光电池云台伺服系统设计
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摘要
本文以提高电池板的光电转换效率为目标,设计了光电池云台伺服系统,应用分段式控制方法不断校正太阳位置与电池板位置的偏差量,以实现对太阳位置的高精度跟踪,使得电池板上接收的太阳能达到最大。
通过太阳在天体中的运行轨迹可以确定其不同时刻所在位置,并将其位置作为引导数据提供给控制器,电池板的位置由高精度的光电位置检测元件PSD获得,并将其作为反馈量提供给控制器,形成了以太阳位置为输入量,电池板位置为反馈量的伺服系统。依据不同时刻太阳和电池板的偏差变化特点,控制器运用分段式控制方法对偏差进行调节,即：以偏差角|σ|=9°为临界点,当|σ|<9°时通过改变脉冲频率的方式对执行机构进行调速,使系统快速达到预期位置,保证了系统的快速性；当|σ|=≤9°时执行机构以恒定的速度运行,应用比例-微分控制方式对系统偏差进行提前校正,来保证系统的跟踪效果。本系统的执行机构选用以角度为控制信号的步进电机,并采用电流细分的方式驱动电机使得电机以微步距角运行,从而提高系统的位置控制精度。
最后,本文通过MATLAB仿真实验分析了本伺服系统的性能,结果表明：分段式控制方法不仅缩短了系统的定位时间,而且降低了系统稳态误差,提高了系统的跟踪精度,使得系统快速地、准确地将电池板调整至与太阳入射光束垂直的位置,有效地提高了光电转换效率,为同类跟踪系统的控制提供了一种可借鉴的方法。
In order to improve photoelectric conversion efficiency of solar panel, a photocell holder servo system is designed. It applies PID control to adjust angle offset between sun position and panel position, to achieve accuracy tracking of sun position, making the received solar maximal on the panel.
Through astronomical theory, sun position can be determined at different moments, and sends to controller as guide data. Panel position can be determined by high-precision position sensitive detector, and gives back to controller as feedback. According to change characteristics of angle offset at different times, a segmented method is applied to adjust deviation, that is,|σ|= 9°as a boundary point, if |σ|>9°, the controller regulates the actuator speed by changing impulse frequency, to make system reached the expected position quickly, ensuring the rapidity of system; if |σ|≤9°, actuator is operated with a constant speed, and the PD control way is applied to correct errors in advance, in order to ensure system tracking effect. Stepping motor, whose control signal is angle, is chosen as actuator, and runs with micro step distance angle by current subdivision driver, so as to improve system position control precision.
At last, by analyzing performances of the servo system through MATLAB simulation experiment, the results show that segmented control method is not only shortens locating time, but also decreases system steady-state error, enhances tracking precision, which make panels quickly and accurately adjust to the position that sun beam is vertical to. This method effectively improves photoelectric conversion efficiency, and provides a kind of learning methods for similar tracking system.
通过太阳在天体中的运行轨迹可以确定其不同时刻所在位置,并将其位置作为引导数据提供给控制器,电池板的位置由高精度的光电位置检测元件PSD获得,并将其作为反馈量提供给控制器,形成了以太阳位置为输入量,电池板位置为反馈量的伺服系统。依据不同时刻太阳和电池板的偏差变化特点,控制器运用分段式控制方法对偏差进行调节,即：以偏差角|σ|=9°为临界点,当|σ|<9°时通过改变脉冲频率的方式对执行机构进行调速,使系统快速达到预期位置,保证了系统的快速性；当|σ|=≤9°时执行机构以恒定的速度运行,应用比例-微分控制方式对系统偏差进行提前校正,来保证系统的跟踪效果。本系统的执行机构选用以角度为控制信号的步进电机,并采用电流细分的方式驱动电机使得电机以微步距角运行,从而提高系统的位置控制精度。
最后,本文通过MATLAB仿真实验分析了本伺服系统的性能,结果表明：分段式控制方法不仅缩短了系统的定位时间,而且降低了系统稳态误差,提高了系统的跟踪精度,使得系统快速地、准确地将电池板调整至与太阳入射光束垂直的位置,有效地提高了光电转换效率,为同类跟踪系统的控制提供了一种可借鉴的方法。
In order to improve photoelectric conversion efficiency of solar panel, a photocell holder servo system is designed. It applies PID control to adjust angle offset between sun position and panel position, to achieve accuracy tracking of sun position, making the received solar maximal on the panel.
Through astronomical theory, sun position can be determined at different moments, and sends to controller as guide data. Panel position can be determined by high-precision position sensitive detector, and gives back to controller as feedback. According to change characteristics of angle offset at different times, a segmented method is applied to adjust deviation, that is,|σ|= 9°as a boundary point, if |σ|>9°, the controller regulates the actuator speed by changing impulse frequency, to make system reached the expected position quickly, ensuring the rapidity of system; if |σ|≤9°, actuator is operated with a constant speed, and the PD control way is applied to correct errors in advance, in order to ensure system tracking effect. Stepping motor, whose control signal is angle, is chosen as actuator, and runs with micro step distance angle by current subdivision driver, so as to improve system position control precision.
At last, by analyzing performances of the servo system through MATLAB simulation experiment, the results show that segmented control method is not only shortens locating time, but also decreases system steady-state error, enhances tracking precision, which make panels quickly and accurately adjust to the position that sun beam is vertical to. This method effectively improves photoelectric conversion efficiency, and provides a kind of learning methods for similar tracking system.
引文
[1]卢志刚等.数字伺服控制系统与设计[M].北京：机械工业出版社,2007.
[2]张莉松等.伺服系统原理与设计[M].北京：北京理工大学出版社,2008.
[3]李蔚.我国太阳能光伏产业发展趋势探讨[J].电源技术,2009.
[4]张鹏飞.光伏发电自动跟踪系统的设计[D].哈尔滨：哈尔滨理工大学,2009.
[5]史敬灼.步进电机伺服控制技术.科学出版社,2006.
[6]Newcomb S. Tables of the sun[J]. Astr Papers.1985:Vol.Ⅵ. Part 1.
[7]王炳忠.汤洁.几种太阳位置计算方法的比较研究[J].太阳能学报,2001,22(4)：413-417.
[8]光伏太阳能系统—太阳光源.http://www.core.org.cn.OcwWeb/Special-Programs/SP-79Fall-2004/LectureNotes/inde x.htm.
[9]中国气象局.气象辐射观测方法[M].北京：气象出版社,1996.
[10]Hamamatsu Photonics K. K. Solid State Division Position Sensitive Detector.2002.
[11]Hammaatsu Photonics K. K. Solid State Division Two-dimensional PSD S1880.2002.
[12]刘和平等.TMS320LF240x DSP C语言开发应用[M].北京：航空航天大学出版社,2003.
[13]TMS320LF2407A DSP CONTROLLERS. Texas Instruments Incorporated,2002.
[14]森创三相混合式步进电机手册[R].2000.
[15]柳宗安.X-Y轴型跟踪装置粗精复合控制系统建模与仿真[D].西安：西安电子科技大学,2005.
[16]刘廷霞.光电跟踪系统复合轴伺服控制技术的研究[D].长春：长春光学精密机械与物理研究所,2005.
[17]傅承毓.马光等.复合轴控制系统应用研究[J].光电工程,1998：25(4).
[18]U lich B L. Overview of acquisition. tracking and pointing system technologies. SP IE,1990,887:40-63.
[19]刘艳行.高精度光电跟踪伺服系统的几个关键技术[R].中国科技信息,2007.
[20]冯兴强.光电经纬仪的快速捕获与稳定跟踪控制系统[D].电子科技大学,2004.
[21]杨秀华.预测滤波技术在光电目标跟踪中的应用研究[D].中国科学院长春光学精密机械与物理研究所,2004.
[22]毕永利.多框架光电平台控制系统研究[D].中国科学院,2003.
[23]孙茵茵.鲍剑斌.王凡.太阳自动跟踪器的研究[J].机械设计与制造,2005.
[24]王尚文.高伟等.混合双轴太阳自动跟踪装置的研究[J].可再生能源,2007,25(6)：10-13.
[25]孙胜利.叶虎勇.饶鹏.两维程控太阳跟踪器控制系统的研制[J].2004,(6)：542-545.
[26]刁红泉.基于DSP的三相混合式步进电机脉冲细分驱动系统[D].浙江大学,2005.
[27]周凯.步进驱动系统的高精度闭环控制[J].电机与控制学报,1998,2(1).
[28]刘卫国.宋受俊.三相反应式步进电动机建模及常用控制方法仿真[J].微电机,2007,40(8).
[29]谢存禧.王高.柳宁.基于DSP的数字PID伺服控制系统设计[J].驱动与传动,2008,24(3-1).
[30]宁宗夏.PID参数对控制系统稳定性影响的研究[D].西安电子科技大学,2008.
[31]黄宜庆.PID控制器参数整定及其应用研究.安徽理工大学,硕士论文,2009.
[32]张德江.计算机控制系统.机械工业出版,2007：39-53.
[33]王晓丹.周国荣.基于单片机的步进电机细分驱动系统的研究[D].中南大学,2008.
[34]朱海民.基于DSP的三相混合式步进电机脉冲细分驱动系统[J].机电工程,2005,(10)：1-4.
[35]胡东.王涌.三相步进电机细分数字驱动器的研究[J].浙江工业大学学报,2007,35(3)：292-294.
[36]孔祥东.多细分三相混合式步进电机驱动器的研究及实现[D].大连：大连理工大学,2005.
[37]陈学军.混合式步进电机SPWM细分驱动控制技术的研究与实现[D].浙江工业大学,2006.
[38]Sheng-Ming Yarng. Pei-Der Su. Active damping control of hybrid stepping motor[J]. Power Electronics and Drive Systems,2001, Pages:749-754 vol.2.
[39]Kiyonobu Mizutani. Shigeo Hayashi. Nobuyuki Matsui. Modeling and Control of Hybrid Stepping Motors[J].0-7803-1462-x/93S03.00.1993 IEEE.
[40]Kuert C. Jufer M. Perriard Y. New method of dynamic modeling of hybrid stepping motors[J]. Industry Applications Conference.2002.37th IAS Annual Meeting. Conference Record of the Volume:1.13-18 Oct.2002. Pages:6-12 vol.1.
[41]Shimamura H. Hori. N. Digital redesign of a stepping motor driver[J]. SICE 2002. Proceedings of the 41st SICE Annual Conference. Volume: 2.5-7Aug.2002. Pages:975-980 vol.2.
[42]王晓明.王玲.电动机的DSP控制-TI公司DSP应用[M].北京：北京航空航天大学出版社,2004.
[43]Soteris A. Kalogirou. Design and Construction of A One-axis Sun-tracking System. Solar Energy.1996.
[44]Maximum Collectable Solar Energy by Different Solar Tracking Systems. Energy Sources.2000.
[45]Chen Y T. Lim B H、Lim C S. General sun tracking formula for heliostats with arbitrarily oriented axes [J]. ASME Journal of Solar Energy Engineering,2006: 128(2):1-6.
[46]Zhenyu Yu. Space-Vector PWM with TMS320C24x /F24x using hardware and software determined switching patterns. Digital Signal Processing Solutions. Application Report SPRA524.1999:1-44.
[47]Digital Signal Processing Solution for Permanent Magnet Synchronous Motor. Application Note Literature Number. BPRA044.1997.
[48]Irfan Ahmed. Implementation of PID and Deadbeat Controllers with the TMS320 Family [J]. Application Report:SPRA083.
[49]J. B. Grimbleby. Simple algorithm for closed loop control of stepping motors[J]. IEE Ppoc.-Electr. Power App.2000.142(1).
[50]姚俊.马松辉.Simulink建模与仿真[M].西安：西安电子科技大学出版社,2002.
[2]张莉松等.伺服系统原理与设计[M].北京：北京理工大学出版社,2008.
[3]李蔚.我国太阳能光伏产业发展趋势探讨[J].电源技术,2009.
[4]张鹏飞.光伏发电自动跟踪系统的设计[D].哈尔滨：哈尔滨理工大学,2009.
[5]史敬灼.步进电机伺服控制技术.科学出版社,2006.
[6]Newcomb S. Tables of the sun[J]. Astr Papers.1985:Vol.Ⅵ. Part 1.
[7]王炳忠.汤洁.几种太阳位置计算方法的比较研究[J].太阳能学报,2001,22(4)：413-417.
[8]光伏太阳能系统—太阳光源.http://www.core.org.cn.OcwWeb/Special-Programs/SP-79Fall-2004/LectureNotes/inde x.htm.
[9]中国气象局.气象辐射观测方法[M].北京：气象出版社,1996.
[10]Hamamatsu Photonics K. K. Solid State Division Position Sensitive Detector.2002.
[11]Hammaatsu Photonics K. K. Solid State Division Two-dimensional PSD S1880.2002.
[12]刘和平等.TMS320LF240x DSP C语言开发应用[M].北京：航空航天大学出版社,2003.
[13]TMS320LF2407A DSP CONTROLLERS. Texas Instruments Incorporated,2002.
[14]森创三相混合式步进电机手册[R].2000.
[15]柳宗安.X-Y轴型跟踪装置粗精复合控制系统建模与仿真[D].西安：西安电子科技大学,2005.
[16]刘廷霞.光电跟踪系统复合轴伺服控制技术的研究[D].长春：长春光学精密机械与物理研究所,2005.
[17]傅承毓.马光等.复合轴控制系统应用研究[J].光电工程,1998：25(4).
[18]U lich B L. Overview of acquisition. tracking and pointing system technologies. SP IE,1990,887:40-63.
[19]刘艳行.高精度光电跟踪伺服系统的几个关键技术[R].中国科技信息,2007.
[20]冯兴强.光电经纬仪的快速捕获与稳定跟踪控制系统[D].电子科技大学,2004.
[21]杨秀华.预测滤波技术在光电目标跟踪中的应用研究[D].中国科学院长春光学精密机械与物理研究所,2004.
[22]毕永利.多框架光电平台控制系统研究[D].中国科学院,2003.
[23]孙茵茵.鲍剑斌.王凡.太阳自动跟踪器的研究[J].机械设计与制造,2005.
[24]王尚文.高伟等.混合双轴太阳自动跟踪装置的研究[J].可再生能源,2007,25(6)：10-13.
[25]孙胜利.叶虎勇.饶鹏.两维程控太阳跟踪器控制系统的研制[J].2004,(6)：542-545.
[26]刁红泉.基于DSP的三相混合式步进电机脉冲细分驱动系统[D].浙江大学,2005.
[27]周凯.步进驱动系统的高精度闭环控制[J].电机与控制学报,1998,2(1).
[28]刘卫国.宋受俊.三相反应式步进电动机建模及常用控制方法仿真[J].微电机,2007,40(8).
[29]谢存禧.王高.柳宁.基于DSP的数字PID伺服控制系统设计[J].驱动与传动,2008,24(3-1).
[30]宁宗夏.PID参数对控制系统稳定性影响的研究[D].西安电子科技大学,2008.
[31]黄宜庆.PID控制器参数整定及其应用研究.安徽理工大学,硕士论文,2009.
[32]张德江.计算机控制系统.机械工业出版,2007：39-53.
[33]王晓丹.周国荣.基于单片机的步进电机细分驱动系统的研究[D].中南大学,2008.
[34]朱海民.基于DSP的三相混合式步进电机脉冲细分驱动系统[J].机电工程,2005,(10)：1-4.
[35]胡东.王涌.三相步进电机细分数字驱动器的研究[J].浙江工业大学学报,2007,35(3)：292-294.
[36]孔祥东.多细分三相混合式步进电机驱动器的研究及实现[D].大连：大连理工大学,2005.
[37]陈学军.混合式步进电机SPWM细分驱动控制技术的研究与实现[D].浙江工业大学,2006.
[38]Sheng-Ming Yarng. Pei-Der Su. Active damping control of hybrid stepping motor[J]. Power Electronics and Drive Systems,2001, Pages:749-754 vol.2.
[39]Kiyonobu Mizutani. Shigeo Hayashi. Nobuyuki Matsui. Modeling and Control of Hybrid Stepping Motors[J].0-7803-1462-x/93S03.00.1993 IEEE.
[40]Kuert C. Jufer M. Perriard Y. New method of dynamic modeling of hybrid stepping motors[J]. Industry Applications Conference.2002.37th IAS Annual Meeting. Conference Record of the Volume:1.13-18 Oct.2002. Pages:6-12 vol.1.
[41]Shimamura H. Hori. N. Digital redesign of a stepping motor driver[J]. SICE 2002. Proceedings of the 41st SICE Annual Conference. Volume: 2.5-7Aug.2002. Pages:975-980 vol.2.
[42]王晓明.王玲.电动机的DSP控制-TI公司DSP应用[M].北京：北京航空航天大学出版社,2004.
[43]Soteris A. Kalogirou. Design and Construction of A One-axis Sun-tracking System. Solar Energy.1996.
[44]Maximum Collectable Solar Energy by Different Solar Tracking Systems. Energy Sources.2000.
[45]Chen Y T. Lim B H、Lim C S. General sun tracking formula for heliostats with arbitrarily oriented axes [J]. ASME Journal of Solar Energy Engineering,2006: 128(2):1-6.
[46]Zhenyu Yu. Space-Vector PWM with TMS320C24x /F24x using hardware and software determined switching patterns. Digital Signal Processing Solutions. Application Report SPRA524.1999:1-44.
[47]Digital Signal Processing Solution for Permanent Magnet Synchronous Motor. Application Note Literature Number. BPRA044.1997.
[48]Irfan Ahmed. Implementation of PID and Deadbeat Controllers with the TMS320 Family [J]. Application Report:SPRA083.
[49]J. B. Grimbleby. Simple algorithm for closed loop control of stepping motors[J]. IEE Ppoc.-Electr. Power App.2000.142(1).
[50]姚俊.马松辉.Simulink建模与仿真[M].西安：西安电子科技大学出版社,2002.