Tower heliostat tracking controller and control method thereof
阅读说明：本技术 塔式定日镜跟踪控制器及其控制方法 (Tower heliostat tracking controller and control method thereof ) 是由 朱伟 李皓桢 辛博 于 2019-10-18 设计创作，主要内容包括：本发明提供了一种塔式定日镜跟踪控制器及其控制方法,所述控制器包括：一个主控板；所述主控板上具有：多个水平轴电磁阀接口,多个俯仰角电磁阀接口、多个传感器接口以及起控制作用的CPU。本发明采用集成了边缘计算和机器学习控制器,避免了传统方式采用PLC控制的高成本,也能有效地采集数据,各电磁阀和电机也能正确运行,极大地提高了控制的灵活性,降低了热发电控制器的综合成本。(The invention provides a tracking controller of a tower heliostat and a control method thereof, wherein the controller comprises: a main control panel; the main control board is provided with: a plurality of horizontal axis solenoid valve interfaces, a plurality of pitch angle solenoid valve interfaces, a plurality of sensor interfaces and the CPU who plays the control action. The invention adopts the integrated edge calculation and machine learning controller, avoids the high cost of the traditional mode adopting PLC control, can effectively collect data, and can ensure that each electromagnetic valve and each motor can also correctly run, thereby greatly improving the control flexibility and reducing the comprehensive cost of the thermal power generation controller.)
1. A tower heliostat tracking controller, comprising:
a main control panel;
the main control board is provided with:
a plurality of horizontal axis solenoid valve interfaces, a plurality of pitch angle solenoid valve interfaces, a plurality of sensor interfaces and the CPU who plays the control action.
2. The tower heliostat tracking controller of claim 1, wherein the plurality of horizontal axis solenoid valve interfaces is four in number; the number of the pitch angle solenoid valve interfaces is two.
3. The tower heliostat tracking controller of claim 1, wherein the number of the plurality of horizontal axis solenoid valve interfaces is two; the number of the pitch angle solenoid valve interfaces is two.
4. The tower heliostat tracking controller of any of claims 1 to 3, wherein the plurality of sensor interfaces specifically comprise:
a pressure sensor interface, two position sensor interfaces, a temperature sensor interface, and a fuel level sensor interface.
5. The tower heliostat tracking controller of any of claims 1 to 3, further comprising:
the system comprises a Bluetooth interface for user control, a Lora interface for narrow-band communication, a Wifi interface, a 4G communication interface for broadband communication and an Ethernet interface.
6. The tower heliostat tracking controller according to any one of claims 1 to 3,
the main control board further comprises: a serial port for debugging, a redundant interface and a power management interface.
7. A control method of a tower heliostat tracking controller, comprising the tower heliostat tracking controller according to any one of claims 1 to 6, characterized by further comprising:
the protection position control method comprises one of the following steps:
controlling an elevation oil cylinder to move and controlling the heliostat to be close to the earth surface by controlling a pitch angle electromagnetic valve, or controlling a horizontal shaft electromagnetic valve to move and controlling the heliostat to horizontally rotate to a protection position;
or, the tracking position control method includes one of the following steps:
the elevation oil cylinder is controlled to move by controlling the pitch angle electromagnetic valve, and the height direction of the heliostat is controlled to be vertical to the incident direction of solar rays, or the horizontal oil cylinder is controlled to move by controlling the horizontal shaft electromagnetic valve, and the mirror surface of the heliostat is controlled to be vertical to the incident rays;
or, the cleaning position control method includes one of the following steps:
through control the pitch angle solenoid valve makes the altitude oil cylinder motion, control heliostat direction of height towards passageway direction so that wash, or through control the horizontal axis solenoid valve makes horizontal oil cylinder motion, control heliostat mirror surface horizontal direction towards passageway direction so that wash.
8. The method of controlling a tower heliostat tracking controller of claim 7,
the controller and the main control board adopt Lora narrow-band communication or,
and the controller and the main control board adopt a 4G network communication protocol to carry out broadband communication.
Technical Field
The invention relates to the technical field of solar power generation, in particular to a tracking controller of a tower type heliostat and a control method thereof.
Background
Disclosure of Invention
The method aims to solve the technical problems that in the prior art, a thermal power generation controller is controlled by a PLC, the cost is high, the calculation flexibility is poor, and the programming control is inconvenient.
In a first aspect, the present invention provides a tracking controller for a tower-type heliostat, including:
a main control panel;
the main control board is provided with:
a plurality of horizontal axis solenoid valve interfaces, a plurality of pitch angle solenoid valve interfaces, a plurality of sensor interfaces and the CPU who plays the control action.
Further, the number of the plurality of horizontal axis solenoid valve interfaces is four; the number of the pitch angle solenoid valve interfaces is two.
Furthermore, the main control board also comprises three spare electromagnetic valve interfaces.
The beneficial effect of adopting the further scheme is that: the three standby electromagnetic valve interfaces can timely play a role in replacement when the horizontal axis electromagnetic valve or the pitch angle electromagnetic valve fails, and the working stability of the tower type heliostat tracking controller is further ensured.
Further, the number of the plurality of horizontal axis electromagnetic valve interfaces is two; the number of the pitch angle solenoid valve interfaces is two.
Furthermore, the main control board also comprises five spare electromagnetic valve interfaces.
The beneficial effect of adopting the further scheme is that: the five spare electromagnetic valve interfaces can timely play a role in replacement when the horizontal axis electromagnetic valve or the pitch angle electromagnetic valve fails, and the working stability of the tower type heliostat tracking controller is further ensured.
Further, the plurality of sensor interfaces specifically include:
a pressure sensor interface, two position sensor interfaces, a temperature sensor interface, and a fuel level sensor interface.
The beneficial effect of adopting the further scheme is that: according to the invention, multiple sensor interfaces are integrated on the tower type heliostat tracking controller, and pressure, position, temperature and oil level information can be comprehensively measured, so that the control of the heliostat is further adjusted according to the measured ambient environment data, and the technical effect of protecting the heliostat and enabling the heliostat to work more stably can be achieved.
Further, the plurality of communication interfaces specifically include:
the system comprises a Bluetooth interface for user control, a Lora interface for narrow-band communication, a Wifi interface, a 4G communication interface for broadband communication and an Ethernet interface.
The beneficial effect of adopting the further scheme is that: the tower-type heliostat tracking controller integrates a broadband wifi interface, a 4G/5G interface and an Ethernet interface, can realize broadband high-speed data transmission under the condition of more surrounding base stations, and also integrates a narrowband Lora interface, so that the heliostat can realize data communication at a narrowband low speed under the condition of less surrounding base stations. The tower heliostat tracking controller has stronger universality.
Further, the main control board further comprises: a serial port for debugging, a redundant interface and a power management interface.
Further, the main control board is a PCB circuit board.
In a second aspect, the present invention provides a method for controlling a tower-type heliostat tracking controller, including the above-mentioned tower-type heliostat tracking controller, further including:
the protection position control method comprises one of the following steps:
controlling an elevation oil cylinder to move and controlling the heliostat to be close to the earth surface by controlling a pitch angle electromagnetic valve, or controlling a horizontal shaft electromagnetic valve to move and controlling the heliostat to horizontally rotate to a protection position;
or, the tracking position control method includes one of the following steps:
the elevation oil cylinder is controlled to move by controlling the pitch angle electromagnetic valve, and the height direction of the heliostat is controlled to be vertical to the incident direction of solar rays, or the horizontal oil cylinder is controlled to move by controlling the horizontal shaft electromagnetic valve, and the mirror surface of the heliostat is controlled to be vertical to the incident rays;
or, the cleaning position control method includes one of the following steps:
through control the pitch angle solenoid valve makes the altitude oil cylinder motion, control heliostat direction of height towards passageway direction so that wash, or through control the horizontal axis solenoid valve makes horizontal oil cylinder motion, control heliostat mirror surface horizontal direction towards passageway direction so that wash.
Further, the controller and the main control board adopt Lora communication.
Further, the controller and the main control board communicate with each other by adopting a 4G network communication protocol.
The invention has the beneficial effects that:
the invention adopts the PCB as the main control board, avoids the high cost of adopting PLC control in the traditional mode, can effectively collect data, and can ensure that each electromagnetic valve and each motor can also correctly run, thereby reducing the comprehensive cost of the thermal power generation controller.
Drawings
FIG. 1 is a schematic diagram of a tower heliostat tracking controller of the invention;
FIG. 2 is a schematic flow chart of a method of controlling a tower heliostat tracking controller of the invention;
FIG. 3 is a schematic diagram of a solenoid valve controlled hydraulic cylinder of a tower heliostat tracking controller of the invention;
FIG. 4 is a schematic diagram of a solenoid valve controlled hydraulic cylinder of a tower heliostat tracking controller of the invention moving between 45 and-45;
FIG. 5 is a schematic diagram of a solenoid valve controlled hydraulic cylinder of a tower heliostat tracking controller of the invention moving between-45 and-135;
FIG. 6 is a schematic diagram of a solenoid controlled hydraulic cylinder of a tower heliostat tracking controller of the invention moving between-135 and 135 degrees;
FIG. 7 is a schematic diagram of the solenoid controlled hydraulic cylinder of a tower heliostat tracking controller of the invention moving between 135 and 45 degrees;
FIG. 8 is a schematic diagram of a solenoid controlled hydraulic cylinder of a heliostat tracking controller of the invention;
fig. 9 is a schematic diagram of a hydraulic cylinder controlled by a solenoid valve of a tracking controller for a heliostat according to the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular equipment structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
As shown in fig. 1, the present invention provides a tower heliostat tracking controller, comprising:
a main control panel;
the main control board is provided with:
a plurality of horizontal axis solenoid valve interfaces, a plurality of pitch angle solenoid valve interfaces, a plurality of sensor interfaces and the CPU who plays the control action.
Fig. 1 shows a specific preferred scheme of the present invention, and fig. 1 only shows a specific preferred scheme of the present invention, and it should be considered as within the scope of the present invention to change the specific arrangement manner of the interfaces on the main control board to form a tower-type heliostat tracking controller with a new structure.
In the tower-type heliostat tracking controller, a CPU installed on a main control panel executes a pre-programmed code program, controls the horizontal axis solenoid valve interface to move so as to drive the heliostat to move horizontally, and controls the pitch angle solenoid valve interface to move so as to drive the heliostat to move vertically.
The PCB is used as the main control board, the CPU used as the operation unit and various interfaces are integrated, the high cost caused by the adoption of PLC control in the traditional mode is avoided, data can be effectively collected, each electromagnetic valve and each motor can also run correctly, and the comprehensive cost of the tower type heliostat tracking controller is reduced.
In some illustrative embodiments, the number of the plurality of horizontal axis solenoid valve interfaces is four; the number of the pitch angle solenoid valve interfaces is two.
In some demonstrative embodiments, the master control board further includes three backup solenoid valve interfaces.
The three spare electromagnetic valve interfaces can be arranged to timely play a role in replacement when the horizontal axis electromagnetic valve or the pitch angle electromagnetic valve fails, so that the working stability of the thermal power generation controller is further ensured.
On the other hand, the number of the plurality of horizontal axis solenoid valve interfaces is two; the number of the pitch angle solenoid valve interfaces is two.
Furthermore, the main control board also comprises five spare electromagnetic valve interfaces.
The five spare electromagnetic valve interfaces can be arranged to timely play a role in replacement when the horizontal axis electromagnetic valve or the pitch angle electromagnetic valve fails, so that the working stability of the thermal power generation controller is further ensured.
In some illustrative embodiments, the plurality of sensor interfaces specifically includes:
a pressure sensor interface, two position sensor interfaces, a temperature sensor interface, and a fuel level sensor interface.
According to the invention, multiple sensor interfaces are integrated on the tower type heliostat tracking controller, and pressure, position, temperature and oil level information can be comprehensively measured, so that the control of the heliostat is further adjusted according to the measured ambient environment data, and the technical effect of protecting the heliostat and enabling the heliostat to work more stably can be achieved.
In some demonstrative embodiments, the plurality of communication interfaces may include:
the system comprises a Bluetooth interface for user control, a Lora interface for narrow-band communication, a Wifi interface, a 4G communication interface for broadband communication and an Ethernet interface.
The tower-type heliostat tracking controller integrates a broadband wifi interface, a 4G/5G interface and an Ethernet interface, can realize broadband high-speed data transmission under the condition of more surrounding base stations, and also integrates a narrowband Lora interface, so that the heliostat can realize data communication at a narrowband low speed under the condition of less surrounding base stations. The tower heliostat tracking controller has stronger universality.
In some demonstrative embodiments, the main control board further includes: a serial port for debugging, a redundant interface and a power management interface.
In some demonstrative embodiments, the main control board is a PCB circuit board.
The invention adopts the PCB as a main control board, integrates the CPU as a control Unit, combines various sensor interfaces, narrow-band and broadband communication interfaces and a plurality of electromagnetic valve interfaces for controlling the rotation of the heliostat, and forms a novel Fine Position Unit of the precision positioning device. The invention avoids the high cost of the traditional mode adopting PLC control, can effectively collect data, and can ensure that each electromagnetic valve and each motor can also correctly run, thereby reducing the comprehensive cost of the thermal power generation controller.
As shown in fig. 2, in another aspect, the present invention further provides a control method of a tower-type heliostat tracking controller, including the above-mentioned tower-type heliostat tracking controller, further including:
s1: the protection position control method comprises one of the following steps:
controlling an elevation oil cylinder to move and controlling the heliostat to be close to the earth surface by controlling a pitch angle electromagnetic valve, or controlling a horizontal shaft electromagnetic valve to move and controlling the heliostat to horizontally rotate to a protection position;
s2: a tracking position control method, comprising one of the steps of:
the elevation oil cylinder is controlled to move by controlling the pitch angle electromagnetic valve, and the height direction of the heliostat is controlled to be vertical to the incident direction of solar rays, or the horizontal oil cylinder is controlled to move by controlling the horizontal shaft electromagnetic valve, and the mirror surface of the heliostat is controlled to be vertical to the incident rays;
s3: the cleaning position control method comprises one of the following steps:
through control the pitch angle solenoid valve makes the altitude oil cylinder motion, control heliostat direction of height towards passageway direction so that wash, or through control the horizontal axis solenoid valve makes horizontal oil cylinder motion, control heliostat mirror surface horizontal direction towards passageway direction so that wash.
It should be noted that, there is no strict logic sequence between the steps S1 to S3, this embodiment only shows one of the embodiments, and the step arrangement between the steps S1 to S3 in other sequences is also within the protection scope of the present invention.
The horizontal axis solenoid valve is divided into a first horizontal axis solenoid valve and a second horizontal axis solenoid valve. Each of the horizontal axis solenoid valves has two openings a and B.
As shown in FIG. 3, in the method of the present invention, first, the north-positive direction is defined as 0, from 0 to-180 counterclockwise, and from 0 to 180 clockwise; the electromagnetic valve is switched on and off under the action of software to control the hydraulic system to perform corresponding actions.
When the hydraulic cylinder rotates counterclockwise:
as shown in fig. 4, between 45 ° and-45 °, the first
As shown in fig. 5, between-45 ° and-135 °, the first
As shown in fig. 6, between-135 ° and 135 °, the first
As shown in fig. 7, between 135 ° and 45 °, the first
In the above fig. 4 to 7, the middle rotating bracket is fixed, the first horizontal axis solenoid valve controls the first
When the hydraulic cylinder rotates clockwise:
the first hydraulic cylinder is under the action of the hydraulic oil controlled by the first horizontal
In the step S1, when an emergency action is required, the controller controls the pitch angle solenoid valve to actuate the elevation oil cylinder and control the heliostat to horizontally approach the earth surface;
as shown in fig. 8 and 9, the process of controlling the rotation of the hydraulic cylinder by the solenoid valve of the trough type thermal power generation controller of the present invention is shown. The triangular line regions in fig. 8 and 9 show the displacement state before and after the movement.
And the horizontal oil cylinder moves by controlling the horizontal shaft electromagnetic valve, so that the heliostat is controlled to horizontally rotate to a protection position. Or the horizontal oil cylinder is moved by controlling the horizontal shaft electromagnetic valve, and then the elevation oil cylinder reaches the protection position by controlling the pitch angle electromagnetic valve. Specifically, the oil cylinder movement is controlled by controlling the pitch angle electromagnetic valve or the horizontal axis electromagnetic valve, the sequence in strict sense is not provided, and the positions finally reached by the two control modes are the same position.
In the step S2, the elevation cylinder is moved by controlling the pitch angle solenoid valve, and the height direction of the heliostat is controlled to be perpendicular to the incident direction of the solar ray;
and controlling the horizontal axis electromagnetic valve to enable the horizontal oil cylinder to move and control the heliostat mirror surface to be vertical to incident light.
Or the horizontal cylinder moves by controlling the horizontal axis electromagnetic valve, and then the elevation angle electromagnetic valve is controlled to enable the elevation oil cylinder to reach the position of the vertical incident light of the heliostat mirror surface. Specifically, the oil cylinder movement is controlled by controlling the pitch angle electromagnetic valve or the horizontal axis electromagnetic valve, the sequence is not strict, the finally reached positions of the two control modes are the same position, and the controller controls the position of the heliostat mirror surface perpendicular to the incident light.
In the step S3, the elevation cylinder is moved by controlling the pitch angle solenoid valve, and the height direction of the heliostat is controlled to face the aisle direction for cleaning;
and the horizontal oil cylinder is driven to move by controlling the horizontal shaft electromagnetic valve, and the horizontal direction of the heliostat mirror surface is controlled to face the passageway direction. A
Or the horizontal oil cylinder is moved by controlling the horizontal shaft electromagnetic valve, and then the elevation oil cylinder reaches the position facing to the passageway direction by controlling the pitch angle electromagnetic valve. Specifically, the oil cylinder movement is controlled by controlling the pitch angle electromagnetic valve or the horizontal axis electromagnetic valve, the sequence in a strict sense is not provided, and the positions finally reached by the two control modes are the same position and are both the positions of the oil cylinder facing to the passageway direction.
In some demonstrative embodiments, Lora communication may be utilized between the controller and the main control board.
Between controller and the main control board, through the Lora communication, dispose system's parameter, system's parameter includes: latitude and longitude, height, dead center and the like. The parameters need to be uploaded to a local controller from data acquired by a main control board in the working process of the controller, and the parameters are used as operation parameters to control the controller to move.
In addition, the main control board will control to locally read some parameter values, which can characterize the result of the system operation, such as specific values of sensors, voltage and current values of the motor, and so on. And judging whether the system is in a normal operation range by judging whether the numerical values are in the normal range. And as a criterion for assistance in predictive maintenance.
During communication, networking is mainly performed, for example, 8 heliostats are combined into one group, and each group is additionally provided with a gateway for control. The group member (heliostat) exchanges data with the gateway through Lora, and the gateway is connected with the main control panel through network cables or light rays and the like. Because the operation speed of the whole system is determined by the communication speed of Lora, the communication mode of Lora is only suitable for users with relatively low speed requirements or users with relatively few base stations around the users and requiring networking.
In some demonstrative embodiments, the controller and the main control board communicate with each other using a 4G network communication protocol.
The controller and the main control board communicate with each other via a 4G communication protocol (or communicate via a 5G communication protocol in the future), and configure system parameters, where the system parameters include: latitude and longitude, height, dead center and the like. The parameters need to be uploaded to a local controller from data acquired by a main control board in the working process of the controller, and the parameters are used as operation parameters to control the controller to move.
In addition, the main control board will control to locally read some parameter values, which can characterize the result of the system operation, such as specific values of sensors, voltage and current values of the motor, and so on. And judging whether the system is in a normal operation range by judging whether the numerical values are in the normal range. And as a criterion for assistance in predictive maintenance.
During communication, the local controller is connected with the local base station through the 4G/5G, the base station is connected with the control center, and a data transmission link is formed in such a way. The 4G/5G communication protocol is adopted as a transmission link, so that the transmission speed is high, but the cost of the link construction is high.
In the method of the present invention, the method further comprises: a method for calculating the sun angle.
Julian days can be calculated from the time zones of year, month, day, time in minutes and seconds and the error of UT and UTC.
The elevation angle α and the inclination angle δ can be calculated.
The julian day, the julian century, the julian ephemeris century, and the julian ephemeris millennium can be calculated;
the longitude of the earth sun, the latitude of the earth sun and the vector of the earth radian can be calculated;
the geocentric longitude and the geocentric latitude can be calculated;
the moon sun average extension, the sun average near point angle, the moon rising intersection point departure angle and the moon rising intersection point longitude can be calculated;
the method can calculate the yellow meridian nutation, the intersection angle nutation, the yellow road average inclination angle and the yellow road true inclination angle;
the aberration correction can be calculated, and the mean fixed star of Greenwich is determined according to the longitude of the sun, and the fixed star of Greenwich is determined;
the red channels of the geocentric sun and the red latitudes of the geocentric sun can be calculated.
The invention uses the encoder and the inclinometer to read the horizontal angle and the altitude angle in real time, and the aim of accurate control is achieved by matching the action of the hydraulic cylinder. The sensor adopts an encoder of Sendix F5868-F5888MODBUS protocol of Cubuler and a 1N88 inclinometer at present, and the accuracy can reach 0.01 degrees.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a logistics management server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
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