基于图像传感器的闭环式太阳跟踪控制器的研究与实现
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摘要
为了解决能源危机问题、实现可持续发展、构建绿色环保社会,世界各国都在积极开发利用太阳能资源。太阳能的利用已经渗透到社会各方面,但太阳能利用效率低这一问题一直影响和阻碍着太阳能技术的普及和发展。为提高太阳能利用效率而进行太阳自动跟踪控制器的研究,有着重大而深远的意义。
在分析比较了国内外常用的几种跟踪方式后,本课题设计了一种新型的闭环式双轴太阳跟踪控制器。该控制器以视日运动轨迹跟踪为主,采用图像传感器作为闭环部分传感元件获取跟踪偏差。太阳跟踪控制器工作过程为:上位机根据当地经纬度和当前时间,计算太阳高度角与方位角并转换为俯仰和水平电机运行的步数,经驱动电路驱动步进电机,步进电机驱动跟踪机构,实现太阳的跟踪。视日运动轨迹跟踪结束后,图像传感器采集当前太阳的位置,经数字图像处理后获取跟踪偏差,当偏差值大于设定阈值时,计算机将其转化为俯仰和水平电机校正步数,并通过驱动跟踪机构,将跟踪系统运行至应达到的位置,从而使系统构成了闭环跟踪系统。
本课题完成了跟踪控制器的硬件设计和软件设计。硬件设计主要包括:跟踪器控制电路、步进电机驱动电路、图像采集电路、限位信号采集电路和串口通讯电路等。软件设计主要包括:采用Visual C++编写人机交互控制平台、设计MATLAB算法进行图像处理并获取跟踪偏差、基于MCC实现VC与MATLAB联合编程。
通过对实验数据的分析表明:阴天、多云(无法获取太阳图像时)情况下高度角跟踪平均误差<1.5°,方位角跟踪平均误差<1.2°;正常(可以获取太阳图像时)情况下高度角跟踪平均误差<0.5°,方位角跟踪平均误差<0.4°。
综上工作,本课题设计完成了一种新型的闭环式太阳自动跟踪控制器,实验结果表明,跟踪控制器在可靠性、跟踪精度、抗干扰性等方面均得到了有效的提高。最后,给出了本课题的工作总结和进一步研究的方向。
In order to solve the energy crisis, achieve sustainable development and building a green community, countries in the world are actively developing the use of solar energy resources. The use of solar energy has penetrated into all aspects of society, but the solar energy utilization efficiency is low impact and this issue has been hindering the popularization of solar energy technology. To improve the efficiency of solar energy utilization, the research of automatic sun-tracking controller has important and far-reaching significance.
In the analysis and comparison of several commonly used at home and abroad tracking mode, this issue designed a new type of closed-loop sun-tracking controller to track the solar trajectory depending on the use of the image sensor which was considered as sensing element. Sun-tracking controller working process: PC calculate the sun altitude and azimuth angles by access to the local latitude and longitude and the current time, convert into operation steps of two stepper motors, the drive circuit drives stepper motors, stepper motors drive tracking mechanism, to achieve sun tracking. At the end of solar trajectory tracking, image sensor capture current position of the sun and obtain the deviation by image processing. When the deviation value is greater than the set threshold value, convert into correction steps and send feedback correction to tracking device, which constitutes a closed-loop tracking system.
The subject completed a tracking controller hardware and software design. Hardware design including: tracking control circuit, stepping motor drive circuit, image acquisition circuit, limit the signal acquisition circuit and the serial communication circuit. Software design including: the design of Visual C++ control platform for the preparation of human-computer interaction, design MATLAB algorithms for image processing and acquisition track bias, VC and MATLAB based MCC joint programming.
Measured by the experimental analysis of the data shows that: in the cloudy case, the camera can not get the sun image, the average error of height degree tracking is less than 1.5°, the average error of azimuth degree tracking is less than 1.2°; in the normal case, the camera can get the sun image, the average error of height degree tracking is less than 0.5°, the average error of azimuth degree tracking is less than 0.4°.
A new type of sun-tracking controller has been designed finally. The results and analysis of the experiment show that, sun-tracking controller achieved the desired results in reliability, tracking accuracy and interference immunity.
Finally, this thesis summing up the work and gives the direction of further study.
在分析比较了国内外常用的几种跟踪方式后,本课题设计了一种新型的闭环式双轴太阳跟踪控制器。该控制器以视日运动轨迹跟踪为主,采用图像传感器作为闭环部分传感元件获取跟踪偏差。太阳跟踪控制器工作过程为:上位机根据当地经纬度和当前时间,计算太阳高度角与方位角并转换为俯仰和水平电机运行的步数,经驱动电路驱动步进电机,步进电机驱动跟踪机构,实现太阳的跟踪。视日运动轨迹跟踪结束后,图像传感器采集当前太阳的位置,经数字图像处理后获取跟踪偏差,当偏差值大于设定阈值时,计算机将其转化为俯仰和水平电机校正步数,并通过驱动跟踪机构,将跟踪系统运行至应达到的位置,从而使系统构成了闭环跟踪系统。
本课题完成了跟踪控制器的硬件设计和软件设计。硬件设计主要包括:跟踪器控制电路、步进电机驱动电路、图像采集电路、限位信号采集电路和串口通讯电路等。软件设计主要包括:采用Visual C++编写人机交互控制平台、设计MATLAB算法进行图像处理并获取跟踪偏差、基于MCC实现VC与MATLAB联合编程。
通过对实验数据的分析表明:阴天、多云(无法获取太阳图像时)情况下高度角跟踪平均误差<1.5°,方位角跟踪平均误差<1.2°;正常(可以获取太阳图像时)情况下高度角跟踪平均误差<0.5°,方位角跟踪平均误差<0.4°。
综上工作,本课题设计完成了一种新型的闭环式太阳自动跟踪控制器,实验结果表明,跟踪控制器在可靠性、跟踪精度、抗干扰性等方面均得到了有效的提高。最后,给出了本课题的工作总结和进一步研究的方向。
In order to solve the energy crisis, achieve sustainable development and building a green community, countries in the world are actively developing the use of solar energy resources. The use of solar energy has penetrated into all aspects of society, but the solar energy utilization efficiency is low impact and this issue has been hindering the popularization of solar energy technology. To improve the efficiency of solar energy utilization, the research of automatic sun-tracking controller has important and far-reaching significance.
In the analysis and comparison of several commonly used at home and abroad tracking mode, this issue designed a new type of closed-loop sun-tracking controller to track the solar trajectory depending on the use of the image sensor which was considered as sensing element. Sun-tracking controller working process: PC calculate the sun altitude and azimuth angles by access to the local latitude and longitude and the current time, convert into operation steps of two stepper motors, the drive circuit drives stepper motors, stepper motors drive tracking mechanism, to achieve sun tracking. At the end of solar trajectory tracking, image sensor capture current position of the sun and obtain the deviation by image processing. When the deviation value is greater than the set threshold value, convert into correction steps and send feedback correction to tracking device, which constitutes a closed-loop tracking system.
The subject completed a tracking controller hardware and software design. Hardware design including: tracking control circuit, stepping motor drive circuit, image acquisition circuit, limit the signal acquisition circuit and the serial communication circuit. Software design including: the design of Visual C++ control platform for the preparation of human-computer interaction, design MATLAB algorithms for image processing and acquisition track bias, VC and MATLAB based MCC joint programming.
Measured by the experimental analysis of the data shows that: in the cloudy case, the camera can not get the sun image, the average error of height degree tracking is less than 1.5°, the average error of azimuth degree tracking is less than 1.2°; in the normal case, the camera can get the sun image, the average error of height degree tracking is less than 0.5°, the average error of azimuth degree tracking is less than 0.4°.
A new type of sun-tracking controller has been designed finally. The results and analysis of the experiment show that, sun-tracking controller achieved the desired results in reliability, tracking accuracy and interference immunity.
Finally, this thesis summing up the work and gives the direction of further study.
引文
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[3] A.B. Maish. Solar tracker controller developments for today's applications. Conference Record of the Twenty Fifth IEEE Photovoltaic Specialists Conference, 2001(No. 96CH35897):1211-1214.
[4]韩建军,刘明辉,赵修建.太阳能收集和传输的研究[J].功能材料, 2007,(38): 1570-1573.
[5] H.M. Chitre. Temporal variations in the sun's rotational kinetic energy. Astronomy and Astrophysics, 2008,477(2):657-663.
[6]任松林.主动式太阳跟踪及驱动系统研究与设计[D].重庆大学, 2008
[7] D.Y. Goswami. New and emerging developments in solar energy[J]. Solar Energy, 2004,76:33~43.
[8] Henrik Lund. Renewable energy strategies for sustainable development[J]. Energy, 2007,32(6):912-919.
[9]詹华,姚士洪.对我国能源现状及未来发展的几点思考[J].能源工程, 2003(3):1-4.
[10] W. Eisenmann, K. Vajen. On the correlations between collector efficiency factor and material content of parallel flow flat-plate solar collectors[J]. Solar Energy, 2004,76(4):381-387.
[11] Chaofeng Xiao, Huilong Luo, Runsheng Tang. Solar thermal utilization in China[J]. Renewable Energy, 2004,29:1549-1556.
[12] F.Banat, R.Jumah, M.Garaibeh. Exploitation of solar energy collected by solar stills for desalination by membrane distillation[J]. Renewable Energy, 2005, 32(3): 425-434.
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[14]张宝星.太阳能利用的跟踪与聚焦系统研究[D].合肥工业大学, 2006.
[15]幻余海.太阳能利用综述及提高其利用率的途径[J].能源研究与利用, 2004,79(3):8-9.
[16] Kuhrt, Ekkehard, Hahn. Physical limits of solar collectors in deflecting Earth-threatening asteroids[J]. Aerospace Science and Technology, 2006, 10(3): 256- 263.
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