Research And Design Of Mobile Solar Panel Two-Axis Tracking System Based On Improved SMC Method

As a clean and renewable energy source,solar energy has important strategic significance for achieving beautiful China and sustainable development.Research reports show that achieving solar panel tracking of the sun’s position can significantly improve solar energy receiving efficiency,thereby increasing solar energy utilization.At present,the BeiDou Navigation Satellite System(BDS)is in a rapid development stage.This paper applies BDS to mobile sun tracking for the first time in China,which has practical significance for broadening the application field of BDS.Firstly,this paper deduced the formula for calculating the solar angle and estimated the error.The influence of vehicle motion on mobile sun tracking is calculated.For the vehicle use scenario,a mobile solar panel biaxial tracking system is designed.The system uses the Beidou positioning chip to measure the latitude and longitude information,and the information is sent to the solar angle calculation formula to obtain the sun angle.The Euler angle of the solar panel is then measured using an electronic gyroscope on the back of the solar panel.Firstly,the deviation between the solar angle and the Euler angle of the solar panel is judged by the adjustable dead zone,then it is transmitted to the controller as an input signal to control the motor to adjust the solar panel,finally,the solar tracking is realized.A dual-channel control strategy with negative feedback and environmental awareness is proposed to take into account both solar energy acquisition and power consumption.Then,an improved sliding mode control(SMC)algorithm is proposed,and a new hybrid reaching law is designed to weaken the sliding mode chattering of traditional SMC algorithm and accelerate the reaching speed of sliding mode motion.The stability of the new hybrid reaching law is proved by Lyapunov stability criterion,and the effectiveness of the improvement is verified by simulation.The integral separation fuzzy PID algorithm is improved to provide a comparative reference for the improved SMC algorithm in this paper.An environment awareness algorithm is proposed.On the one hand,it detects the current road environment to suspend or restore the sun tracking;on the other hand,it detects the vehicle motion state and switches different tracking modes.The mechanical structure of the traditional two-axis tracking system in horizon coordinate system is improved,and a new type of mechanical structure with better stability is designed,which is "spin of turntable bearing+multi-link overturn".The software programming of the two-axis tracking system for mobile solar panels is completed based on C/OS-Ⅲ.Finally,a large number of simulation experiments and physical simulation experiments have been carried out.The simulation results show that the improved SMC algorithm has obvious advantages compared with ordinary PID,ordinary integral separated fuzzy PID and improved integral separated fuzzy PID,which can improve the robustness and anti-jamming ability of the tracking system while reducing the steady-state chattering.The hardware design and software development of the two-axis tracking system for mobile solar panels have been completed,and the physical verification model has been made.Physical simulation experiments show that the mobile solar tracking algorithm designed in this paper can reliably track the sun in mobile environment.The tracking process has good dynamic performance,strong anti-interference ability,no overshoot and no jitter.It is verified that the improved SMC algorithm proposed in this paper can meet the requirements of vehicle environment.At the same time,the system can automatically suspend and restore tracking,which verifies the effectiveness of the dual-channel control strategy.