CN205807878U - A kind of heliostat tracing control device - Google Patents
A kind of heliostat tracing control device Download PDFInfo
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- CN205807878U CN205807878U CN201620647551.1U CN201620647551U CN205807878U CN 205807878 U CN205807878 U CN 205807878U CN 201620647551 U CN201620647551 U CN 201620647551U CN 205807878 U CN205807878 U CN 205807878U
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- heliostat
- controller
- motor
- angle
- incremental encoder
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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 utility model discloses a kind of heliostat tracing control device, including heliostat hot spot calibrating installation, heliostat controller, higher controller, acceleration transducer and incremental encoder, heliostat hot spot calibrating installation is connected with higher controller and heliostat controller respectively by mirror field network, higher controller is connected with heliostat controller by mirror field network, heliostat controller is connected with acceleration transducer and incremental encoder communication respectively, acceleration transducer is affixed on mirror back surface, incremental encoder is located at the end of the rotary decelerator worm screw of azimuth direction, the head end of rotary decelerator worm screw is located at by motor, the outfan of heliostat controller is connected with motor.Effectively reducing the cost of control system of heliostat, install simply, be easily maintained, heliostat is followed the tracks of absolute error and is modified by resource rational utilization, improves heliostat tracking accuracy.
Description
Technical field
This utility model relates to a kind of heliostat tracing control device, belongs to heliostat and controls technical field.
Background technology
At present, along with being becoming tight day of the fossil energies such as coal, oil, natural gas, becoming increasingly conspicuous of environmental problem, the sun
The emerging clean energy resourcies such as energy, wind energy, biomass energy are increasingly subject to people's attention.Tower type solar photo-thermal power generation technology is too
One of forms of electricity generation main in sun energy photo-thermal power generation.Its ultimate principle is: utilize the Jing Chang that numerous heliostat is constituted, by the sun
Luminous reflectance is on the heat collector of high top of tower, and the working medium in heating heat collector, working medium, again through the link such as heat accumulation, heat exchange, produces
Steam Actuation steam turbine generator generates electricity.
Wherein, the effect of heliostat is to follow the tracks of the sun and sun incident illumination is reflexed to heat collector, and heliostat is tower electricity
The key core equipment stood, the Jing Chang being made up of numerous heliostats investment accounts for about the half of whole power station investment.
Heliostat mirror field is mainly made up of mirror surface, mirror support, mechanical driving device and tracking control system.At present
The mechanical drive mode of conventional " elevation angle+azimuth " double-axis tracking of heliostat.Particularly as follows: use level at azimuth direction
Rotary decelerator is mechanical driving device, and using electric pushrod or vertical rotary decelerator on elevation angle direction is machinery
Actuating device, the input of mechanical driving device is motor, and the outfan of mechanical driving device is connected with mirror support support.
At present, the major way of heliostat tracing control is regarding daily motion track following, and the method is to utilize the sun to run
Rule, combine the relative position of the longitude and latitude of exact position residing for heliostat, heliostat and heat collector, calculate heliostat minute surface
Normal direction, i.e. the angle on target of minute surface, and utilize absolute value encoder, magnetic stripe sensor etc. that mirror angle is carried out in real time
Feedback, then realize following the tracks of by the motion of controlling organization；The advantage of the method is easy to realize.But there is also and following mainly ask
Topic:
1, price problem: existing heliostat tracking control system employs absolute value encoder, magnetic stripe sensor as angle
Degree detector unit, expensive, the thousands of unit of absolute value encoder price of domestic market, and poor to environmental resistance.
2, installation question: existing heliostat tracking control system employs absolute value encoder as angle detection unit,
Absolute value encoder needs to be connected with rotary shaft to detect rotational angle.If being connected with mechanical driving device power shaft, by big
Speed reducing ratio drive characteristic restricts, and must use multi-turn absolute value encoder, and its price is about 2-3 times of individual pen absolute value encoder,
More expensive；If being connected with the output shaft of mechanical driving device, then can be limited by heliostat support architectural characteristic and limit, it is impossible to side
The most directly it is connected with encoder, thus causes the installation of absolute value encoder to be difficult to.
3, longtime running error problem: existing heliostat tracking control system employs absolute value encoder detection twin shaft angle
Degree, the encoder that can not cause heliostat basement tilt, settlement of foundation etc. is exhausted relative to the displacement that terrestrial coordinate system produces
Measuring deviation, after longtime running, tracking error is big.
Utility model content
The purpose of this utility model is: provide a kind of heliostat tracing control device, solves existing heliostat and follows the tracks of control
System processed is because using absolute value encoder, magnetic stripe sensor as detector unit, and the most expensive, it is inconvenient to install, and
After longtime running, tracking error is big, thus can effectively solve the problem that the above-mentioned problems in the prior art.
The purpose of this utility model is to be realized by following technical proposals: a kind of heliostat tracing control device, including
Motor and mechanical driving device, the outfan of motor is connected with mechanical driving device, the output mechanism of mechanical driving device and mirror
Frame supports and connects；It is characterized in that: also include heliostat hot spot calibrating installation, heliostat controller, higher controller, acceleration
Sensor and incremental encoder, heliostat hot spot calibrating installation by mirror field network respectively with higher controller and heliostat control
Device processed is connected, and higher controller is connected with heliostat controller by mirror field network, and heliostat controller passes with acceleration respectively
Sensor and incremental encoder communication connect.
As a kind of optimal way, heliostat controller includes that power down not loss storage, communication module and motor drive
Device.
As a kind of optimal way, acceleration transducer is affixed on mirror back surface.
As a kind of optimal way, incremental encoder is located at the end of the rotary decelerator worm screw of azimuth direction,
The head end of rotary decelerator worm screw is located at by motor, and the outfan of heliostat controller is connected with motor.
Compared with prior art, the beneficial effects of the utility model:
1, utilize acceleration transducer, incremental encoder as mirror angle detector unit, can effectively reduce heliostat
The cost of control system；
2, acceleration transducer, incremental encoder is utilized to install as mirror angle detector unit, acceleration transducer
At the minute surface back side, incremental encoder can be connected with actuating device penult transmission axle head, the sensor peace when machining
Attaching mouth is easily achieved, and the installation of two kinds of sensors is simple, be easily maintained；
3, utilize heliostat hot spot calibrating installation to combine heliostat and run the method detecting senser element on the spot of attitude, make
Heliostat is installed in process of construction at the scene, and the installation accuracy of sensor requires relatively low, and the running precision of heliostat is not passed
The impact of sensor alignment error；
4, acceleration transducer is utilized to carry out angle detection, the phase that can heliostat basement tilt, settlement of foundation etc. be caused
The displacement absolute deviation producing ground measures, and improves tracking accuracy, and installation site is not by mechanical driving device simultaneously
And the version of heliostat support limits, can realize the mechanical driving device with various ways and heliostat support structure
Join；
5, the cost of heliostat controller reduces, resource rational utilization；
6, by circannian heliostat facula position deviation data being carried out cumulative statistics, thus heliostat is followed the tracks of absolutely
Error is modified, improves heliostat tracking accuracy.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model heliostat tracing control device.
Fig. 2 is incremental encoder scheme of installation.
Fig. 3 is the modular diagram of heliostat tracking and controlling method in elevation angle.
Fig. 4 is the modular diagram of heliostat tracking and controlling method in azimuth.
Fig. 5 is azimuth angle feedback module calculation flow chart.
Fig. 6 is the flow chart of the method utilizing facula position deviation data elimination heliostat tracing deviation.
Wherein: heliostat hot spot calibrating installation-1, heliostat controller-2, higher controller-3, acceleration transducer-4,
Incremental encoder-5, motor-6, mechanical driving device-7, mirror support supports-8, power down not loss storage-21, communication module-
22, motor driver-23, power shaft-51 of mechanical driving device, reductor-52, rotary decelerator worm screw-53.
Detailed description of the invention
Below in conjunction with specific embodiment, this utility model is further described.
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Speciality and/or step beyond, all can combine by any way, unless specifically stated otherwise, all can by other equivalence or there is class
Replaced like the alternative features of purpose, i.e. unless specifically stated otherwise, in a series of equivalences of each feature or similar characteristics
Individual embodiment.
As shown in figures 1 to 6, this utility model heliostat tracing control device, including heliostat hot spot calibrating installation 1, settled date
Mirror controller 2, higher controller 3, acceleration transducer 4, incremental encoder 5, motor 6 and mechanical driving device 7.Heliostat
Controller 2 includes power down not loss storage 21, communication module 22 and motor driver 23.The outfan of motor 6 and machinery
Actuating device 7 is connected, and the output mechanism of mechanical driving device 7 is connected with mirror support supports 8；Heliostat hot spot calibrating installation 1 passes through
Mirror field network is connected with higher controller 3 and heliostat controller 2 respectively, and higher controller 3 is by mirror field network and heliostat
Controller 2 is connected, and heliostat controller 2 is connected with acceleration transducer 4 and incremental encoder 5 communication respectively, and acceleration passes
Sensor 4 is affixed on mirror back surface, and incremental encoder 5 is located at the end of the rotary decelerator worm screw 53 of azimuth direction, electricity
The head end of rotary decelerator worm screw 53 is located at by machine 6, and the outfan of heliostat controller 2 is connected with motor 6.Described motor 6 can
Think motor, direct current generator and all non-servo motors, and described motor front end is with reductor 52, reductor 52 defeated
Shaft is connected with the power shaft 51 of mechanical driving device.
Wherein:
Described heliostat hot spot calibrating installation: for detecting the flare deviation of certain face heliostat.Specifically, the settled date
The sunray being incident to this face is reflected in demarcating target by mirror hot spot calibrating installation for detecting certain face heliostat, or other positions
And the deviation between the actual facula position formed and preferable facula position；This device by mirror field network and higher controller and
Heliostat controller connects, and measured heliostat facula position correction value is stored in higher controller.
Described heliostat controller: heliostat controller comprises power down not loss storage 21, communication module 22 and motor
Driving means 23.Heliostat controller can use wired or wireless communication modes to receive from higher level's control with by mirror field network
The information of device, includes hot spot deviation value in these information.Heliostat controller leaves to be compiled with acceleration transducer and increment type
The communication interface of code device, receives the angle feedback signal of sensor；The driving pulse of heliostat controller output simultaneously to motor, with
Control the rotational angle of motor.
Described higher controller: belong to the control equipment in the network of mirror field, contains group controller, island controller, upper
The equipment such as machine, it will be apparent to one skilled in the art that higher controller contains different control in different mirror field networks
Equipment, these equipment are in mirror field each level of network, and at the upper layer network of heliostat controller.Higher controller can simultaneously
Communication modes wirelessly or non-wirelessly is used to carry out information transmission with heliostat controller；And the storage merit do not lost with power down
Can, store the facula position aberration curve from heliostat hot spot calibrating installation.
Described acceleration transducer: being used for detecting heliostat elevation angle absolute angle, its circuit design contains and heliostat
The communication interface of controller, feeds back to heliostat controller by elevation angle detected value, and acceleration transducer is mounted on the reflecting mirror back of the body
Face.
Described incremental encoder: be used for detecting heliostat azimuth incremental angle, is installed on azimuth direction machinery and passes
The penult transmission axle head of dynamic device.In the present embodiment, using rotary decelerator as the actuating device pair of azimuth direction
The installation of incremental encoder illustrates, and incremental encoder 5 is applicable to penult the form of ownership of power transmission shaft shaft
Mechanical driving device.As shown in Figure 2, incremental encoder 5 is installed on the rotary decelerator worm screw 53 of azimuth direction
End, incremental encoder 5 detects the rotational angle of rotary decelerator worm screw 53 rotating shaft, and this angle is azimuth increment.
Incremental encoder contains and carries out the interface of signal transmission with heliostat controller.
Described motor: including motor, direct current generator and other non-servo motors, described motor front end is with deceleration
Machine, the output shaft of described motor reducer is connected with the power shaft of heliostat mechanical driving device.Owing to have employed sensor
Mirror angle having been carried out Real-time Feedback detection, mirror angle constitutes closed loop regulation, therefore in the present invention, motor can be adopted
With the non-servo motor such as direct current generator, motor；Described motor front end is with reductor；Described motor reducer output shaft with
The power shaft of mechanical driving device is connected.Owing to the good open loops such as the rotational angle precision of motor is high, easy to control are special
Property, Control system resolution can be improved according to motor.
Described mechanical driving device: output mechanism is connected with mirror support.At azimuth direction, owing to have employed increment type
Encoder is as heliostat azimuth incremental angle detector unit, and it is installed and is applicable to penult and has the institute of power transmission shaft shaft tangible
The mechanical driving device of formula, therefore can use other mechanisms such as rotary decelerator to fill as machine driving at azimuth direction
Put.In elevation angle direction, owing to have employed acceleration transducer as elevation angle absolute angle detector unit, its installation is not passed
The impact of dynamic device for mechanical version, therefore can use electric pushrod, rotary decelerator and other machines in elevation angle direction
Structure is as mechanical driving device.The power shaft of mechanical driving device is connected with the output shaft with motor reducer, machine driving
The output mechanism of device is connected with mirror support supports.
A kind of heliostat tracking and controlling method, concrete control method is as follows:
As shown in Figure 3, the tracking and controlling method provided on elevation angle direction is: use with acceleration transducer as angle
Degree feedback unit, uses the non-servo motor such as motor, direct current generator to utilize the sun as driver element, heliostat controller
After moving law tries to achieve the reflectance target angle on heliostat minute surface elevation angle direction, in conjunction with the feedback angle of acceleration transducer
Degree, provides Angle ambiguity amount and combines the facula position correction from higher controller, providing revised accurate angle control
Amount processed rotates to angle on target to driving means, the driven by motor minute surface driving elevation angle corresponding.
As shown in accompanying drawing 4, accompanying drawing 5, the tracking and controlling method that the present invention provides in an azimutal direction is: use by orientation
Angle angle feed-back module is angle feed-back unit, uses the non-servo motor such as motor, direct current generator as driver element, determines
After heliostat controller utilizes sun moving law to try to achieve the reflectance target angle on heliostat mirror surface azimuth direction, in conjunction with orientation
The orientation angles that angle angle feed-back module obtains, provides Angle ambiguity amount and combines the facula position correction from higher controller
Amount, provides revised Angle ambiguity amount and rotates to target essence to driving means, the driven by motor minute surface driving azimuth corresponding
Really angle.
The present invention proposes to use incremental encoder to carry out Real-time Feedback orientation angles information, but due to incremental encoder
The increment size of angle can be obtained, it is impossible to obtain the absolute value of angle, i.e. can not feed back the minute surface orientation relative to terrestrial coordinate system
Angle absolute angle.For solving the problems referred to above, the azimuth angle feedback module that the present invention proposes obtains minute surface azimuth absolute angle
The method of degree is as follows: as shown in Figure 5, azimuth absolute angle is obtained, the most indirectly by " relative angle+absolute angle "
Angle is detected in real time by incremental encoder and obtains, and absolute angle utilizes heliostat hot spot calibrating installation at heliostat first
Obtain after the initialization of calibration of Start-up and Adjustment.
As shown in Figure 5, specific as follows: to obtain azimuth absolute angle process first as follows, utilize sun moving law,
In conjunction with the exact position residing for heliostat, heliostat and the relative position etc. of hot spot calibrating installation, calculate the method for heliostat minute surface
The elevation angle in line direction, i.e. minute surface and azimuthal angle on target.Control heliostat minute surface and arrive elevation angle angle on target, then put
, will there is a special angle so that the hot spot of this heliostat occurs in hot spot calibrating installation in the azimuth of dynamic heliostat
Center.Now utilize heliostat hot spot calibrating installation to determine the absolute position of this heliostat hot spot, and this positional information is passed through
Network transmits to heliostat controller, and heliostat controller is determined by the attitude information of current heliostat, facula position inverse again
The azimuth absolute angle of solar eyepiece true bearing angle this heliostat i.e., stores to heliostat power down not lose by this numerical value simultaneously and deposits
Chu Zhong.
Heliostat after obtaining above-mentioned azimuth absolute angle first obtains azimuth absolute angle during following the tracks of again
The method of degree is as follows: first according to the readings that incremental encoder is real-time, and the parameter such as speed reducing ratio in conjunction with mechanical driving device is asked
Go out the relative angle of incremental encoder feedback；The azimuth absolute angle of last time is read again from the memorizer of heliostat controller
Degree is as new absolute angle；Relative angle and absolute angle sum are real-time azimuth absolute angle.
Losing azimuth absolute angle for avoiding heliostat power down to make, this angle must be stored in after calculating every time
In the power down of heliostat controller not loss storage.When making absolute angle change because of peripheral operations such as mounting or dismounting mirror holders
Time, absolute angle need to obtain after carrying out initialization of calibration again with heliostat hot spot calibrating installation.
The present invention proposes to utilize the circannian deviation of heliostat facula position to be corrected heliostat Angle ambiguity amount, as
Shown in accompanying drawing 6, heliostat hot spot calibrating installation is utilized to obtain facula position aberration curve, by mirror field network by this aberration curve
Being transferred to higher controller, higher controller stores that information in power down not loss storage.When heliostat is followed the tracks of, on
Level controller is handed down to heliostat controller by mirror field network, and as shown in accompanying drawing 3, accompanying drawing 4, heliostat controller combines this light
Speckle aberration curve carries out Closed-cycle correction to the elevation angle of minute surface with azimuthal controlled quentity controlled variable.In view of heliostat quantity in mirror field relatively
Many, practical operation can obtain aberration curve to heliostat sampling.This deviation value gathers at least 25 times every day, its objective is to repair
The tracking error just brought by the impact of Mechatronic Systems, basement tilt, encoder reference position and gravity.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (4)
1. a heliostat tracing control device, including motor and mechanical driving device, the outfan of motor fills with machine driving
Putting connected, the output mechanism of mechanical driving device is connected with mirror support supports；It is characterized in that: also include heliostat hot spot calibration cartridge
Put, heliostat controller, higher controller, acceleration transducer and incremental encoder, heliostat hot spot calibrating installation passes through
Mirror field network is connected with higher controller and heliostat controller respectively, and higher controller is controlled with heliostat by mirror field network
Device is connected, and heliostat controller is connected with acceleration transducer and incremental encoder communication respectively.
2. heliostat tracing control device as claimed in claim 1, it is characterised in that: heliostat controller includes that power down is not lost
Lose memorizer, communication module and motor driver.
3. heliostat tracing control device as claimed in claim 1, it is characterised in that: acceleration transducer is affixed on the reflecting mirror back of the body
Face.
4. heliostat tracing control device as claimed in claim 1, it is characterised in that: incremental encoder is located at azimuth side
To the end of rotary decelerator worm screw, motor is located at the head end of rotary decelerator worm screw, the output of heliostat controller
End is connected with motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620647551.1U CN205807878U (en) | 2016-06-28 | 2016-06-28 | A kind of heliostat tracing control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620647551.1U CN205807878U (en) | 2016-06-28 | 2016-06-28 | A kind of heliostat tracing control device |
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| Publication Number | Publication Date |
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| CN205807878U true CN205807878U (en) | 2016-12-14 |
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| CN201620647551.1U Active CN205807878U (en) | 2016-06-28 | 2016-06-28 | A kind of heliostat tracing control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105972840A (en) * | 2016-06-28 | 2016-09-28 | 东方电气集团东方锅炉股份有限公司 | Heliostat tracking control device and heliostat tracking control method |
| CN107238376A (en) * | 2017-05-12 | 2017-10-10 | 罗耿 | A kind of heliostat attitude transducer and heliostat to automatically follow method |
-
2016
- 2016-06-28 CN CN201620647551.1U patent/CN205807878U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105972840A (en) * | 2016-06-28 | 2016-09-28 | 东方电气集团东方锅炉股份有限公司 | Heliostat tracking control device and heliostat tracking control method |
| CN105972840B (en) * | 2016-06-28 | 2018-05-11 | 东方电气集团东方锅炉股份有限公司 | A kind of heliostat tracing control device and its tracking and controlling method |
| CN107238376A (en) * | 2017-05-12 | 2017-10-10 | 罗耿 | A kind of heliostat attitude transducer and heliostat to automatically follow method |
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