Design, Development and Hardware Realization of X-beebased Single Axis Solar Tracking System
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7/30/2019 Design, Development and Hardware Realization of X-beebased Single Axis Solar Tracking System
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN
0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME
8
DESIGN, DEVELOPMENT AND HARDWARE REALIZATION OF X-BEE
BASED SINGLE AXIS SOLAR TRACKING SYSTEM
ABSTRACT
The objective of this paper to optimize the solar energy receivers. In this paper, a low cost suntracking system is designed using simple gear system and control circuitry, the electronic circuit
diagram with detailed description and performance of the tracking system are presented.Emphasize increased energy produced compare to the fixed system, in the control circuitry weare using X-bee device, the tracking mechanism has proved to be sufficiently accurate for thepresent solar energy application. The position of sun is successfully detected with an accuracy of0.60.
Index Terms- Dc-motor drives, Electronic controlled tracking system, X-bee, Solar trackingsystem, Photovoltaic.
I. INTRODUCTIONHE Sun sends an almost unimaginable amount of energy towards Planet Earth around10 17 Watt. The Suns power density (i.e. the power per unit area normal to its rays) just above
the Earth s atmosphere is known as the solar constant and equals 1366 W/m2.It is reduced by
approximately 0.30 times solar constant as it passes through atmosphere and at earth surface its
value is 1000 W/m2 at sea level on a clear day. In cloudy sky, there could be a small component
of direct radiation and a substantial component of diffuse radiation [1-4].Yet the Sun is an
Neeraj Tiwari1, D. Bhagwan Das2, Prabal Pratap Singh31,2Dayalbagh Educational Institute (Deemed University), Agra
Email: [email protected], [email protected]
T
INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING &
TECHNOLOGY (IJEET)
ISSN 0976 6545(Print)
ISSN 0976 6553(Online)
Volume 3, Issue 3, October - December (2012), pp. 08-20
IAEME: www.iaeme.com/ijeet.asp
Journal Impact Factor (2012): 3.2031 (Calculated by GISI)
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IJEET
I A E M E
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN
0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME
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amazing benefactor. To extract useable electricity from the sun was made possible by thediscovery of the photoelectric mechanism via a semiconductor device which converts photon
energy into electrical energy.
In order to optimize the solar energy and to produce maximum power output, Solar tracker is
invented because solar panel disables to move toward the sunlight when the sun moves
from east to west. Hession and Bonwick [5] have presented a detailed description of an electro-mechanical sun tracker system they was using phototransistors.
Ayala, J. Kenneth [6] presented, Microprocessors and microcontrollers are widely used inembedded system products. In order to produce maximum power output, solar tracker is design
with 12 Volt DC motor so that solar panel can track the position of sun and it works with sensors
and control circuitry. Solar tracker has many types but we use active trackers. In this paper work,
X-bee based dual axis solar tracking system is designed and developed for maximize the solar
energy because compared to a fixed mount, a single axis tracker increases annual output by
approximately 30%, and a dual axis tracker an additional 6%. There are two types of dual axis
trackers, polar and altitude-azimuth. [7]. the accuracy of this tracking system is much greaterthan the suggested accuracy.
II. SUN TRAJECTORY CALCULATION:LITERATURE REVIEWThe position of sun in the sky varies both with the elevation and the time of the day as the sun
moves from east to west. Therefore solar tracker system can increase solar power over any fixed
solar system. To produce maximum output power requires a great accuracy, one must first be
able to predict the location of the sun relative to a tracking system [8].
We are using vector approach for necessary equation.
15( 12) deg .h sA t in rees=
Where: hA - Angular distance between the meridian of the
Observer and the meridian whose plane contains the sun (-180,180 degrees).
dt - Difference between mean solar time and solar time.
0.258cos 7.416sin 3.648cos2 9.228sin2 mindt in utes = Where: the angle is defined as the
function of day dn .
360( 1)
deg .365d
n
in rees
=
Time conversion:
Local clock time can be calculated as.
.60
dl s c
tt t L in hours= +
Where: st - solar time in minutes.
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN
0976 6553(Online) Volume 3, Issue 3, October December (2012), IAEME
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cL - Longitude correction can be calculated as.
( ).
15t
c
local longitude zL in hours
=
tan .t s dard longitudeztime zone meridain
=
Fig.1. Sun position calculation
The Declination Angle ( dA ):
This is the angle between line (joining the center of the earth and the sun) and the earths
equatorial plane. 1sin [0.3979 cos {0.98563( 173)}] deg .d d
A n in rees
= Where: dn -Number of
days.
Solar Altitude Angle ():
This is the angle between solar ray and observer plane as shown in Fig.1.
1
sin sin .sin cos .cos .cos
sin (sin .sin cos .cos .cos ).
d d h
d d h
A A A
A A A
=
=
Where: hA - Hours Angle.
dA - Declination Angle.
Zenith Angle (): Complement of the solar altitude angle () as shown in Fig.1.
i
k
East
North
Zenith
Sz
Sj Sk
SUN
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN
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90 = .
Azimuth Angle ():
From Fig.1.all the angles are in degrees Azimuth angle can be represented as.
1
cos .cos sin .cos cos .cos .sin .(sin .cos cos .cos .sin )
coscos
(sin .cos cos .cos .sin )cos
cos
d d h
d d h
d d h
A A AA A A
A A A
=
=
=
III. MECHANICAL DESIGNA tracking system must be reliable and able to follow the sun with a certain degree of accuracy,the tracking systems can be divided into two broad categories, namely electrical/electronic
systems [9] and mechanical systems [10].
Mechanical structure for solar tracking system is shown in Fig.2 and Fig.3. In our experimental
setup we are using two 12 volt PMMC DC motor to rotate 510 watt for dual axis tracking.
Fig. 2.Experimental set up
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Fig. 3 Electronic circuit for single axis tracking
IV. SYSTEM DESIGN:SOLAR TRACKINGWe are using 12Volt two dc motors to rotate three 170watts panel each mounted on themechanical structure from east to west. The mechanical structure of open loop solar tracking
system is shown in fig.1 and 2. Here we are using Zig-bee base tracking system, it requires
control circuitry used to rotate the two pmmc type 12V motor for dual axis tracking system.Earth rotate in elliptical orbit around the sun and also around in own axis known as polar axis,
mathematically declination angle (Z
) can be expressed as [10].
nd = day of the year.
0 360.( 180)23.45 .sin365
dZ
n =
If Z is the zenith angle then: Z = .
Where = latitude angle.
Z = declination angle.
Fig.3 position of earth with respect to sun
Solar Event Date
Vernal equinox Mar-21
Summer solstice June-21
Autumnal equinox Sep-23
Winter solstice Dec-21
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The azimuth angle is zero at solar noon and increases toward the east. The angle about thevertical axis is called the azimuthal angle and is 0 at due south and becomes positive as you start
to point east. The angle about the horizontal axis is called the altitude and is 0 level to the
horizon and becomes positive as you point towards the sky.
Fig. 4: Solar Trajectory
V. CALCULATION:SOLARRADIATIONSolar radiation energy availability is vital for utilization of PV systems. The higher the
availability of solar radiation energy, the smaller will be the size of the PV array that makesthe cost of PV system cheaper. Solar energy is radiated uniformly in all the direction the
spectrum of this radiation lies in the visible and infrared part of the EM (Electromagnetic) wave.
The luminosity of the Sun is about 3.86 x 1026 watts. The distance of the sun from the earth is
150 million kilometer and the earth radius is 63000 kilometer approximately. The solar powerwe received at the earth surface is approximately 1370 watts per square meter is called solar
constant. It is varies by +/- 3% because of the Earth's slightly elliptical orbit around the Sun as
shown in fig.4. Therefore the extra-atmospheric radiation EAR varies according to the law:
[1 0.33.cos(360. 365)]d
EAR Sc n= +
Where Sc - solar constant, dn - represents the day of the year considered, counted from January
1.table2 shows the day to day conversion [11].
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International Journal of Electrical Engineering and Technology (IJEET), ISSN 0976 6545(Print), ISSN
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Month Day Number, nd Notes
January d *
February d+31 *
March d+59 Add 1 if leap year
April d+90 Add 1 if leap year
May d+120 Add 1 if leap year
June d+151 Add 1 if leap year
July d+181 Add 1 if leap year
August d+212 Add 1 if leap year
September d+243 Add 1 if leap year
October d+273 Add 1 if leap year
November d+303 Add 1 if leap year
December d+334 Add 1 if leap yearTable 2
The radiation at the earth surface in clear sky condition
T dir diff reflRA RA RA RA= + +
Fig.5: Global Radiation on Inclined Plane
dirRA - Direct component of solar radiatio on a surface can be calculated.
( )0 .cos cos 0exp( / sin )
dir
EARRA if
= >
Where: 0EAR = extra atmospheric radiation if the origin of the rays had zenithal. It can be
calculated for each day of the year by the formula:
0 1150.65 72.43.cos(0.95. ) 34.25.sin(0.017. ) 1.5log( )d d dEAR n n n= + + + = endangered atmosphere coefficient.
It is:
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4 2 6 3 9 41(6.74 0.026. 5.1314 . 2.24.10 . 2.80.10 . )
d d d d n n n n
=+ + +
The diffusion component on the same area:
0 .exp( / sin )
diff
EARRA F
=
Where: = diffusion radiation factor.4 2 6 3 9 4
1(16.9 0.0001. 8.65.10 . 3.93.10 . 4.005.10 . )
d d d d n n n n
=+ + +
F= factor of view between the considered
surface and the sky:
1 cos
2F
+=
Inclined surface receives less diffuse radiation from atmosphere, but receive an additional
amount of reflected radiation due to the reflection from the ground. The Reflection factor iscalled albedo. It varies considerably depending on the nature of the soil, vegetation, etc. The
component reflected may be determined as:
0 .( sin ). .(1 )exp( / sin ) d
refl nEARRA C F
= +
Wheredn
= is the reflection factor of the surrounding ground (albedo).
The solar radiation incidence depends on two fundamental parameters: height of thesun and its
position.
Once solar elevation angle () and Azimuthal angle (Az) known then it is possible to calculate
instantaneous position of sun and incidence angle (between the normal to the surface and the
solar rays.) as shown in fig.4.
VI. SPECIFICATIONDC-motor specification
DC motors (instead of AC motors) because they could be directly coupled with PV arrays
and make a very simple system. Among different types of DC motors, a permanent
magnet DC (PMDC) motor is preferred in PV systems for tracking system because it can
provide higher starting torque, the DC voltage equation for the armature circuit is:
. .aV I R K = +
Where: Ra is the armature resistance. Increasing Ra The back emf is E=K where: K is the
constant, and is the angular speed of rotor in rad/sec.
We are using 2-POLE permanent magnet Lap wound dc motor. DGM-3440-12Volt, 286 rpm,4
Amp.
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Table 1: Specifications of Solar Photovoltaic Modules
VII. EXPERIMENTAL SETUPThe experiment has been performed at laboratory situated at Faculty of Engineering, DayalbaghEducational Institute, Agra. There are two solar panel systems viz. fixed and tracking system, onwhich for load four DC bulbs are directly connected ( two bulbs are in series) havingspecification each 90 Watts, 12Volt are connected to each system for experiment . Thespecification of each panel system is given below:
Fixed system: Having three panels each of 170 watts. Mounted on fixed mechanical structure
incline latitude at 29
0
south facing.
Tracking System: Number of panels in this system is also three, each of 170 watts. Mounted onrotating structure. It is rotating with the help of two 12Volt DC motors.
Both system panels are manufactured by BHEL. The same specifications are taken for bothsystems i.e. fixed and tracking system, to compare the performance of both systems. Thecomparison is carried out during different weather conditions and for different seasons. Thereadings are calibrated through digital voltmeters and analog ammeters.
VIII. REAL TIME DATA ANALYSIS OF CONTROL CIRCUITSince the whole system is to be implemented for real life application, for economicalpurpose we designed a very low cost Zig-bee based solar tracking system and analyzed theperformance of this during the sunny day.
IX. EXPERIMENTAL RESULTSThese data was taken in the month of September-20, 2012. Table.6 represents the fixed systemrecorded database and Table.7 represents recorded database for tracking system.
ConfigurationSingle Glass Laminated Type
With 72 Cells (12 6) In Series
Overall Size
1595 ( 3) 790 ( 2) 50 (
1) MMWeight 15 Kg. (Typical)
Module Frame Anodized Aluminum
Typical Electrical Characteristics of L24150 typemodule (170Wp)
Open Circuit Voltage (Voc)Short Circuit Current (Isc)Operating VoltageMax Power Output
42.0 V4.86 A35 V
170.0 W3%
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Table 2: Fixed system
Hour Voltage(V)
Current(Amp) Power(watt)
7.00am 0.816 1 0.816
7.30am 1.180 2 2.36
7.45am 1.168 2.5 2.92
8.00am 2.200 3 6.6
8.15am 3.485 4 13.94
8.30am 4.750 5.5 26.125
8.40am 7.35 6.5 47.775
8.55am 9.18 7.0 64.26
9.05am 10.41 7.52 78.2832
9.20am 12.51 8.40 105.084
9.36am 14.48 9.10 131.768
9.50am 16.21 9.6 155.616
10.05am 18.35 10.4 190.84
10.20am 19.28 10.6 204.368
10.40am 21.70 11.4 247.3810.54am 22.45 11.6 260.42
11.10am 23.22 11.9 276.318
11.25am 23.45 12.0 281.4
11.45am 23.87 12.0 286.44
12.00am 23.86 12.0 286.32
12.15am 23.91 12.1 289.311
12.40pm 23.04 12.1 278.784
1.00pm 23.91 12.1 289.311
1.10pm 23.90 12.1 289.19
1:25pm 23.81 12.0 285.72
1:44pm 22.90 12.0 274.8
1:55pm 22.83 11.9 271.677
2.10pm 21.51 11.7 251.6672.25pm 20.70 11.5 238.05
2.35pm 21.22 11.4 241.908
2.50pm 18.70 10.9 203.83
3.00pm 17.90 10.5 187.95
3.05pm 15.65 10 156.5
3.21pm 14.98 9.6 143.808
3.44pm 10.22 7.5 76.65
4.00pm 9.70 7.5 72.75
4.22pm 6.90 6.5 44.85
4.35pm 5.64 6.1 34.404
4.40pm 5.05 6 30.3
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Table 3: Tracking system
Hour Voltage (V) Current(Amp) Power(watt)
7.00am 0.941 0.2 0.1882
7.30am 1.350 1 1.35
7.45am 2.040 1 2.04
8.00am 1.189 1 1.189
8.15am 1.010 2 2.02
8.30am 6.60 3 19.8
8.40am 14.50 10.5 152.25
8.55am 16.02 11 176.22
9.05am 16.82 11.40 191.748
9.20am 17.87 11.70 209.079
9.36am 18.95 12.0 227.4
9.50am 19.80 12.40 245.52
10.05am 19.93 12.50 249.125
10.20am 20.12 12.50 251.5
10.40am 20.80 12.60 262.0810.54am 21.02 12.60 264.852
11.10am 21.04 12.75 268.26
11.25am 20.85 12.90 268.965
11.45am 20.69 12.75 263.7975
12.00am 20.23 12.50 252.875
12.15am 19.53 12.50 244.125
12.40pm 20.34 12.45 253.233
1.00pm 20.35 12.40 252.216
1.10pm 20.45 12.50 255.625
1.25pm 20.71 12.50 258.875
1.44pm 20.37 12.60 256.662
1.55pm 20.03 12.60 252.378
2.10pm 19.87 12.50 248.3752.25pm 17.85 12.00 214.2
2.35pm 19.04 12.10 230.384
2.50pm 17.26 11.80 203.668
3.00pm 17.06 11.50 196.19
3.05pm 14.66 11.00 161.26
3.21pm 14.16 10.90 154.344
3.44pm 10.07 9.00 90.63
4.00pm 10.38 9.00 93.42
4.22pm 7.93 8 63.44
4.35pm 6.62 7.5 49.65
4.40pm 5.26 7 36.82
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Figure 1 Graphical Representation of Power
Figure 2 Graphical Representation of Current
X. CONCLUSIONWe are getting total power from a tracking system 6825.754 Watts and from a fixed system
6330.493 Watts. Here we can conclude that with the help of tracking system we can extract
495.302 watts more power than a fixed system .From above calculated data dual axis tracking
system increases the efficiency of the system by 7.82%.
7 8 9 10 11 12 13 14 15 16 170
50
100
150
200
250
300
Time (24- hours)
Powerin
watts
power representation (Fixed s ystem)
power representation (Tracking sys tem)
7 8 9 10 11 12 13 14 15 16 170
2
4
6
8
10
12
14
Time(24-hours)
Current(Am
p)
Current (Fixed System)
Current (TrackingSy stem)
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