基于图像处理的太阳跟踪控制系统研究与开发
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摘要
随着世界人口数量的增长和社会化大生产的发展,人类对能源的需求不断增长。为解决能源危机,保护生态环境,实现经济社会可持续发展,世界各国都在大力开发和利用太阳能。如何有效对太阳进行跟踪,提高太阳能利用率已成为当前太阳能研究的热点问题。而传统的跟踪系统成本高、跟踪精度低,需要人工定期校准,难以达到提高太阳能利用率的目的。
在分析当前国内外太阳跟踪器的发展现状、性能特点之后,提出一种视日运动轨迹和图像处理相结合的太阳跟踪方式。基于这种方式设计的太阳跟踪控制系统,首先以视日运动轨迹方式进行跟踪初步定位,确保太阳落在图像传感器的视场范围内;再启动图像传感器拍摄太阳位置图片,以基于图像处理的方式进行太阳跟踪,使太阳光斑始终位于图像中心。
本课题完成了控制系统的硬件设计和软件设计。硬件部分包括图像采集、控制执行部件和实时时钟等其他模块,对主要芯片选型、工作原理、配置和电路设计做了详细介绍。软件部分则完成了主程序模块、视日运动轨迹跟踪模块、太阳光斑图像跟踪模块、图像处理算法的设计以及跟踪误差分析。
经硬件和软件联合调试验证,本文设计的太阳跟踪控制系统的研究思路、跟踪控制方式、硬件设计、软件设计和图像算法设计均是切实可行的,系统具有结构简单、跟踪精度高、可靠性强等特点。
本文的最后对所做的工作进行了总结,提出了系统设计中的不足之处,并对下一阶段的改进工作进行了展望。
With the growth of world population and the development of social production, human require more and more energy. In order to solve the energy crisis, protect environment, realize sustainable development of economy and society, countries in the world are vigorously exploiting and utilizing solar energy. How to track the sun effectively and improve solar energy utilization ratio has become a research hotspot in solar energy area. However, Traditional sun-tracker which costs too much, possesses low tracking accuracy, and needs to be periodically calibrated as required, can hardly enhance the performance of the solar energy transfer devices.
After analyzing the current situation and performance characteristics of existing sun-trackers home and aboard, this paper designed a new tracking method which depends on solar movement and image processing. Sun-tracking controller based on the new method worked as follows: Firstly, the sun-tracker tracked the sun based on solar movement, so as to make sure the sun was in the viewing field of the imaging sensor. Secondly, the system activated the CMOS camera to take photos of the sun, and then tracked the sun based on image processing to make sure the solar facula was always in the center of the photo.
This paper introduced the hardware and the software of the sun-tracking controller. The main chip selection, the working principle, the configuration and the circuit design of the hardware, which included image acquisition module, control executive part, real-time clock and other modules, are discussed in detail. The software part mainly discussed the main program design, the solar movement tracking program design, the solar facula tracking program design and the image processing algorithm design and the tracking error analysis.
The hardware and the software experiments showed that the proposed tracking method, the hardware and software design of the solar tracking controller is practicable. The system had simple structure, high tracking precision and reliability.
In the end, this paper pointed out the shortage of the system, and also presented the improving methods.
在分析当前国内外太阳跟踪器的发展现状、性能特点之后,提出一种视日运动轨迹和图像处理相结合的太阳跟踪方式。基于这种方式设计的太阳跟踪控制系统,首先以视日运动轨迹方式进行跟踪初步定位,确保太阳落在图像传感器的视场范围内;再启动图像传感器拍摄太阳位置图片,以基于图像处理的方式进行太阳跟踪,使太阳光斑始终位于图像中心。
本课题完成了控制系统的硬件设计和软件设计。硬件部分包括图像采集、控制执行部件和实时时钟等其他模块,对主要芯片选型、工作原理、配置和电路设计做了详细介绍。软件部分则完成了主程序模块、视日运动轨迹跟踪模块、太阳光斑图像跟踪模块、图像处理算法的设计以及跟踪误差分析。
经硬件和软件联合调试验证,本文设计的太阳跟踪控制系统的研究思路、跟踪控制方式、硬件设计、软件设计和图像算法设计均是切实可行的,系统具有结构简单、跟踪精度高、可靠性强等特点。
本文的最后对所做的工作进行了总结,提出了系统设计中的不足之处,并对下一阶段的改进工作进行了展望。
With the growth of world population and the development of social production, human require more and more energy. In order to solve the energy crisis, protect environment, realize sustainable development of economy and society, countries in the world are vigorously exploiting and utilizing solar energy. How to track the sun effectively and improve solar energy utilization ratio has become a research hotspot in solar energy area. However, Traditional sun-tracker which costs too much, possesses low tracking accuracy, and needs to be periodically calibrated as required, can hardly enhance the performance of the solar energy transfer devices.
After analyzing the current situation and performance characteristics of existing sun-trackers home and aboard, this paper designed a new tracking method which depends on solar movement and image processing. Sun-tracking controller based on the new method worked as follows: Firstly, the sun-tracker tracked the sun based on solar movement, so as to make sure the sun was in the viewing field of the imaging sensor. Secondly, the system activated the CMOS camera to take photos of the sun, and then tracked the sun based on image processing to make sure the solar facula was always in the center of the photo.
This paper introduced the hardware and the software of the sun-tracking controller. The main chip selection, the working principle, the configuration and the circuit design of the hardware, which included image acquisition module, control executive part, real-time clock and other modules, are discussed in detail. The software part mainly discussed the main program design, the solar movement tracking program design, the solar facula tracking program design and the image processing algorithm design and the tracking error analysis.
The hardware and the software experiments showed that the proposed tracking method, the hardware and software design of the solar tracking controller is practicable. The system had simple structure, high tracking precision and reliability.
In the end, this paper pointed out the shortage of the system, and also presented the improving methods.
引文
[1] Lu Youmei. Develop hydroenergy resources and protect earth environment[J]. Engineering Sciences, 2009, 7(2): 32-34
[2] Zekai Sen. Solar energy in progress and future research trends[J]. Progress in Energy and Combustion Science, 2004, 30(4): 367-416
[3]陈琼.基于无线网络的自动跟踪式光伏发电站监控系统[D].杭州:浙江大学, 2010
[4]于荣金.光学与太阳能[J].光学学报, 2009, 29(7): 1752-1755
[5] Kosuke Kurokawa. PV systems in urban environment[J]. Solar Energy Materials & Solar Cells, 2001, 67: 469-479
[6]陆晓楠,黄立培,杨仲庆.中国光伏发电产业的现状及发展趋势[J].高科技与产业化, 2009(2): 86-85
[7]李胜茂. 2010-2015年中国太阳能光伏发电产业投资分析及前景预测报告(上中下卷)[EB/OL]. http: //www. ocn. com. cn/reports/2006103guangfufadian. htm, 2010
[8] Yacov Tsur, Amos Zemei. Long-term perspective on the development of solar energy[J]. Solar Energy, 2000, 68: 379-392
[9]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
[10] WMO CIMO. Guide to Meteorological Instruments and Methods of Observation (sixth edition)[M]. WMO-No. 8, Geneva, 1996
[11]中国气象局气象探测中心,国家气候观象台试点技术总结报告, 2008
[12]莫月琴,杨云,吕文华,等.高精度太阳辐射测量系统研究及应用.中国气象学会2007年年会, 2007
[13]郑小年,黄巧燕.太阳跟踪方法及应用[J].能源技术, 2003, 24(4): 149-151
[14]陈维,李戬洪.太阳能利用中的跟踪控制方式的研究[J].能源工程, 2003, 3: 18-21
[15] Roth P., Georgiev A., Boudinov H. Design and construction of a system forsun-tracking[J]. Renewable Energy, 2004, 29: 393-402
[16]吴小雨,王开宝.光伏发电跟踪控制系统设计[J].机械工程师, 2009(l): 129-130
[17]张定学.闭式太阳集热器综合性能测试系统的研究与开发[D].武汉:华中科技大学, 2005
[18]周淑琴.自动跟踪式太阳能厨房的原理与应用[J].能源研究与应用, 1995, 3: 32-34
[19]王志伟.西班牙采用联合投资形式开发太阳能电站[J].中国建设动态(阳光能源), 2006(2): 92
[20]戚淑纯,薛冰洋,蒋国勇.太阳光导入器综述[J].太阳能, 2007, 2: 32-36
[21]饶鹏,孙胜利,叶虎勇.两维程控太阳跟踪器控制系统的研制[J].控制工程, 2004, 11(6): 542-545
[22]王尚文,高伟,黄树红.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
[23]贺晓雷,于贺军,李建英.太阳方位角的公式求解及其应用[J].太阳能学报, 2008, 29(1): 69-72
[24]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
[25]孙茵茵.自适应复精度太阳跟踪平台[D].武汉:华中科技大学, 2007
[26]段瑞芳.太阳集热器热性能测试系统的研发[D].武汉:华中科技大学, 2006
[27] Atmel Corporation. ATmega64A datasheet[EB/OL]. http: //www. waveshare. net/datasheet/ATMEL_PDF/ATmega64A. PDF, 2009
[28]马潮. AVR单片机嵌入式系统原理与应用实践[M].北京:北京航空航天大学出版社, 2007
[29]尚玉全,曾云,滕涛等. CMOS图像传感器及其研究[J].半导体技术, 2004, 8
[30]熊平. CCD与CMOS图像传感器特点比较[J].半导体光电, 2004(1)
[31]百度百科.巴德膜[EB/OL]. http: //baike. baidu. com/view/1455987. htm, 2010
[32] Omnivision Technologies Incorporated,“OV6620 Single-Chip CMOS CIF Color Digital Camera Technical Documentation”, http: //www. ovt. com/
[33] The I2C-BUS Specification (Version 2. 1), PHILIPS Inc, Jan 2000
[34] I2C总线概要(Rev 1. 1),周立功单片机, 2006年11月
[35] OmniVision Technologies, Inc. OmniVision Serial Camera Control Bus (SCCB) Functional Specification[EB/OL]. http: //www. ovt. com/pdfs/ds note. pdf, 2003
[36]刘宝廷,程树康.步进电动机及驱动控制系统[M].哈尔滨工业大学出版社, 1997
[37]王晓明.电动机的单片机控制[M].北京航空航天大学出版社, 2002
[38] HYBRID STEPPING MOTOR 42BYGHM General Specifications, Hetai Motors & Electrical Appliance Co., Ltd. http: //www. ht-motor. com
[39] L297 STEPPER MOTOR CONTROLLERS. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 2000
[40] L298 Dual Full-BRIDGE DRIVER. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 2000
[41] L6210 DUAL SCHOTTKY DIODE BRIDGE. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 1994
[42]唐国栋,高云国.基于L297/L298芯片步进电机的单片机控制[J].微计算机信息, 2006, 22(12-1): 134-136
[43] DS1302 Trickle Charge Timekeeping Chip, DALLAS, www. dalsemi. com, 2001
[44]张弘.数字图像处理与分析[M].北京:机械工业出版社, 2007
[45]陈冬岚,刘南京,余玲玲.几种图像阈值选取方法的比较与研究[J].电气技术与自动化, 2003, 2(1): 77-80
[46] Otsu N. A threshold selection method from gray-level histograms[J]. IEEE Transactions on Systems, Man and Cybernetics, 1979, 9(1): 62-66
[47]吕相银,黄超超,凌永顺.红外成像跟踪算法性能及应用分析[J].红外技术, 2004, 26(4): 11-19
[48] A. Rowe, C. Rosenberg, I. Nourbakhsh,“A Second Generation Low Cost Embedded Vision System”Proceedings of the 2005 IEEE Computer Society Conference, 2005
[49]梁凤超,胡君.凹球面激光直写系统电控误差分析[J].光学精密工程, 2004, 12(4): 223-227
[2] Zekai Sen. Solar energy in progress and future research trends[J]. Progress in Energy and Combustion Science, 2004, 30(4): 367-416
[3]陈琼.基于无线网络的自动跟踪式光伏发电站监控系统[D].杭州:浙江大学, 2010
[4]于荣金.光学与太阳能[J].光学学报, 2009, 29(7): 1752-1755
[5] Kosuke Kurokawa. PV systems in urban environment[J]. Solar Energy Materials & Solar Cells, 2001, 67: 469-479
[6]陆晓楠,黄立培,杨仲庆.中国光伏发电产业的现状及发展趋势[J].高科技与产业化, 2009(2): 86-85
[7]李胜茂. 2010-2015年中国太阳能光伏发电产业投资分析及前景预测报告(上中下卷)[EB/OL]. http: //www. ocn. com. cn/reports/2006103guangfufadian. htm, 2010
[8] Yacov Tsur, Amos Zemei. Long-term perspective on the development of solar energy[J]. Solar Energy, 2000, 68: 379-392
[9]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
[10] WMO CIMO. Guide to Meteorological Instruments and Methods of Observation (sixth edition)[M]. WMO-No. 8, Geneva, 1996
[11]中国气象局气象探测中心,国家气候观象台试点技术总结报告, 2008
[12]莫月琴,杨云,吕文华,等.高精度太阳辐射测量系统研究及应用.中国气象学会2007年年会, 2007
[13]郑小年,黄巧燕.太阳跟踪方法及应用[J].能源技术, 2003, 24(4): 149-151
[14]陈维,李戬洪.太阳能利用中的跟踪控制方式的研究[J].能源工程, 2003, 3: 18-21
[15] Roth P., Georgiev A., Boudinov H. Design and construction of a system forsun-tracking[J]. Renewable Energy, 2004, 29: 393-402
[16]吴小雨,王开宝.光伏发电跟踪控制系统设计[J].机械工程师, 2009(l): 129-130
[17]张定学.闭式太阳集热器综合性能测试系统的研究与开发[D].武汉:华中科技大学, 2005
[18]周淑琴.自动跟踪式太阳能厨房的原理与应用[J].能源研究与应用, 1995, 3: 32-34
[19]王志伟.西班牙采用联合投资形式开发太阳能电站[J].中国建设动态(阳光能源), 2006(2): 92
[20]戚淑纯,薛冰洋,蒋国勇.太阳光导入器综述[J].太阳能, 2007, 2: 32-36
[21]饶鹏,孙胜利,叶虎勇.两维程控太阳跟踪器控制系统的研制[J].控制工程, 2004, 11(6): 542-545
[22]王尚文,高伟,黄树红.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
[23]贺晓雷,于贺军,李建英.太阳方位角的公式求解及其应用[J].太阳能学报, 2008, 29(1): 69-72
[24]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
[25]孙茵茵.自适应复精度太阳跟踪平台[D].武汉:华中科技大学, 2007
[26]段瑞芳.太阳集热器热性能测试系统的研发[D].武汉:华中科技大学, 2006
[27] Atmel Corporation. ATmega64A datasheet[EB/OL]. http: //www. waveshare. net/datasheet/ATMEL_PDF/ATmega64A. PDF, 2009
[28]马潮. AVR单片机嵌入式系统原理与应用实践[M].北京:北京航空航天大学出版社, 2007
[29]尚玉全,曾云,滕涛等. CMOS图像传感器及其研究[J].半导体技术, 2004, 8
[30]熊平. CCD与CMOS图像传感器特点比较[J].半导体光电, 2004(1)
[31]百度百科.巴德膜[EB/OL]. http: //baike. baidu. com/view/1455987. htm, 2010
[32] Omnivision Technologies Incorporated,“OV6620 Single-Chip CMOS CIF Color Digital Camera Technical Documentation”, http: //www. ovt. com/
[33] The I2C-BUS Specification (Version 2. 1), PHILIPS Inc, Jan 2000
[34] I2C总线概要(Rev 1. 1),周立功单片机, 2006年11月
[35] OmniVision Technologies, Inc. OmniVision Serial Camera Control Bus (SCCB) Functional Specification[EB/OL]. http: //www. ovt. com/pdfs/ds note. pdf, 2003
[36]刘宝廷,程树康.步进电动机及驱动控制系统[M].哈尔滨工业大学出版社, 1997
[37]王晓明.电动机的单片机控制[M].北京航空航天大学出版社, 2002
[38] HYBRID STEPPING MOTOR 42BYGHM General Specifications, Hetai Motors & Electrical Appliance Co., Ltd. http: //www. ht-motor. com
[39] L297 STEPPER MOTOR CONTROLLERS. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 2000
[40] L298 Dual Full-BRIDGE DRIVER. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 2000
[41] L6210 DUAL SCHOTTKY DIODE BRIDGE. ST MICRO-ELECTRONICS GROUP OF COMPANIES, 1994
[42]唐国栋,高云国.基于L297/L298芯片步进电机的单片机控制[J].微计算机信息, 2006, 22(12-1): 134-136
[43] DS1302 Trickle Charge Timekeeping Chip, DALLAS, www. dalsemi. com, 2001
[44]张弘.数字图像处理与分析[M].北京:机械工业出版社, 2007
[45]陈冬岚,刘南京,余玲玲.几种图像阈值选取方法的比较与研究[J].电气技术与自动化, 2003, 2(1): 77-80
[46] Otsu N. A threshold selection method from gray-level histograms[J]. IEEE Transactions on Systems, Man and Cybernetics, 1979, 9(1): 62-66
[47]吕相银,黄超超,凌永顺.红外成像跟踪算法性能及应用分析[J].红外技术, 2004, 26(4): 11-19
[48] A. Rowe, C. Rosenberg, I. Nourbakhsh,“A Second Generation Low Cost Embedded Vision System”Proceedings of the 2005 IEEE Computer Society Conference, 2005
[49]梁凤超,胡君.凹球面激光直写系统电控误差分析[J].光学精密工程, 2004, 12(4): 223-227