JP2011165684A - Method of controlling tracking of tracking drive type solar power generation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of controlling tracking of a tracking drive type solar power generation device, capable of facilitating a turning position and a tilt position of a solar cell panel to oppose solar tracking with high accuracy. <P>SOLUTION: The tracking drive type solar power generation device 1 includes: the solar cell panel 10 for converting sunlight to power; and a tracking control unit 13 for performing tracking control of a turning position and a tilt position of the solar cell panel 10 so that the solar cell panel can track the solar trajectory based on turning coordinates ϕ (turning direction Roth) and tilt coordinates θ (tilt direction Rotv) that have been set corresponding to a solar azimuth angle ϕs and a solar altitude θs. The turning direction Roth and the tilt direction Rotv of the solar cell panel 10 are controlled by a driving unit 12. The drive unit 12 can track the solar trajectory based on the turning coordinates ϕ and the tilt coordinates θ transmitted from the tracking control unit 13 via a control line 13c. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a tracking control method for a tracking drive type solar power generation apparatus including a tracking control unit that performs tracking control of a turning position and a tilting position of a solar cell panel that converts sunlight into electric power.

  Various solar power generation devices that convert solar energy into electric power have been put into practical use, but in order to increase power generation capacity and obtain large power, the solar panel is rotated by tracking the movement of the sun (solar trajectory). A tracking drive type solar power generation apparatus of a type that performs (tracking drive) has been developed.

  In particular, a concentrating solar power generation device that collects sunlight by using a condensing lens to generate power condenses the sunlight vertically on the light receiving surface of the solar cell element by tracking driving (tracking condensing). Since sunlight can be irradiated, there is an advantage that power generation efficiency is greatly improved. Because of these features, the tracking drive type (tracking and concentrating type) solar power generation device using a condensing lens is used to supply power (power plant) in areas where it can be installed using a vast area. It is being used for.

  As a conventional tracking drive type solar power generation apparatus, a solar cell panel attached to a support column has been proposed (see, for example, Patent Document 1).

  There have also been various proposals for an alignment control method (tracking control method) for making a solar cell panel face (directly face) a solar orbit (see, for example, Patent Document 2 to Patent Document 4).

  When tracking sunlight using a sensor (irradiometer), there is a problem that it is necessary to attach a sensor separately and to ensure the accuracy of the sensor. In addition, when a part of the solar cell is used as a sensor, there is a problem that generated power is wasted.

  Further, when the sensor is not used, there is a problem that an advanced installation work is required in order to increase the installation accuracy. That is, as a premise that the solar cell panel faces the solar orbit, it is necessary that the solar cell panel is positioned and installed with high accuracy in the drive unit including the support column (supporting unit).

  FIG. 7 is a perspective view showing an outline of a conventional tracking drive type solar power generation apparatus.

  The tracking drive type solar power generation apparatus shown in the figure includes a solar cell panel 110 that can be driven for tracking. In other words, the solar cell panel 110 is held by the support 111 and the turning direction Roth (turning coordinate φ) and the tilting direction Rotv (tilting coordinate θ) are controlled by the drive unit 112 provided on the top surface of the support 111.

  The drive unit 112 includes a turning drive unit (not shown) and a tilting drive unit (not shown), and the turning coordinate φ (turning direction Roth) and the tilting coordinate θ (transmitted from the tracking control unit 113 via the control line 113c. The solar trajectory is tracked based on the tilt direction Rotv).

  The support column 111 is erected in the vertical direction with respect to the ground, but it is difficult to actually make it a complete vertical direction and has a slight inclination. In addition, since the driving unit 112 controls the turning direction Roth and the tilting direction Rotv of the solar cell panel 110, it is necessary to position the driving unit 112 with high accuracy in advance with respect to the reference (ground).

  In order to position the drive unit 112 with high accuracy with respect to the reference, the drive unit 112 is positioned by applying, for example, an azimuth meter, an inclinometer, a GPS, or the like (for example, see Patent Document 4). Therefore, the positioning of the drive unit 112 requires a lot of labor and a long time. That is, even when one tracking drive type solar power generation apparatus is installed, there is a problem that excessive labor and cost are required for the installation work. Moreover, when it was set as the tracking drive type solar power generation system provided with many solar cell panels 110, there existed a situation where installation itself became difficult.

That is, a conventional tracking drive type solar power generation apparatus requires a highly reliable sensor that operates with high accuracy. Or there was a problem in installation, such as the need for installation work to position with high accuracy.
Japanese Patent Laid-Open No. 11-284217 JP-A-8-241125 JP 2002-202817 A JP 2007-19331 A

  The present invention has been made in view of such a situation, and detects the position deviation of the turning coordinates with respect to the solar azimuth angle based on the turning coordinates at which the panel output becomes the maximum value, and the position deviation of the tilt coordinates with respect to the solar altitude is output to the panel. By detecting by the tilt coordinate where the maximum value is obtained, the turning position and tilt position of the solar cell panel can be easily and accurately aligned with the solar orbit (solar azimuth and solar altitude). It aims at providing the tracking control method of a tracking drive type solar power generation device.

  The tracking control method of the tracking drive type solar power generation apparatus according to the present invention is based on a solar cell panel that converts sunlight into electric power, and the turning coordinates and tilting coordinates that are set corresponding to the solar azimuth angle and the solar altitude. A tracking control method for a tracking drive type solar power generation apparatus including a tracking control unit for tracking control of a turning position and a tilting position of a solar battery panel so as to track a trajectory, wherein the first turning coordinates corresponding to a solar azimuth angle First turn detection range in which the turn position of the solar battery panel is changed by sequentially changing the turn coordinates within the first turn detection range set in relation to the first turn position, and the first face-to-face turn coordinate at which the panel output becomes the maximum value is detected. The tilt coordinate of the solar cell panel is moved by sequentially changing the tilt coordinate in the first tilt detection range set in relation to the turning coordinate detection process and the first tilt coordinate corresponding to the solar altitude, and the panel output is maximized. Characterized in that it comprises a first confronting tilt coordinate detection process for detecting a first confronting tilt coordinate for the value.

  With this configuration, the positional deviation of the turning coordinate (first turning coordinate) with respect to the sun azimuth is detected by the first directly-facing turning coordinate, and the positional deviation of the tilt coordinate (first tilt coordinate) with respect to the solar altitude is the first directly-facing tilt. Since it is possible to detect by coordinates, correction of the positional deviation of the turning coordinate (first directly-facing turning coordinate) with respect to the sun azimuth and the tilt deviation (first directly-facing tilt coordinate) with respect to the solar altitude is also performed. By doing so, the swivel position and the tilt position of the solar cell panel can be easily and accurately opposed to the solar orbit (solar azimuth and solar altitude).

  In the tracking control method for the tracking drive type photovoltaic power generation apparatus according to the present invention, the first turning detection range has the first turning coordinates as the first turning detection reference coordinates, and the first turning detection reference coordinates in advance in both forward and reverse directions. The first turning detection start coordinate to the first turning detection end coordinate set by applying the prescribed first turning displacement angle are set, and the first tilt detection range is set to the first tilt coordinate or the first tilt coordinate with time. The corrected first tilt correction coordinate with time is used as the first tilt detection reference coordinate, and the first tilt detection set by applying a first tilt displacement angle defined in advance in both forward and reverse directions of the first tilt detection reference coordinate is started. The coordinates are from the coordinate to the first tilt detection end coordinate.

  With this configuration, the first turning detection range and the first tilt detection range can be set easily and with high accuracy, and the first directly-facing turning coordinate and the first directly-facing tilt coordinate can be detected easily and with high accuracy. Can do.

  In the tracking control method for the tracking drive solar photovoltaic power generator according to the present invention, the first directly-facing turning coordinate matching process for matching the turning coordinates to the first directly-facing turning coordinates detected in the first directly-facing turning coordinate detection process. Is executed, the first directly-facing tilt coordinate detection process is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate (first tilt coordinate) by setting the solar cell panel in the turning direction so as to face the solar orbit. Tilt coordinates can be detected.

  Further, in the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, before executing the first directly-facing tilt coordinate detection process, the temporal correction that reflects the altitude change of the solar altitude due to the passage of time is performed. A first time-dependent tilt correction coordinate applied to the first tilt coordinate is calculated, and the first tilt detection reference coordinate is replaced in advance from the first tilt coordinate to the first time-dependent tilt correction coordinate.

  With this configuration, it is possible to execute the first directly-facing tilt coordinate detection process by applying the first time-dependent tilt correction coordinate calculated by reflecting the change in altitude of the solar altitude over time as the tilt coordinate. Thus, the first directly-facing tilt coordinate can be detected with high accuracy in a short time.

  Further, in the tracking control method of the tracking drive type solar power generation apparatus according to the present invention, the target solar azimuth angle is specified as the target solar azimuth angle, and the target solar altitude is specified as the target solar altitude. Is used to convert the target sun azimuth and target sun altitude into target turning coordinates and target tilt coordinates in turning coordinates and tilt coordinates, and the first directly-facing turning coordinates and the first tilt coordinates with respect to the target turning coordinates and the target tilt coordinates. The solar cell panel is driven by applying target correction turning coordinates and target correction tilt coordinates set by performing correction based on directly-facing tilt coordinates.

  With this configuration, the solar cell panel is driven by applying the target correction turning coordinate and the target correction inclination coordinate set by performing the correction based on the first directly-facing turning coordinate and the first directly-facing tilt coordinate. It is possible to drive the solar cell panel by correcting the positional deviation.

  In the tracking control method for the tracking drive solar photovoltaic power generation apparatus according to the present invention, the detection of the panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process is performed by voltage. It is characterized by being.

  With this configuration, it is possible to easily detect the panel output with a simple configuration even when the positional deviation is relatively large.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, the detection of the panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process is performed by current. It is characterized by being.

  With this configuration, the panel output can be detected with high accuracy with a simple configuration.

  Further, in the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, the turning coordinates are sequentially changed in the second turning detection range set in relation to the first directly-facing turning coordinates, and the turning of the solar battery panel is performed. The second directly-facing turning coordinate detection process for detecting the second directly-facing turning coordinate where the panel output is maximum and the second tilt detection range set in relation to the first directly-facing tilt coordinate. It is characterized by comprising a second directly-facing tilt coordinate detection process of detecting the second directly-facing tilt coordinate where the tilt position of the solar battery panel is changed by sequentially changing the tilt coordinates and the panel output becomes the maximum value.

  With this configuration, the positional deviation of the first directly-facing turning coordinate with respect to the solar azimuth is detected with high accuracy by the second directly-facing turning coordinate detected in the second turning detection range smaller than the first turning detection range, and the first relative to the solar altitude is detected. Since it is possible to detect the positional deviation of one directly-facing tilt coordinate with high accuracy by the second directly-facing tilt coordinate detected in the second tilt detection range smaller than the first tilt detection range, the turning coordinate with respect to the sun azimuth angle By correcting the positional deviation of the (second directly-facing turning coordinate) and the positional deviation of the tilt coordinate (second directly-facing tilt coordinate) with respect to the solar altitude, the turning position and tilt position of the solar cell panel with respect to the solar orbit are corrected. Can be easily and more accurately aligned.

  In the tracking control method for the tracking drive type solar power generation apparatus according to the present invention, the second turning detection range is the first time-dependent turning correction in which the time correction is performed on the first directly-facing turning coordinate or the first directly-facing turning coordinate. From the second turning detection start coordinates set by applying the second turning displacement angle defined in advance smaller than the first turning displacement angle in both the forward and reverse directions of the second turning detection reference coordinate with the coordinates as the second turning detection reference coordinates. The second tilt detection range is set as the second turn detection end coordinate, and the second tilt detection range is obtained by setting the second straight tilt correction coordinate obtained by correcting the first straight tilt coordinate or the first straight tilt coordinate to the second tilt detection reference coordinate. From the second tilt detection start coordinate to the second tilt detection end coordinate set by applying a second tilt displacement angle defined in advance smaller than the first tilt displacement angle in both forward and reverse directions of the second tilt detection reference coordinate. It is characterized by being set

  With this configuration, the second turning detection range and the second tilt detection range can be set to a range smaller than the first turning detection range and the first tilt detection range. Compared with the first directly-facing turning coordinate and the first directly-facing tilt coordinate, the directly-facing tilt coordinate can be detected with higher accuracy.

  Further, in the tracking control method of the tracking drive type solar power generation device according to the present invention, before the second directly-facing turning coordinate detection process is executed, the time-dependent change in the azimuth angle of the solar azimuth angle over time is reflected. It is calculated that a first time-dependent turning correction coordinate obtained by performing correction on the first directly-facing turning coordinate is calculated, and the second turning detection reference coordinate is previously replaced from the first directly-facing turning coordinate to the first time-dependent turning correction coordinate. Features.

  With this configuration, the subsequent processing (second operation pattern) is executed by applying the first time-dependent turning correction coordinate calculated by reflecting the change in the azimuth angle of the sun azimuth over time in the first directly-facing turning coordinate. Therefore, the second directly-facing turning coordinate can be detected with high accuracy in a short time.

  Further, in the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, the second directly-facing turning coordinate matching process for matching the turning coordinates to the second directly-facing turning coordinates detected in the second directly-facing turning coordinate detection process. Then, the second directly-facing tilt coordinate detection process is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate by setting the solar cell panel to the solar orbit in the turning direction, so that the second directly-facing tilt coordinate can be detected accurately. Can do.

  Further, in the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, before executing the second directly-facing tilt coordinate detection process, the temporal correction that reflects the change in altitude of the solar altitude due to the passage of time is performed. A second time-dependent corrected tilt coordinate applied to the first directly-facing tilt coordinate is calculated, and the second tilt detection reference coordinate is previously replaced from the first directly-facing tilt coordinate to the second time-dependent tilt corrected coordinate. To do.

  With this configuration, it is possible to execute the second directly-facing tilt coordinate detection process by applying the second temporally corrected tilt coordinate calculated by reflecting the altitude change of the solar altitude θ due to the elapsed time in the first directly-facing tilt coordinate. As a result, the second directly-facing tilt coordinate can be detected with high accuracy in a short time.

  Further, in the tracking control method of the tracking drive type solar power generation apparatus according to the present invention, the target solar azimuth angle is specified as the target solar azimuth angle, and the target solar altitude is specified as the target solar altitude. Is used to convert the target sun azimuth and target sun altitude into the target turning coordinate and the target tilt coordinate in the turning coordinate and the tilt coordinate, and the second directly-facing turning coordinate and the second with respect to the target turning coordinate and the target tilt coordinate. The solar cell panel is driven by applying target correction turning coordinates and target correction tilt coordinates set by performing correction based on directly-facing tilt coordinates.

  With this configuration, the solar cell panel is driven by applying the target correction turning coordinate and the target correction inclination coordinate set by performing the correction based on the second directly-facing turning coordinate and the second directly-facing tilt coordinate. It is possible to drive the solar cell panel by correcting the positional deviation.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, the panel output is detected by the voltage in the first directly-facing turning coordinate detecting process and the first directly-facing tilt coordinate detecting process. The panel output detection in the two directly-facing turning coordinate detection process and the second directly-facing tilt coordinate detection process is performed by an electric current.

  With this configuration, the panel output is easily detected by the voltage in the previous process (the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process), and the subsequent process (the second directly-facing turning coordinate detection process and In the second directly-facing tilt coordinate detection process), it is possible to detect the panel output with high accuracy by the current, and it is possible to easily and accurately detect the displacement of the turning coordinate and the tilt coordinate with respect to the solar azimuth. .

  In the tracking control method for the tracking drive type photovoltaic power generation apparatus according to the present invention, the panel output is detected in the first directly-facing turning coordinate detecting process and the first directly-facing tilt coordinate detecting process, and the second facing turning is performed. The panel output detection in the coordinate detection process and the second directly-facing tilt coordinate detection process is performed by an electric current.

  With this configuration, the previous process (first directly-facing turning coordinate detection process and first directly-facing tilt coordinate detection process) and the subsequent process (second directly-facing turning coordinate detection process and second directly-facing tilt coordinate detection process). In both cases, it is possible to detect the panel output with high accuracy by the current, and it is possible to easily and accurately detect the displacement of the turning coordinate and the tilt coordinate with respect to the solar azimuth.

  In the tracking control method for the tracking drive type photovoltaic power generation apparatus according to the present invention, the turning coordinates are sequentially changed in the third turning detection range set in relation to the second directly-facing turning coordinates to turn the solar battery panel. A third directly-facing turning coordinate detection process for controlling the position and detecting the third directly-facing turning coordinate at which the panel output is maximum, and a third tilt detection range set in relation to the second directly-facing tilt coordinate. A third turning detection range including a third facing tilt coordinate detection process for controlling the tilt position of the solar cell panel by sequentially changing the tilt coordinates and detecting a third directly facing tilt coordinate at which the panel output is maximum; Uses the second time-dependent turning coordinate or the second time-dependent turning corrected coordinate obtained by performing time-dependent correction on the second facing turning coordinate as the third turning detection reference coordinate, and the second turning displacement in both forward and reverse directions of the third turning detection reference coordinate. Third turning displacement angle defined in advance smaller than the angle The third turn detection range is set from the third turn detection start coordinate to the third turn detection end coordinate set by applying, and the third tilt detection range is corrected with time on the second directly-facing tilt coordinate or the second directly-facing tilt coordinate. The third tilt correction coordinate is set as a third tilt detection reference coordinate, and a third tilt displacement angle set in advance in both the forward and reverse directions of the third tilt detection reference coordinate is set to be smaller than the second tilt displacement angle. It is set as a coordinate from the tilt detection start coordinate to the third tilt detection end coordinate.

  With this configuration, the third turn detection range can be set to a range smaller than the second turn detection range, and the third tilt detection range can be set to a range smaller than the second tilt detection range. The turning coordinate and the third directly-facing tilt coordinate are detected with higher accuracy than the second directly-facing turning coordinate and the second directly-facing tilt coordinate, and the turning coordinate (third directly-facing turning coordinate) with respect to the sun azimuth is detected. By correcting the positional shift of the tilt coordinate (third directly-facing tilt coordinate) with respect to the positional shift and the solar altitude, the swivel position and tilt position of the solar cell panel can be easily and accurately corrected with respect to the solar orbit. It can be made to pair.

  Further, in the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, the detection of the panel output in the third directly-facing turning coordinate detection process and the third directly-facing tilt coordinate detection process is performed by current. It is characterized by being.

  With this configuration, it is possible to detect the maximum value of the panel output multiple times with current, and easily and accurately detect the panel output when the swivel coordinates and tilt coordinates are slightly misaligned with respect to the sun azimuth. Can be executed.

  According to the tracking control method of the tracking drive type photovoltaic power generation apparatus according to the present invention, based on the solar battery panel that converts sunlight into electric power, and the turning coordinates and tilting coordinates that are set corresponding to the solar azimuth angle and the solar altitude. And a tracking control method for a tracking drive type solar power generation apparatus including a tracking control unit that performs tracking control of a turning position and a tilting position of the solar battery panel so as to track the solar orbit. The first turning coordinate is sequentially changed within the first turning detection range set in relation to the turning coordinate to move the turning position of the solar cell panel, and the first directly-facing turning coordinate at which the panel output becomes the maximum value is detected. The tilt coordinates of the solar cell panel are moved by sequentially changing the tilt coordinates in the first tilt detection range set in relation to the process of detecting the direct turning coordinates and the first tilt coordinates corresponding to the solar altitude. Since the first directly-facing tilt coordinate detection process for detecting the first directly-facing tilt coordinate in which the maximum value is detected, the displacement of the turning coordinate (first turning coordinate) with respect to the solar azimuth is determined as the first directly-facing turning coordinate. And the positional deviation of the tilt coordinate (first tilt coordinate) with respect to the solar altitude is detected by the first directly-facing tilt coordinate.

  Therefore, the solar cell panel turns by correcting the positional deviation of the turning coordinate (first directly-facing turning coordinate) with respect to the solar azimuth and the positional deviation of the tilt coordinate θ (first directly-facing tilt coordinate) with respect to the solar altitude. There is an effect that the position and the tilt position can be easily and accurately aligned with the solar orbit (solar azimuth and solar altitude).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Embodiment 1>
Based on FIG. 1A thru | or FIG. 1C, the tracking control method of the tracking drive type solar power generation device which concerns on this Embodiment is demonstrated.

  FIG. 1A is a block diagram showing a schematic configuration in an operating state of the tracking drive solar photovoltaic power generation apparatus according to Embodiment 1 of the present invention.

  The tracking drive type solar power generation apparatus 1 according to the present embodiment includes a solar battery panel 10 that converts sunlight into electric power, and a turning coordinate φ (turning direction Roth set in correspondence with the solar azimuth angle φs and the solar altitude θs. ) And the tilt coordinate θ (tilt direction Rotv), and a tracking control unit 13 that performs tracking control of the turning position and tilt position of the solar cell panel 10 so as to track the solar trajectory.

  Further, the solar cell panel 10 is held by the support column 11, and the turning direction Roth (turning coordinate φ) and the tilting direction Rotv (tilting coordinate θ) are controlled by the drive unit 12 provided on the top surface of the support column 11. The drive unit 12 includes a turning drive unit (not shown) and a tilting drive unit (not shown), and the turning coordinate φ (turning direction Roth) and the tilting coordinate θ (transmitted from the tracking control unit 13 via the control line 13c. It is possible to track the solar orbit based on the tilt direction Rotv).

  The tracking control unit 13 generates a turning coordinate φ (turning direction Roth) and a tilting coordinate θ (tilting direction Rotv) according to data supplied from a personal computer 30 (PC) via the communication line 13b. To supply. In other words, the personal computer 30 has the sun coordinates (sun azimuth angle φs and sun altitude θs) as data, and generates control coordinates (turning coordinates φ and tilt coordinates θ) corresponding to the sun coordinates.

  The electric power generated in the solar cell panel 10 is input to the power monitor panel 20 via the power line 20b, and is output from the power monitor panel 20 to the inverter 40 as a load via the power line 20c. The power monitor panel 20 is installed between the power line 20b and the switch 21 that opens and closes the connection to the solar panel 10, the detection circuit 22 that detects the state of the generated power, and the power line 20c. An output-side circuit breaker 25 that opens and closes a connection to 40 is provided.

  The detection circuit 22 includes a current detection resistor 23 for detecting the magnitude of generated power with a current, and a voltage detection resistor 24 for detecting the magnitude of generated power with a voltage. The current (analog value) detected by the current detection resistor 23 and the voltage (analog value) detected by the voltage detection resistor 24 are transmitted to the A / D conversion unit 26 that performs analog-digital conversion, and the personal computer 30 It is converted into a digital value that can be processed.

  The current data and voltage data converted into digital values are transmitted to the personal computer 30 via the detection line 22b, and the power generation status can be monitored. That is, the personal computer 30 is configured to execute operational management during operation. For example, when a data abnormality (power generation abnormality) occurs during monitoring, a configuration may be adopted in which a warning is output by a computer program incorporated in advance.

  In the present embodiment, one power monitor panel 20 is arranged for one solar cell panel 10, but the power monitor panel 20 can connect a plurality of solar cell panels 10. This is a possible configuration (see FIGS. 6A and 6B).

  When one or several solar cell panels 10 are directly connected to the inverter 40 and operated, the detection circuit 22 is individually detected for each solar cell panel 10 without applying the power monitor panel 20. It is also possible to connect and operate.

  FIG. 1B is a block diagram showing a schematic configuration when executing the tracking control method of the tracking drive solar photovoltaic power generation apparatus according to Embodiment 1 of the present invention.

  The figure shows the connection state of each component block when executing the tracking control method of the tracking drive type solar power generation apparatus 1 according to the present embodiment. That is, the positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs are respectively detected, and the connection state of each component block when correcting the positional deviation is shown. Since the basic configuration is the same as that in the operation state shown in FIG. 1A, different items will be mainly described.

  In the tracking control method (detection of positional deviation, correction of positional deviation) of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, a simulated load 41 is connected instead of the inverter 40. Since the simulated load 41 can be made into a stable load state by, for example, a resistor, it is possible to detect a stable positional deviation and correct the positional deviation.

  Switching between the inverter 40 and the simulated load 41 can be performed safely in a state in which the switch 21 and the output circuit breaker 25 are opened (OFF) and the supply of power from the solar cell panel is excluded. is there. Note that switching between the open state (OFF) / closed state (ON) of the switch 21 and the output-side circuit breaker 25 is performed by receiving an instruction from the personal computer 30 via the control line (not shown). This can be done by transmitting to the instrument 25, but it can also be manual.

  Further, the personal computer 30 can incorporate both an operation program (a computer program used in the operation state of FIG. 1A) and a correction program (a computer program used in the correction state of FIG. 1B). Therefore, the same apparatus can be applied to the personal computer 30 during operation and the personal computer 30 during correction.

  In addition, it is also possible to apply different personal computers at the time of operation and at the time of correction without using the same device. Further, the connection of the tracking control unit 13 and the A / D conversion unit 26 to the personal computer 30 can be performed by appropriately switching, for example, by applying a USB terminal or the like, and thus detailed description thereof is omitted.

  In the connected state of FIG. 1B, a computer program for detecting a positional deviation and a computer program for correcting the positional deviation based on the detected positional deviation are executed. The computer program can be incorporated in the personal computer 30 in advance, display a menu on the display screen of the personal computer 30, and select and execute a corresponding instruction button from the menu (menu button). is there.

  In addition, by setting the personal computer 30 as a dedicated device, it is also possible to have a configuration including a dedicated operation button corresponding to an instruction.

  The details of the tracking control method (position shift detection, position shift correction) executed by the tracking drive type photovoltaic power generation apparatus 1 in the connected state shown in FIG. 1B will be described in Embodiment 2.

  FIG. 1C is a block diagram showing a schematic configuration of a personal computer applied to the execution of the tracking control method of the tracking drive solar photovoltaic power generation apparatus according to Embodiment 1 of the present invention.

  A personal computer 30 applied to the tracking drive type solar power generation apparatus 1 according to the present embodiment includes a CPU (Central Processing Unit) 31 that functions as a control unit for executing an instruction selected via a menu, for example. In addition, a program memory 32, a data memory 33, an RTC (Real Time Clock) 34, a display unit 35, a detection data input unit 36, and a control data output unit 37 are connected to the CPU 31 via a bus 31b.

  In the program memory 32, an operation program for executing a tracking control method for operating the tracking drive type solar power generation device 1, detection of positional deviation of the tracking drive type solar power generation device 1, and correction of positional deviation The positional deviation detection / correction program is installed in advance.

  In the data memory 33, position information corresponding to latitude and longitude, data of solar coordinates (solar azimuth angle φs, solar altitude θs) corresponding to the solar orbit determined based on the position information and time information, a displacement amount, and the like Is stored.

  An RTC (Real Time Clock) 34 is an electronic component that generates the current time and date. Since the time data is provided, it is possible to provide the sun coordinates corresponding to the time with high accuracy.

  The display unit 35 displays, for example, a menu screen, and is configured to be able to select an operation in an operating state as a tracking control method, a position shift detection state as a tracking control method, an operation in a position shift correction state, and the like.

  The detection data input unit 36 receives the current data detected by the current detection resistor 23 and the voltage data detected by the voltage detection resistor 24 as digital data via the A / D conversion unit 26. The CPU 31 can obtain control coordinates (turning coordinate φ, tilting coordinate θ) directly facing the sun based on the input current data and voltage data.

  The current data and voltage data are obtained by sampling the panel output (current data and voltage data input to the CPU 31), for example, every second, storing the sampling data in the data memory 33, and calculating by the personal computer 30. It is possible.

  In addition, the solar cell panel 10 (solar cell) has a characteristic that when the amount of irradiation with sunlight changes, the change in the output voltage is small and the change in the output current is large. Therefore, when detecting by voltage, for example, the coordinate at the center position of the period (turning coordinate φ, tilting coordinate θ) when the measured voltage is 95% or more with respect to the detected maximum value shall be the detection result. Is possible. Further, in the case of detection by current, for example, the coordinates of the position (turning coordinate φ, tilt coordinate θ) corresponding to the detected maximum value can be used as the detection result. In other words, it is possible to adopt a configuration in which voltage data and current data are detected while suppressing the influence of fluctuations in sunlight.

  The control data output unit 37 controls the control coordinates (turning coordinate φ, tilt coordinate θ, for example, first facing turning coordinate φ1m, first facing tilt coordinate θ1m, which will be described later) and sun coordinates (solar orientation) directly facing the obtained sun. Tracking control unit 13 uses new control coordinates (turning coordinate φ, tilt coordinate θ) corrected based on a difference from angle φs and solar altitude θs (control coordinate position shift causing solar panel 10 position shift). Can be output to.

<Embodiment 2>
A tracking control method (tracking control method using a position shift detection / correction program) of the tracking drive solar photovoltaic power generation apparatus according to the present embodiment will be described based on FIGS. 2A to 2C.

  FIG. 2A is a flowchart showing a processing flow state of the first operation pattern when the positional deviation of the tracking drive solar power generation apparatus according to Embodiment 2 of the present invention is detected and corrected.

  FIG. 2B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the first operation pattern shown in FIG. 2A.

  FIG. 2C is a coordinate diagram showing the movement state of the control coordinates in the first operation pattern shown in FIG. 2A.

  The tracking control method (tracking control method to which the position shift detection / correction program is applied) of the tracking drive type photovoltaic power generation apparatus according to the present embodiment is based on a processing flow (first operation pattern) including, for example, step S1 to step S10. It is configured to be executed. The following steps S1 to S10 are configured to be executed by a computer program installed in the personal computer 30 as described above.

Step S1 (process S1):
The sun coordinates (solar azimuth angle φs, solar altitude θs) are specified corresponding to time T1 when the tracking control method to which the positional deviation detection / correction program is applied is executed (started).

  For example, when starting the program at 10:00 am as time T1 (hereinafter, the hour, minute and second are simply shown in the format of time “10:00:00”), for example, “ “Sun azimuth angle φs @ T1 = −30 degrees, solar altitude θs @ T1 = 50 degrees” is specified. The turning coordinate φ and the sun azimuth angle φs are set to 0 degrees in the south center (true south).

  Since the control coordinates (turning coordinate φ, tilt coordinate θ) set in correspondence with the sun coordinates are before correction of the positional deviation, the values of the sun coordinates are set (applied) as they are. That is, the turning coordinate φ and the tilt coordinate θ are changed to the first turning coordinate φ1 (φ1 = −30 degrees) corresponding to the sun azimuth angle φs and the first tilting coordinate θ1 (θ1 = 50 degrees) corresponding to the solar altitude θs. The

  Therefore, the control coordinates are arranged at the position P1 at time T1. Further, the turning position of the solar cell panel 10 moves according to the turning coordinate φ, and the tilt position of the solar cell panel 10 moves according to the tilt coordinate θ. That is, the direction of the solar cell panel 10 is controlled by changing the control coordinates.

Step S2 (process S2):
With the tilt coordinate θ fixed at the first tilt coordinate θ1 (θ1 = 50 degrees), the turning coordinate φ is changed from the first turning coordinate φ1 (φ1 = −30 degrees) in the minus direction to the first turning displacement angle dφ1 (dφ1 = The first turn detection start coordinates (φ1−dφ1) (φ1−dφ1 = −30−15 = −45) are changed.

  That is, the turning coordinate φ is moved from the position P1 (first turning coordinate φ1) to the position P2 (first turning detection start coordinate (φ1-dφ1)). At this time, the time T2 when moving to the position P2 was, for example, the time “10:00:30”. The time required for the movement varies depending on the driving speed of the driving unit 12 (driving speed when the solar cell panel 10 is moved), but the driving speed of the driving unit 12 is set in advance corresponding to the required function. It is.

Step S3 (process S3):
With the first tilt coordinate θ1 (θ1 = 50 degrees) fixed, the turning coordinate φ is changed from the first turning detection start coordinate (φ1−dφ1) (φ1−dφ1 = −45 degrees) to the first turning detection end coordinate (φ1 + dφ1). ) (Φ1 + dφ1 = −30 + 15 = −15 degrees) sequentially.

  That is, the turning coordinate φ is moved from position P2 (first turning detection start coordinate (φ1−dφ1)) to position P3 (first turning detection end coordinate (φ1 + dφ1)). At this time, the time T3 when moving to the position P3 was, for example, the time “10:01:30”.

  In this step, along with the change of the turning coordinate φ, the first directly-facing turning coordinate φ1m at which the panel output (output of the solar cell panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is detected (first). (1 process of detecting the turning coordinate). For example, it is assumed that the first directly-facing turning coordinate φ1m = −25 degrees is detected.

  The maximum value of the panel output can be detected in the form of voltage or current. That is, the first directly-facing turning coordinate φ1m at which the panel output becomes the maximum value can be obtained from the turning coordinate φ when the voltage detected by the voltage detection resistor 24 becomes the maximum value, for example. Alternatively, it may be obtained from the turning coordinate φ when the current detected by the current detection resistor 23 becomes the maximum value.

  In this step, the turning coordinate φ is sequentially changed in the first turning detection range (for example, (φ1−dφ1) to (φ1 + dφ1)) set in relation to the first turning coordinate φ1 corresponding to the sun azimuth angle φs. The turning position of the solar cell panel is moved, and the first directly-facing turning coordinate φ1m at which the panel output becomes the maximum value is detected.

  The first turning detection range has a first turning coordinate φ1 (= −30 degrees) as a first turning detection reference coordinate, and a first turning displacement angle dφ1 (defined in advance in both forward and reverse directions of the first turning detection reference coordinate). = 15 degrees) is set from the first turning detection start coordinate (for example, φ1−dφ1: position P2) set to the first turning detection end coordinate (for example, φ1 + dφ1: position P3).

Step S4 (process S4):
To the first directly-facing turning coordinate φ1m (φ1m = −25 degrees) in which the panel output detected in the first directly-facing turning coordinate detection process S3 is maximum with the first tilt coordinate θ1 (θ1 = 50 degrees) fixed. The turning coordinate φ is matched (first directly-facing turning coordinate matching process).

  That is, the turning coordinate φ is moved from position P3 to position P4 (first directly-facing turning coordinate φ1m). At this time, the time T4 (the first directly-facing turning coordinate setting time) when moving to the position P4 is, for example, the time “10:01:55”.

  It is also possible to execute step S5 in the same state (position P3) without moving the turning coordinate φ to the position P4. In other words, when the coordinate is not matched with the coordinate (first directly-facing turning coordinate φ1m) at which the panel output is the maximum value at the turning coordinate φ, the turning point φ = φ1 + dφ1 is set, and the first directly-facing tilt in the tilt coordinate θ direction of the position P3. The coordinate θ1m (see step S7) is detected.

Step S5 (process S5):
A first time tilt correction coordinate θ1t (θ1t = 52 degrees) is calculated by performing a time correction on the first tilt coordinate θ1 (θ1 = 50 degrees). Further, with the first directly-facing turning coordinate φ1m (φ1m = −25 degrees) fixed, the tilt coordinate θ is changed from the first tilt coordinate θ1 to the first temporal tilt correction coordinate θ1t (first temporal tilt correction process). .

  That is, in a state where the turning coordinate φ is fixed to the first directly-facing turning coordinate φ1m, the tilt coordinate θ is changed and moved from the position P4 to the position P5. At this time, the time T5 when moving to the position P5 is, for example, the time “10:02:00”.

  That is, the passage of time from time T1 (10:00: 00) when the tilt coordinate θ is the first tilt coordinate θ1 to time T4 (10:01: 55) when the turning coordinate φ is aligned with φ = φ1 m. In consideration of the change in the solar altitude θs due to the time, the elapsed time correction is applied to the first tilt coordinate θ1 (see note 2 in FIG. 2B).

  Accordingly, in consideration of the altitude change dθs of the solar altitude θs @ T4 (example: 52 degrees) with respect to the solar altitude θs @ T1 (example: 50 degrees), the tilt coordinate θ1 is changed to the first temporal tilt correction coordinate θ1t (position P5: time). Change to T5). The change target first time-dependent tilt correction coordinate θ1t is obtained by calculating the altitude change dθs as dθs = θs @ T4-θs @ T1 = 52-50 = 2 degrees, and adding the altitude change dθs to the first tilt coordinate θ1. (Θ1t = θ1 + dθs = 50 + 2 = 52 degrees).

  As described above, in this step, before the first directly-facing tilt coordinate detection process S7 described later is executed, the temporal correction that reflects the altitude change dθs (= 2 degrees) of the solar altitude θs over time is performed. A first temporal tilt correction coordinate θ1t applied to the first tilt coordinate θ1 is calculated, and the first tilt detection reference coordinate (see step S7) is replaced in advance from the first tilt coordinate θ1 to the first temporal tilt correction coordinate θ1t. .

  With this configuration, the first directly-facing tilt coordinate detection process S7 is executed by applying the first time-dependent tilt correction coordinate θ1t calculated by reflecting the altitude change dθs of the solar altitude θs over time to the tilt coordinate θ1. Therefore, the first directly-facing tilt coordinate θ1m can be detected with high accuracy in a short time.

  When the time-dependent correction for the tilt coordinate θ is performed in this step, the first tilt detection reference coordinate is changed from the first tilt coordinate θ1 (for example, position P4) to the first time-dependent tilt correction coordinate θ1t (for example, position P5). The first tilt detection start coordinate is replaced with the tilt coordinate (θ1t-dθ1) (position P6) instead of the tilt coordinate (θ1-dθ1), and the first tilt detection end coordinate is tilted instead of the tilt coordinate (θ1 + dθ1). The coordinates are (θ1t + dθ1) (position P7).

  That is, when the time-dependent correction for the first tilt coordinate θ1 (tilt coordinate θ) in this step is not performed, the first time-dependent tilt correction coordinate θ1t is set as the first tilt coordinate θ1 (that is, the time-dependent correction is performed to perform the first time-dependent tilt correction). The subsequent processing is performed with the first tilted coordinate θ1 before the coordinate θ1t.

  When this step (first time-dependent tilt correction process) is not performed, the first time-dependent tilt correction coordinate θ1t is not set, and the tilt coordinate θ remains the first tilt coordinate θ1. Therefore, the first tilt detection start coordinate is not the tilt coordinate (θ1t−dθ1) (position P6) but the tilt coordinate (θ1−dθ1), and the first tilt detection end coordinate is not the tilt coordinate (θ1t + dθ1) (position P7). The coordinates are (θ1 + dθ1).

Step S6 (process S6):
In a state where the first directly-facing turning coordinate φ1m (φ1m = −25 degrees) is fixed, the tilt coordinate θ is changed from the first time-dependent tilt correction coordinate θ1t (θ1t = 52 degrees) in the minus direction to the first tilt displacement angle dθ1 (dθ1 = The first tilt detection start coordinate (θ1t−dθ1) (= 52−5 = 47 °) is changed.

  That is, the tilt coordinate θ is moved from the position P5 (first temporal tilt correction coordinate θ1t) to the position P6 (first tilt detection start coordinate (θ1t−dθ1)). At this time, the time T6 when moving to the position P6 is, for example, “10:02:30”.

Step S7 (process S7):
With the first directly-facing turning coordinate φ1m (φ1m = −25 degrees) fixed, the tilt coordinate θ is changed from the first tilt detection start coordinate (θ1t-dθ1) (= 52-5 = 47 degrees) to the end of the first tilt detection. The coordinates are sequentially changed to (θ1t + dθ1) (= 52 + 5 = 57 degrees).

  That is, the tilt coordinate θ is moved from position P6 (first tilt detection start coordinate (θ1t−dθ1)) to position P7 (first tilt detection end coordinate (θ1t + dθ1)). At this time, the time T7 when moving to the position P7 is, for example, the time “10:03:30”.

  In this step, in conjunction with the change of the tilt coordinate θ, the first directly-facing tilt coordinate θ1m at which the panel output (output of the solar cell panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is detected (first step). 1 face-to-face tilt coordinate detection process). For example, it is assumed that the first directly-facing tilt coordinate θ1m = 53 degrees is detected.

  The first directly-facing tilt coordinate θ1m at which the panel output becomes the maximum value can be obtained, for example, by the turning coordinate φ when the voltage detected by the voltage detection resistor 24 becomes the maximum value. It is also possible to obtain the turning coordinate φ when the current detected by the current detection resistor 23 has the maximum value. Since the voltage or current detection method is the same as that in step S3, the description thereof is omitted (the same applies in the following).

  In this step, the tilt coordinate θ is sequentially changed in the first tilt detection range (eg, (θ1t−dθ1) to (θ1t + dθ1)) set in relation to the first tilt coordinate θ1 corresponding to the solar altitude θs. The tilt position of the battery panel is moved, and the first directly-facing tilt coordinate θ1m at which the panel output becomes the maximum value is detected.

  When time-dependent correction (step S5) is not performed on the tilt coordinate θ, as described in step S5, the tilt coordinate θ1t is set as the tilt coordinate θ1 (before the time-dependent correction is performed to be the first time-dependent tilt correction coordinate θ1t. In this case, the process is performed. That is, in the first tilt detection range, the tilt coordinate θ is moved in the range from the first tilt detection start coordinate (θ1−dθ1) to the first tilt detection end coordinate (θ1 + dθ1).

  Therefore, the first tilt detection range includes the first tilt coordinate θ1 (= 50 degrees) or the first tilt correction coordinate θ1t (= 52 degrees) obtained by correcting the first tilt coordinate θ1 with the first tilt detection reference coordinates. And the first tilt detection start coordinates (example: (θ1t−dθ1: position P6) set by applying a first tilt displacement angle dθ1 (= 5 degrees) defined in advance in both forward and reverse directions of the first tilt detection reference coordinates. ) Or (θ1-dθ1: position P6 correspondence: not shown)) to the first tilt detection end coordinates (example: (θ1t + dθ1: position P7) or (θ1 + dθ1: position P7 correspondence: not shown)).

  In this step (first directly-facing tilt coordinate detection process), a first directly-facing turning coordinate matching process S4 for matching the turning coordinate φ to the first directly-facing turning coordinate φ1m detected in the first directly-facing turning coordinate detection process S3 is performed. After being executed, the configuration is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ (first tilt coordinate θ1) by setting the solar cell panel in a turning direction so as to face the solar trajectory. The directly-facing tilt coordinate θ1m can be detected.

Step S8 (process S8):
With the first directly-facing turning coordinate φ1m (φ1m = −25 degrees) fixed, the first directly-facing tilt coordinate θ1m (θ1m = 53 degrees) that maximizes the panel output detected in the first directly-facing tilt coordinate detection process. The tilt coordinate θ is matched (first directly-facing tilt coordinate matching process). That is, the tilt coordinate θ is moved from position P7 to position P8 (first directly-facing tilt coordinate θ1m). At this time, the time T8 (the first directly-facing tilt coordinate setting time) when moving to the position P8 is, for example, “10:04:00”.

Step S9 (process S9):
A first time-dependent turning correction coordinate φ1mt (φ1mt = −23 degrees) is calculated by performing time-dependent correction on the first directly-facing turning coordinates φ1m (φ1m = −25 degrees). Further, with the first directly-facing tilt coordinate θ1m (θ1m = 53 degrees) fixed, the turning coordinate φ is changed from the first directly-facing turning coordinate φ1m to the first time-dependent turning correction coordinate φ1mt (first time-dependent turning correction process). ).

  That is, in a state where the tilt coordinate θ is fixed to the first directly-facing tilt coordinate θ1m, the turning coordinate φ is changed and moved from the position P8 to the position P9. At this time, the time T9 when moving to the position P9 was, for example, the time “10:04:05”.

  That is, from time T1 (10: 00: 00: 00) when the turning coordinate φ is the first tilt coordinate φ1 to time T8 (10:04:00) when the tilt coordinate θ is aligned with the first directly-facing tilt coordinate θ1m. In consideration of the change in the sun azimuth angle φs over time, the time correction is applied to the first directly-facing turning coordinate φ1m (see note 3 in FIG. 2B).

  Therefore, the first directly-facing turning coordinate φ1m is set to the first time in consideration of the azimuth change dφs of the solar azimuth φs @ T8 (eg, −28 degrees) with respect to the solar azimuth angle φs @ T1 (eg, −30 degrees). Change to turning correction coordinate φ1mt (position P9: time T9). In addition, the change target first time-dependent turning correction coordinate φ1mt is obtained by calculating the azimuth change dφs as dφs = φs @ T8−φs @ T1 = −28 − (− 30) = 2 degrees, and the first directly-facing turning coordinate φ1m Is calculated by adding the azimuth change dφs to (φ1mt = φ1m + dφs = −25 + 2 = −23 degrees).

  As described above, in this step, before executing the second directly-facing turning coordinate detection process S22 to be described later, the time-dependent correction reflecting the azimuth angle change dφs (= 2 degrees) of the solar azimuth angle φs over time. Is calculated on the first directly-facing turning coordinate φ1m, and the second turning detection reference coordinate (see step S22) is calculated from the first directly-facing turning coordinate φ1m to the first time-dependent turning correction coordinate φ1mt. Has been previously replaced.

  With this configuration, the subsequent aging correction coordinate φ1mt calculated by reflecting the azimuth angle change dφs of the sun azimuth angle φs over time in the first directly-facing turning coordinate φ1m is applied (second operation). Pattern) can be executed, so that the second directly-facing turning coordinate φ2m can be detected with high accuracy in a short time.

  When the time-dependent correction for the turning coordinate φ is performed in this step, the second turning detection reference coordinate is changed from the first directly-facing turning coordinate φ1m (corresponding to the position P8) to the first time-dependent turning correction coordinate φ1mt (corresponding to the position P9). The second turning detection start coordinate is replaced with the turning coordinate (φ1mt−dφ2) (position P21) instead of the turning coordinate (φ1m−dφ2), and the second turning detection end coordinate is turned instead of the turning coordinate (φ1m + dφ2). The coordinates are (φ1mt + dφ2) (position P22).

  That is, in the case where the time correction for the first directly-facing turning coordinate φ1m (turning coordinate φ) is not performed in this step, the first time-dependent turning correction coordinate φ1mt is set as the first directly-facing turning coordinate φ1m (that is, the time correction is performed and the first correction is made. Subsequent processing is performed with the first directly-facing turning coordinate φ1m before the one-time turning correction coordinate φ1mt is maintained.

  If this step (first time-dependent turning correction process) is not performed, the first time-dependent turning correction coordinate φ1mt is not set, and the turning coordinate φ remains the first directly-facing turning coordinate φ1m. Accordingly, the second turning detection start coordinate is not the turning coordinate (φ1mt−dφ2) (position P21) but the turning coordinate (φ1m−dφ2), and the second turning detection end coordinate is not the turning coordinate (φ1mt + dφ2) (position P22). The coordinates are (φ1m + dφ2).

  In steps S1 to S9 described above, the first directly-facing turning coordinate φ1m and the first directly-facing tilt coordinate θ1m are detected, and the turning coordinate φ and the tilt coordinate θ are detected as the first directly-facing turning coordinate φ1m and the first directly-facing tilt. It is possible to correspond to the coordinate θ1m. Therefore, after step S9, when the position shift detection is finished and the operation state is set, the process proceeds to step S10.

  In the case of detecting the positional deviation with higher accuracy, the process proceeds to a processing flow (second operation pattern; see FIGS. 3A to 3C) including steps S21 to S29. The form in which the second operation pattern is executed following the first operation pattern can be appropriately executed as a menu selection method.

Step S10 (process S10):
The positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected to drive the solar cell panel 10 (correction driving process). Since the solar cell panel 10 is driven by performing correction based on the first directly-facing turning coordinate φ1m and the first directly-facing tilt coordinate θ1m, it is possible to drive the solar cell panel 10 by correcting the positional deviation easily and with high accuracy. It becomes possible.

  A specific calculation process will be described in the fifth embodiment.

  In addition, when the time correction is not performed on the first directly-facing turning coordinate φ1m (turning coordinate φ) in step S9, the first time-dependent turning correction coordinate φ1mt is processed as the first directly-facing turning coordinate φ1m. That is, the positional deviation of the turning coordinate φ is corrected based on the difference between the sun azimuth angle φs corresponding to the time T8 and the first directly-facing turning coordinate φ1m.

  Note that the first operation pattern can be easily and inexpensively aligned with the solar cell panel 10 by executing the first operation pattern during installation and maintenance management. When applied at the time of installation, the installation work can be greatly simplified, and the cost of the installation process can be greatly reduced.

  Moreover, it is also possible to adopt a configuration that is repeatedly executed at regular intervals, not only during installation and maintenance management. When it is repeatedly executed at regular intervals, it is possible to easily detect the occurrence of an abnormality, and a more accurate control mode can be achieved. Therefore, a more reliable tracking drive type solar power generation apparatus 1 can be used.

  The computer program (position misalignment detection / correction program) that executes the first operation pattern can be installed in combination with the operation program in advance. By combining in advance with the operation program, it becomes possible to adopt a selection menu system in which the operation program and the first operation pattern are linked. The first operation pattern is executed by a simple instruction, and the first operation is performed. After the pattern is completed, the operation mode can be easily set.

  According to the present embodiment, the first directly-facing tilt coordinate θ1m is set at the position P8 (time T8 = 10: 04: 05), and the first temporal turning correction is performed at the position P9 (time T9 = 10: 04: 05). The coordinate φ1mt is set. That is, the control coordinates can be aligned with the tilt position and the turning position where the panel output is maximized in a very short time. Therefore, it is possible to execute alignment with extremely high accuracy easily in a short time.

  In the present embodiment, the time from time T1 (10:00:00) in step S1 to time T9 (10:04:05) in step S9 is 4 minutes and 5 seconds. That is, it is possible to detect the position shift and correct the position shift in a short time of about 4 minutes.

  As described above, the tracking control method (first operation pattern) of the tracking drive type solar power generation apparatus 1 according to the present embodiment includes the solar cell panel 10 that converts sunlight into electric power, the solar azimuth angle φs, and the solar altitude. Tracking drive type sunlight including a tracking control unit 13 for tracking control of the turning position and the tilting position of the solar battery panel 10 so as to track the solar trajectory based on the turning coordinate φ and the tilting coordinate θ set corresponding to θs. The present invention relates to a tracking control method for the power generator 1.

  Moreover, in the tracking control method of the tracking drive type solar power generation device 1 according to the present embodiment, a first turning detection range (for example, set in association with the first turning coordinate φ1 corresponding to the positive azimuth angle φs). (Φ1−dφ1) to (φ1 + dφ1)) sequentially change the turning coordinate φ to move the turning position of the solar cell panel, and detect the first directly facing turning coordinate φ1m at which the panel output becomes the maximum value. The tilt coordinate θ is sequentially changed in the turning coordinate detection process S3 and the first tilt detection range (eg, (θ1t−dθ1) to (θ1t + dθ1)) set in association with the first tilt coordinate θ1 corresponding to the solar altitude θs. And a first directly-facing tilt coordinate detection step S7 for detecting a first directly-facing tilt coordinate θ1m at which the panel output is moved to a maximum value.

  With this configuration, the displacement of the turning coordinate φ (first turning coordinate φ1) with respect to the solar azimuth angle φs is detected by the first directly-facing turning coordinate φ1m, and the position of the tilt coordinate θ (first tilt coordinate θ1) with respect to the solar altitude θs. Since the shift can be detected by the first directly-facing tilt coordinate θ1m, the position coordinate of the turning coordinate φ (first directly-facing turning coordinate φ1m) with respect to the sun azimuth angle φs and the tilt coordinate θ (first) with respect to the solar altitude θs. By correcting the positional deviation of one directly-facing tilt coordinate θ1m), the turning position and tilt position of the solar cell panel 10 are easily and accurately aligned with respect to the solar orbit (solar azimuth φs and solar altitude θs). You can make it.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the first turning detection range is the first turning detection φ with the first turning coordinate φ1 (= −30 degrees) as the first turning detection reference coordinate. First turning detection from first turning detection start coordinates (for example, φ1-dφ1: position P2) set by applying a first turning displacement angle dφ1 (= 15 degrees) defined in advance in both the forward and reverse directions of the detection reference coordinates. The first tilt detection range is the first tilt coordinate θ1 (= 50 degrees) or the first tilt correction coordinate θ1t obtained by performing the time correction on the first tilt coordinate θ1 up to the end coordinates (for example, φ1 + dφ1: position P3). (= 52 degrees) is a first tilt detection reference coordinate, and a first tilt detection is set by applying a first tilt displacement angle dθ1 (= 5 degrees) defined in advance in both forward and reverse directions of the first tilt detection reference coordinate. Start coordinates (example: (θ1t−dθ1: position P6)) or (θ -Dishita1: position P6 corresponding: set as to not shown)) from the unshown)) first tilt detection end coordinate (eg: (θ1t + dθ1: Position P7) or (.theta.1 + d? 1: Position P7 corresponds.

  With this configuration, the first turning detection range (= 30 degrees) and the first tilt detection range (= 10 degrees) can be set easily and with high accuracy, and the first directly-facing turning coordinate φ1m can be easily and with high accuracy. In addition, the first directly-facing tilt coordinate θ1m can be detected.

  Further, in the first operation pattern, the first turning displacement angle φ1 can be set to a relatively large angle such as ± 15 degrees and the first tilt displacement angle θ1 can be set to ± 5 degrees. The installation accuracy of the solar battery panel 10 is determined by detecting the first directly-facing turning coordinate φ1m in the first turning detection range by the first turning displacement angle φ1 and in the first inclination detection range by the first inclination displacement angle θ1. Since it is sufficient that the first directly-facing tilt coordinate θ1m can be detected, the time and labor required for the installation work can be greatly reduced. In other words, even if the alignment accuracy at the time of installation is low, it is possible to perform alignment with high accuracy, so that the installation work can be greatly simplified and the installation cost can be greatly reduced. it can.

  In the tracking control method of the tracking drive solar photovoltaic power generation device 1 according to the present embodiment, the first directly facing turning coordinate φ is aligned with the first directly facing turning coordinate φ1m detected in the first directly facing turning coordinate detecting step S3. After the turning coordinate matching process S4 is executed, the first directly-facing tilt coordinate detection process S7 is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ (first tilt coordinate θ1) by setting the solar cell panel 10 in the turning direction so as to face the solar trajectory. One directly-facing tilt coordinate θ1m can be detected.

  In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, before executing the first directly-facing tilt coordinate detection process S7, the altitude change dθs (= 2) of the solar altitude θs over time. A first time-dependent tilt correction coordinate θ1t obtained by applying a time-dependent correction reflecting the degree) to the first tilt coordinate θ1 is calculated, and the first tilt detection reference coordinate is changed from the first tilt coordinate θ1 to the first time-dependent tilt correction coordinate θ1t. It has been replaced in advance (first temporal tilt correction process S5).

  With this configuration, the first directly-facing tilt coordinate detection process S7 is executed by applying the first time-dependent tilt correction coordinate θ1t calculated by reflecting the altitude change dθs of the solar altitude θs over time to the tilt coordinate θ1. Therefore, the first directly-facing tilt coordinate θ1m can be detected with high accuracy in a short time.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected. The correction driving process S10 for driving the solar cell panel 10 is provided. Therefore, since the solar cell panel 10 is driven by performing the correction based on the first directly-facing turning coordinate φ1m and the first directly-facing tilt coordinate θ1m, the positional deviation is easily and accurately corrected and the solar cell panel 10 is driven. It becomes possible.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the panel output is detected by the voltage in the first directly-facing turning coordinate detection process S3 and the first directly-facing tilt coordinate detection process S7. It is as a structure. Therefore, even when the tracking shift is relatively large, the panel output can be easily detected with a simple configuration.

  In the tracking control method of the tracking drive solar photovoltaic power generator 1 according to the present embodiment, the panel output is detected by the current in the first directly-facing turning coordinate detection process S3 and the first directly-facing tilt coordinate detection process S7. It is as a structure. Therefore, the panel output can be detected with high accuracy with a simple configuration.

<Embodiment 3>
Based on FIG. 3A thru | or FIG. 3C, the tracking control method (tracking control method which applied the position shift detection / correction program) of the tracking drive type solar power generation device which concerns on this Embodiment is demonstrated.

  FIG. 3A is a flowchart showing a processing flow state of the second operation pattern when the positional deviation of the tracking drive solar power generation apparatus according to Embodiment 3 of the present invention is detected and corrected.

  FIG. 3B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the second operation pattern shown in FIG. 3A.

  FIG. 3C is a coordinate diagram showing the movement state of the control coordinates in the second motion pattern shown in FIG. 3A in terms of coordinates.

  The tracking control method (tracking control method to which the position shift detection / correction program is applied) of the tracking drive type solar power generation apparatus according to the present embodiment is based on a processing flow (second operation pattern) including, for example, step S21 to step S29. It is configured to be executed. The following steps S21 to S29 are executed by a computer program installed in the personal computer 30 as described above.

  Note that the second operation pattern is configured to be continuously executed after step S9 (position P9, time T9) in the first operation pattern of the second embodiment. The form in which the second operation pattern is executed following the first operation pattern can be appropriately executed as a menu selection method. Further, since the basic configuration and operational effects of the second operation pattern are the same as those of the first operation pattern, different items will be mainly described.

Step S21 (process S21):
In a state where the first directly-facing tilt coordinate θ1m (θ1m = 53 degrees) is fixed, the turning coordinate φ is changed from the first elapsed turning correction coordinate φ1mt (φ1mt = −23 degrees) to the minus direction, and the second turning displacement angle dφ2 (dφ2 = 5 degrees) to change to the second turning detection start coordinates (φ1mt−dφ2) (φ1mt−dφ2 = −23−5 = −28 degrees).

  That is, the turning coordinate φ is moved from position P9 (first time-dependent turning correction coordinate φ1mt) to position P21 (second turning detection start coordinate (φ1mt−dφ2)). At this time, the time T21 when moving to the position P21 is, for example, the time “10:04:20”.

Step S22 (process S22):
With the first directly-facing tilt coordinate θ1m (θ1m = 53 degrees) fixed, the turning coordinate φ is changed from the second turning detection start coordinate (φ1mt−dφ2) (φ1mt−dφ2 = −28 °) to the second turning detection end coordinate. Change sequentially to (φ1mt + dφ2) (φ1mt + dφ2 = −23 + 5 = −18 degrees).

  That is, the turning coordinate φ is moved from position P21 (second turning detection start coordinate (φ1mt−dφ2)) to position P22 (second turning detection end coordinate (φ1mt + dφ2)). At this time, the time T22 when moving to the position P22 is, for example, the time “10:05:00”.

  In this step, the second directly-facing turning coordinate φ2m at which the panel output (output of the solar battery panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is also detected (second directly-facing turning coordinate detection). process).

  For example, it is assumed that the second directly-facing turning coordinate φ2m = −26 degrees is detected. Note that the second directly-facing turning coordinate φ2m at which the panel output becomes the maximum value can be obtained from the turning coordinate φ when the current detected by the current detection resistor 23 becomes the maximum value, for example. Since the turning coordinate φ when the current that reacts sensitively to the positional deviation of the solar cell panel 10 with respect to sunlight becomes the maximum value is obtained, the turning coordinate φ can be obtained with high accuracy.

  That is, in this step, the turning coordinate φ is sequentially changed in the second turning detection range (for example, (φ1mt−dφ2) to (φ1mt + dφ2)) set in relation to the first directly-facing turning coordinate φ1m. And the second directly-facing turning coordinate φ2m at which the panel output becomes the maximum value is detected.

  Note that the second turning detection range includes the first directly-facing turning coordinate φ1m (= −25 degrees) or the first time-dependent turning corrected coordinate φ1mt (= −23 degrees) obtained by correcting the first facing turning coordinate φ1m over time. Applying a second turning displacement angle dφ2 (= 5 degrees), which is defined in advance smaller than the first turning displacement angle dφ1 (= 15 degrees) in the forward and reverse directions of the second turning detection reference coordinates, as the second turning detection reference coordinates From the set second turning detection start coordinates (example: (φ1mt-dφ2: position P21) or (φ1m-dφ2: corresponding to position P21: not shown)), the second turning detection end coordinates (example: (φ1mt + dφ2: position P22) Or (φ1m + dφ2: position P22 correspondence: not shown)).

  In step S9, when the time correction for the first directly-facing turning coordinate φ1m (turning coordinate φ) is not performed, as described above, the first time-dependent turning correction coordinate φ1mt is processed as the first directly-facing turning coordinate φ1m.

Step S23 (process S23):
With the second directly-facing tilt coordinate θ2m (θ1m = 53 degrees) fixed, the turning coordinate φ is set to the second directly-facing turning coordinate φ2m (φ2m = −26 degrees) detected in the second directly-facing turning coordinate detection step S22. Align (second directly-facing turning coordinate alignment process).

  That is, the turning coordinate φ is moved from position P22 to position P23 (second directly-facing turning coordinate φ2m). At this time, the time T23 (the second directly-facing turning coordinate setting time) when moving to the position P23 is, for example, the time “10:05:20”.

  It is also possible to execute step S24 in the state as it is (position P22) without moving the turning coordinate φ to the position P23. That is, when the coordinate is not matched with the coordinate at which the panel output becomes the maximum value at the turning coordinate φ (second directly-facing turning coordinate φ2m), the turning point φ = φ1mt + dφ2 and the second directly-facing tilt in the tilt coordinate θ direction of the position P22. The coordinate θ2m (see step S26) is detected.

Step S24 (process S24):
A first temporal tilt correction coordinate θ1m (θ1mt = 54 degrees) is calculated by performing temporal correction on the first directly-facing tilt coordinate θ1m (θ1m = 53 degrees). Further, with the second directly-facing turning coordinate φ2m (φ2m = −26 degrees) fixed, the tilt coordinate θ is changed from the first directly-facing tilt coordinate θ1m to the second temporal tilt correction coordinate θ1mt (second temporal tilt correction). process).

  That is, with the turning coordinate φ fixed at the second directly-facing turning coordinate φ2m, the tilt coordinate θ is changed and moved from the position P23 to the position P24. At this time, the time T24 when moving to the position P24 was, for example, the time “10:05:25”.

  That is, the time from time T8 (10:04:00) when the tilt coordinate θ is the first directly-facing tilt coordinate θ1m to time T23 (10:05:20) when the turning coordinate φ is matched to φ = φ2m. In consideration of the change in the solar altitude θs due to the elapse of time, the time lapse correction is applied to the first directly-facing tilt coordinate θ1m (see note 2 in FIG. 3B).

  Therefore, in consideration of the altitude change dθs of the solar altitude θs @ T23 (example: 55 degrees) with respect to the solar altitude θs @ T8 (example: 54 degrees), the first directly-facing tilt coordinate θ1m is changed to the second temporal tilt correction coordinate θ1mt ( Change to position P24: time T24). Note that the second time-dependent tilt correction coordinate θ1mt to be changed is obtained by calculating the altitude change dθs as dθs = θs @ T23−θs @ T8 = 55−54 = 1 degree, and the altitude change dθs to the first directly-facing tilt coordinate θ1m. (Θ1mt = θ1m + dθs = 53 + 1 = 54 degrees).

  As described above, in this step, before the second directly-facing tilt coordinate detection process S26 described later is executed, the time-dependent correction reflecting the altitude change dθs (= 1 degree) of the solar altitude θs over time is performed. The second time-corrected tilt coordinate θ1mt applied to the first directly-facing tilt coordinate θ1m is calculated, and the second tilt detection reference coordinate (see step S26) is preliminarily changed from the first directly-facing tilt coordinate θ1m to the second time-dependent tilt corrected coordinate θ1mt. Has been replaced.

  With this configuration, the second directly-facing tilt coordinate detection process S26 is performed by applying the second time-dependent corrected tilt coordinate θ1mt calculated by reflecting the altitude change dθs of the solar altitude θ due to the elapsed time to the first directly-facing tilt coordinate θ1m. Since it can be executed, the second directly-facing tilt coordinate θ2m can be detected with high accuracy in a short time.

  When the time-dependent correction is applied to the tilt coordinate θ in this step, the second tilt detection reference coordinate is changed from the first directly-facing tilt coordinate θ1m (eg, position P23) to the second time-dependent tilt correction coordinate θ1mt (eg, position P24). The second tilt detection start coordinate is replaced with the tilt coordinate (θ1mt−dθ2) (position P25) instead of the tilt coordinate (θ1m−dθ2), and the second tilt detection end coordinate is replaced with the tilt coordinate (θ1m + dθ2). Tilt coordinate (θ1mt + dθ2) (position P26).

  That is, in the case where the time-dependent correction for the first directly-facing tilt coordinate θ1m (tilt coordinate θ) in this step is not performed, the second time-dependent tilt correction coordinate θ1mt is set as the first directly-facing tilt coordinate θ1m (that is, the first time-corrected tilt coordinate θ1m is corrected and time-corrected). 2) The subsequent processing is performed with the first directly-facing tilt coordinate θ1m before the 2-time tilt correction coordinate θ1mt is maintained.

  If this step (second temporal tilt correction process) is not performed, the second temporal tilt correction coordinate θ1mt is not set, and the tilt coordinate θ remains the first directly-facing tilt coordinate θ1m. Therefore, the second tilt detection start coordinate is not the tilt coordinate (θ1mt−dθ2) (position P25) but the tilt coordinate (θ1m−dθ2), and the second tilt detection end coordinate is not the tilt coordinate (θ1mt + dθ2) (position P26) but the tilt coordinate. The coordinates are (θ1m + dθ2).

Step S25 (process S25):
In a state where the second directly-facing turning coordinate φ2m (φ2m = −26 degrees) is fixed, the tilt coordinate θ is changed from the second time-dependent tilt correction coordinate θ1mt (θ1mt = 54 degrees) to the minus direction, and the second tilt displacement angle dθ2 (dθ2 = The second tilt detection start coordinate (θ1mt-dθ2) (θ1mt-dθ2 = 54-2 = 52) is changed.

  That is, the tilt coordinate θ is moved from position P24 (second time-dependent tilt correction coordinate θ1mt) to position P25 (second tilt detection start coordinate (θ1mt−dθ2)). At this time, the time T25 when moving to the position P25 was, for example, “10:05:40”.

Step S26 (process S26):
With the second directly-facing turning coordinate φ2m (φ2m = −26 degrees) fixed, the tilt coordinate θ is changed from the second tilt detection start coordinate (θ1mt-dθ2) (= 54-2 = 52 degrees) to the end of the second tilt detection. The coordinates are sequentially changed to (θ1mt + dθ2) (θ1mt + dθ2 = 54 + 2 = 56).

  That is, the tilt coordinate θ is moved from the position P25 (second tilt detection start coordinate (θ1mt−dθ2)) to the position P26 (second tilt detection end coordinate (θ1mt + dθ2)). At this time, the time T26 when moving to the position P26 was, for example, the time “10:06:20”.

  In this step, in conjunction with the change of the tilt coordinate θ, the second directly-facing tilt coordinate θ2m at which the panel output (output of the solar cell panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is detected (first step). (2) Face-to-face tilt coordinate detection process). For example, it is assumed that the second directly-facing tilt coordinate θ2m = 54.5 degrees is detected.

  Note that the second directly-facing tilt coordinate θ2m at which the panel output becomes the maximum value can be obtained by, for example, the turning coordinate φ when the current detected by the current detection resistor 23 has the maximum value. By detecting a current that closely follows the positional deviation, it is possible to perform detection with higher accuracy compared to voltage detection.

  In this step, the tilt coordinate θ is sequentially changed in a second tilt detection range (eg, (θ1mt−dθ2) to (θ1mt + dθ2)) set in association with the first directly-facing tilt coordinate θ1m corresponding to the solar altitude θs. Then, the tilt position of the solar cell panel is moved to detect the second directly-facing tilt coordinate θ2m at which the panel output becomes the maximum value.

  When the time-dependent correction (step S24) is not performed on the tilt coordinate θ, the tilt coordinate θ1mt is set as the first directly-facing tilt coordinate θ1m as described in step S24 (the time-dependent correction is performed to obtain the second time-dependent tilt correction coordinate. Processing is performed with the first directly-facing tilt coordinate θ1m before θ1mt is set. That is, the second tilt detection range in the second directly-facing tilt coordinate detection process moves the tilt coordinate θ in the range from the second tilt detection start coordinate (θ1m−dθ2) to the second tilt detection end coordinate (θ1m + dθ2). It will be.

  Therefore, the second tilt detection range includes the first directly-facing tilt coordinate θ1m (= 53 degrees) or the second straight-line tilt correction coordinate θ1mt (= 54 degrees) obtained by performing the temporal correction on the first directly-facing tilt coordinate θ1m. The tilt detection reference coordinates are set by applying a second tilt displacement angle dθ2 (= 2 degrees) that is defined in advance in both the forward and reverse directions of the second tilt detection reference coordinates to be smaller than the first tilt displacement angle dθ1 (= 5 degrees). The second tilt detection start coordinates (example: (θ1mt-dθ2: position P25) or (θ1m-dθ2: corresponding to position P25: not shown)) to the second tilt detection end coordinates (example: (θ1mt + dθ2: position P26)) or ( θ1m + dθ2: position P26 correspondence: not shown))).

  In this step (second directly-facing tilt coordinate detecting process), a second directly-facing turning coordinate matching process S23 for matching the turning coordinate φ to the second directly-facing turning coordinate φ2m detected in the second directly-facing turning coordinate detecting process S22 is performed. After being executed, the configuration is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ by setting the solar cell panel to the solar orbit in the turning direction, so the second directly-facing tilt coordinate θ2m is accurately detected. can do.

Step S27 (process S27):
In a state where the second directly-facing turning coordinate φ2m (φ2m = −26 degrees) is fixed, the second directly-facing tilt coordinate θ2m (θ2m = 54.54) that maximizes the panel output detected in the second directly-facing tilt coordinate detection step S26. The tilt coordinate θ is matched to 5 degrees (second directly-facing tilt coordinate matching process). That is, the tilt coordinate θ is moved from position P26 to position P27 (second directly-facing tilt coordinate θ2m). At this time, the time T27 (second directly-facing tilt coordinate setting time) when moving to the position P27 is, for example, “10:06:30”.

Step S28 (process S28):
A second time-dependent turning correction coordinate φ2mt (φ2mt = −23 degrees) is calculated by performing time-dependent correction on the second directly-facing turning coordinates φ2m (φ2m = −26 degrees). Further, with the second directly-facing tilt coordinate θ2m (θ2m = 54.5 degrees) fixed, the turning coordinate φ is changed from the second directly-facing turning coordinate φ2m to the second time-dependent turning correction coordinate φ2mt (second time-turning turning). Correction process).

  That is, with the tilt coordinate θ fixed at the second directly-facing tilt coordinate θ2m, the turning coordinate φ is changed and moved from the position P27 to the position P28. At this time, the time T28 when moving to the position P28 was, for example, the time “10:06:35”.

  That is, time T27 (10:06:30) when the tilt coordinate θ is aligned with the second directly-facing tilt coordinate θ2m from the time T23 (10:05:20) when the turning coordinate φ is the second directly-facing turning coordinate φ2m. In consideration of the change in the sun azimuth angle φs over time until the second), the time lapse correction is applied to the second directly-facing turning coordinate φ2m (see note 3 in FIG. 3B).

  Therefore, in consideration of the azimuth angle change dφs of the sun azimuth angle φs @ T27 (example: −21 degrees) relative to the sun azimuth angle φs @ T23 (example: −24 degrees), the second directly-facing turning coordinate φ2m is set to the second time The turning correction coordinate φ2mt is changed (position P28: time T28). Note that the second second-time turning correction coordinate φ2mt of the change destination is obtained by determining the azimuth change dφs as dφs = φs @ T27−φs @ T23 = −21 − (− 24) = 3 degrees, and the second directly-facing turning coordinate φ2m Is calculated by adding the azimuth change dφs to (φ2mt = φ2m + dφs = −26 + 3 = −23 degrees).

  As described above, in this step, before executing the third directly-facing turning coordinate detection process S32 described later, the time-dependent correction reflecting the azimuth angle change dφs (= 3 degrees) of the solar azimuth angle φs over time. Is calculated on the second directly-facing turning coordinate φ2m, and the third turning detection reference coordinate (see step S32) is calculated from the second directly-facing turning coordinate φ1m to the second time-dependent turning correction coordinate φ2mt. Has been previously replaced.

  With this configuration, the subsequent aging correction coordinate φ2mt calculated by reflecting the azimuth angle change dφs of the sun azimuth angle φs over time to the second directly-facing turning coordinate φ2m is applied to perform subsequent processing (third operation). Pattern) can be executed, so that the third directly-facing turning coordinate φ3m can be detected with high accuracy in a short time.

  When the time-dependent correction is performed on the turning coordinate φ in this step, the third turning detection reference coordinate is changed from the second directly-facing turning coordinate φ2m (corresponding to the position P27) to the second time-dependent turning correction coordinate φ2mt (corresponding to the position P28). The third turn detection start coordinate is replaced with the turn coordinate (φ2mt−dφ3) (position P31) instead of the turn coordinate (φ2m−dφ3), and the third turn detection end coordinate is turned instead of the turn coordinate (φ2m + dφ3). The coordinates are (φ2mt + dφ3) (position P32).

  That is, in the case where the time-dependent correction for the second directly-facing turning coordinate φ2m (turning coordinate φ) is not performed in this step, the second time-dependent turning correction coordinate φ2mt is set as the second directly-facing turning coordinate φ2m (that is, the time-corrected first time is applied). Subsequent processing is performed with the second directly-facing turning coordinate φ2m before the 2-time turning correction coordinate φ2mt is maintained.

  If this step (second time-dependent turning correction process) is not executed, the second time-dependent turning correction coordinate φ2mt is not set, and the turning coordinate φ remains the second directly-facing turning coordinate φ2m. Accordingly, the third turning detection start coordinate is not the turning coordinate (φ2mt−dφ3) (position P31) but the turning coordinate (φ2m−dφ3), and the third turning detection end coordinate is not the turning coordinate (φ2mt + dφ3) (position P32). The coordinates are (φ2m + dφ3).

  In steps S21 to S28, the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m are detected, and the turning coordinate φ and the tilt coordinate θ are detected as the second directly-facing turning coordinate φ2m and the second directly-facing tilt. It is possible to correspond to the coordinate θ2m. Therefore, after step S28, when the position shift detection is ended and the operation state is set, the process proceeds to step S29.

  In the case of detecting a positional shift with higher accuracy, the process proceeds to a processing flow including a step S31 to a step S39 (third operation pattern, see FIGS. 4A to 4C). A mode in which the third operation pattern is executed following the second operation pattern can be appropriately executed as a menu selection method.

Step S29 (process S29):
The positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected to drive the solar cell panel 10 (correction driving process). Since the solar cell panel 10 is driven by performing correction based on the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m, the solar cell panel 10 can be driven by correcting the positional deviation easily and with high accuracy. It becomes possible.

  A specific calculation process will be described in the fifth embodiment.

  Further, in the case where the time correction for the second directly-facing turning coordinate φ2m (turning coordinate φ) is not performed in step S28, the second time-dependent turning correction coordinate φ2mt is processed as the second directly-facing turning coordinate φ2m. That is, the positional deviation of the turning coordinate φ is corrected based on the difference between the sun azimuth angle φs corresponding to the time T27 and the second directly-facing turning coordinate φ2m.

  According to the present embodiment, the second directly-facing tilt coordinate θ2m is set at the position P27 (time T27 = 10: 06: 30), and the second time passes at the position P28 (time T28 = 10: 06: 35). The turning correction coordinate φ2mt is set. That is, the control coordinates can be aligned with the tilt position and the turning position where the panel output is maximized in a very short time. Therefore, it is possible to execute alignment with extremely high accuracy easily in a short time.

  In the present embodiment, the time from time T9 (10:04:05) in step S9 to time T28 (10:06:35) in step S28 is 2 minutes 30 seconds. In other words, it is possible to detect the positional deviation and correct the positional deviation in a short time of about 2 minutes and 30 seconds. Compared to the first embodiment, the highly accurate alignment can be performed in a shorter time. It becomes possible to execute.

  As described above, the tracking control method (second operation pattern) of the tracking drive solar photovoltaic power generation device 1 according to the present embodiment is configured to be executed continuously from the second embodiment (first operation pattern). The swivel coordinate φ is sequentially changed within the second swivel detection range (eg, (φ1mt−dφ2) to (φ1mt + dφ2)) set in relation to the first directly-facing swivel coordinate φ1m to move the swivel position of the solar cell panel And the second directly-facing turning coordinate detection process S22 for detecting the second directly-facing turning coordinate φ2m having the maximum panel output, and the second tilt detection range set in association with the first directly-facing tilt coordinate θ1m ( Example: Secondly, the tilt coordinate θ is sequentially changed by (θ1mt−dθ2) to (θ1mt + dθ2)) to move the tilt position of the solar cell panel, and the second directly-facing tilt coordinate θ2m at which the panel output becomes the maximum value is detected. Directly inclined coordinates And a detection step S26.

  With this configuration, the second turning detection range (example) in which the positional deviation of the first directly-facing turning coordinate φ1m with respect to the sun azimuth angle φs is smaller than the first turning detection range (example: (φ1−dφ1) to (φ1 + dφ1) = 30 degrees). : (Φ1mt−dφ2) to (φ1mt + dφ2) = 10 degrees) is detected with high accuracy by the second directly-facing turning coordinate φ2m, and the first tilt detection of the positional deviation of the first directly-facing tilt coordinate θ1m with respect to the solar altitude θs The second directly-facing tilt coordinate θ2m detected in the second tilt detection range (for example, (θ1mt−dθ2) to (θ1mt + dθ2) = 4 degrees) smaller than the range (example: (θ1t−dθ1) to (θ1t + dθ1) = 10 degrees). Therefore, it is possible to detect with high accuracy, the positional deviation of the turning coordinate φ (second directly-facing turning coordinate φ2m) with respect to the solar azimuth angle φs and the tilt coordinate θ (second directly-facing tilt with respect to the solar altitude θs). By correcting the positional deviation of the target Shita2m) respectively, it may be so as to directly face easily and more accurately the pivoting position and tilt position of the solar cell panel the solar orbit.

  In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, the second turning detection range is set to the first directly-facing turning coordinate φ1m (= −25 degrees) or the first directly-facing turning coordinate φ1m. The corrected first timed turn correction coordinate φ1mt (= −23 degrees) is set as the second turn detection reference coordinate, and is smaller than the first turn displacement angle dφ1 (= 15 degrees) in both forward and reverse directions of the second turn detection reference coordinate. Second turning detection start coordinates (example: (φ1mt-dφ2: position P21) or (φ1m-dφ2: position P21 correspondence) set by applying the prescribed second turning displacement angle dφ2 (= 5 degrees): not shown )) To the second turning detection end coordinates (example: (φ1mt + dφ2: position P22) or (φ1m + dφ2: position P22 correspondence: not shown)), and the second tilt detection range is the first directly-facing tilt coordinate θ1m ( = 53 degrees) or The second tilt correction coordinate θ1mt (= 54 degrees) obtained by correcting the first directly-facing tilt coordinate θ1m with time is set as the second tilt detection reference coordinate, and the first tilt displacement angle dθ1 in both the forward and reverse directions of the second tilt detection reference coordinate. The second tilt detection start coordinates (example: (θ1mt−dθ2: position P25)) or (θ1m−) set by applying a second tilt displacement angle dθ2 (= 2 °) defined to be smaller than (= 5 degrees) in advance. dθ2: position P25 correspondence: not shown)) to the second tilt detection end coordinates (example: (θ1mt + dθ2: position P26) or (θ1m + dθ2: position P26 correspondence: not shown)).

  With this configuration, the second turning detection range (= 10 degrees) and the second tilt detection range (= 4 degrees) are smaller than the first turning detection range (= 30 degrees) and the first tilt detection range (= 10 degrees). Therefore, the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m are more accurately compared with the first directly-facing turning coordinate φ1m and the first directly-facing tilt coordinate θ1m. Can be detected.

  In addition, in the second operation pattern (following operation pattern), since the position shift in a narrower range than the first operation pattern (previous operation pattern) is detected, it is possible to narrow down the position shift range sequentially. Thus, efficient alignment is possible. In other words, it is possible to reliably improve the positional deviation detection accuracy by repeating an operation pattern corresponding to the degree of light collection accuracy (condensation magnification). Therefore, even when applied to a high-magnification concentrating solar power generation device, alignment according to the high magnification can be performed.

    In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, the azimuth angle change dφs (dφs () of the solar azimuth angle φs over time before the second directly-facing turning coordinate detection process S22 is executed. = 2 degrees), a first time-dependent turning correction coordinate φ1mt obtained by applying time-dependent correction to the first directly-facing turning coordinate φ1m is calculated, and the second turning detection reference coordinate is the first from the first directly-facing turning coordinate φ1m. The time-dependent turning correction coordinate φ1mt has been replaced in advance (first time-dependent turning correction process S9).

  With this configuration, the subsequent aging correction coordinate φ1mt calculated by reflecting the azimuth angle change dφs of the sun azimuth angle φs over time in the first directly-facing turning coordinate φ1m is applied (second operation). Pattern) can be executed, so that the second directly-facing turning coordinate φ2m can be detected with high accuracy in a short time.

  In the tracking control method of the tracking drive solar photovoltaic power generation device 1 according to the present embodiment, the second directly facing turning coordinate φ is aligned with the second directly facing turning coordinate φ2m detected in the second directly facing turning coordinate detecting step S22. After the turning coordinate matching process S23 is executed, the second directly-facing tilt coordinate detection process S26 is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ by causing the solar cell panel 10 to face the solar trajectory in the turning direction, so the second directly-facing tilt coordinate θ2m can be accurately set. Can be detected.

    In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, before executing the second directly-facing tilt coordinate detection process S26, the altitude change dθs (= 1) of the solar altitude θs over time. Degree) is applied to the first directly-facing tilt coordinate θ1m, and the second tilt-corrected tilt coordinate θ1mt is calculated, and the second tilt detection reference coordinate is the second time-lapse tilt from the first directly-facing tilt coordinate θ1m. It has been previously replaced with the correction coordinate θ1mt (second time-dependent tilt correction process S24).

  With this configuration, the second directly-facing tilt coordinate detection process S26 is performed by applying the second time-dependent corrected tilt coordinate θ1mt calculated by reflecting the altitude change dθs of the solar altitude θ due to the elapsed time to the first directly-facing tilt coordinate θ1m. Since it can be executed, the second directly-facing tilt coordinate θ2m can be detected with high accuracy in a short time.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected. The correction driving process S29 for driving the solar cell panel 10 is provided. Therefore, since the solar cell panel 10 is driven by performing the correction based on the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m, the positional deviation is easily and accurately corrected to drive the solar cell panel 10. It becomes possible.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the panel output is detected by the voltage in the first directly-facing turning coordinate detection process S3 and the first directly-facing tilt coordinate detection process S7. The panel output detection in the second directly-facing turning coordinate detection process S22 and the second directly-facing tilt coordinate detection process S26 is performed by an electric current.

  With this configuration, in the previous process (first directly-facing turning coordinate detection process S3 and first directly-facing tilt coordinate detection process S7), the panel output is easily detected by voltage, and the subsequent process (second directly-facing turning coordinate detection process). In the process S22 and the second directly-facing tilt coordinate detection process S26), it becomes possible to detect the panel output with high accuracy by the current, and easily and accurately detect the displacement of the turning coordinate and the tilt coordinate with respect to the solar azimuth. can do.

  In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, the panel output detection in the first directly-facing turning coordinate detection process S3 and the first directly-facing tilt coordinate detection process S7, and the second The panel output detection in the directly-facing turning coordinate detection process S22 and the second directly-facing tilt coordinate detection process S26 is performed by current.

  With this configuration, the previous process (first directly-facing turning coordinate detection process S3 and first directly-facing tilt coordinate detection process S7) and the subsequent process (second directly-facing turning coordinate detection process S22 and second directly-facing tilt) In the coordinate detection process S26), it is possible to detect the panel output with high accuracy by the current, and easily and accurately detect the displacement of the turning coordinate with respect to the solar azimuth and the displacement of the tilt coordinate with respect to the solar altitude. Can do.

<Embodiment 4>
Based on FIG. 4A to FIG. 4C, a tracking control method (tracking control method to which a position shift detection / correction program is applied) of the tracking drive type solar power generation apparatus according to the present embodiment will be described.

  FIG. 4A is a flowchart showing a processing flow state of the third operation pattern when the positional deviation of the tracking drive solar power generation apparatus according to Embodiment 4 of the present invention is detected and corrected.

  FIG. 4B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the third operation pattern shown in FIG. 4A.

  FIG. 4C is a coordinate diagram illustrating a movement state of the control coordinates in the third operation pattern illustrated in FIG. 4A.

  The tracking control method (tracking control method to which the position shift detection / correction program is applied) of the tracking drive type photovoltaic power generation apparatus according to the present embodiment is based on a processing flow (third operation pattern) including, for example, step S31 to step S39. It is configured to be executed. Note that the following steps S31 to S39 are executed by a computer program installed in the personal computer 30 as described above.

  The third operation pattern is configured to be executed continuously after step S28 (position P28, time T28) in the second operation pattern of the third embodiment. A mode in which the third operation pattern is executed following the second operation pattern can be appropriately executed as a menu selection method. Further, since the basic configuration and operational effects of the third operation pattern are the same as those of the first operation pattern and the second operation pattern, different items will be mainly described.

  The third motion pattern applies the second turning detection range and the second turning displacement angle dφ2, the third displacement angle dφ3 obtained by reducing the second tilt displacement angle dθ2, and the third tilt displacement angle dθ3 of the second motion pattern. The third directly-facing turning coordinate φ3m and the third directly-facing tilting coordinate θ3m are detected within a range smaller than the 2 tilt detection range, and the positions of the turning coordinate φ and the tilting coordinate θ are more accurately detected with respect to the second operation pattern. A deviation can be detected. That is, the third operation pattern has a form in which fine adjustment is further performed on the second operation pattern by repeating the same process as the second operation pattern.

Step S31 (process S31):
With the second directly-facing tilt coordinate θ2m (θ2m = 54.5 degrees) being fixed, the turning coordinate φ is changed from the second elapsed turning correction coordinate φ2mt (φ2mt = −23 degrees) to the minus second turning displacement angle dφ3 ( The third turn detection start coordinate (φ2mt−dφ3) (φ2mt−dφ3 = −23−2 = −25 °) is changed.

  That is, the turning coordinate φ is moved from position P28 (second time-dependent turning correction coordinate φ2mt) to position P31 (third turning detection start coordinate (φ2mt−dφ3)). At this time, the time T31 moved to the position P31 was, for example, the time “10:07:45”.

Step S32 (process S32):
With the second directly-facing tilt coordinate θ2m (θ2m = 54.5 degrees) fixed, the turning coordinate φ is detected from the third turning detection start coordinate (φ2mt−dφ3) (φ2mt−dφ3 = −25 degrees). The coordinates are sequentially changed to end coordinates (φ2mt + dφ3) (φ2mt + dφ3 = −23 + 2 = −21 degrees).

  That is, the turning coordinate φ is moved from position P31 (third turning detection start coordinate (φ2mt−dφ3)) to position P32 (third turning detection end coordinate (φ2mt + dφ3)). At this time, the time T32 when moving to the position P32 is, for example, the time “10:07:20”.

  In this step, the third directly-facing turning coordinate φ3m at which the panel output (output of the solar battery panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is also detected (third directly-facing turning coordinate detection). process).

  For example, it is assumed that the third directly-facing turning coordinate φ3m = −22.5 degrees is detected. The third directly-facing turning coordinate φ3m at which the panel output becomes the maximum value is obtained by the turning coordinate φ when the current detected by the current detection resistor 23 becomes the maximum value, for example, similarly to the second operation pattern. Is possible. Since the turning coordinate φ when the current that reacts sensitively to the positional deviation of the solar cell panel 10 with respect to sunlight becomes the maximum value is obtained, the turning coordinate φ can be obtained with high accuracy.

  That is, in this step, the turning coordinate φ is sequentially changed in the third turning detection range (eg, (φ2mt−dφ3) to (φ2mt + dφ3)) set in relation to the second directly-facing turning coordinate φ2m, and the solar battery panel. And the third directly-facing turning coordinate φ3m at which the panel output becomes the maximum value is detected.

  Note that the third turning detection range is the second directly-turning coordinate φ2mt (= −23 degrees) obtained by correcting the second directly-turning coordinate φ2m (= −26 degrees) or the second directly-facing turning coordinate φ2m. Applying a third turning displacement angle dφ3 (= 2 degrees) that is defined in advance in the forward and reverse directions of the third turning detection reference coordinate to be smaller than the second turning displacement angle dφ2 (= 5 degrees) as the third turning detection reference coordinates. From the set third turning detection start coordinates (example: (φ2mt-dφ3: position P31) or (φ2m-dφ3: corresponding to position P31: not shown)), the third turning detection end coordinates (example: (φ2mt + dφ3: position P32) Or (φ2m + dφ3: corresponding to position P32: not shown)).

  In step S28, when the time correction for the first directly-facing turning coordinate φ2m (turning coordinate φ) is not performed, the second time-dependent turning correction coordinate φ2mt is processed as the second directly-facing turning coordinate φ2m as described above.

Step S33 (process S33):
In a state where the second directly-facing tilt coordinate θ2m (θ2m = 54.5 degrees) is fixed, the third directly-facing turning coordinate φ3m (φ3m = −) that maximizes the panel output detected in the third directly-facing turning coordinate detection step S32. The turning coordinate φ is matched to 22.5 degrees (third directly-facing turning coordinate matching process).

  That is, the turning coordinate φ is moved from position P32 to position P33 (third directly-facing turning coordinate φ3m). At this time, the time T33 (the third directly-facing turning coordinate setting time) when moving to the position P33 is, for example, the time “10:07:30”.

  It is also possible to execute step S34 in the same state (position P32) without moving the turning coordinate φ to the position P33. In other words, when the coordinate is not matched with the coordinate (third directly-facing turning coordinate φ3m) at which the panel output is the maximum value at the turning coordinate φ, the turning point φ = φ2mt + dφ3 and the third directly-facing tilt in the tilt coordinate θ direction of the position P32 The coordinate θ3m (see step S36) is detected.

Step S34 (process S34):
A second time-dependent tilt correction coordinate θ2mt (θ2mt = 54.7 degrees) is calculated by correcting the second directly-facing tilt coordinate θ2m (θ2m = 54.5 degrees). Further, with the third directly-facing turning coordinate φ3m (φ3m = −22.5 degrees) fixed, the tilt coordinate θ is changed from the second directly-facing tilt coordinate θ2m to the third time-dependent tilt correction coordinate θ2mt (third time-lapse). Tilt correction process).

  That is, with the turning coordinate φ fixed at the third directly-facing turning coordinate φ3m, the tilt coordinate θ is changed and moved from the position P33 to the position P34. At this time, the time T34 moved to the position P34 was, for example, the time “10:07:35”.

  That is, the time from time T27 (10:06:30) when the tilt coordinate θ is the second directly-facing tilt coordinate θ2m to time T33 (10:07:30) when the turning coordinate φ is matched to φ = φ3m. In consideration of the change in the solar altitude θs due to the passage of time, the elapsed time correction is applied to the second directly-facing tilt coordinate θ2m (see note 2 in FIG. 4B).

  Therefore, in consideration of the altitude change dθs of the solar altitude θs @ T33 (example: 23.0 degrees) relative to the solar altitude θs @ T27 (example: 22.8 degrees), the second directly-facing tilt coordinate θ2m is tilted for the third time. The correction coordinate is changed to θ2mt (position P34: time T34). The change target third temporal tilt correction coordinate θ2mt is obtained by calculating the altitude change dθs as dθs = θs @ T33-θs @ T27 = 23.0-22.8 = 0.2 degrees, and the second directly-facing tilt coordinate It is calculated by adding the height change dθs to θ2m (θ2mt = θ2m + dθs = 54.5 + 0.2 = 54.7 degrees).

  As described above, in this step, the time-dependent correction reflecting the altitude change dθs (= 0.2 degrees) of the solar altitude θs over time is performed before the third directly-facing tilt coordinate detection process S36 described later is executed. Is calculated on the second directly-facing tilt coordinate θ2m, and the third tilt detection reference coordinate (see step S36) is calculated from the second directly-facing tilt coordinate θ2m to the third temporal tilt correction coordinate θ2mt. Has been previously replaced.

  With this configuration, the third directly-facing tilt coordinate detection process S36 is performed by applying the third time-corrected tilt coordinate θ2mt calculated by reflecting the altitude change dθs of the solar altitude θ due to the elapsed time to the second directly-facing tilt coordinate θ2m. Since it can be executed, the third directly-facing tilt coordinate θ3m can be detected with high accuracy in a short time.

  When the time-dependent correction is applied to the tilt coordinate θ in this step, the third tilt detection reference coordinate is changed from the second directly-facing tilt coordinate θ2m (eg, position P33) to the third time-dependent tilt correction coordinate θ2mt (eg, position P34). The third tilt detection start coordinate is replaced with the tilt coordinate (θ2mt−dθ3) (position P35) instead of the tilt coordinate (θ2m−dθ3), and the third tilt detection end coordinate is replaced with the tilt coordinate (θ2m + dθ3). Tilt coordinate (θ2mt + dθ3) (position P36).

  That is, in the case where the time correction for the second directly-facing tilt coordinate θ2m (tilt coordinate θ) is not performed in this step, the third time-dependent tilt correction coordinate θ2mt is set as the second directly-facing tilt coordinate θ2m (that is, the time-corrected first correction is performed). The subsequent processing is performed with the second directly-facing tilt coordinate θ2m before the 3-time tilt correction coordinate θ2mt is maintained.

  When this step (third time-dependent tilt correction process) is not performed, the third time-dependent tilt correction coordinate θ2mt is not set, and the tilt coordinate θ remains the second directly-facing tilt coordinate θ2m. Therefore, the third tilt detection start coordinate is not the tilt coordinate (θ2mt−dθ3) (position P35) but the tilt coordinate (θ2m−dθ3), and the third tilt detection end coordinate is not the tilt coordinate (θ2mt + dθ3) (position P36). The coordinates are (θ2m + dθ3).

Step S35 (process S35):
With the third directly-facing turning coordinate φ3m (φ3m = −22.5 °) fixed, the tilt coordinate θ is shifted from the third time-dependent tilt correction coordinate θ2mt (θ2mt = 54.7 °) to the minus third tilt angle. It is moved at dθ3 (dθ3 = 0.5 degrees) and changed to the third tilt detection start coordinate (θ2mt−dθ3) (θ2mt−dθ3 = 54.7−0.5 = 54.2 degrees).

  That is, the tilt coordinate θ is moved from position P34 (third time-dependent tilt correction coordinate θ2mt) to position P35 (third tilt detection start coordinate (θ2mt−dθ3)). At this time, the time T35 when moving to the position P35 was, for example, “10:07:40”.

Step S36 (process S36):
With the third directly-facing turning coordinate φ3m (φ3m = −22.5 °) fixed, the tilt coordinate θ is changed from the third tilt detection start coordinate (θ2mt−dθ3) (θ2mt−dθ3 = 54.2 °) to the third. Tilt detection end coordinates (θ2mt + dθ3) (θ2mt + dθ3 = 54.7 + 0.5 = 55.2 degrees) are sequentially changed.

  That is, the tilt coordinate θ is moved from position P35 (third tilt detection start coordinate (θ2mt−dθ3)) to position P36 (third tilt detection end coordinate (θ2mt + dθ3)). At this time, the time T36 when moving to the position P36 was, for example, the time “10:08:00”.

  In this step, in conjunction with the change of the tilt coordinate θ, the third directly-facing tilt coordinate θ3m at which the panel output (output of the solar cell panel 10) transmitted from the A / D conversion unit 26 becomes the maximum value is detected (first step). (3) The process of detecting the inclining coordinate system). For example, it is assumed that the third directly-facing tilt coordinate θ3m = 55.0 degrees is detected.

  Note that the third directly-facing tilt coordinate θ3m at which the panel output becomes the maximum value can be obtained by, for example, the turning coordinate φ when the current detected by the current detection resistor 23 has the maximum value.

  In this step, the tilt coordinate θ is sequentially changed in the third tilt detection range (eg, (θ2mt−dθ3) to (θ2mt + dθ3)) set in relation to the second directly-facing tilt coordinate θ2m corresponding to the solar altitude θs. Then, the tilt position of the solar cell panel is moved, and the third directly-facing tilt coordinate θ3m at which the panel output becomes the maximum value is detected.

  When the time-dependent correction (step S34) is not performed on the tilt coordinate θ, as described in step S34, the tilt coordinate θ2mt is set as the second directly-facing tilt coordinate θ2m (time correction is performed and the third time-dependent tilt correction coordinate θ2mt is applied). (With the second directly-facing tilt coordinate θ2m before), the processing is performed. That is, the third tilt detection range in the third directly-facing tilt coordinate detection process moves the tilt coordinate θ in the range from the third tilt detection start coordinate (θ2m−dθ3) to the third tilt detection end coordinate (θ2m + dθ3). It will be.

  Therefore, the third tilt detection range is the second directly-facing tilt coordinate θ2m (= 54.5 degrees) or the third correct-time tilt correction coordinate θ2mt (= 54.7 degrees) obtained by correcting the second directly-facing tilt coordinate θ2m over time. ) As the third tilt detection reference coordinate, and the third tilt displacement angle dθ3 (= 0.5 degree) defined in advance in both the forward and reverse directions of the third tilt detection reference coordinate to be smaller than the second tilt displacement angle dθ2 (= 2 degrees). Is applied to the third tilt detection end coordinates (for example, (θ2mt-dθ3: position P35) or (θ2m-dθ3: corresponding to position P35: not shown)) (for example, (θ2mt + dθ3). : Position P36) or (θ2m + dθ3: correspondence to position P36: not shown)).

  In this step (third directly-facing tilt coordinate detecting process), a third directly-facing turning coordinate matching process S33 for matching the turning coordinate φ to the third directly-facing turning coordinate φ3m detected in the third directly-facing turning coordinate detecting process S32 is performed. After being executed, the configuration is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ by setting the solar cell panel to the solar orbit in the turning direction, and thus accurately detect the third directly-facing tilt coordinate θ3m. can do.

Step S37 (process S37):
With the third directly-facing turning coordinate φ3m (φ3m = −22.5 degrees) fixed, the third directly-facing tilt coordinate θ3m (θ3m = θ3m) at which the panel output detected in the third directly-facing tilt coordinate detection step S36 is maximized. The tilt coordinate θ is matched to 55.0 degrees (third directly-facing tilt coordinate matching process). That is, the tilt coordinate θ is moved from position P36 to position P37 (third directly-facing tilt coordinate θ3m). At this time, the time T37 (the third directly-facing tilt coordinate setting time) when moving to the position P37 is, for example, “10:08:10”.

Step S38 (process S38):
A third time-dependent turning correction coordinate φ3mt (φ3mt = −22 degrees) is calculated by performing time-dependent correction on the third directly-facing turning coordinates φ3m (φ3m = −22.5 degrees). Further, with the third directly-facing tilt coordinate θ3m (θ3m = 55.0 degrees) fixed, the turning coordinate φ is changed from the third directly-facing turning coordinate φ3m to the third time-dependent turning correction coordinate φ3mt (third time-turning turning). Correction process).

  That is, with the tilt coordinate θ fixed at the third directly-facing tilt coordinate θ3m, the turning coordinate φ is changed and moved from the position P37 to the position P38. At this time, the time T38 when moving to the position P38 is, for example, the time “10:08:15”.

  That is, from time T33 (10:05:20) when the turning coordinate φ is the third tilt coordinate φ3m to time T37 (10:08:10) when the tilt coordinate θ is aligned with the third directly-facing tilt coordinate θ3m. In consideration of the change in the sun azimuth angle φs over time, the time correction is applied to the third directly-facing turning coordinate φ3m (see note 3 in FIG. 4B).

  Therefore, the third directly-facing turning coordinate φ3m in consideration of the azimuth change dφs of the solar azimuth angle φs @ T37 (eg: −20.0 degrees) with respect to the solar azimuth angle φs @ T33 (eg −20.5 degrees) Is changed to the third temporal turning correction coordinate φ3mt (position P38: time T38). The change target third temporal turning correction coordinate φ3mt is obtained by calculating the azimuth change dφs as dφs = φs @ T37−φs @ T33 = −20.0 − (− 20.5) = 0.5 degrees, Calculation is performed by adding the azimuth change dφs to the three directly-facing turning coordinates φ3m (φ3mt = φ3m + dφs = −22.5 + 0.5 = −22.0 degrees).

  When the time correction for the third directly-facing turning coordinate φ3m (turning coordinate φ) is not performed in this step, the third time-dependent turning correction coordinate φ3mt is set as the third directly-facing turning coordinate φ3m (that is, the time correction is performed and the third time-dependent correction is performed). The subsequent processing is performed with the third directly-facing turning coordinate φ3m before the turning correction coordinate φ3mt.

  When detecting a positional shift with higher accuracy, it is possible to repeat the same processing flow. Further, when the position shift detection is ended and the operation state is set, the process proceeds to step S39.

  According to the present embodiment, the third directly-facing tilt coordinate θ3m is set at the position P37 (time 10:08:10), and the third temporal turning correction coordinate φ3mt is set at the position P38 (time 10:08:15). Is set. That is, it is possible to match the tilt position and the turning position where the panel output is maximized in a very short time. Therefore, it is possible to easily perform alignment with extremely high accuracy by repeating the first operation pattern to the third operation pattern.

Step S39 (process S39):
The positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected to drive the solar cell panel 10 (correction driving process). Since the solar cell panel 10 is driven by performing the correction based on the third directly-facing turning coordinate φ3m and the third directly-facing tilt coordinate θ3m, the solar cell panel 10 can be driven by correcting the positional deviation easily and with high accuracy. It becomes possible.

  A specific calculation process will be described in the fifth embodiment.

  Further, when the time correction for the third directly-facing turning coordinate φ3m (turning coordinate φ) is not performed in step S38, the third time-dependent turning correction coordinate φ3mt is processed as the third directly-facing turning coordinate φ3m. That is, the positional deviation of the turning coordinate φ is corrected based on the difference between the sun azimuth angle φs corresponding to the time T37 and the third directly-facing turning coordinate φ3m.

  According to the present embodiment, the third directly-facing tilt coordinate θ3m is set at the position P37 (time T37 = 10: 08: 10), and the third temporal turning correction is performed at the position P38 (time T38 = 10: 08: 15). The coordinate φ3mt is set. That is, the control coordinates can be aligned with the tilt position and the turning position where the panel output is maximized in a very short time. Therefore, it is possible to execute alignment with extremely high accuracy easily in a short time.

  In the present embodiment, the time from time T28 (10:06:35) in step S28 to time T38 (10:08:15) in step S38 was 1 minute 40 seconds. In other words, it is possible to detect a positional deviation and correct a positional deviation in a short time of about 1 minute and 40 seconds, and to achieve a higher-accuracy alignment in a shorter time than in the second embodiment. It becomes possible to execute.

  As described above, the tracking control method (third operation pattern) of the tracking drive type solar power generation device 1 according to the present embodiment is configured to be executed continuously from the third embodiment (second operation pattern). The swivel coordinate φ is sequentially changed in the third swivel detection range (eg, (φ2mt−dφ3) to (φ2mt + dφ3)) set in relation to the second directly-facing swivel coordinate φ2m to move the swivel position of the solar cell panel The third directly-facing turning coordinate detection process S32 for detecting the third directly-facing turning coordinate φ3m at which the panel output becomes the maximum value, and a third tilt detection range set in association with the second directly-facing tilt coordinate θ2m ( Example: (θ2mt−dθ3) to (θ2mt + dθ3)) are sequentially changed to change the tilt coordinate θ to move the tilt position of the solar cell panel, thereby detecting the third directly-facing tilt coordinate θ3m at which the panel output reaches the maximum value. Directly inclined coordinates And a detection step S36.

  With this configuration, the position deviation of the turning coordinate φ (second directly-facing turning coordinate φ2m) with respect to the sun azimuth angle φs is smaller than the second turning detection range (eg, (φ1mt−dφ2) to (φ1mt + dφ2) = 10 degrees). The position of the second directly-facing tilt coordinate θ2m is detected with high accuracy by the third directly-facing turning coordinate φ3m detected in the turning detection range (eg, (φ2mt−dφ3) to (φ2mt + dφ3) = 4 degrees). Is detected in a third tilt detection range (example: (θ2mt-dθ3) to (θ2mt + dθ3) = 1 degree) smaller than the second tilt detection range (example: (θ1mt−dθ2) to (θ1mt + dθ2) = 4 degrees). Since it is possible to detect with high accuracy by the directly-facing tilt coordinate θ3m, the positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs are respectively detected. By correcting with high precision, it can be made to be directly face more easily and highly accurately with respect to the sun orbits the turning position and tilt position of the solar cell panel 10.

  In the tracking control method of the tracking drive solar photovoltaic power generator 1 according to the present embodiment, the third turning detection range is set to the second directly-facing turning coordinate φ2m (= −26 degrees) or the second directly-facing turning coordinate φ2m. The corrected second temporal turning correction coordinate φ2mt (= −23 degrees) is set as the third turning detection reference coordinate, and is smaller than the second turning displacement angle dφ2 (= 5 degree) in both forward and reverse directions of the third turning detection reference coordinate. Third turning detection start coordinates (example: (φ2mt-dφ3: position P31) or (φ2m-dφ3: corresponding to position P31) set by applying the prescribed third turning displacement angle dφ3 (= 2 degrees): not shown )) To the third turning detection end coordinates (example: (φ2mt + dφ3: position P32) or (φ2m + dφ3: corresponding to position P32: not shown)), and the third tilt detection range is the second directly-facing tilt coordinate θ2m ( = 54.5 degrees) Uses the third time-dependent tilt correction coordinate θ2mt (= 54.7 °) obtained by performing time-dependent correction on the second directly-facing tilt coordinate θ2m as the third tilt detection reference coordinate, and the second tilt in both forward and reverse directions of the third tilt detection reference coordinate. Third tilt detection start coordinates (example: (θ2mt−dθ3: position P35) set by applying a third tilt displacement angle dθ3 (= 0.5 degree) defined in advance smaller than the displacement angle dθ2 (= 2 degrees). ) Or (θ2m−dθ3: position P35 correspondence: not shown)) to the third tilt detection end coordinate (example: (θ2mt + dθ3: position P36) or (θ2m + dθ3: position P36 correspondence: not shown)).

  With this configuration, the third turning detection range (= 4 degrees) and the third tilt detection range (= 1 degree) are smaller than the second turning detection range (= 10 degrees) and the second tilt detection range (= 4 degrees). Therefore, the third directly-facing turning coordinate φ3m and the third directly-facing tilt coordinate θ3m are more accurately compared to the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m. Can be detected.

  Accordingly, the positional deviation of the turning coordinate φ (third directly-facing turning coordinate φ3m) with respect to the sun azimuth angle φs and the positional deviation of the tilt coordinate θ (third directly-facing tilt coordinate θ3m) with respect to the solar altitude θs are corrected with high accuracy. The swivel position and the tilt position of the solar cell panel 10 can be easily and accurately opposed to the solar orbit.

  In addition, in the third operation pattern (following operation pattern), a position shift in a narrower range than that of the second operation pattern (previous operation pattern) is detected, so that the position shift range can be narrowed down sequentially. Thus, efficient alignment is possible. That is, it is possible to further improve the positional deviation detection accuracy in accordance with the degree of light collection accuracy (condensation magnification).

  In the tracking control method of the tracking drive solar photovoltaic power generator 1 according to the present embodiment, the azimuth angle change dφs (dφs () of the solar azimuth angle φs over time before the third directly-facing turning coordinate detection process S32 is executed. 3rd) is applied to the second directly-facing turning coordinate φ2m, and the second turning-corrected turning coordinate φ2mt is calculated, and the third turning detection reference coordinate is determined from the second directly-facing turning coordinate φ2m as the second time-dependent correction. It has been replaced in advance by the turning correction coordinate φ2mt (second time-dependent turning correction process S28).

  With this configuration, the subsequent processing (third operation pattern) is applied by applying the second time-dependent turning correction coordinate φ2mt calculated by reflecting the azimuth change of the sun azimuth angle φ over time in the second directly-facing turning coordinate φ2m. ) Can be executed, and the third directly-facing turning coordinate φ3m can be detected with high accuracy in a short time.

  In the tracking control method of the tracking drive solar photovoltaic power generation apparatus 1 according to the present embodiment, the third directly facing turning coordinate φ is matched with the third directly facing turning coordinate φ3m detected in the third directly facing turning coordinate detecting step S32. After the turning coordinate matching process S33 is executed, a third directly-facing tilt coordinate detection process S36 is executed.

  With this configuration, it is possible to detect the positional deviation of the tilt coordinate θ by causing the solar cell panel 10 to face the solar trajectory in the turning direction, and thus the third directly-facing tilt coordinate θ3m can be accurately set. Can be detected.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, before executing the third directly-facing tilt coordinate detection process S36, the altitude change dθs (= 0) of the solar altitude θs over time. .3 degrees) is applied to the second directly-facing tilt coordinate θ2m to calculate a third time-corrected tilt coordinate θ2mt, and the third tilt detection reference coordinate is calculated from the second directly-facing tilt coordinate θ2m to the third It is previously replaced with the time-dependent tilt correction coordinate θ2mt (third time-dependent tilt correction step S34).

  With this configuration, the third directly-facing tilt coordinate detection process S36 is performed by applying the third time-corrected tilt coordinate θ2mt calculated by reflecting the altitude change dθs of the solar altitude θ due to the elapsed time to the second directly-facing tilt coordinate θ2m. Since it can be executed, the third directly-facing tilt coordinate θ3m can be detected with high accuracy in a short time.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the positional deviation of the turning coordinate φ with respect to the solar azimuth angle φs is corrected, and the positional deviation of the tilt coordinate θ with respect to the solar altitude θs is corrected. The correction drive process S39 which drives the solar cell panel 10 is provided. Therefore, since the solar cell panel 10 is driven by performing correction based on the third directly-facing turning coordinate φ3m and the third directly-facing tilt coordinate θ3m, the positional deviation is easily and accurately corrected to drive the solar cell panel 10. It becomes possible.

  In the tracking control method of the tracking drive type photovoltaic power generation apparatus 1 according to the present embodiment, the panel output is detected by the current in the third directly-facing turning coordinate detection process S32 and the third directly-facing tilt coordinate detection process S36. It is as a structure. Therefore, it is possible to detect the turning coordinate φ and the tilt coordinate θ at which the panel output becomes the maximum value by the current that reacts sensitively to the positional deviation of the solar battery panel 10 with respect to sunlight, and to perform the turning with respect to the solar azimuth. It is possible to easily and highly accurately detect the panel output when the tilt coordinates with respect to the coordinates and the solar altitude are in a minute position shift state.

  As shown in the comparison of the operation patterns of the second to fourth embodiments, according to the present invention, it becomes possible to detect the positional deviation in a shorter time as the accuracy becomes higher, and the efficient and effective position. Detection of misalignment and correction of misalignment can be performed.

<Embodiment 5>
Based on FIG. 5A and FIG. 5B, a correction driving process for correcting and driving the positional deviation of the solar cell panel in the tracking control method of the tracking drive type solar power generation apparatus according to the present embodiment (in the second embodiment) Step S10, step S29 in the third embodiment, and details of step S39 in the fourth embodiment will be described.

  FIG. 5A is a coordinate diagram showing a correlation between a coordinate system and control parameters applied to the tracking drive solar photovoltaic power generation apparatus according to Embodiment 5 of the present invention.

  Solar coordinates (solar azimuth angle φs, solar altitude θs) indicating the position of the target sun as a tracking target are represented as target solar coordinates (target solar azimuth angle φsg, target solar altitude θsg). Orthogonal coordinates obtained by coordinate transformation of the target sun coordinates are represented as target orthogonal sun coordinates (x, y, z).

  The target orthogonal sun coordinates (x, y, z) are coordinate-converted to target orthogonal control coordinates (X, Y, Z) as orthogonal coordinates corresponding to the control coordinates (turning coordinate φ, tilt coordinate θ). The coordinate conversion parameters at this time are indicated by α for the x-axis, β for the y-axis, and γ for the z-axis.

  The target orthogonal control coordinates (X, Y, Z) are converted into target control coordinates (target turning coordinates φg, target tilt coordinates θg) in the control coordinates (turning coordinates φ, tilt coordinates θ). Offset (position shift) is corrected for the target control coordinates (target turning coordinate φg, target tilt coordinate θg).

  The offset is set as follows. The offset at the turning coordinate φ and the tilt coordinate θ is the difference between the sun azimuth angle φs and the detected Nth-facing turning coordinate φNm. The offset δ at the tilt coordinate θ is set with respect to the difference from the tilt coordinate θNm.

  N indicates the number of times of final detection. For example, in the case of the first operation pattern in the second embodiment, the Nth directly-facing turning coordinate φNm is the first elapsed turning correction coordinate φ1mt (or the first directly-facing turning coordinate φ1m), and the Nth facing The tilt coordinate θNm is the first directly-facing tilt coordinate θ1m. Further, in the case of the second operation pattern in the third embodiment, the Nth directly-facing turning coordinate φNm is the second elapsed turning correction coordinate φ2mt (or the second directly-facing turning coordinate φ2m), and the Nth facing The tilt coordinate θNm is the second directly-facing tilt coordinate θ2m. In the case of the third operation pattern in the fourth embodiment, the Nth directly-facing turning coordinate φNm is the third elapsed turning correction coordinate φ3mt (or the third directly-facing turning coordinate φ3m), and the Nth facing The tilt coordinate θNm is the third directly-facing tilt coordinate θ3m.

  In the present embodiment, the drive unit 12 is, for example, a turntable type turning drive machine or a jack cylinder type tilting drive machine. Therefore, the offset τ at the cylinder length L is used.

  That is, values obtained by correcting the target control coordinates (target turning coordinate φg, target tilt coordinate θg) in consideration of offset are set as target correction control values (target correction swing coordinate φgc, target correction tilt coordinate θgc, target correction cylinder length Lgc: (Not shown, calculated by the arithmetic processing in step S54 in FIG. 5B).

  Note that various variations of the offset form are conceivable depending on the configuration of the drive unit 12.

  FIG. 5B is a flowchart showing a processing flow state of the arithmetic processing when driving the solar cell panel by correcting the positional deviation of the control coordinates executed under the coordinate figure shown in FIG. 5A.

  The correction process for driving the solar cell panel 10 by correcting the positional deviation of the control coordinates (turning coordinate φ, tilting coordinate θ) in the present embodiment is executed by the processing flow constituted by, for example, steps S50 to S55. It is possible. In addition, the processing flow of step S50 thru | or step S55 is set as the structure performed by the computer program installed in the personal computer 30, like other processing flows.

Step S50:
Target solar coordinates (solar azimuth angle φs, solar altitude θs) are specified as target sun coordinates (target solar azimuth angle φsg, target solar altitude θsg).

Step S51:
Transform sun coordinates to Cartesian coordinates. That is, the target sun coordinates are converted into orthogonal coordinates, and the target orthogonal sun coordinates (x, y, z) are obtained. Details are as shown in Formula 1 (FIG. 5B).

Step S52:
The target orthogonal sun coordinates (x, y, z) are transformed into orthogonal coordinates corresponding to the control coordinates (turning coordinate φ, tilt coordinate θ) to obtain the target orthogonal control coordinates (X, Y, Z). Details are as shown in Formula 2 (FIG. 5B). In the coordinate conversion, α is applied to the x-axis, β is applied to the y-axis, and γ is applied to the z-axis as coordinate conversion parameters.

Step S53:
The target orthogonal control coordinates (X, Y, Z) are converted into control coordinates (turning coordinate φ, tilt coordinate θ) and converted into target control coordinates (target swing coordinate φg, target tilt coordinate θg). The details are as shown in Formula 3a, Formula 3b, and Formula 3c (FIG. 5B).

Step S54:
Offset at turning coordinate φ and tilting coordinate θ (positional deviation: offset at turning coordinate φ = ε based on the difference between sun azimuth angle φs and N-th facing turning coordinate φNm, and setting sun altitude θs and Nth Based on the difference from the directly-facing tilt coordinate θNm, the offset at the tilt coordinate θ is set to δ, where N represents the final detection count as described above. A value obtained by correcting the turning coordinate φg and the target tilt coordinate θg) is set as a target correction control value (target correction swing coordinate φgc, target correction tilt coordinate θgc). The details are as shown in Formula 4a and Formula 4b (FIG. 5B).

  In the present embodiment, since it is a jack cylinder type tilting drive machine, the value obtained by correcting the target cylinder length = L (θgc) in consideration of the offset at the cylinder length = τ is set as the target correction. The cylinder length is Lgc. The details are as shown in Formula 4c (FIG. 5B).

  That is, in the present embodiment, a value obtained by combining the target correction turning coordinate φgc and the target correction tilt coordinate θgc with the target correction cylinder length Lgc is set as the target correction control value.

  As described above, in the present embodiment, six correction parameters (target turning coordinate φg, target tilt coordinate θg, target cylinder length L (θgc), offset ε at swing coordinate φ, offset δ at tilt coordinate θ, cylinder The target correction turning coordinate φgc, target correction tilt coordinate θgc, and target correction cylinder length Lgc are set as target correction control values by applying the offset τ) at the length L.

  The correction parameter should be set as appropriate according to the drive system that constitutes the drive unit 12. Further, it is desirable to obtain a plurality of sets (data sets) of directly-facing coordinates (facing turning coordinates, directly-facing tilt seat) and sun coordinates (solar azimuth angle, solar altitude). It is desirable that the plurality of data sets be obtained with appropriate time intervals. Specifically, for example, a time interval of about 2 hours is desirable.

  The six correction parameters described above can be derived in two implementations. In order to derive the correction parameter with higher accuracy, it is desirable to further increase the number of times.

  It should be noted that the above formulas 1 to 4c are set in advance as calculation formulas.

Step S55:
Based on the target correction control values (target correction turning coordinate φgc, target correction tilt coordinate θgc, target correction cylinder length Lgc), the solar battery panel is driven via the drive unit 12.

  When this embodiment is applied to the first operation pattern (step S10) of the second embodiment, the operation is as follows.

  The process of correcting and driving the positional deviation of the solar cell panel 10 according to the second embodiment (the tracking control method of the tracking drive type solar power generation device) includes the target solar azimuth angle φs as the target solar azimuth angle φsg, the target Is determined as the target solar altitude θsg, and the target sun azimuth angle φsg and the target solar altitude θsg are set to the target turning coordinate φg and the target tilt at the tilt coordinate φ and the tilt coordinate θ by using a predetermined arithmetic expression. The target corrected turning coordinate φgc and the target correction set by performing the transformation based on the first directly-facing turning coordinate φ1m and the first directly-facing tilting coordinate θ1m with respect to the target turning coordinate φg and the target tilt coordinate θg. The solar cell panel 10 is driven by applying the tilt coordinate θgc.

  With this configuration, the solar cell panel 10 is driven by applying the target corrected turning coordinate φgc and the target corrected tilt coordinate θgc set by performing correction based on the first directly-facing turning coordinate φ1m and the first directly-facing tilt coordinate θ1m. The solar cell panel 10 can be driven by correcting the positional deviation easily and with high accuracy.

  Moreover, when this Embodiment is applied to the 2nd operation | movement pattern (step S29) of Embodiment 3, it becomes as follows.

  In the process of correcting and driving the positional deviation of the solar cell panel 10 in Embodiment 3 (tracking control method of the tracking drive type solar power generation device), the target solar azimuth angle φs is set as the target solar azimuth angle φsg, the target Is determined as the target solar altitude θsg, and the target solar azimuth angle φsg and the target solar altitude θsg are set as the target turning coordinate φg and the target tilting coordinate θg in the turning coordinates and the tilting coordinates using a preset arithmetic expression. The target corrected turning coordinate φgc and the target corrected tilt coordinate set by correcting the target turning coordinate φg and the target tilt coordinate θg based on the second directly-facing swing coordinate φ2m and the second directly-facing tilt coordinate θ2m. The solar cell panel 10 is driven by applying θgc.

  With this configuration, the solar cell panel 10 is driven by applying the target corrected turning coordinate φgc and the target corrected tilt coordinate θgc set by performing correction based on the second directly-facing turning coordinate φ2m and the second directly-facing tilt coordinate θ2m. The solar cell panel 10 can be driven by correcting the positional deviation easily and with high accuracy.

  Moreover, when this Embodiment is applied to the 3rd operation | movement pattern (step S39) of Embodiment 4, it becomes as follows.

  The process of correcting and driving the positional deviation of the solar cell panel 10 according to the fourth embodiment (the tracking control method of the tracking drive type solar power generation apparatus) includes the target solar azimuth angle φs as the target solar azimuth angle φsg, the target Is determined as the target solar altitude θsg, and the target solar azimuth angle φsg and the target solar altitude θsg are set as the target turning coordinate φg and the target tilting coordinate θg in the turning coordinates and the tilting coordinates using a preset arithmetic expression. The target corrected turning coordinate φgc and the target corrected tilt coordinate set by correcting the target turning coordinate φg and the target tilt coordinate θg based on the third directly-facing turn coordinate φ3m and the third directly-facing tilt coordinate θ3m. The solar cell panel 10 is driven by applying θgc.

  With this configuration, the solar cell panel 10 is driven by applying the target corrected turning coordinate φgc and the target corrected tilt coordinate θgc set by performing correction based on the third directly-facing turning coordinate φ3m and the third directly-facing tilt coordinate θ3m. The solar cell panel 10 can be driven by correcting the positional deviation easily and with high accuracy.

<Embodiment 6>
Based on FIG. 6A and FIG. 6B, the tracking control method of the tracking drive type solar power generation system according to the present embodiment will be described.

  FIG. 6A is a block diagram showing a schematic configuration in an operating state of the tracking drive type photovoltaic power generation system according to Embodiment 6 of the present invention.

  The tracking drive type solar power generation system 1 s according to the present embodiment is configured to include a plurality of tracking drive type solar power generation apparatuses 1 according to the first to fifth embodiments. That is, the tracking drive type photovoltaic power generation system 1 s according to the present embodiment includes the solar battery panel 10 that converts sunlight into electric power, the turning coordinate φ and the tilt that are set in accordance with the solar azimuth angle φs and the solar altitude θs. A plurality of tracking drive type solar power generation apparatuses 1 including a tracking control unit 12 that performs tracking control of the turning position and the tilting position of the solar battery panel 10 so as to track the solar trajectory based on the coordinate θ are provided.

  Since the details of the tracking drive type solar power generation device 1 are the same as those in the first embodiment, different items will be mainly described. Outputs of the plurality of tracking drive type solar power generation devices 1 are collected in front of the output-side circuit breaker 25, and power is supplied to the inverter 40 through the power line 20c. That is, the power monitor panel 20 collects a plurality of solar battery panels 10 and performs centralized management.

  The detection circuit 22 connected corresponding to the solar battery panel 10 is connected to the personal computer 30 via the detection line 22b. The tracking control unit 13 is configured to control each solar cell panel 10.

  FIG. 6B is a block diagram showing a schematic configuration when executing the tracking control method of the tracking drive solar photovoltaic power generation system according to Embodiment 6 of the present invention.

  The tracking control method of the tracking drive solar power generation system 1s according to the present embodiment is configured to be applied individually to each of the tracking drive solar power generation devices 1. That is, the tracking shown in the first to fifth embodiments is performed by controlling the switch 21 so as to connect only the tracking drive type photovoltaic power generation apparatus 1 that is a target for executing the tracking control method. The control method is configured to sequentially execute the tracking drive type solar power generation device 1.

  Control for the switch 21 can be executed directly via the power monitor panel 20. In addition, a computer program for controlling the switch 21 is installed in the personal computer 30 in advance, a menu is displayed on the display screen of the personal computer 30, and the target switch 21 is selected from the menu (menu button). It is also possible to do. Further, a simulated load 41 instead of the inverter 40 is connected via the output side circuit breaker 25.

  That is, the tracking control method of the tracking drive type solar power generation system 1s according to the present embodiment is the same as the tracking control method of the tracking drive type solar power generation apparatus 1 described in the first to fifth embodiments. It is set as the structure applied with respect to the drive type solar power generation device 1 separately.

  With this configuration, since the positional deviation is adjusted with respect to each of the tracking drive type solar power generation devices 1, it becomes possible to perform optimum tracking control with respect to each of the tracking drive type solar power generation devices 1, and the overall efficiency is high. Thus, the tracking drive type solar power generation system 1 s capable of generating the maximum power can be obtained.

  Moreover, when applying the tracking control method of the tracking drive type photovoltaic power generation system 1s according to the present embodiment to each tracking drive type photovoltaic power generation apparatus 1 (solar cell panel 10), the movement of the sun (the state of sunlight). Therefore, the installation work of the tracking drive type solar power generation system 1s in which a large number of tracking drive type solar power generation devices 1 are arranged can be executed very easily and with high accuracy.

It is a block diagram which shows schematic structure in the operating state of the tracking drive type solar power generation device which concerns on Embodiment 1 of this invention. It is a block diagram which shows schematic structure when performing the tracking control method of the tracking drive type solar power generation device which concerns on Embodiment 1 of this invention. It is a block diagram which shows schematic structure of the personal computer applied to execution of the tracking control method of the tracking drive type solar power generation device which concerns on Embodiment 1 of this invention. It is a flowchart which shows the process flow state of a 1st operation pattern when detecting and correct | amending the position shift of the tracking drive type solar power generation device which concerns on Embodiment 2 of this invention. 2B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the first operation pattern shown in FIG. 2A. It is a coordinate diagram which shows the movement state of the control coordinate in the 1st operation | movement pattern shown in FIG. 2A by a coordinate. It is a flowchart which shows the process flow state of the 2nd operation pattern when detecting and correct | amending the position shift of the tracking drive type solar power generation device which concerns on Embodiment 3 of this invention. 3B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the second operation pattern shown in FIG. 3A. It is a coordinate diagram which shows the movement state of the control coordinate in the 2nd operation | movement pattern shown by FIG. 3A by a coordinate. It is a flowchart which shows the process flow state of the 3rd operation pattern when detecting and correct | amending the position shift of the tracking drive type solar power generation device which concerns on Embodiment 4 of this invention. 4B is a list chart showing detailed information corresponding to the movement state of the control coordinates in the third operation pattern shown in FIG. 4A. It is a coordinate diagram which shows the movement state of the control coordinate in the 3rd operation | movement pattern shown in FIG. 4A. It is a coordinate figure which shows the correlation of the coordinate system applied to the tracking drive type solar power generation device which concerns on Embodiment 5 of this invention, and a control parameter. It is a flowchart which shows the processing flow state of the arithmetic processing when correct | amending the position shift of the control coordinate performed based on the coordinate figure shown to FIG. 5A, and driving a solar cell panel. It is a block diagram which shows schematic structure in the operating state of the tracking drive type solar power generation system which concerns on Embodiment 6 of this invention. It is a block diagram which shows schematic structure when performing the tracking control method of the tracking drive type photovoltaic power generation system which concerns on Embodiment 6 of this invention. It is a perspective view which shows the outline | summary of the conventional tracking drive type solar power generation device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Tracking drive type solar power generation device 1s Tracking drive type photovoltaic power generation system 10 Solar panel 11 Support | pillar 12 Drive part 13 Tracking control part 13c Control line 13b Communication line 20 Power monitor panel 20b Power line 20c Power line 21 Switch 22 Detection circuit 22b Detection line 23 Current detection resistor 24 Voltage detection resistor 25 Output side circuit breaker 26 A / D converter 30 Personal computer 40 Inverter 41 Simulated load L Cylinder length Lgc Target correction cylinder length (target correction control value)
L (θgc) Target cylinder length Roth Turning direction Rotv Tilt direction S3 First directly-facing turning coordinate detection process S4 First directly-facing turning coordinate matching process S5 First time-dependent tilt correction process S7 First directly-facing tilt coordinate detection process S8 First Face-to-face tilt coordinate matching process S9 First time-dependent turning correction process S10 Correction drive process S22 Second face-to-face turning coordinate detection process S23 Second face-to-face turning coordinate matching process S24 Second time-dependent tilt correction process S26 Second face-to-face tilt coordinate detection Process S27 Second directly-facing tilt coordinate matching process S28 Second temporal turning correction process S29 Correction driving process S32 Third directly-facing turning coordinate detection process S33 Third directly-facing turning coordinate matching process S34 Third temporal tilt correction process S36 Third positive correction process Anti-tilt coordinate detection process S37 Third directly-facing tilt coordinate alignment process S38 Third temporal turning correction process S39 Correction drive process (X, Y, Z) Target Coordinate control coordinate dθ1 First tilt displacement angle dθ2 Second tilt displacement angle dθ3 Third tilt displacement angle dθs Altitude change dφ1 First turning displacement angle dφ2 Second turning displacement angle dφ3 Third turning displacement angle dφs Azimuth angle change (x , Y, z) Target orthogonal solar coordinates θ Tilt coordinates (control coordinates)
θ1 first tilt coordinate / first tilt detection reference coordinate θ1m first directly-facing tilt coordinate / second tilt detection reference coordinate θ1mt second temporal tilt correction coordinate / second tilt detection reference coordinate θ1t first temporal tilt correction coordinate / first Tilt detection reference coordinate (θ1t ± dθ1) First tilt detection range θ1t + dθ1 First tilt detection end coordinate θ1t-dθ1 First tilt detection start coordinate (θ1mt ± dθ2) Second tilt detection range θ1mt + dθ2 Second tilt detection end coordinate θ1mt-dθ2 Second tilt detection start coordinate θ2m Second directly-facing tilt coordinate / third tilt detection reference coordinate θ2mt Third temporal tilt correction coordinate / third tilt detection reference coordinate (θ2mt ± dθ3) Third tilt detection range θ2mt + dθ3 Third tilt detection end Coordinate θ2mt−dθ3 Third tilt detection start coordinate θ3m Third directly-facing tilt coordinate θg Target tilt coordinate (target control coordinate)
θgc Target correction tilt coordinate (target correction control value)
θs Solar altitude (solar coordinates)
θsg Target solar altitude φ Turning coordinates (control coordinates)
φ1 first turning coordinate / first turning detection reference coordinate φ1m first directly-facing turning coordinate / second turning detection reference coordinate φ1mt first timed turning correction coordinate / second turning detection reference coordinate (φ1mt ± dφ2) second turning detection range φ1mt + dφ2 Second turn detection end coordinate φ1mt-dφ2 Second turn detection start coordinate (φ1 ± dφ1) First turn detection range φ1 + dφ1 First turn detection end coordinate φ1-dφ1 First turn detection start coordinate φ2m Second directly-facing turn coordinate / Third turn detection reference coordinate φ2mt Second time-dependent turn correction coordinate / Third turn detection reference coordinate (φ2mt ± dφ3) Third turn detection range φ2mt + dφ3 Third turn detection end coordinate φ2mt−dφ3 Third turn detection start coordinate φ3m Third positive Anti-turning coordinate φ3mt Third-time turning correction coordinate φg Target turning coordinate (target control coordinate)
φgc Target correction turning coordinate (target correction control value)
φs Sun azimuth (solar coordinates)
φsg Target solar azimuth ε offset δ offset τ offset

Claims (17)

A solar panel that converts sunlight into electric power, and a turning position of the solar panel so as to track the solar trajectory based on the turning coordinates and tilt coordinates as control coordinates set in correspondence with the solar azimuth and the solar altitude. A tracking control method for a tracking drive type solar power generation apparatus including a tracking control unit that performs tracking control of a tilt position,
The turning coordinates of the solar cell panel are moved by sequentially changing the turning coordinates in the first turning detection range set in relation to the first turning coordinates corresponding to the solar azimuth, and the panel output becomes the first positive value. A first directly-facing turning coordinate detection process for detecting turning coordinates;
The first position where the panel output becomes the maximum value is obtained by sequentially changing the tilt coordinates in the first tilt detection range set in relation to the first tilt coordinates corresponding to the solar altitude and moving the tilt position of the solar panel. A tracking control method for a tracking drive type solar power generation apparatus, comprising: a first directly-facing tilt coordinate detection process for detecting tilt coordinates. It is the tracking control method of the tracking drive type solar power generation device according to claim 1,
The first turning detection range is set by applying a first turning displacement angle defined in advance in both the forward and reverse directions of the first turning detection reference coordinate, with the first turning coordinate as the first turning detection reference coordinate. From the start coordinate to the first turn detection end coordinate,
The first tilt detection range is defined in advance in both forward and reverse directions of the first tilt detection reference coordinate, with the first tilt correction coordinate obtained by performing time correction on the first tilt coordinate or the first tilt coordinate as the first tilt detection reference coordinate. A tracking control method for a tracking drive type photovoltaic power generation apparatus, wherein the first tilt detection start coordinate set by applying the first tilt displacement angle is set to the first tilt detection end coordinate. It is the tracking control method of the tracking drive type solar power generation device according to claim 1 or 2,
As a configuration for executing the first directly-facing tilt coordinate detecting process after executing the first directly-facing turning coordinate matching process for matching the turning coordinates to the first directly-facing turning coordinates detected in the first directly-facing turning coordinate detecting process. A tracking control method for a tracking drive type solar power generation apparatus, characterized in that: It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 1 to 3,
Before executing the first directly-facing tilt coordinate detection process, a first time-dependent tilt correction coordinate obtained by performing time-dependent correction on the first tilt coordinate reflecting the change in altitude of the solar altitude over time is calculated. The tracking control method for the tracking drive type solar power generation apparatus, wherein the tilt detection reference coordinates are replaced in advance from the first tilt coordinates to the first time-dependent tilt correction coordinates. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 1 to 4,
The target solar azimuth is specified as the target solar azimuth and the target solar altitude is specified as the target solar altitude. The target turning coordinates and the target correction are set by converting the coordinates into the target turning coordinates and the target tilt coordinates, and correcting the target turning coordinates and the target tilt coordinates based on the first directly-facing turning coordinates and the first directly-facing tilt coordinates. A tracking control method for a tracking drive type solar power generation apparatus, characterized in that the solar cell panel is driven by applying tilt coordinates. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 1 to 5,
The tracking control method for the tracking drive type photovoltaic power generation apparatus is characterized in that detection of the panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process is performed by voltage. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 1 to 5,
The tracking control method for the tracking drive type photovoltaic power generation apparatus is characterized in that detection of the panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process is performed by current. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 1 to 4,
By sequentially changing the turning coordinates within the second turning detection range set in relation to the first facing turning coordinates, the turning position of the solar cell panel is moved, and the second facing turning coordinates at which the panel output becomes the maximum value are obtained. A second directly-facing turning coordinate detection process to be detected;
By sequentially changing the tilt coordinates in the second tilt detection range set in relation to the first directly-facing tilt coordinates, the tilt position of the solar cell panel is moved, and the second directly-facing tilt coordinates at which the panel output becomes the maximum value are obtained. A tracking control method for a tracking drive type solar power generation apparatus, comprising: a second directly-facing tilt coordinate detection process to be detected. It is the tracking control method of the tracking drive type solar power generation device according to claim 8,
The second turning detection range is a first turning coordinate that is corrected with time on the first directly-facing turning coordinate or the first directly-turning coordinate as a second turning detection reference coordinate, and both forward and reverse directions of the second turning detection reference coordinate. From the second turning detection start coordinate to the second turning detection end coordinate set by applying the second turning displacement angle defined in advance smaller than the first turning displacement angle,
In the second tilt detection range, the first straight tilt coordinate or the second straight tilt correction coordinate obtained by correcting the first straight tilt coordinate with the passage of time is used as the second tilt detection reference coordinate, and both the forward and reverse directions of the second tilt detection reference coordinate. The tracking drive type is characterized in that it is set from the second tilt detection start coordinate to the second tilt detection end coordinate set by applying a second tilt displacement angle defined in advance smaller than the first tilt displacement angle. Tracking control method for solar power generation device. It is the tracking control method of the tracking drive type solar power generation device according to claim 8 or 9,
Before executing the second directly-facing turning coordinate detection process, the first time-varying turning correction coordinate obtained by performing the time-dependent correction reflecting the azimuth angle change of the sun azimuth with the passage of time is calculated. The tracking control method for the tracking drive type solar power generation apparatus, wherein the second turning detection reference coordinate is replaced in advance from the first directly-facing turning coordinate to the first time-dependent turning correction coordinate. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 8 to 10,
After executing the second directly-facing turning coordinate matching process for matching the turning coordinates to the second directly-facing turning coordinates detected in the second directly-facing turning coordinate detecting process, the second directly-facing tilt coordinate detecting process is executed. A tracking control method for a tracking drive type solar power generation apparatus. It is a tracking control method of the tracking drive type solar power generation device according to any one of claims 8 to 11,
Before executing the second directly-facing tilt coordinate detection process, a second time-corrected tilt coordinate is calculated by performing a time-dependent correction reflecting the change in altitude of the solar altitude due to the passage of time on the first directly-facing tilt coordinate, The tracking control method for the tracking drive type photovoltaic power generation apparatus, wherein the second tilt detection reference coordinates are replaced in advance from the first directly-facing tilt coordinates to the second temporal tilt correction coordinates. A tracking control method for a tracking drive solar power generation apparatus according to any one of claims 8 to 12,
The target solar azimuth is specified as the target solar azimuth and the target solar altitude is specified as the target solar altitude. The target correction coordinates and the target correction are set by converting the coordinates into the target turning coordinates and the target tilt coordinates, and correcting the target turning coordinates and the target tilt coordinates based on the second directly-facing turning coordinates and the second directly-facing tilt coordinates. A tracking control method for a tracking drive type solar power generation apparatus, characterized in that the solar cell panel is driven by applying tilt coordinates. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 8 to 13,
The detection of the panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process is performed by voltage,
The tracking control method for the tracking drive type photovoltaic power generation apparatus is characterized in that detection of the panel output in the second directly-facing turning coordinate detection process and the second directly-facing tilt coordinate detection process is performed by an electric current. It is the tracking control method of the tracking drive type solar power generation device according to any one of claims 8 to 13,
Detection of panel output in the first directly-facing turning coordinate detection process and the first directly-facing tilt coordinate detection process; and
The tracking control method for the tracking drive type photovoltaic power generation apparatus is characterized in that detection of the panel output in the second directly-facing turning coordinate detection process and the second directly-facing tilt coordinate detection process is performed by an electric current. A tracking control method for a tracking drive solar power generation apparatus according to any one of claims 8 to 12,
The turning coordinates of the solar battery panel are controlled by sequentially changing the turning coordinates within the third turning detection range set in relation to the second facing turning coordinates, and the third facing turning coordinates at which the panel output becomes the maximum value are obtained. A third directly-facing turning coordinate detection process to be detected;
The tilt coordinate of the solar panel is controlled by sequentially changing the tilt coordinate in the third tilt detection range set in relation to the second directly-facing tilt coordinate, and the third directly-facing tilt coordinate at which the panel output becomes the maximum value is obtained. A third directly-facing tilt coordinate detection process to detect,
The third turning detection range is a second turning reference coordinate which is a second turning turning correction coordinate obtained by correcting the second turning turning coordinate or the second turning turning coordinate with the passage of time, and is in both forward and reverse directions of the third turning detection reference coordinate. To the third turning detection start coordinate to the third turning detection end coordinate set by applying a third turning displacement angle defined in advance smaller than the second turning displacement angle,
In the third tilt detection range, the second straight tilt coordinate or the third straight tilt correction coordinate obtained by correcting the second straight tilt coordinate with the passage of time is set as the third tilt detection reference coordinate, and both forward and reverse directions of the third tilt detection reference coordinate. The tracking drive type is characterized in that it is set from the third tilt detection start coordinate to the third tilt detection end coordinate set by applying a third tilt displacement angle defined in advance smaller than the second tilt displacement angle. Tracking control method for solar power generation device. It is a tracking control method of the tracking drive type solar power generation device according to claim 12,
The tracking control method for the tracking drive type photovoltaic power generation apparatus is characterized in that the panel output detection in the third directly-facing turning coordinate detection process and the third directly-facing tilt coordinate detection process is performed by an electric current.

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