太阳自动跟踪机构的设计和位姿分析

贺新升; 高春甫; 王彬; 谢楚雄

doi:10.3788/OPE.20122005.1048

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太阳自动跟踪机构的设计和位姿分析

微纳技术与精密机械 | 更新时间：2020-08-12

- 太阳自动跟踪机构的设计和位姿分析
- Design and positional posture analysis of parallel sun auto-tracking mechanism
- 光学精密工程 2012年20卷第5期页码：1048-1054
- 作者机构：
  
  1. 浙江师范大学工学院,浙江金华,321004
  2. 兰州交通大学机电工程学院,甘肃兰州,730070
- 作者简介：
- 基金信息：
  
  国家自然科学基金面上项目(No.51075371)();浙江省教育厅资助项目(No.Y201120857)();浙江省金华市科技计划资助项目(No.2010-1-102
- DOI：10.3788/OPE.20122005.1048
  中图分类号： TM615
- 收稿日期：2011-12-29，
  
  修回日期：2012-02-15，
  
  网络出版日期：2012-05-10，
  
  纸质出版日期：2012-05-10
- 稿件说明：
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贺新升, 高春甫, 王彬, 谢楚雄. 太阳自动跟踪机构的设计和位姿分析[J]. 光学精密工程, 2012,20(5): 1048-1054

HE Xin-sheng, GAO Chun-fu, WANG Bin, XIE Chu-xiong. Design and positional posture analysis of parallel sun auto-tracking mechanism[J]. Editorial Office of Optics and Precision Engineering, 2012,20(5): 1048-1054
贺新升, 高春甫, 王彬, 谢楚雄. 太阳自动跟踪机构的设计和位姿分析[J]. 光学精密工程, 2012,20(5): 1048-1054 DOI： 10.3788/OPE.20122005.1048.

HE Xin-sheng, GAO Chun-fu, WANG Bin, XIE Chu-xiong. Design and positional posture analysis of parallel sun auto-tracking mechanism[J]. Editorial Office of Optics and Precision Engineering, 2012,20(5): 1048-1054 DOI： 10.3788/OPE.20122005.1048.

摘要

设计了一种新型三自由度并联跟踪机构

以使太阳能板全方位地跟踪太阳并最大限度地输出有效发电量。采用三角平台上的万向节使太阳能板的大部分重量传递到支架上

通过3条细钢丝绳的协调动作使太阳能板的姿态发生变化

达到跟踪机构驱动电机耗能小

输出有效发电量多的目的。利用坐标变换理论建立了该三自由度并联跟踪机构的位置正解方程

然后用牛顿迭代法数值求解正解方程组;最后

依据空间投影理论对该并联跟踪机构的空间位姿进行实测分析

并对设计的跟踪机构与传统二轴跟踪机构进行驱动耗能对比实验。结果表明:本文建立的位置正解方程与实测结果的趋势基本相同

输出位姿空间角

、

和距离

的平均误差分别为1.8%、2.6%、0.84%

满足跟踪机构的误差要求

设计的跟踪机构的耗电量约为传统二轴跟踪机构的25%。

Abstract

A new type of 3-DOF sun parallel tracker was designed to track the sun all-around and to maximize its effective output powers. By using the cardan joint on a triangular platform to transfer the most of the weights of solar panels to the stand and to change the positional posture of the solar panels in all direction through three thin steel ropes

the track mechanism could reduce the electrical power consumption of own motor and could generate more efficient powers. Firstly

the forward position equations of the 3-DOF parallel tracker were established based on the theory of coordinate transformation. And then the forward position equations were solved by Newton's iterative method numerically. Finally

the space positional posture was measured and analyzed with the theory of the space parallel projection to verify the accuracy of the forward position equations. A driven energy experiment was performed to contrast the power consumption between the designed mechanism and a traditional two-axis tracker. The experimental results show that the established forward position equations and measured results have the same trend basically

and the average errors of output positional postures for space angles

and distance

are 1.8%

2.6%

0.84%

respectively. This accuracy can meet the requirements of the tracking mechanism for errors. Moreover

the power consumption of the designed tracking mechanism is about 25% that of the traditional two-axis tracker.

关键词

Keywords

references

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