基于FPGA的太阳自动跟踪系统的研究与实现
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摘要
随着社会经济的发展,能源的需求量日益增加,以化石能源为基础的能源结构越来越不适应可持续发展的需要,人类面临能源严重短缺和燃烧化石能源造成的环境问题。由此,太阳能应用逐渐成为新能源技术的研究热点。针对太阳能存在着光能密度低、间歇性、空间分布不断变化的特点,本文主要围绕太阳跟踪技术进行研究,通过太阳跟踪减小太阳入射光线与太阳能电池阵列的入射角,以提高太阳辐射利用率,降低发电系统成本。
首先,在介绍目前国内外太阳跟踪器发展现状及原理的基础上,本文提出了一种视日运动轨迹跟踪和光电跟踪相结合的跟踪策略,实现对太阳的大范围、日照时间内的全自动跟踪。
其次,设计完成了高度角方位角跟踪装置,并根据采用的太阳跟踪系统跟踪策略完成了硬件电路部分的元器件选型和设计。
再次,根据应用场合的需求,完成了基于FPGA软件部分的设计及仿真,包括:视日运动轨迹算法、光电跟踪太阳图像处理算法和电机驱动算法的研究与实现。
最后,针对本文所设计的太阳跟踪系统进行了系统调试。实验结果充分表明,本文设计的太阳跟踪控制系统的研究思路、控制方法、硬件设计以及软件设计都是切实可行的。系统具有结构简单、运行平稳、跟踪精度高、抗干扰性强等特点。
With the development of society and economy, energy demand is increasing.Energy structure based on fossil energy can not satisfy the needs of sustainabledevelopment any more. Humanity face serious energy shortage and environmentalissues of burning fossil fuels. Based on this; application of solar energy technologybecomes research focus. However, the solar energy has the special characteristicsthat solar light energy density is low, intermittent and spatial distribution is changing.So this paper studies on solar tracking technology. Solar tracking system can reducethe angle between sun incident light and incidence of solar cell arrays. It canimprove the utilization of solar radiation and reduce the cost of power generationsystem.
Firstly, the development of solar tracker and the principle of solar tracking in theworld are introduced. This paper has proposed the tracking strategy composed of thesolar trajectory and optical tracking. It can achieve automatic tracking with a widerange of sun.
Secondly, elevation-azimuth angle tracking device is designed. The componentsof the selection and design of the hardware are completed using the control strategyaccording to the solar tracking system.
Thirdly, according to the requirements of the design, the software of the systemis completed in this FPGA platform. Solar trajectory algorithm achieving, opticaltracking of image processing and the step motor driving are included.
Finally, the hardware and software experiments show that the proposed controlmethod, the design of the solar tracking controller’s hardware and software arepracticable. The system has lots of advantages such as simple structure, runningsmoothly and high tracking precision.
首先,在介绍目前国内外太阳跟踪器发展现状及原理的基础上,本文提出了一种视日运动轨迹跟踪和光电跟踪相结合的跟踪策略,实现对太阳的大范围、日照时间内的全自动跟踪。
其次,设计完成了高度角方位角跟踪装置,并根据采用的太阳跟踪系统跟踪策略完成了硬件电路部分的元器件选型和设计。
再次,根据应用场合的需求,完成了基于FPGA软件部分的设计及仿真,包括:视日运动轨迹算法、光电跟踪太阳图像处理算法和电机驱动算法的研究与实现。
最后,针对本文所设计的太阳跟踪系统进行了系统调试。实验结果充分表明,本文设计的太阳跟踪控制系统的研究思路、控制方法、硬件设计以及软件设计都是切实可行的。系统具有结构简单、运行平稳、跟踪精度高、抗干扰性强等特点。
With the development of society and economy, energy demand is increasing.Energy structure based on fossil energy can not satisfy the needs of sustainabledevelopment any more. Humanity face serious energy shortage and environmentalissues of burning fossil fuels. Based on this; application of solar energy technologybecomes research focus. However, the solar energy has the special characteristicsthat solar light energy density is low, intermittent and spatial distribution is changing.So this paper studies on solar tracking technology. Solar tracking system can reducethe angle between sun incident light and incidence of solar cell arrays. It canimprove the utilization of solar radiation and reduce the cost of power generationsystem.
Firstly, the development of solar tracker and the principle of solar tracking in theworld are introduced. This paper has proposed the tracking strategy composed of thesolar trajectory and optical tracking. It can achieve automatic tracking with a widerange of sun.
Secondly, elevation-azimuth angle tracking device is designed. The componentsof the selection and design of the hardware are completed using the control strategyaccording to the solar tracking system.
Thirdly, according to the requirements of the design, the software of the systemis completed in this FPGA platform. Solar trajectory algorithm achieving, opticaltracking of image processing and the step motor driving are included.
Finally, the hardware and software experiments show that the proposed controlmethod, the design of the solar tracking controller’s hardware and software arepracticable. The system has lots of advantages such as simple structure, runningsmoothly and high tracking precision.
引文
1杨金焕.太阳能光伏发电应用技术.电子工业出版社, 2009:10~30
2 ArcherMD, HillR. Clean Electricity from Photovoltaies. London: Imperial College Perss.2001
3张宝星.太阳能利用的跟踪与聚集系统研究.合肥工业大学硕士论文. 2006:14~20
4梁勇,梁维铭.太阳能任意方位跟踪系统设计.电测与仪表. 2008:65~67
5刘莫尘.独立式光伏发电的自动跟踪系统.山东大学硕士论文. 2005:10~15
6徐文灿,袁俊,严伟.太阳能自动跟踪系统的探索与实验.物理实验. 2000:45~47
7冯垛生.太阳能发电原理与应用.人民邮电出版社, 2007
8 Gibson, Thomas L, Kelly, Nelson. Solar photovoltaic charging of lithium-ion batteries.Journal of Power Sources. June, 2010: 3928~3932
9 Grena R. An algorithm for the computation of the solar position. Solar Energy. 2008:70~82
10孙茵茵,鲍剑斌,王凡.太阳自动跟踪器的研究.机械设计与制造. 2005:157~159
11任超.太阳自动跟踪装置控制系统的研究.武汉理工大学硕士论文. 2007:7~15
12杨刚,陈鸣.硅太阳电池特性及其最大功率点跟踪的仿真.山东大学学报.2009:122~126
13狄大卫,高兆丽.应用光伏学.上海交通大学出版社, 2007
14吴静.太阳自动跟踪系统的研究.重庆大学硕士论文. 2008
15王炳忠.太阳辐射计算讲座.太阳能. 2000, 16(2):12
16沈辉,祖勤.太阳能光伏发电技术.化学工业出版社, 2009
17 Ai B, Shen H, Ban Q, Ji B, Liao X. Calculation of the hourly and daily radiation incident onthree step tracking planes. Energy Conversion and Management 2003,44:1999~2011
18 Abdallah S, Badran OO. Sun tracking system for productivity enhancement of solar still.Desalination 2008:669~76
19 Khlaichom P, Sonthipermpoon K. Optimization of solar tracking system based on geneticalgorithms, 2006. http://www.thaiscience.info/
20 Tomson T. Discrete two-positional tracking of solar collectors. Renewable Energy,2008:400~500
21 Poulek V, Libra M. New bifacial solar trackers and tracking concentrators.2007. http://www.solar-trackers.com
22 Agee JT, Obok-Opok A, Lazzer MD. Solar tracker technologies: market trends and fieldapplications. Advanced Materials Research, 2007:18~19
23夏小燕.大范围太阳光线跟踪传感器及跟踪方法的研究.河海大学硕士论文. 2007
24任松林.主动式太阳跟踪及驱动系统研究与设计.重庆大学硕士论文. 2007
25 Helwa NH, Bahgat ABG, Shafee AMRE, Shenawy ETE. Maximum collectable solarenergy by different solar tracking systems. Energy Sources. 2000
26 Comsit M, Visa I. Design of the linkages type tracking mechanisms of the solar energyconversion systems by using multi body systems method. The 21th 1 world congress. 2007
27张翌翀.基于DSP的太阳跟踪控制系统研究.上海交通大学硕士论文. 2008
28田耕,徐文波. XILINX FPGA开发实用教程.清华大学出版社, 2009
29 Splitt ME, Bahrmann CP. Detection of SIRS solar tracking problems with automatedalgorithms. The 9th ARM science team meeting. 1999
30 Naidoo P, Niekerk TIV, Brooks M. Intelligent control and tracking of a parabolic troughsolar collector. First African Control Congress, University of Cape Town, Cape Town,2003
31 Kvasznicza Z, Elmer G. Optimizing solar tracking systems for solar cells. The 4th Serbian–Hungarian joint symposium on intelligent systems.2006
32 Stolfi F, Bersohn D, McIver B, Shaw S, Vance N, Wang X. Solar concentrating and trackingapparatus. Final report. Columbia University, Department of Mechanical Engineering. May 2,2007
33李成奇.基于FPGA技术的视频采集系统设计及实现.哈尔滨理工大学硕士论文. 2008
34吕政,唐海萍.自适应太阳跟踪平台理论分析与控制器设计.节能技术. 2007
35孙茵茵.自适应复精度太阳跟踪平台.华中科技大学硕士论文. 2005
36任超.太阳自动跟踪装置控制系统的研究.武汉理工大学硕士论文. 2007
37吴红星.电机驱动与控制专用集成电路及应用.中国电力出版社, 2006
38智淑亚,宗存元,付香梅.步进电机细分驱动控制技术研究.金陵科技学院学报. 2008
39 Cho Jung Uk , FPGA based micro step motor driver, ICCAS 2002. InternationalConference on Control, Automation and Systems, 2001:27~30
40刘丽徽.基于视觉的太阳光线自动跟踪装置.沈阳工业大学硕士论文. 2008
41 Michael D, Ciletti. Verilog HDL高级数字设计.电子工业出版社, 2005
42张天瑜,基于旋转模式的改进型CORDIC算法研究.微电子学与计算机. 2010
43陈超,余厚全,韩汝春,龚光勇.基于FPGA的高速CORDIC处理器设计.经验与交流.2009
44韦和民.用于电量测量的可编程串行. CORDIC处理器设计与验证. 2007
45夏宇闻. Verilog数字系统设计教程.北京航空航天大学出版社, 2008
46郭照南.实时三维信息获取系统中图像处理算法的FPGA实现.湖南大学硕士论文.2007
47牟鹏涛.基于FPGA实现的图像采集系统设计.山东大学硕士论文. 2008
48冯柳.基于FPGA的图像处理算法的研究与设计.西南交通大学硕士论文. 2005
49王磊.基于FPGA的嵌入式系统设计.哈尔滨工程大学硕士论文. 2006
50李正东,刘志强,吴剑涛,顾静良. SAA7111初始化的FPGA实现.电子工程师. 2008
51付星强.基于FPGA的图像处理算法的研究与硬件设计.南昌大学硕士论文. 2006
52仙云森.基于FPGA的图像处理算法研究及硬件设计.大连理工大学硕士论文. 2007
53王慧琴.数字图像处理.北京邮电大学出版社, 2006
54 Haijiang Zhu. Fisheye camera calibration with two pairs of vanishing points. Proceedings2009 International Conference on Information Technology and Computer Science (ITCS2009). 2009
55 Ashmore, Michael, Efficient eye pointing with a fisheye lens, Proceedings - GraphicsInterface. 2005
56 Zhu Haijiang , 2D pattern vs. surrounding 3D pattern for fisheye camera calibration.Chinese Journal of Scientific Instrument. 2008:12~16
57 Schneider, D. Validation of geometric models for fisheye lenses. ISPRS Journal ofPhotogrammetry and Remote Sensing. 2009:66~259
58陈明伟,徐丹.球面坐标定位校正鱼眼图片并合成全景图的方法.云南民族大学学报.2004
59大宇,崔汉国,陈军.鱼眼图像轮廓提取及校正研究.计算机工程与设计. 2007
60 Ying Xiang-Hua, Fisheye lense distortion correction using spherical perspective projectionconstraint. Chinese Journal of Computers. 2003:8~17
61 Mundhenk T N, Michael J R, LIAO Xiaoqun. Techniques for fisheye lens calibration usinga minimal number of measure-ments. Boston,Massachusetts:Proc of the SPIE IntelligentRobotics and Computer Vision Conference. 2000:8~9.
62 Schneider D, Validation of geometric models for fisheye lenses, ISPRS Journal ofPhotogrammetry and Remote Sensing. 2009:266~259
2 ArcherMD, HillR. Clean Electricity from Photovoltaies. London: Imperial College Perss.2001
3张宝星.太阳能利用的跟踪与聚集系统研究.合肥工业大学硕士论文. 2006:14~20
4梁勇,梁维铭.太阳能任意方位跟踪系统设计.电测与仪表. 2008:65~67
5刘莫尘.独立式光伏发电的自动跟踪系统.山东大学硕士论文. 2005:10~15
6徐文灿,袁俊,严伟.太阳能自动跟踪系统的探索与实验.物理实验. 2000:45~47
7冯垛生.太阳能发电原理与应用.人民邮电出版社, 2007
8 Gibson, Thomas L, Kelly, Nelson. Solar photovoltaic charging of lithium-ion batteries.Journal of Power Sources. June, 2010: 3928~3932
9 Grena R. An algorithm for the computation of the solar position. Solar Energy. 2008:70~82
10孙茵茵,鲍剑斌,王凡.太阳自动跟踪器的研究.机械设计与制造. 2005:157~159
11任超.太阳自动跟踪装置控制系统的研究.武汉理工大学硕士论文. 2007:7~15
12杨刚,陈鸣.硅太阳电池特性及其最大功率点跟踪的仿真.山东大学学报.2009:122~126
13狄大卫,高兆丽.应用光伏学.上海交通大学出版社, 2007
14吴静.太阳自动跟踪系统的研究.重庆大学硕士论文. 2008
15王炳忠.太阳辐射计算讲座.太阳能. 2000, 16(2):12
16沈辉,祖勤.太阳能光伏发电技术.化学工业出版社, 2009
17 Ai B, Shen H, Ban Q, Ji B, Liao X. Calculation of the hourly and daily radiation incident onthree step tracking planes. Energy Conversion and Management 2003,44:1999~2011
18 Abdallah S, Badran OO. Sun tracking system for productivity enhancement of solar still.Desalination 2008:669~76
19 Khlaichom P, Sonthipermpoon K. Optimization of solar tracking system based on geneticalgorithms, 2006. http://www.thaiscience.info/
20 Tomson T. Discrete two-positional tracking of solar collectors. Renewable Energy,2008:400~500
21 Poulek V, Libra M. New bifacial solar trackers and tracking concentrators.2007. http://www.solar-trackers.com
22 Agee JT, Obok-Opok A, Lazzer MD. Solar tracker technologies: market trends and fieldapplications. Advanced Materials Research, 2007:18~19
23夏小燕.大范围太阳光线跟踪传感器及跟踪方法的研究.河海大学硕士论文. 2007
24任松林.主动式太阳跟踪及驱动系统研究与设计.重庆大学硕士论文. 2007
25 Helwa NH, Bahgat ABG, Shafee AMRE, Shenawy ETE. Maximum collectable solarenergy by different solar tracking systems. Energy Sources. 2000
26 Comsit M, Visa I. Design of the linkages type tracking mechanisms of the solar energyconversion systems by using multi body systems method. The 21th 1 world congress. 2007
27张翌翀.基于DSP的太阳跟踪控制系统研究.上海交通大学硕士论文. 2008
28田耕,徐文波. XILINX FPGA开发实用教程.清华大学出版社, 2009
29 Splitt ME, Bahrmann CP. Detection of SIRS solar tracking problems with automatedalgorithms. The 9th ARM science team meeting. 1999
30 Naidoo P, Niekerk TIV, Brooks M. Intelligent control and tracking of a parabolic troughsolar collector. First African Control Congress, University of Cape Town, Cape Town,2003
31 Kvasznicza Z, Elmer G. Optimizing solar tracking systems for solar cells. The 4th Serbian–Hungarian joint symposium on intelligent systems.2006
32 Stolfi F, Bersohn D, McIver B, Shaw S, Vance N, Wang X. Solar concentrating and trackingapparatus. Final report. Columbia University, Department of Mechanical Engineering. May 2,2007
33李成奇.基于FPGA技术的视频采集系统设计及实现.哈尔滨理工大学硕士论文. 2008
34吕政,唐海萍.自适应太阳跟踪平台理论分析与控制器设计.节能技术. 2007
35孙茵茵.自适应复精度太阳跟踪平台.华中科技大学硕士论文. 2005
36任超.太阳自动跟踪装置控制系统的研究.武汉理工大学硕士论文. 2007
37吴红星.电机驱动与控制专用集成电路及应用.中国电力出版社, 2006
38智淑亚,宗存元,付香梅.步进电机细分驱动控制技术研究.金陵科技学院学报. 2008
39 Cho Jung Uk , FPGA based micro step motor driver, ICCAS 2002. InternationalConference on Control, Automation and Systems, 2001:27~30
40刘丽徽.基于视觉的太阳光线自动跟踪装置.沈阳工业大学硕士论文. 2008
41 Michael D, Ciletti. Verilog HDL高级数字设计.电子工业出版社, 2005
42张天瑜,基于旋转模式的改进型CORDIC算法研究.微电子学与计算机. 2010
43陈超,余厚全,韩汝春,龚光勇.基于FPGA的高速CORDIC处理器设计.经验与交流.2009
44韦和民.用于电量测量的可编程串行. CORDIC处理器设计与验证. 2007
45夏宇闻. Verilog数字系统设计教程.北京航空航天大学出版社, 2008
46郭照南.实时三维信息获取系统中图像处理算法的FPGA实现.湖南大学硕士论文.2007
47牟鹏涛.基于FPGA实现的图像采集系统设计.山东大学硕士论文. 2008
48冯柳.基于FPGA的图像处理算法的研究与设计.西南交通大学硕士论文. 2005
49王磊.基于FPGA的嵌入式系统设计.哈尔滨工程大学硕士论文. 2006
50李正东,刘志强,吴剑涛,顾静良. SAA7111初始化的FPGA实现.电子工程师. 2008
51付星强.基于FPGA的图像处理算法的研究与硬件设计.南昌大学硕士论文. 2006
52仙云森.基于FPGA的图像处理算法研究及硬件设计.大连理工大学硕士论文. 2007
53王慧琴.数字图像处理.北京邮电大学出版社, 2006
54 Haijiang Zhu. Fisheye camera calibration with two pairs of vanishing points. Proceedings2009 International Conference on Information Technology and Computer Science (ITCS2009). 2009
55 Ashmore, Michael, Efficient eye pointing with a fisheye lens, Proceedings - GraphicsInterface. 2005
56 Zhu Haijiang , 2D pattern vs. surrounding 3D pattern for fisheye camera calibration.Chinese Journal of Scientific Instrument. 2008:12~16
57 Schneider, D. Validation of geometric models for fisheye lenses. ISPRS Journal ofPhotogrammetry and Remote Sensing. 2009:66~259
58陈明伟,徐丹.球面坐标定位校正鱼眼图片并合成全景图的方法.云南民族大学学报.2004
59大宇,崔汉国,陈军.鱼眼图像轮廓提取及校正研究.计算机工程与设计. 2007
60 Ying Xiang-Hua, Fisheye lense distortion correction using spherical perspective projectionconstraint. Chinese Journal of Computers. 2003:8~17
61 Mundhenk T N, Michael J R, LIAO Xiaoqun. Techniques for fisheye lens calibration usinga minimal number of measure-ments. Boston,Massachusetts:Proc of the SPIE IntelligentRobotics and Computer Vision Conference. 2000:8~9.
62 Schneider D, Validation of geometric models for fisheye lenses, ISPRS Journal ofPhotogrammetry and Remote Sensing. 2009:266~259