CN110471460B - Photovoltaic power generation sun direction tracking system and tracking method based on hill climbing algorithm - Google Patents
Photovoltaic power generation sun direction tracking system and tracking method based on hill climbing algorithm Download PDFInfo
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Abstract
The invention discloses a photovoltaic power generation sun azimuth tracking system and method based on a hill climbing algorithm. The hill climbing algorithm is added to accurately track the sun azimuth angle and the sun altitude angle in the sun movement track tracking mode, so that the accumulated error of the sun movement track tracking mode can be better eliminated, and the sun azimuth tracking precision is improved. Meanwhile, the whole automatic sun direction tracking device is divided into two working modes by using the light intensity sensor, so that the influence of weather change on the sun direction tracking stability can be well solved. Meanwhile, a relatively complex photoelectric tracking mode and a solar motion trail tracking mode are switched and are multiplexed, so that the system is more convenient and practical, and the loss of electric energy is saved to a certain extent.
Description
Technical Field
The invention relates to the technical field of photovoltaic power generation, in particular to a photovoltaic power generation solar azimuth tracking system and a tracking method based on a hill climbing algorithm in the process of improving the efficiency of receiving solar light.
Background
Photovoltaic power generation is the mainstream of solar power generation nowadays. The biggest bottleneck restricting solar power generation at present is low solar utilization rate, and although the utilization rate of solar energy is improved to a great extent by automatically tracking the sun, various tracking modes have certain applicability and limitation. At present, the automatic tracking method in the sun direction mainly comprises the following steps: photoelectric tracking mode, sun motion trail tracking mode and switching and multiplexing of the two modes. The photoelectric tracking mode is a closed-loop control mode, has high sensitivity, but is easily influenced by weather to cause misoperation of the system; the tracking mode of the sun movement track is divided into single-axis tracking and double-axis tracking, the tracking transpose is controlled by calculating the sun movement track to track the sun azimuth, the method belongs to an open-loop control mode, the mode is not influenced by weather, the tracking device can track stably, but the open-loop tracking mode has accumulated errors and cannot be eliminated; although the problem of weather influence is solved to a certain extent by switching the photoelectric tracking mode and the sun movement track tracking mode, the accumulated error of the sun movement track tracking mode cannot be eliminated; the photoelectric tracking mode and the solar motion trail tracking mode are multiplexed, and two modes are adopted for tracking, so that the tracking precision and reliability are guaranteed, and the complexity and extra electric energy loss of the tracking device are increased.
At present, the automatic tracking system of the solar panel needs to be further improved, and has wide research prospect and development space. Because the output characteristic of the photovoltaic cell is nonlinear and is easily influenced by the surrounding environment factors, the tracking precision of the system is difficult to improve, the structure is complex, and with the rapid development of modern technology, the mechanism simplification and the improvement of the tracking precision of the solar automatic tracking technology become necessary development trends.
Disclosure of Invention
The invention provides a photovoltaic power generation solar azimuth tracking system and a tracking method based on a hill climbing algorithm, and aims to solve the problems that a photoelectric tracking mode is easily influenced by weather and accumulated errors exist in a solar motion track tracking mode.
In order to realize the task, the invention adopts the following technical scheme:
a photovoltaic power generation sun azimuth tracking system based on a hill climbing algorithm comprises:
the light intensity sensor is used for acquiring light intensity data of the sun;
the signal processor is used for processing the light intensity data to obtain light intensity information;
the controller judges the weather conditions according to the light intensity information to select a tracking mode and controls the solar azimuth automatic tracker to drive the solar panel to execute a corresponding tracking strategy;
wherein said determining weather conditions to select tracking mode comprises:
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
the tracking strategy comprises the following steps:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' controller control overThe sun direction automatic tracker tracks the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
And the solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth when the light intensity sensor detects weather changes and the weather accords with sunny weather and cloudy weather.
Further, the method for determining the threshold Em comprises:
testing the light intensity information collected when the local area is cloudy by using a light intensity sensor, and taking an average value Et; then, by testing the light intensity information collected in the local rainy days, an average value En is obtained; the value range of the threshold Em is En < Em < Et; or:
taking values according to the current weather condition and the radiation illumination in local meteorological data, wherein if the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; reading the average radiant illuminance D in the cloudy period and the average radiant illuminance E in the rainy period by referring to meteorological data; the average light intensity information F ═ E × C/D in rainy days can be obtained.
Further, when the azimuth or the altitude corresponding to the maximum light intensity value is at the edge value with the deviation value of ± 5 ° or ± 2.5 °, there may be a deviation of the current solar azimuth value; at the moment, the controller controls the sun to move +/-1 degrees or +/-0.5 degrees on the basis of the deviation movement +/-5 degrees or +/-2.5 degrees, and then the hill climbing algorithm is carried out to obtain the sun azimuth and the altitude angle corresponding to the maximum light intensity value.
A photovoltaic power generation sun azimuth tracking method based on a hill climbing algorithm comprises the following steps:
step 1, setting the working time of an automatic sun direction tracker according to the sunrise and sunset time of the location of a solar photovoltaic power generation system;
step 2, after the working time of the automatic solar direction tracker is reached, judging the weather condition through light intensity information collected by a light intensity sensor so as to select a tracking mode;
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
and 3, selecting corresponding tracking strategies according to different tracking modes:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
The solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and when the weather change detected by the light intensity sensor is consistent with sunny days and cloudy days, the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth;
step 4, the tracking is finished and the reset is carried out
When the working time range of the solar orientation automatic tracker is exceeded, the solar orientation automatic tracker stops tracking and resets at the moment, and returns to the position at the sunrise of the day.
The invention has the following technical characteristics:
1. according to the invention, the azimuth angle and the altitude angle of the sun are accurate through the hill climbing algorithm in the sun movement track tracking mode, the accumulated error in the sun movement track tracking mode is eliminated, the tracking precision is improved, the mechanism simplification requirement of the solar automatic tracking technology is realized, and the solar automatic tracking system has the advantages of high efficiency and good practicability.
2. The invention divides the whole automatic sun direction tracking device into two working modes by using the light intensity sensor, and can well solve the influence of weather change on the sun direction tracking stability. Meanwhile, a relatively complex photoelectric tracking mode and a solar motion trail tracking mode are switched and are multiplexed, so that the system is more convenient and practical, and the loss of electric energy is saved to a certain extent.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a graph of solar azimuth and elevation deviation shifts in the system of the present invention;
FIG. 3 is a tracking flow diagram of the system of the present invention.
Detailed Description
The invention provides a photovoltaic power generation sun azimuth tracking system based on a hill climbing algorithm, which comprises:
the light intensity sensor is used for acquiring light intensity data of the sun;
the signal processor is used for processing the light intensity data to obtain light intensity information;
and the controller judges the weather condition according to the light intensity information to select a tracking mode and controls the solar azimuth automatic tracker to drive the solar panel to execute a corresponding tracking strategy.
In this embodiment, the light intensity sensor is of model TSL2561, and the signal processor and controller use a high performance digital signal processor TMS320LF 2407A.
The solar azimuth angle is the angle between the projection of the sun ray on the ground plane and the local meridian, and can be approximately regarded as the angle between the shadow of a straight line standing on the ground in the sun and the south. The azimuth angle is zero in the positive south direction, negative from south to east to north and positive from south to west to north, for example, the sun is in the positive east, the azimuth angle is-90 degrees, the azimuth angle is-135 degrees in the positive east-north direction, the azimuth angle is 90 degrees in the positive west direction, and the azimuth angle is +/-180 degrees in the positive north direction. The solar altitude is the angle between the local horizontal plane and the light rays directly projected from the center of the sun to the local (or the angle between the line from the observation point to the sun and the ground), and the value of the solar altitude varies from 0 ° to 90 °, and is zero at sunrise and sunset, and the angle is 90 ° at the positive zenith.
In the sun movement track tracking mode, the sun azimuth angle calculation formula is as follows:
wherein A is the azimuth angle of the sun,
the geographical latitude, δ is solar declination.
In the sun movement track tracking mode, the sun azimuth angle calculation formula is as follows:
wherein h is the solar altitude,
is the geographic latitude; delta is solar declination; and omega is a time angle.
The light intensity sensor of the invention divides the tracking mode into a sunny weather mode, a cloudy weather mode and a rainy weather mode through the collected light intensity information. In a sunny weather mode and a cloudy weather mode, a sun movement track tracking mode and a hill climbing algorithm are used, and in a cloudy weather mode, the operation of tracking and transposing is stopped. The method improves the tracking precision and saves the electric energy loss while solving the weather change and the environmental interference. The method specifically comprises the following steps:
step 1, setting the working time of an automatic sun direction tracker according to the sunrise and sunset time of the location of a solar photovoltaic power generation system, wherein the sunrise and sunset time can be obtained according to the existing astronomical calculation technology (or can be manually set on a controller); the working time corresponds to the sunrise and sunset time and can be set to 7 points earlier to 6 points later, for example.
Step 2, after the working time of the automatic solar direction tracker is reached, judging the weather condition through light intensity information collected by a light intensity sensor so as to select a tracking mode;
the light intensity sensor collects light intensity information once every Tr time (10s < Tr <60s), and the light intensity information collected in the Tr time is processed to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; and when Er is less than or equal to Em, adopting a rainy weather mode.
The threshold Em may be a threshold value of light intensity information detected by the light intensity sensor when the local cloud and rain are cloudy. The specific process of setting the threshold value is that the light intensity information collected when the local area is cloudy is tested by a light intensity sensor, and an average value Et is obtained; then, by testing the light intensity information collected in the local rainy days, an average value En is obtained; the value range of the threshold Em is En < Em < Et. When the test is inconvenient, the value can be taken according to the current weather condition and the radiation illumination in the local meteorological data, and if the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; reading the average radiant illuminance D in the cloudy period and the average radiant illuminance E in the rainy period by referring to meteorological data; the average light intensity information F ═ E × C/D in rainy days can be obtained.
And 3, selecting corresponding tracking strategies according to different tracking modes:
strategy 1: sunny and cloudy weather patterns
Obtaining the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and position through the formula of the solar altitude angle and the azimuth angleb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle;
according to the definition of the solar azimuth angle and the solar altitude angle, hill climbing algorithm processing is carried out; set every K hours (1 h)<K<3h) The accumulated error is eliminated by carrying out a hill climbing algorithm, and the specific algorithm is as follows: the hill climbing algorithm is started, firstly, the controller controls the automatic sun azimuth tracker to carry out +/-5-degree deviation movement on the current sun azimuth angle, and light intensity information S fed back by the light intensity sensor is collectediI ═ 10, 11, … …, k; recording each light intensity information SiCorresponding sun azimuth angle thetaiAnd regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is less than the neighbor node value, replacing the current node value with the maximum neighbor node value until the current node value is greater than all neighbor node values, thereby obtaining a maximum light intensity value Sj(ii) a In order to prevent data deviation, the hill climbing algorithm needs to be restarted again randomly to obtain the maximum light intensity value; when the maximum light intensity value S is obtainedjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjOf the sunThe azimuth angle.
Similarly, the controller controls the current solar altitude θbDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectedi10, 11, … …, k, recording the solar altitude angle θ i' corresponding to each light intensity information; and (2) regarding each data as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is less than the neighbor node value, replacing the current node value with the maximum neighbor node value until the current node value is greater than all neighbor node values, thereby obtaining a maximum light intensity value Sj'; in order to prevent data deviation, the hill climbing algorithm needs to be restarted again randomly to obtain the maximum light intensity value Sj'. When the maximum light intensity value S is obtainedj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’。
In addition, when the azimuth or the altitude corresponding to the maximum light intensity value is located at the ± 5 ° (or ± 2.5 °) deviation value (± 5 °), there may be a deviation of the current solar azimuth value. At the moment, the controller controls the sun to move +/-1 degree (or +/-0.5 degree) on the basis of deviation movement +/-5 degrees (or +/-2.5 degrees), and then the mountain climbing algorithm is carried out once again to obtain the sun azimuth and altitude angle corresponding to the maximum light intensity value.
Strategy 2: overcast and rainy weather pattern
And the solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth when the light intensity sensor detects weather changes and the weather accords with sunny weather and cloudy weather.
Step 4, the tracking is finished and the reset is carried out
When the sun falls behind (the sunset time can be calculated according to the existing astronomical technology and can also be manually set on the controller), the working time range of the solar azimuth automatic tracker is exceeded, and at the moment, the solar azimuth automatic tracker stops tracking and resets, and returns to the position when the sun is sunout.
In conclusion, the invention adds the hill climbing algorithm to accurately track the solar azimuth angle and the altitude angle in the solar motion trajectory tracking mode, can better eliminate the accumulated error of the solar motion trajectory tracking mode and provides the tracking precision of the solar azimuth. Meanwhile, the whole automatic sun direction tracking device is divided into two working modes by using the light intensity sensor, so that the influence of weather change on the sun direction tracking stability can be well solved. Meanwhile, a relatively complex photoelectric tracking mode and a solar motion trail tracking mode are switched and are multiplexed, so that the system is more convenient and practical, and the loss of electric energy is saved to a certain extent.
Claims (4)
1. The utility model provides a photovoltaic power generation sun position tracking system based on hill-climbing algorithm which characterized in that includes:
the light intensity sensor is used for acquiring light intensity data of the sun;
the signal processor is used for processing the light intensity data to obtain light intensity information;
the controller judges the weather conditions according to the light intensity information to select a tracking mode and controls the solar azimuth automatic tracker to drive the solar panel to execute a corresponding tracking strategy;
wherein said determining weather conditions to select tracking mode comprises:
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
the tracking strategy comprises the following steps:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
And the solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth when the light intensity sensor detects weather changes and the weather accords with sunny weather and cloudy weather.
2. The hill-climbing algorithm-based photovoltaic power generation sun orientation tracking system according to claim 1, wherein the determination method of the threshold value Em is as follows:
testing the light intensity information collected when the local area is cloudy by using a light intensity sensor, and taking an average value Et; then, by testing the light intensity information collected in the local rainy days, an average value En is obtained; the value range of the threshold Em is En < Em < Et; or:
taking values according to the current weather condition and the radiation illumination in local meteorological data, wherein if the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; reading the average radiant illuminance D in the cloudy period and the average radiant illuminance E in the rainy period by referring to meteorological data; the average light intensity information F ═ E × C/D in rainy days can be obtained.
3. The hill-climbing algorithm-based photovoltaic power generation sun azimuth tracking system according to claim 1, wherein when the azimuth or the altitude corresponding to the maximum light intensity value is at an edge value with a deviation value of ± 5 ° or ± 2.5 °, there may be a deviation of the current sun azimuth value; at the moment, the controller controls the sun to move +/-1 degrees or +/-0.5 degrees on the basis of the deviation movement +/-5 degrees or +/-2.5 degrees, and then the hill climbing algorithm is carried out to obtain the sun azimuth and the altitude angle corresponding to the maximum light intensity value.
4. A photovoltaic power generation sun azimuth tracking method based on a hill climbing algorithm is characterized by comprising the following steps:
step 1, setting the working time of an automatic sun direction tracker according to the sunrise and sunset time of the location of a solar photovoltaic power generation system;
step 2, after the working time of the automatic solar direction tracker is reached, judging the weather condition through light intensity information collected by a light intensity sensor so as to select a tracking mode;
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
and 3, selecting corresponding tracking strategies according to different tracking modes:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The sun azimuth automatic tracker is based on the initial value of the sun azimuth angle and the initial value of the sun altitude angleDriving a solar panel of the solar photovoltaic power generation system to track light; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
The solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and when the weather change detected by the light intensity sensor is consistent with sunny days and cloudy days, the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth;
step 4, the tracking is finished and the reset is carried out
When the working time range of the solar orientation automatic tracker is exceeded, the solar orientation automatic tracker stops tracking and resets at the moment, and returns to the position at the sunrise of the day.
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