing surface, I is the value of the detected incident radiation, t 3 The output electric signal of the radiation detection module is obtained according to the formula (11) for the air temperature, so that the intensity of the direct radiation intensity is calculated.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. according to the solar direct radiation instrument provided by the invention, through the arrangement of the azimuth axis stepping motor and the height axis stepping motor, the solar direct radiation instrument can move in a coordinate plane formed by an X axis and a Y axis as shown in figure 1, and can also move in the coordinate plane formed by the X axis and the Z axis and the coordinate plane formed by the Y axis and the Z axis, so that the problem that single-axis fixed detection cannot accurately track in real time is solved, the tracking precision of the instrument is improved, and more accurate direct radiation measurement is realized;
2. the direct solar radiation instrument provided by the invention can automatically eliminate the accumulated error in a tracking mode of the apparent solar motion trail, solves the problem that photoelectric tracking is easily influenced by complex weather and the accumulated error in the apparent solar motion trail tracking, and improves the stability and the accuracy of tracking operation detection of instrument equipment.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a block diagram illustrating the module connections provided by the present invention;
FIG. 2 is a schematic view of the working flow of the solar direct radiometer provided by the present invention;
3 a-3 b are left and right side views of a solar direct radiometer provided in accordance with the present invention;
4 a-4 b are front and top views of a solar direct radiometer provided in accordance with the present invention;
FIG. 5 is a cross-sectional view of a radiation detection device provided by the present invention;
fig. 6 is a schematic diagram of light spot distribution when the photoelectric detection module provided by the present invention operates.
In the figure: the device comprises a radiation detection module 1, a light cylinder 2, a light cylinder clamping wheel 3, a photoelectric detection sensor 4, a stepping motor clamping sleeve 5, a height axis stepping motor 6, an azimuth axis stepping motor 7, an STM32 microprocessor 8, a base 9, an instrument rear cover 10, a square box 11, a motor tray 12, a dust-shielding transparent glass cover 13, a lens 14, an induction surface 15, a thermopile 16, a measurement base 17 and a radiation measurement shell 18.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. In the description of the present application, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the protection scope of the present invention.
As explained in the background art, in the current fully automatic tracking method for domestic direct solar radiation measurement, firstly, a single-axis tracking method is used, so that the sun can only be aligned in the azimuth axis direction, and secondly, errors are easy to occur due to the influence of complicated weather, but the accumulated errors cannot be eliminated by self. Therefore, the application is improved and tested on the basis of the existing tracking mode, and provides a solar direct radiometer, as can be seen from fig. 1, a module diagram based on the application mainly comprises a stepping motor module, a main control module, a photoelectric detection module and a radiation detection module 1, wherein the main control module comprises an STM32 microprocessor 8, a stepping motor driving module, a wireless communication module and a peripheral circuit which are communicated; the radiation detection device comprises a radiation detection module, a photoelectric detection module, a radiation detection module, a stepping motor module and an upper computer module, wherein the photoelectric detection module, the radiation detection module and the stepping motor module are simultaneously communicated with a main control module, the stepping motor module is communicated with the radiation detection module, and the upper computer module is also communicated with the main control module. In the preferred embodiment, the stepping motors (i.e. the azimuth axis stepping motor 7 and the height axis stepping motor described below) in the stepping motor module are 57BYG250B-8 model stepping motors, the driving chip of the stepping motor uses TB67S1109AFTG to support up to 32 stepping angle subdivision, and the wireless communication module is Zigbee with a CC2530 chip as a core.
In the system that this application provided, the step motor module includes azimuth axis step motor and height axis step motor 6, and the setting of this kind of structure can satisfy at azimuth axis and perpendicular to two-way automatically regulated to improve measuring accuracy, photoelectric detection module's setting simultaneously can eliminate accumulative error by oneself in the tracking mode of sight day movement track, thereby further improve the accuracy that detects.
Next, specifically explaining the above principle, as shown in fig. 3a to 4b, the azimuth axis stepping motor is fixed on the base 9, and the motor shaft of the azimuth axis stepping motor is vertically installed at the center of the base, and since the azimuth problem needs to be utilized when the automatic tracking method is explained in the following, for convenience of description, the base center is used as an origin, a coordinate plane formed by an X axis and a Y axis passing through the origin is parallel to the base plane, and the axial direction of the motor shaft of the azimuth axis stepping motor is used as a Z axis, so as to construct a three-dimensional coordinate system;
the height axis stepping motor is arranged at the top of the azimuth axis stepping motor in the Y-axis direction, and a motor shaft of the height axis stepping motor is arranged in a direction vertical to the Z-axis direction; the photoelectric detection module and the radiation detection module are connected to form a detection component, and a motor shaft of the height shaft stepping motor is connected with the detection component;
the main control module is simultaneously communicated with the stepping motor module and the detection component, the main control module sends a starting instruction to the azimuth axis stepping motor, the detection component can move in a coordinate plane formed by an X axis and a Y axis, the main control module sends a starting instruction to the height axis stepping motor, and the detection component can move in the coordinate plane formed by the X axis and the Z axis and the coordinate plane formed by the Y axis and the Z axis; the moving mode satisfies the bidirectional adjustment of the instrument on the azimuth axis and in the vertical direction, and the full-automatic tracking mode is completely realized.
In the present application, the stepping motor module and the main control module are both disposed in the square box 11, where the main control module is located at the left side of the inner wall of the square box (taking the view angle in fig. 3a as an example), and as shown by the angle in fig. 3b, the back of the square box is a movable structure, i.e., the back cover 10 of the instrument, which facilitates the detachment and installation of the whole square box. A motor shaft of an azimuth axis stepping motor of the stepping motor module extends out of the square box body and is fixed with the base; a motor tray 12 is arranged at the bottom in the square box body, and an azimuth axis stepping motor is arranged on the motor tray; the azimuth axis stepping motor and the height axis stepping motor are fastened through a stepping motor clamping sleeve 5. The detection component is installed in the cylindrical light cylinder 2, and one end of the cylindrical light cylinder is provided with a radiation detection module, wherein, as shown in fig. 5, the radiation detection module comprises a lens 14, a sensing surface 15, a thermopile 16 and a measurement base 17, the thermopile, the sensing surface and the lens are sequentially stacked on the surface of the measurement base, and the lens is covered on one end port of the cylindrical light cylinder; and the lens faces the sun direction, so that a tracking mode of a sun-looking motion trail can be performed.
In order to protect the lens, a dust-shielding transparent glass cover 13 is covered on the surface of the lens; while the so-called radiation detection module is mounted in a radiation measuring housing 18, which is wholly embedded in one end of a cylindrical light cylinder.
In the embodiment, in order to connect the detection component with the stepping motor module, the light tube clamping wheel 3 is sleeved on the outer wall of the box body of the cylindrical box body, and the light tube clamping wheel is fixed with a motor shaft of the height shaft stepping motor.
After the embodiment provides full-automatic tracking mode, still need solve the problem of eliminating accumulative total error by oneself, the structure of solving this problem in this application is the photoelectric detection module, the photoelectric detection module is the photoelectric detection sensor, and a plurality of photoelectric detection sensors are along the peripheral evenly distributed of lens. In a preferred embodiment, four photoelectric detection sensors are arranged and uniformly distributed along four quadrants of the circumference of the lens, and fig. 6 is a light spot distribution diagram of the photoelectric detection module when error accumulation elimination is performed.
As shown in fig. 2, an automatic tracking method according to a preferred embodiment of the present application is provided, which specifically includes the following steps:
step S1: the host computer sends a starting instruction to the main control module through ZigBee wireless communication, acquires the longitude, the latitude and the time of the current detection place through the main control module, calculates the solar time angle omega, and the calculation formula is as follows:
in the formula (1), ω is the solar time angle, N 0 As the longitude of the current survey ground, N ST Standard longitude, T, used for defining standard time 0 The time of the current detection place is W, and the W is a longitude correction coefficient;
step S2: the longitude, the latitude and the time of the current detection place are obtained through the main control module, and the solar declination angle delta is calculated according to the following calculation formula:
in the formula (2), B is the angle of the sun relative to the earth, and
n is the number of days, and the number of days is recorded from 1 month and 1 day of each year;
and step S3: calculating a solar altitude angle and a solar azimuth angle according to the solar time angle and the solar declination angle calculated in the step S1 and the step S2, wherein the solar altitude angle gamma S The calculation formula of (2) is as follows:
in the formula (3), delta is the declination angle of the sun, phi is the latitude angle of the detection ground, and omega is the solar hour angle;
the calculation formula of the solar azimuth angle is as follows:
in the formula (4), τ s Is the azimuth angle of the sun, delta is the declination angle of the sun, phi is the latitude angle of the detection ground, gamma S Is the solar altitude;
and step S4: according to the step S3, a solar altitude angle and a solar azimuth angle are obtained, and the initial position of the solar direct radiometer is adjusted to enter an initial state;
step S5: if no accumulative error exists after tracking in the initial state, directly acquiring a direct solar radiation measurement value, and if the accumulative error exists after tracking, performing the next step;
step S6: the direct solar radiation tracks the sun's movement, the photoelectric detection module detects the current illumination intensity, four identical photoelectric detection sensors are uniformly distributed on four quadrants of the photoelectric detection module, the sunlight entering the photoelectric detection module forms a circular light spot in the detection module, the parts of the light spot in the four quadrants are respectively assumed as I, II, III and IV, and the electric signals generated by the photoelectric effect are respectively V Ⅰ 、V Ⅱ 、V Ⅲ 、V Ⅳ The deviation value between the center of the light spot and the detection member in the coordinate plane formed by the X axis and the Y axis is set as G xy The center of the light spot and the detection member are on the X-axis and the Z-axisThe deviation value in the formed coordinate plane, the Y-axis and the Z-axis is G h The calculation formula of the deviation value is respectively as follows:
meanwhile, the radiation measurement module obtains the radiation measurement value of the current time and the radiation measurement value of the last time of the sun, and calculates the relative change value of the direct solar radiation:
S＝(S 1 -S 0 )/(S 1 +S 0 ) (6)
in the formula (6), S 1 For this radiation measurement, S 0 Is the last solar radiation measurement;
step S7: calculating the motion directions of the current azimuth axis stepping motor and the current altitude axis stepping motor according to the deviation value obtained in the step S6 and the relative change value of the direct solar radiation, namely
Dxy＝aG xy +bS (7)
Dh＝aG h +bS (8)
In the formulas (7) and (8), a is a weight coefficient of the photoelectric detection sensor 4, 0.4 is taken as a weight coefficient of a solar radiation measurement value, 0.6 is taken as a weight coefficient of an azimuth axis stepping motor in a coordinate plane formed by an X axis and a Y axis, and Dxy is taken as a moving azimuth of the azimuth axis stepping motor in the coordinate plane formed by the X axis and the Z axis, and Dh is a moving azimuth of the elevation axis stepping motor in the coordinate plane formed by the Y axis and the Z axis;
step S8: the main control module respectively performs stepping rotation fine adjustment on the azimuth axis stepping motor and the altitude axis stepping motor according to Dxy and Dh, simultaneously respectively detects a solar direct radiation value and the photoelectric sensor and calculates Dxy and Dh, and respectively stops adjusting until the azimuth angle and the altitude angle are adjusted when the signs of Dxy and Dh, namely the directions are changed;
step S9: and (4) repeatedly adjusting the posture of the detection component according to the steps S1-S7 every 1 minute until an error-free direct solar radiation measurement value is obtained, transmitting the result to an upper computer by the microprocessor through ZigBee wireless communication, storing data in the server, displaying the radiation detection data and information such as the current solar altitude angle and azimuth angle by the upper computer, and finishing tracking.
The specific steps of obtaining the measured value of the direct solar radiation in step S9 are:
step S91: the sunlight is directly irradiated to the surface of the lens and is transmitted to the sensing surface through the lens, and when the sensing surface receives the sunlight radiation and reaches the relative heat balance, the calculation formula is
I＝K 1 *(t 1 -t 2 )+(1-ε)*I+K 2 *(t 1 -t 3 ) (9)
In the formula (9), K 1 Measuring the heat transfer coefficient of the base for conduction to the bottom, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface, t 2 For measuring the temperature of the base, ε is the absorption of the sensing surface, I is the value of the detected incident radiation, t 3 Is the air temperature;
step S92: calculating the electromotive force generated by the thermopile by obtaining the temperature difference between the induction surface and the measuring base, wherein the formula is
V＝I 0 *(t 1 -t 2 ) (10)
In the formula (10), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, t 1 Is the temperature of the sensing surface, t 2 To measure the temperature of the base;
step S93: combining the formula (9) of step S91 and the formula (10) of step S92, the calculation formula for obtaining the electromotive force signal is
In the formula (11), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, K 1 Measuring the heat transfer coefficient of the base for conduction to the bottom, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface, t 2 For measuring the temperature of the base, ε is the absorption of the sensing surface, I is the value of the detected incident radiation, t 3 The output electric signal of the radiation detection module is obtained according to the formula (11) for the air temperature, so that the intensity of the direct radiation degree is calculated.
According to the explanation, the double-shaft tracking mode is adopted in the application, the problem that fixed detection of a single shaft cannot accurately track in real time is solved, the precision of instrument tracking is improved, more accurate direct radiation measurement is realized, two common tracking modes are combined, the problems that photoelectric tracking is easily affected by complex weather and accumulated errors are easily tracked by sight day movement tracks are solved, and the stability and the accuracy of tracking operation detection of instrument equipment are improved.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components through other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A solar direct radiometer, characterized by: the three-dimensional radiation detection device comprises a stepping motor module, a master control module, a photoelectric detection module and a radiation detection module (1), wherein the stepping motor module comprises an azimuth axis stepping motor (7) and a height axis stepping motor (6), the azimuth axis stepping motor (7) is fixed on a base (9), a motor shaft of the azimuth axis stepping motor (7) is vertically installed at the center of the base (9), the center of the base (9) is used as an original point, a coordinate plane formed by an X axis and a Y axis which penetrate through the original point is parallel to the plane of the base (9), and the axial direction of the motor shaft of the azimuth axis stepping motor (7) is used as a Z axis to construct a three-dimensional coordinate system;
the height axis stepping motor (6) is arranged at the top of the azimuth axis stepping motor (7) in the Y-axis direction, and a motor shaft of the height axis stepping motor (6) is arranged in a direction vertical to the Z-axis direction;
the photoelectric detection module and the radiation detection module (1) are connected to form a detection component, and a motor shaft of the height shaft stepping motor (6) is connected with the detection component;
the main control module is simultaneously communicated with the stepping motor module and the detection component, the main control module sends a starting instruction to the azimuth axis stepping motor (7), the detection component can move in a coordinate plane formed by an X axis and a Y axis, the main control module sends a starting instruction to the height axis stepping motor (6), and the detection component can move in a coordinate plane formed by the X axis and the Z axis and a coordinate plane formed by the Y axis and the Z axis.
2. The solar direct radiometer according to claim 1, characterized in that: the radiation detection device comprises a detection component, a radiation detection module (1), a photoelectric sensor and a control module, wherein the detection component is installed in a cylindrical light cylinder (2), one end of the cylindrical light cylinder (2) is provided with the radiation detection module (1), the radiation detection module (1) comprises a lens (14), a sensing surface (15), a thermopile (16) and a measurement base (17), the thermopile (16), the sensing surface (15) and the lens (14) are sequentially stacked on the surface of the measurement base (17), and the lens (14) covers one end port of the cylindrical light cylinder (2);
and the lens (14) faces the sun.
3. Solar direct radiometer according to claim 2, characterized in that: a smooth tube clamping wheel (3) is sleeved on the outer wall of the cylindrical box body, and the smooth tube clamping wheel (3) is fixed with a motor shaft of the height shaft stepping motor (6).
4. Solar direct radiometer according to claim 2, characterized in that: the photoelectric detection module is a photoelectric detection sensor, and a plurality of photoelectric detection sensors are uniformly distributed along the circumference of the lens (14).
5. Solar direct radiometer according to claim 4, characterized in that: the four photoelectric detection sensors are uniformly distributed along four quadrants of the circumference of the lens (14).
6. Solar direct radiometer according to claim 4, characterized in that: the stepping motor module and the main control module are both arranged in the square box body (11), and a motor shaft of an azimuth axis stepping motor (7) of the stepping motor module extends out of the square box body (11) and is fixed with the base (9);
a motor tray (12) is arranged at the bottom in the square box body (11), and the azimuth axis stepping motor (7) is arranged on the motor tray (12).
7. Solar direct radiometer according to claim 4, characterized in that: the main control module comprises an STM32 microprocessor (8), a stepping motor driving module, a wireless communication module and a peripheral circuit which are communicated;
the photoelectric detection module, the radiation detection module (1) and the stepping motor module are simultaneously communicated with the main control module, the stepping motor module is communicated with the radiation detection module (1), and the radiation detection system further comprises an upper computer module which is also communicated with the main control module.
8. The solar direct radiometer according to claim 7, wherein: and the wireless communication module selects ZigBee for data transmission.
9. An automatic tracking method based on the solar direct radiometer of claim 8, characterized in that: the method specifically comprises the following steps:
step S1: the host computer sends a starting instruction to the main control module through ZigBee wireless communication, acquires the longitude, the latitude and the time of the current detection place through the main control module, calculates the solar time angle omega, and the calculation formula is as follows:
in the formula (1), ω is the solar time angle, N 0 As the longitude of the current survey ground, N ST Standard longitude, T, used for defining standard time 0 W is the time of the current detection place and is a longitude correction coefficient;
step S2: the longitude, the latitude and the time of the current detection place are obtained through the main control module, and the solar declination angle delta is calculated according to the following calculation formula:
in the formula (2), B is the angle of the sun relative to the earth, and
n is the number of days, and the number of days is recorded from 1 month and 1 day of each year;
and step S3: calculating a solar altitude angle and a solar azimuth angle according to the solar time angle and the solar declination angle calculated in the step S1 and the step S2, wherein the solar altitude angle gamma S The calculation formula of (c) is:
in the formula (3), delta is the declination angle of the sun, phi is the latitude angle of the detection ground, and omega is the solar hour angle;
the calculation formula of the solar azimuth angle is as follows:
formula (II)(4) In, tau s Is the azimuth angle of the sun, delta is the declination angle of the sun, phi is the latitude angle of the detection ground, gamma S Is the solar altitude;
and step S4: according to the step S3, a solar altitude angle and a solar azimuth angle are obtained, and the initial position of the solar direct radiometer is adjusted to enter an initial state;
step S5: if no accumulative error exists after the initial state tracking, directly obtaining a direct solar radiation measurement value, and if the accumulative error exists after the tracking, performing the next step;
step S6: the sun directly radiates to track the sun movement locus, the sunlight forms circular light spots in four photoelectric detectors, the parts of the light spots in four quadrants are respectively assumed to be I, II, III and IV, and the electric signals generated by the photoelectric effect are respectively V Ⅰ 、V Ⅱ 、V Ⅲ 、V Ⅳ The deviation value between the center of the light spot and the detection member in the coordinate plane formed by the X axis and the Y axis is set as G xy The deviation value between the center of the light spot and the coordinate plane formed by the X-axis and the Z-axis and the deviation value between the center of the light spot and the coordinate plane formed by the Y-axis and the Z-axis of the detection member are G h The calculation formula of the deviation value is respectively as follows:
meanwhile, the radiation measurement module obtains the radiation measurement value of the current time and the radiation measurement value of the last time of the sun, and calculates the relative change value of the direct solar radiation:
S＝(S 1 -S 0 )/(S 1 +S 0 ) (6)
in the formula (6), S 1 For this radiation measurement, S 0 Is the last solar radiation measurement;
step S7: calculating the movement directions of the current azimuth axis stepping motor (7) and the current altitude axis stepping motor (6) through the deviation value obtained in the step S6 and the relative change value of the direct solar radiation, namely calculating the movement directions of the current azimuth axis stepping motor (7) and the current altitude axis stepping motor (6)
Dxy＝aG xy +bS (7)
Dh＝aG h +bS (8)
In the formula (7) and the formula (8), a is a weight coefficient of the photoelectric detection sensor (4), 0.4 is taken as a weight coefficient of a solar radiation measurement value, 0.6 is taken as a weight coefficient of an azimuth axis stepping motor (7) in a coordinate plane formed by an X axis and a Y axis, and Dxy is taken as a moving direction of the altitude axis stepping motor (6) in a coordinate plane formed by the X axis and the Z axis and a moving direction of the altitude axis stepping motor (6) in a coordinate plane formed by the Y axis and the Z axis;
step S8: the main control module respectively performs stepping rotation fine adjustment on an azimuth axis stepping motor (7) and an elevation axis stepping motor (6) according to Dxy and Dh, simultaneously respectively detects a solar direct radiation value and a photoelectric sensor and calculates Dxy and Dh, and if the signs of Dxy and Dh, namely the directions change, the adjustment is respectively stopped until the adjustment of the azimuth angle and the elevation angle is finished;
step S9: and (4) repeatedly adjusting the posture of the detection component according to the steps S1-S7 every 1 minute until an error-free direct solar radiation measurement value is obtained, transmitting the result to an upper computer through ZigBee wireless communication, and finishing tracking.
10. The automatic tracking method of a solar direct radiometer according to claim 9, characterized in that: the specific steps of obtaining the measured value of the solar direct radiation in the step S9 are as follows:
step S91: sunlight is directly irradiated to the surface of the lens (14) and is transmitted to the sensing surface (15) through the lens (14), and when the sensing surface (15) receives solar radiation and achieves relative heat balance, the calculation formula is as follows
I＝K 1 *(t 1 -t 2 )+(1-ε)*I+K 2 *(t 1 -t 3 )(9)
In the formula (9), K 1 For conduction to the bottom measuring base (17) heat transfer coefficient, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface (15), t 2 For measuring the temperature of the base (17), epsilon is the absorption rate of the sensing surface (15), I is the value of the detected incident radiation, t 3 Is the air temperature;
step S92: calculating the electromotive force generated by the thermopile (16) by obtaining the temperature difference between the induction surface (15) and the measuring base (17) according to the formula
V＝I 0 *(t 1 -t 2 ) (10)
In the formula (10), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, t 1 Is the temperature of the sensing surface (15), t 2 For measuring the temperature of the base (17);
step S93: combining the formula (9) of step S91 and the formula (10) of step S92, the calculation formula for obtaining the electromotive force signal is
In the formula (11), I 0 Is the thermoelectric end conversion coefficient, and has the unit of mu V/DEG C, K 1 For conduction to the bottom measuring base (17) heat transfer coefficient, K 2 Is the heat transfer coefficient, t, of the air temperature and the temperature of the sensing surface 1 Is the temperature of the sensing surface (15), t 2 For measuring the temperature of the base (17), epsilon is the absorption rate of the sensing surface (15), I is the value of the detected incident radiation, t 3 The output electric signal of the radiation detection module (1) is obtained by the formula (11) for the air temperature, so that the intensity of the direct radiation degree is calculated.
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