阅读说明：本技术 一种基于自主移动载体的太阳能电池板万向自旋轨道控制方法 (Solar cell panel universal spin orbit control method based on autonomous mobile carrier ) 是由 黄家怿 郭子淳 齐龙 俞舜廷 王水传 赵锡和 于 2020-12-29 设计创作，主要内容包括：本发明公开了一种基于自主移动载体的太阳能电池板万向自旋轨道控制方法,其所需装置由三部分组成：太阳能供电系统、自主移动载体和中央控制器。所述太阳能供电系统由太阳能电池板、蓄电池、太阳能电池板万向自旋装置组成,其用于整体的供电；所述自主移动载体可以是无人车、无人船或其他可自主移动物体,其安装有行驶和转向驱动装置、GPS/北斗定位芯片、自动避障装置以及通讯接口；所述中央控制器是安装在自主移动载体上的PLC控制器、单片机以及ARM板,其具有控制功能,用于实现太阳能电池板万向控制、蓄电池电量监测以及自主移动载体监控。本发明无需增加其它传感组件,通过Matlab快速计算并控制太阳能电池板精确旋转,其成本经济,方便实用。(The invention discloses a solar cell panel universal spin orbit control method based on an autonomous mobile carrier, which comprises the following three parts: the system comprises a solar power supply system, an autonomous mobile carrier and a central controller. The solar power supply system consists of a solar panel, a storage battery and a solar panel universal spinning device and is used for supplying power integrally; the autonomous mobile carrier can be an unmanned vehicle, an unmanned ship or other autonomous mobile objects, and is provided with a driving and steering driving device, a GPS/Beidou positioning chip, an automatic obstacle avoidance device and a communication interface; the central controller is a PLC controller, a single chip microcomputer and an ARM board which are installed on the autonomous mobile carrier, has a control function and is used for realizing universal control of the solar cell panel, monitoring of the electric quantity of the storage battery and monitoring of the autonomous mobile carrier. According to the invention, other sensing components are not required to be added, the solar cell panel is rapidly calculated and controlled to rotate accurately through Matlab, and the solar cell panel is economical in cost, convenient and practical.)

1. A solar cell panel universal spin orbit control method based on an autonomous mobile carrier is characterized in that:

the required device consists of three parts: the system comprises a solar power supply system, an autonomous mobile carrier and a central controller, wherein the solar power supply system and the central controller are both arranged on the autonomous mobile carrier;

the solar power supply system consists of a solar panel, a storage battery and a solar panel universal spinning device;

the autonomous mobile carrier can be an unmanned vehicle, an unmanned ship or other autonomous mobile objects, and is provided with a driving and steering driving device, a GPS/Beidou positioning chip, an automatic obstacle avoidance device and a communication interface;

the central controller consists of a PLC (programmable logic controller), a singlechip and an ARM (advanced RISC machines) board, wherein a Matlab program is registered in the singlechip;

the control method comprises the following steps:

the method comprises the steps that firstly, current direction, longitude and latitude and time information are obtained through a GPS/Beidou positioning chip in an autonomous mobile carrier, and meanwhile, the current time point, the current longitude, the current latitude, the current number of days, the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are calculated and obtained;

secondly, inputting parameters of a current time point, a current longitude, a current latitude, a current number of days, a current included angle between a solar panel support and the south and a current included angle between the solar panel support and the horizontal plane into a Matlab program in a single chip microcomputer in a central controller, and respectively calculating an up-and-down swing angle of a push rod in a push rod motor in a solar panel universal spinning device and a rotation angle of a rotating plate to obtain a rotation angle required by the solar panel;

and thirdly, the central controller sends an instruction to the solar panel universal spinning device through the PLC, and the solar panel universal spinning device enables the solar panel to be perpendicular to the direct sunlight angle all the time.

2. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 1, wherein: the calculation formulas of the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are respectively as follows:

the sun altitude is an included angle h between the MO and the ground plane, the ground plane is used as an initial plane, the upward direction is a positive value, and the downward direction is a negative value;

the solar azimuth angle is an included angle A between M' O and SO, the south direction is taken as a starting edge, the clockwise direction is a positive value, and the anticlockwise direction is a negative value;

in the formula:the local latitude is; delta is declination angle; and omega is a time angle.

3. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 2, wherein: the calculation formula of the declination angle delta is as follows:

wherein the declination angle delta is an included angle between ME and M' E;

in the formula: n is the number of days of a year.

4. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 2, wherein: the calculation formula of the time angle omega is as follows:

ω＝(12-T)·15°

in the formula: t is true sun.

5. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 4, wherein: the calculation formula of the real solar time T is as follows:

T＝t+4min·(λ-120)+E

E＝9.5·sin2·(280+0.9856·n)-7.7·sin(280+0.9856·n+78)

in the formula: λ is the local longitude.

6. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 1, wherein: the calculation formula for calculating the vertical swing angle of the push rod in the push rod motor in the solar panel universal spinning device is as follows:

setting the solar panel bracket to be in an initial state when being vertical to the horizontal plane, setting the included angle between the solar panel bracket and the horizontal line at a certain moment to be eta, and knowing that the solar altitude at that moment is h, the formula of the up-down swinging angle theta of the solar panel bracket is as follows:

when h is greater than eta, the solar panel support swings upwards by an angle theta equal to h-eta

When eta is larger than h, the solar panel support swings downwards by an angle theta which is equal to eta-h.

7. The method for controlling the universal spin orbit of the solar panel based on the autonomous mobile carrier as claimed in claim 1, wherein: the calculation formula of the rotation angle of the rotating plate in the solar cell panel universal spinning device is as follows:

setting the south position of the push rod motor on the rotating platform as an initial point, setting the horizontal angle of the solar panel at a certain time as beta, and knowing that the azimuth angle of the sun is A, the formula of the rotation angle gamma of the rotating plate is as follows:

when beta is less than A, the rotating plate rotates clockwise by an angle gamma which is equal to A-beta

When β > a, the rotating plate is rotated counterclockwise by an angle γ ═ β -a.

Technical Field

The invention relates to the field of new energy, in particular to a solar cell panel universal spin orbit control method based on an autonomous mobile carrier.

Background

Solar energy is a renewable energy source. It refers to the heat radiation energy of the sun, and the main expression is the solar ray. In modern times it is commonly used to generate electricity or to power water heaters.

With the gradual increase of manpower cost, autonomous mobile carriers such as unmanned vehicles and unmanned ships are receiving more and more attention. The solar power supply system is one of the necessary components of the outdoor autonomous mobile carrier. How to ensure that the solar cell panel carried by the carrier can constantly and maximally absorb solar energy in the autonomous moving process of the carrier is one of key technologies for improving the operation time of the autonomous moving carrier.

And traditional solar panel adopts the fixed direction's of southward mounting mode more, both can't in time adjust solar panel direction according to the direct sunlight angle, also can't independently confirm the north-south direction, lead to solar panel can't judge the direct sunlight direction in real time under the moving state, can't adjust the best solar panel angle, be not suitable for on the portable carrier, solar energy utilization ratio is relatively poor. In order to solve the existing problems, the invention designs a solar cell panel universal spin orbit control method based on an autonomous mobile carrier.

Disclosure of Invention

The invention aims to solve the problems that the direction of a solar panel cannot be adjusted in time according to the direct sunlight angle and the north-south direction cannot be determined autonomously because the traditional solar panel mostly adopts a mounting mode of fixing the direction towards the south, so that the solar panel cannot judge the direct sunlight direction in real time in a moving state, cannot adjust the optimal angle of the solar panel, is not suitable for a mobile carrier, has poor solar energy utilization rate and the like, and provides a solar panel universal spin track control method based on an autonomous mobile carrier.

In order to achieve the purpose, the invention provides the following technical scheme:

a solar cell panel universal spin orbit control method based on an autonomous mobile carrier comprises the following three parts: the system comprises a solar power supply system, an autonomous mobile carrier and a central controller, wherein the solar power supply system and the central controller are both arranged on the autonomous mobile carrier;

the solar power supply system consists of a solar panel, a storage battery and a solar panel universal spinning device;

the autonomous mobile carrier can be an unmanned vehicle, an unmanned ship or other autonomous mobile objects, and is provided with a driving and steering driving device, a GPS/Beidou positioning chip, an automatic obstacle avoidance device and a communication interface;

the central controller consists of a PLC (programmable logic controller), a singlechip and an ARM (advanced RISC machines) board, wherein a Matlab program is registered in the singlechip;

the control method comprises the following steps:

the method comprises the steps that firstly, current direction, longitude and latitude and time information are obtained through a GPS/Beidou positioning chip in an autonomous mobile carrier, and meanwhile, the current time point, the current longitude, the current latitude, the current number of days, the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are calculated and obtained;

secondly, inputting parameters of a current time point, a current longitude, a current latitude, a current number of days, a current included angle between a solar panel support and the south and a current included angle between the solar panel support and the horizontal plane into a Matlab program in a single chip microcomputer in a central controller, and respectively calculating an up-and-down swing angle of a push rod in a push rod motor in a solar panel universal spinning device and a rotation angle of a rotating plate to obtain a rotation angle required by the solar panel;

and thirdly, the central controller sends an instruction to the solar panel universal spinning device through the PLC, and the solar panel universal spinning device enables the solar panel to be perpendicular to the direct sunlight angle all the time.

Preferably, the calculation formulas of the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are respectively as follows:

the sun altitude is an included angle h between the MO and the ground plane, the ground plane is used as an initial plane, the upward direction is a positive value, and the downward direction is a negative value;

the solar azimuth angle is an included angle A between M' O and SO, the south direction is taken as a starting edge, the clockwise direction is a positive value, and the anticlockwise direction is a negative value;

in the formula:the local latitude is; delta is declination angle; and omega is a time angle.

Preferably, the calculation formula of the declination angle δ is as follows:

wherein the declination angle delta is an included angle between ME and M' E;

in the formula: n is the number of days of a year.

Preferably, the formula for calculating the time angle ω is:

ω＝(12-T)·15°

in the formula: t is true sun.

Preferably, the calculation formula of the true solar time T is as follows:

T＝t+4min·(λ-120)+E

E＝9.5·sin2·(280+0.9856·n)-7.7·sin(280+0.9856·n+78)

in the formula: λ is the local longitude.

Preferably, the calculation formula for calculating the vertical swing angle of the push rod in the push rod motor in the solar panel universal spinning device is as follows:

setting the solar panel bracket to be in an initial state when being vertical to the horizontal plane, setting the included angle between the solar panel bracket and the horizontal line at a certain moment to be eta, and knowing that the solar altitude at that moment is h, the formula of the up-down swinging angle theta of the solar panel bracket is as follows:

when h is greater than eta, the solar panel support swings upwards by an angle theta equal to h-eta

When eta is larger than h, the solar panel support swings downwards by an angle theta which is equal to eta-h.

Preferably, the calculation formula of the rotation angle of the rotating plate in the solar cell panel universal spin device is as follows:

setting the south position of the push rod motor on the rotating platform as an initial point, setting the horizontal angle of the solar panel at a certain time as beta, and knowing that the azimuth angle of the sun is A, the formula of the rotation angle gamma of the rotating plate is as follows:

when beta is less than A, the rotating plate rotates clockwise by an angle gamma which is equal to A-beta

When β > a, the rotating plate is rotated counterclockwise by an angle γ ═ β -a.

Compared with the prior art, the invention has the beneficial effects that:

the invention relates to a solar cell panel universal spin orbit control method based on an autonomous mobile carrier, which combines the control of the autonomous mobile carrier and a solar cell panel, does not need to add components such as an additional sensor, and quickly calculates and controls the solar cell panel to accurately rotate through Matlab.

Drawings

FIG. 1 is a flow chart of a control method according to the present invention.

Fig. 2 is a schematic diagram of the declination angle δ in the celestial coordinate system according to the present invention.

Fig. 3 is a schematic diagram of the solar azimuth angle a and the solar altitude angle h in the horizon coordinate system according to the present invention.

Fig. 4 is a schematic diagram illustrating the change of the horizontal rotation angle of the solar panel according to the present invention.

Fig. 5 is a schematic diagram illustrating the variation of the vertical swing angle of the solar cell panel according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution:

a solar cell panel universal spin orbit control method based on an autonomous mobile carrier comprises the following three parts: the system comprises a solar power supply system, an autonomous mobile carrier and a central controller, wherein the solar power supply system and the central controller are both arranged on the autonomous mobile carrier;

the solar power supply system consists of a solar panel, a storage battery and a solar panel universal spinning device;

the autonomous mobile carrier can be an unmanned vehicle, an unmanned ship or other autonomous mobile objects, and is provided with a driving and steering driving device, a GPS/Beidou positioning chip, an automatic obstacle avoidance device and a communication interface;

the central controller consists of a PLC (programmable logic controller), a singlechip and an ARM (advanced RISC machines) board, wherein a Matlab program is registered in the singlechip;

the control method comprises the following steps:

the method comprises the steps that firstly, current direction, longitude and latitude and time information are obtained through a GPS/Beidou positioning chip in an autonomous mobile carrier, and meanwhile, the current time point, the current longitude, the current latitude, the current number of days, the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are calculated and obtained;

secondly, inputting parameters of a current time point, a current longitude, a current latitude, a current number of days, a current included angle between a solar panel support and the south and a current included angle between the solar panel support and the horizontal plane into a Matlab program in a single chip microcomputer in a central controller, and respectively calculating an up-and-down swing angle of a push rod in a push rod motor in a solar panel universal spinning device and a rotation angle of a rotating plate to obtain a rotation angle required by the solar panel;

and thirdly, the central controller sends an instruction to the solar panel universal spinning device through the PLC, and the solar panel universal spinning device enables the solar panel to be perpendicular to the direct sunlight angle all the time.

Preferably, the calculation formulas of the azimuth angle of the current direct solar angle and the altitude angle of the current direct solar angle are respectively as follows:

the sun altitude is an included angle h between the MO and the ground plane, the ground plane is used as an initial plane, the upward direction is a positive value, and the downward direction is a negative value;

the solar azimuth angle is an included angle A between M' O and SO, the south direction is taken as a starting edge, the clockwise direction is a positive value, and the anticlockwise direction is a negative value;

in the formula:the local latitude is; delta is declination angle; and omega is a time angle.

Preferably, the calculation formula of the declination angle δ is as follows:

wherein the declination angle delta is an included angle between ME and M' E;

in the formula: n is the number of days of a year.

Preferably, the formula for calculating the time angle ω is:

ω＝(12-T)·15°

in the formula: t is true sun.

Preferably, the calculation formula of the true solar time T is as follows:

T＝t+4min·(λ-120)+E

E＝9.5·sin2·(280+0.9856·n)-7.7·sin(280+0.9856·n+78)

in the formula: λ is the local longitude.

Preferably, the calculation formula for calculating the vertical swing angle of the push rod in the push rod motor in the solar panel universal spinning device is as follows:

setting the solar panel bracket to be in an initial state when being vertical to the horizontal plane, setting the included angle between the solar panel bracket and the horizontal line at a certain moment to be eta, and knowing that the solar altitude at that moment is h, the formula of the up-down swinging angle theta of the solar panel bracket is as follows:

when h is greater than eta, the solar panel support swings upwards by an angle theta equal to h-eta

When eta is larger than h, the solar panel support swings downwards by an angle theta which is equal to eta-h.

Preferably, the calculation formula of the rotation angle of the rotating plate in the solar cell panel universal spin device is as follows:

setting the south position of the push rod motor on the rotating platform as an initial point, setting the horizontal angle of the solar panel at a certain time as beta, and knowing that the azimuth angle of the sun is A, the formula of the rotation angle gamma of the rotating plate is as follows:

when beta is less than A, the rotating plate rotates clockwise by an angle gamma which is equal to A-beta

When β > a, the rotating plate is rotated counterclockwise by an angle γ ═ β -a.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.