CN116594432B - Sensorless control method and sensorless control equipment for photovoltaic power generation light tracking system - Google Patents
Sensorless control method and sensorless control equipment for photovoltaic power generation light tracking system Download PDFInfo
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Abstract
The application discloses a sensorless control method and sensorless control equipment for a photovoltaic power generation light tracking system. The sensorless control method provided by the application is based on the analytic relation between the height angle and azimuth angle change of the photovoltaic panel and the maximum power output by the internal MPPT, the height angle and the azimuth angle are continuously adjusted, the accurate light tracking of the photovoltaic panel is realized, the photovoltaic power generation efficiency is improved, the construction cost of a photovoltaic light tracking system is reduced, and the method is high in universality and easy to implement.
Description
Technical Field
The application belongs to the field of new energy photovoltaics, and particularly relates to a sensorless control method of a photovoltaic power generation light tracking system.
Background
With the continuous development of human society and the increasing demand for energy, solar energy is receiving more and more attention and importance as a green, clean and renewable energy source. The solar panel is a core component of solar power generation, and the improvement of the efficiency of the solar panel directly determines the power generation amount and the economical efficiency of a solar power generation system. However, since the power generation efficiency and output power of the solar cell panel are affected by many factors, such as solar altitude, azimuth angle, shading, etc., variations in these factors may cause the power generation efficiency and output power of the solar cell panel to be reduced. In order to solve the problem, a photovoltaic panel light-following system is additionally arranged, and a special tracking bracket is arranged, so that the solar panel can automatically rotate and incline along with the movement of the sun, and the solar energy can be absorbed to the greatest extent. The technology enables the solar cell panel to always face the sun and receive solar radiation to the maximum extent, and improves the photovoltaic power generation efficiency.
The existing light tracking control has a plurality of defects, the ideal precision is difficult to achieve according to the open loop control of an astronomical algorithm, accumulated errors can occur under long-term tracking, and the actual machining installation errors are often far greater than the algorithm errors; although higher precision can be achieved by using closed-loop control of an external sensor such as a photosensitive sensor, a camera or a GPS, the construction cost of the external judgment device is necessarily increased in a large-area photovoltaic array, meanwhile, the large-scale photovoltaic array is mostly constructed in a dry open area of the climate, the service life of the dry climate and the influence of high wind speed can be greatly reduced, and a sensorless closed-loop control strategy is not found in the current light tracking control technology.
Disclosure of Invention
The technical problem to be solved by the application is to research and provide a sensorless closed-loop control strategy for accurate light tracking, aiming at the defects of large accumulated error of open-loop control, high-cost closed-loop control and the like existing in the existing light tracking control.
In order to solve the technical problems, the application adopts the following technical scheme:
the application provides a sensorless control method of a photovoltaic power generation light tracking system, wherein the photovoltaic light tracking control system is arranged between a solar photovoltaic panel and a double-shaft tracking bracket in parallel, and the light tracking control system calculates the correct angle of the photovoltaic panel required to turn according to the maximum power signal of a photovoltaic power generation component, the height angle and the azimuth angle signal of the solar photovoltaic panel, which are acquired in real time, so as to realize the sensorless light tracking control of the photovoltaic power generation; the method comprises the following steps of establishing a sensorless light tracking control strategy for photovoltaic power generation:
s1, establishing a mathematical model of an included angle between a photovoltaic panel and solar rays, and representing a direct relationship between the photovoltaic panel and the solar rays;
s2, establishing a height angle of the photovoltaic panelAzimuth angle->Maximum output power of photovoltaic module>Mathematical analysis equation between the two, calculate maximum output power curve by discrete method respectively aiming at altitude angle ++>And azimuth->Is a slope of (2);
s3, building photovoltaic-based panelSensorless light tracking control strategy for initial position and continuously adjusting height angle of photovoltaic panelAnd azimuth->The minimum included angle between the normal line of the photovoltaic panel and the incident light of the sun is satisfied, so that the output power at the current moment is kept at the maximum value.
Further, in step S1, the angle between the photovoltaic panel and the horizontal plane is defined as the height angle of the photovoltaic panelThe angle between the projection of the vertical normal line of the photovoltaic panel on the horizontal plane and the normal-south latitude line is defined as the direction angle of the photovoltaic panel>The angle between the incident solar ray and the normal of the photovoltaic panel is defined as the solar angle of incidence +.>；OPThe vector is the normal line of the photovoltaic panel passing through the origin, and is obtained by vector algebra under the horizontal coordinate systemOPThe directional cosine of (2) is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>respectively is vectorOPDirectional cosine for x-axis, y-axis, z-axis;
let the altitude angle of solar radiation on the photovoltaic panel beAzimuth angle is +.>Its direction cosine:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>the directions cosine of solar radiation to the x axis, the y axis and the z axis are respectively;
by vector algebra operationsObtaining the sun incidence angle +.>The method comprises the following steps:
。
further, in step S2, in the power curve directly output by the photovoltaic cell, the power curve is subjected toCalculating and outputting the maximum output power of the light following system at the moment>Maximum output power of light following system>Expressed mathematically by a bounded continuous function as:
，
when the height and azimuth angle of the photovoltaic panel reach the optimal tracking angle, namely the photovoltaic panel is positioned at the optimal tracking position, the following conditions exist from the mathematical point of view:
，
wherein the method comprises the steps of、/>Representing the elevation and azimuth angles of the photovoltaic panel when it is in the optimum tracking position,
the full differentiation of the maximum power can be obtained:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,and->Deviation of altitude and azimuth, respectively; at the optimal tracking position, the deviation of the maximum output power is obtained:
，
the two slopes of maximum output power are defined as:
，
wherein the method comprises the steps ofAnd->Maximum output power slope with respect to altitude and azimuth, respectively.
Further, in step S3, it is verified that the maximum output power slope when the photovoltaic panel reaches the ideal tracking positionAnd->All become zero. Deviation of maximum output power, altitude and azimuth angle is defined by +.>The controller computes as discrete forms:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>are respectively->Maximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data; />、/>、/>Respectively areMaximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data;
slope to be definedAnd->Based on->The group data are expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>are respectively->Maximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data.
Further, in step S3, by adjusting the azimuth angle and the altitude angle of the photovoltaic module, combiningContinuously obtaining the maximum power under the position change of the light-following system by comparing +.>Output power slope +.>And->And finding the maximum output power of the light following system at the current moment and the optimal altitude angle and azimuth angle.
Furthermore, the present application proposes a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the specific steps of the aforementioned control method of the application.
Finally, the application also proposes an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, said processor implementing the specific steps of the control method proposed by the application when executing said computer program.
Compared with the prior art, the application has the following technical effects:
the current light tracking control system mainly adopts open-loop control with large accumulated error and closed-loop control with high cost, and the application is based on the analytic relation between the height angle and azimuth angle change of the photovoltaic panel and the maximum power output by the internal MPPT controller, combines the output power of the photovoltaic cell rear-stage MPPT controller, and realizes the closed-loop accurate light tracking by continuously adjusting the height angle and azimuth angle.
Drawings
Fig. 1 is a flow chart of the present application.
Fig. 2 is a mathematical model of the angle between the photovoltaic panel and the solar rays of the present application.
FIG. 3 is a graph of the internal power calculation of the light following system according to the present application.
FIG. 4 is a flow chart of the sensorless light tracking control strategy of the present application.
Detailed Description
The technical scheme of the present application will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a photovoltaic light tracking control system is installed in parallel between a solar photovoltaic panel and a double-shaft tracking support, and the light tracking control system calculates the correct angle of the photovoltaic panel required to turn according to the maximum power signal of the photovoltaic power generation assembly, the height angle and the azimuth angle signal of the solar photovoltaic panel, which are acquired in real time, so that the sensorless light tracking control of photovoltaic power generation is realized. The method for establishing the sensorless light tracking control strategy for photovoltaic power generation comprises the following steps:
step 1: establishing a mathematical model of the included angle between the photovoltaic panel and solar rays, and representing the direct relationship between the photovoltaic panel and the solar rays;
step 2: establishing a photovoltaic panel elevation angleAzimuth angle->Maximum output power of photovoltaic module>Mathematical analysis equation between the two, calculate maximum output power curve by discrete method respectively aiming at altitude angle ++>And azimuth->Is a slope of (2);
step 3: establishing a sensorless light tracking control strategy based on the initial position of the photovoltaic panel, and continuously adjusting the height angle of the photovoltaic panelAnd azimuth->The included angle between the normal line of the photovoltaic panel and the incident light of the sun is minimized, and the output power at the current moment is kept at the maximum value.
In this embodiment, step 1 is implemented by adopting the following preferred scheme:
as shown in FIG. 2, the angle between the photovoltaic panel and the horizontal plane is defined as the elevation angle of the photovoltaic panelThe angle between the projection of the vertical normal of the photovoltaic panel on the horizontal plane and the normal-south latitude line is defined as the azimuth angle +.>The angle between the incident solar ray and the normal of the photovoltaic panel is defined as the solar angle of incidence +.>；OPThe vector is the normal line of the photovoltaic panel passing through the origin, and is obtained by vector algebra under the horizontal coordinate systemOPThe directional cosine of (2) is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>respectively is vectorOPDirectional cosine for x-axis, y-axis, z-axis;
let the altitude angle of solar radiation on the photovoltaic panel beAzimuth angle is +.>Its direction cosine:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>the directions cosine of solar radiation to the x axis, the y axis and the z axis are respectively;
by vector algebra operationsObtaining the sun incidence angle +.>The method comprises the following steps:
。
in this embodiment, step 2 is implemented by adopting the following preferred scheme:
as shown in fig. 3, the value of the maximum power directly output by the photovoltaic panel depends on the altitude angle of the photovoltaic panelAnd azimuth angleAnd the maximum value thereof is obtained when the altitude reaches the correct tracking altitude, and similarly, the azimuth can be tracked to the optimum tracking azimuth.
In the power curve directly output by the photovoltaic cell, throughCalculating and outputting the maximum output power of the light following system at the moment>Maximum output power of light following system>Expressed mathematically by a bounded continuous function as:
，
when the height and azimuth angle of the photovoltaic panel reach the optimal tracking angle, namely the photovoltaic panel is positioned at the optimal tracking position, the following conditions exist from the mathematical point of view:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>representing the elevation and azimuth angles of the photovoltaic panel when it is in the optimum tracking position,
the full differentiation of the maximum power can be obtained:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,and->Deviation of altitude and azimuth, respectively; at the optimal tracking position, the deviation of the maximum output power can be obtained:
，
the two slopes of maximum output power are:
，
wherein the method comprises the steps ofAnd->Maximum output power slope with respect to altitude and azimuth, respectively.
Verification of maximum output power slope when the photovoltaic panel reaches the ideal tracking positionAnd->All become zero, the deviation of maximum output power, altitude and azimuth angle is made from +.>The controller computes as discrete forms:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>and->Are respectively->Maximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data; />、/>、/>Respectively areMaximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data;
slope to be definedAnd->Based on->The group data are expressed as:
。
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>are respectively->Maximum output power during analog-to-digital conversion in controller, altitude and azimuth +.>Group data.
In this embodiment, step 3 is implemented by the following specific procedures:
A. the initial altitude and azimuth angle at dawn are selected according to the geographical position of the photovoltaic power generation place, so that the photovoltaic panel is approximately turned to the point on the horizon where the sun rises at dawn, and the method starts) The angle is +.>And->. Maximum output power of the light-following system associated with these initial angles (+)>) By->The controller calculates asWherein->And->The maximum power point voltage and current for the first acquisition are respectively.
B. Tracking the altitude angle of photovoltaic panels) The photovoltaic cell power output curve obtained at this angle is measuredThe controller calculates to obtain the maximum power of the light following system (++>) Then calculate the slope +.>Increasing or decreasing of the comparison judgment condition>The optimal altitude angle (++) at this moment can be obtained by continuous iterative adjustment>). Preserve->Calculate azimuth for the next step (+)>) Is set at a set value of (a).
The process B is repeated continuously, and the azimuth angle and the altitude angle of the photovoltaic panel are adjusted by a stepping motor, so that the optimal azimuth angle can be obtained) At this time, the incident angle of the sun is 0 degrees, the sun directly irradiates the photovoltaic panel, the photovoltaic cell outputs the maximum power, and the tracking flow chart is shown in figure 4.
Example 2
The embodiment of the application also provides an electronic device which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor. It should be noted that, the flow of the execution of the computer program by the processor corresponds to the specific steps of the method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may refer to the method provided in the embodiment of the present application, and are not described herein.
Example 3
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the specific steps of the method provided by the embodiment of the application. Technical details not described in detail in this embodiment may refer to the method provided in the embodiment of the present application, and are not described herein.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present application may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing has shown and described the basic principles, principal features and advantages of the application. It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present application, and various changes and modifications may be made without departing from the spirit and scope of the application, which is defined in the appended claims.
Claims (4)
1. The sensorless control method of the photovoltaic power generation light tracking system is characterized in that the photovoltaic light tracking control system is arranged between a solar photovoltaic panel and a double-shaft tracking bracket in parallel, and the light tracking control system calculates the correct angle of the photovoltaic panel required to turn according to the maximum power signal of a photovoltaic power generation component, the height angle and the azimuth angle signal of the solar photovoltaic panel, which are acquired in real time, so that the sensorless light tracking control of the photovoltaic power generation is realized; the method comprises the following steps of establishing a sensorless light tracking control strategy for photovoltaic power generation:
s1, establishing a mathematical model of an included angle between a photovoltaic panel and solar rays, and representing a direct relationship between the photovoltaic panel and the solar rays; the method comprises the following steps: the included angle between the photovoltaic plate and the horizontal plane is defined as the height angle beta of the photovoltaic plate, and the included angle between the projection of the vertical normal line of the photovoltaic plate on the horizontal plane and the straight-south latitude line is defined as the direction angle gamma of the photovoltaic plate n The included angle between the incident solar ray and the normal of the photovoltaic panel is defined as the incident solar angle i; the OP vector is the normal line of the photovoltaic panel passing through the origin and is in the horizontal coordinate systemThe directional cosine of the vector OP obtained by vector algebra is:
wherein the method comprises the steps ofThe directions cosine of the vector OP to the x axis, the y axis and the z axis are respectively shown;
let the altitude of solar radiation on the photovoltaic panel be α and the azimuth be γ, then its direction is cosine:
wherein the method comprises the steps ofThe directions cosine of solar radiation to the x axis, the y axis and the z axis are respectively;
by vector algebra operationsThe resulting solar incident angle i is:
cosi＝sinβcosαcos(γ-γ n )+cosβcosα；
s2, establishing a height angle beta and an azimuth angle gamma of the photovoltaic panel n Maximum output power P of photovoltaic module mppt Mathematical analysis equation between the two, calculating maximum output power curve by using discrete method aiming at altitude angle beta and azimuth angle gamma respectively n Is a slope of (2); the method comprises the following steps: in the power curve directly output by the photovoltaic cell, the maximum output power P of the light-following system at the moment is output through MPPT calculation mppt Maximum output power P of light tracking system mppt Expressed mathematically by a bounded continuous function as:
P mppt ＝f(β,γ n )，
when the height and azimuth angle of the photovoltaic panel reach the optimal tracking angle, namely the photovoltaic panel is positioned at the optimal tracking position, the following conditions exist from the mathematical point of view:
wherein beta is T 、γ nT Representing the elevation and azimuth angles of the photovoltaic panel when it is in the optimum tracking position,
the full differentiation of the maximum power is obtained:
wherein Δβ and Δγ n Deviation of altitude and azimuth, respectively; at the optimal tracking position, the deviation of the maximum output power is obtained:
the two slopes of maximum output power are defined as:
wherein M is 1 And M 2 Maximum output power slope with respect to altitude and azimuth, respectively;
s3, establishing a sensorless light tracking control strategy based on the initial position of the photovoltaic panel, and continuously adjusting the height angle beta and the azimuth angle gamma of the photovoltaic panel n The minimum included angle between the normal line of the photovoltaic panel and the incident light of the sun is met, so that the output power at the current moment is kept at the maximum value; the method comprises the following steps: the sensorless light tracking control strategy based on the initial position of the photovoltaic panel is established specifically as follows:
verification of maximum output Power slope M when the photovoltaic panel reaches the ideal tracking position 1 And M 2 All become zeroThe deviation of maximum output power, altitude and azimuth is calculated by the MPPT controller as discrete forms:
wherein P is mppt (k-1), beta (k-1), and gamma n (k-1) is the k-1 th set of data of maximum output power, altitude and azimuth during analog-to-digital conversion in the MPPT controller, respectively; p (P) mppt (k) Beta (k), and gamma n (k) K-th sets of data of maximum output power, altitude angle and azimuth angle during analog-to-digital conversion in the MPPT controller respectively;
slope M to be defined 1 And M 2 Expressed based on the kth set of data as:
wherein P is mppt (k+1), beta (k+1), and gamma n (k+1) is the k+1st set of data of maximum output power, altitude and azimuth during analog-to-digital conversion in the MPPT controller, respectively;
the specific tracking flow of the sensorless light tracking control strategy is as follows:
A. according to the geographical position of the photovoltaic power generation site, the initial altitude and azimuth angle at dawn are selected, so that the photovoltaic panel is initially turned to the point on the horizon where the sun rises at dawn, and when k=1, the initial altitude and azimuth angles are respectively beta (1) =beta 1 And gamma n (1)＝γ n1 The method comprises the steps of carrying out a first treatment on the surface of the Maximum output power P of light-following system associated with these initial angles mppt Calculated as P by MPPT controller mppt ＝V mppt (1)I mppt (1) Wherein V is mppt (1) And I mppt (1) The voltage and the current of the maximum power point acquired for the first time are respectively;
B. tracking the height angle beta of the photovoltaic panel, and calculating the power output curve of the photovoltaic cell obtained under the angle by using an MPPT controller to obtain the maximum power P of the light tracking system mppt Then calculate the slope M 1 And (3) comparing the judgment conditions to increase or decrease beta, and continuously performing iterative adjustment to obtain the optimal height angle beta at the moment T The method comprises the steps of carrying out a first treatment on the surface of the Preservation of beta T The set value of the azimuth angle gamma is calculated for the next step,
repeating the process B, and regulating the azimuth angle and the altitude angle of the photovoltaic panel by a stepping motor to obtain the optimal azimuth angle gamma T At this time, the incident angle of the sun is 0 degrees, the sun directly irradiates the photovoltaic panel, and the photovoltaic cell outputs the maximum power.
2. The sensorless control method of the photovoltaic power generation light following system according to claim 1, characterized in that: in step S3, the maximum power under the position change of the light-following system is continuously obtained by adjusting the azimuth angle and the altitude angle of the photovoltaic module and combining the output result of the MPPT, and the MPPT output power slope M is compared 1 And M 2 And finding the maximum output power of the light following system at the current moment and the optimal altitude angle and azimuth angle.
3. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 2.
4. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any one of claims 1 to 2 when the computer program is executed by the processor.
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