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CN110471460B - Photovoltaic power generation sun direction tracking system and tracking method based on hill climbing algorithm - Google Patents

Photovoltaic power generation sun direction tracking system and tracking method based on hill climbing algorithm Download PDF

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CN110471460B
CN110471460B CN201910651187.4A CN201910651187A CN110471460B CN 110471460 B CN110471460 B CN 110471460B CN 201910651187 A CN201910651187 A CN 201910651187A CN 110471460 B CN110471460 B CN 110471460B
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light intensity
value
sun
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azimuth
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CN110471460A (en
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鲁仁全
朱祖宏
张斌
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Guangdong University of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00—Supporting structures for PV modules
    • H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract

本发明公开了一种基于爬山算法的光伏发电太阳方位跟踪系统及方法，利用光强传感器收集的能量数据，然后通过爬山算法分析数据精确得出太阳运动轨迹跟踪方式的二维太阳方位角和高度角。通过在太阳运动轨迹跟踪方式下加入爬山算法进行对太阳方位角和高度角的精确跟踪，能够较好的消除太阳运动轨迹跟踪方式的积累误差，提供太阳方位的跟踪精度。同时利用光强传感器把整个太阳方位自动跟踪装置分为两种工作模式，能够很好的解决天气变化对太阳方位跟踪稳定性的影响。同时相对较为复杂的光电跟踪方式和太阳运动轨迹跟踪方式切换以及复用系统，更为的简便和实用，在一定程度上节约了电能的损耗。

Figure 201910651187

The invention discloses a photovoltaic power generation solar azimuth tracking system and method based on a hill-climbing algorithm, which utilizes energy data collected by a light intensity sensor, and then analyzes the data through the hill-climbing algorithm to accurately obtain the two-dimensional sun azimuth angle and height of the sun motion track tracking method. horn. By adding a hill-climbing algorithm to the sun trajectory tracking mode to accurately track the sun azimuth and altitude angle, the accumulated error of the sun trajectory tracking method can be better eliminated, and the tracking accuracy of the sun azimuth can be provided. At the same time, the light intensity sensor is used to divide the entire solar azimuth automatic tracking device into two working modes, which can well solve the influence of weather changes on the stability of solar azimuth tracking. At the same time, the relatively complex photoelectric tracking mode and solar trajectory tracking mode switching and multiplexing system are more convenient and practical, which saves the power consumption to a certain extent.

Figure 201910651187

Description

Photovoltaic power generation sun direction tracking system and tracking method based on hill climbing algorithm
Technical Field
The invention relates to the technical field of photovoltaic power generation, in particular to a photovoltaic power generation solar azimuth tracking system and a tracking method based on a hill climbing algorithm in the process of improving the efficiency of receiving solar light.
Background
Photovoltaic power generation is the mainstream of solar power generation nowadays. The biggest bottleneck restricting solar power generation at present is low solar utilization rate, and although the utilization rate of solar energy is improved to a great extent by automatically tracking the sun, various tracking modes have certain applicability and limitation. At present, the automatic tracking method in the sun direction mainly comprises the following steps: photoelectric tracking mode, sun motion trail tracking mode and switching and multiplexing of the two modes. The photoelectric tracking mode is a closed-loop control mode, has high sensitivity, but is easily influenced by weather to cause misoperation of the system; the tracking mode of the sun movement track is divided into single-axis tracking and double-axis tracking, the tracking transpose is controlled by calculating the sun movement track to track the sun azimuth, the method belongs to an open-loop control mode, the mode is not influenced by weather, the tracking device can track stably, but the open-loop tracking mode has accumulated errors and cannot be eliminated; although the problem of weather influence is solved to a certain extent by switching the photoelectric tracking mode and the sun movement track tracking mode, the accumulated error of the sun movement track tracking mode cannot be eliminated; the photoelectric tracking mode and the solar motion trail tracking mode are multiplexed, and two modes are adopted for tracking, so that the tracking precision and reliability are guaranteed, and the complexity and extra electric energy loss of the tracking device are increased.
At present, the automatic tracking system of the solar panel needs to be further improved, and has wide research prospect and development space. Because the output characteristic of the photovoltaic cell is nonlinear and is easily influenced by the surrounding environment factors, the tracking precision of the system is difficult to improve, the structure is complex, and with the rapid development of modern technology, the mechanism simplification and the improvement of the tracking precision of the solar automatic tracking technology become necessary development trends.
Disclosure of Invention
The invention provides a photovoltaic power generation solar azimuth tracking system and a tracking method based on a hill climbing algorithm, and aims to solve the problems that a photoelectric tracking mode is easily influenced by weather and accumulated errors exist in a solar motion track tracking mode.
In order to realize the task, the invention adopts the following technical scheme:
a photovoltaic power generation sun azimuth tracking system based on a hill climbing algorithm comprises:
the light intensity sensor is used for acquiring light intensity data of the sun;
the signal processor is used for processing the light intensity data to obtain light intensity information;
the controller judges the weather conditions according to the light intensity information to select a tracking mode and controls the solar azimuth automatic tracker to drive the solar panel to execute a corresponding tracking strategy;
wherein said determining weather conditions to select tracking mode comprises:
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
the tracking strategy comprises the following steps:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' controller control overThe sun direction automatic tracker tracks the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
And the solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth when the light intensity sensor detects weather changes and the weather accords with sunny weather and cloudy weather.
Further, the method for determining the threshold Em comprises:
testing the light intensity information collected when the local area is cloudy by using a light intensity sensor, and taking an average value Et; then, by testing the light intensity information collected in the local rainy days, an average value En is obtained; the value range of the threshold Em is En < Em < Et; or:
taking values according to the current weather condition and the radiation illumination in local meteorological data, wherein if the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; reading the average radiant illuminance D in the cloudy period and the average radiant illuminance E in the rainy period by referring to meteorological data; the average light intensity information F ═ E × C/D in rainy days can be obtained.
Further, when the azimuth or the altitude corresponding to the maximum light intensity value is at the edge value with the deviation value of ± 5 ° or ± 2.5 °, there may be a deviation of the current solar azimuth value; at the moment, the controller controls the sun to move +/-1 degrees or +/-0.5 degrees on the basis of the deviation movement +/-5 degrees or +/-2.5 degrees, and then the hill climbing algorithm is carried out to obtain the sun azimuth and the altitude angle corresponding to the maximum light intensity value.
A photovoltaic power generation sun azimuth tracking method based on a hill climbing algorithm comprises the following steps:
step 1, setting the working time of an automatic sun direction tracker according to the sunrise and sunset time of the location of a solar photovoltaic power generation system;
step 2, after the working time of the automatic solar direction tracker is reached, judging the weather condition through light intensity information collected by a light intensity sensor so as to select a tracking mode;
processing the light intensity information collected by the light intensity sensor every Tr time to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; when Er is less than or equal to Em, adopting a rainy weather mode;
and 3, selecting corresponding tracking strategies according to different tracking modes:
strategy 1: sunny and cloudy weather patterns
Calculating the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and positionb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle; set every K hours (1 h)<K<3h) The following procedure was performed to eliminate the accumulated error:
the controller controls the current sun azimuth angle to move within +/-5 degrees of deviation, and light intensity information S fed back by the light intensity sensor is collectediRecording each light intensity information SiCorresponding sun azimuth angle thetaiThen, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjThe azimuth angle of the sun;
the controller controls the current solar altitude thetabDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectediAnd recording the solar altitude theta corresponding to each light intensity informationi'; then, the maximum light intensity value S is obtained by utilizing a hill climbing algorithmj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’；
The hill climbing algorithm is as follows:
and (2) regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is smaller than the neighbor node value, replacing the current node value with the largest neighbor node value until the current node value is larger than all neighbor node values, thereby obtaining the largest light intensity value;
strategy 2: overcast and rainy weather pattern
The solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and when the weather change detected by the light intensity sensor is consistent with sunny days and cloudy days, the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth;
step 4, the tracking is finished and the reset is carried out
When the working time range of the solar orientation automatic tracker is exceeded, the solar orientation automatic tracker stops tracking and resets at the moment, and returns to the position at the sunrise of the day.
The invention has the following technical characteristics:
1. according to the invention, the azimuth angle and the altitude angle of the sun are accurate through the hill climbing algorithm in the sun movement track tracking mode, the accumulated error in the sun movement track tracking mode is eliminated, the tracking precision is improved, the mechanism simplification requirement of the solar automatic tracking technology is realized, and the solar automatic tracking system has the advantages of high efficiency and good practicability.
2. The invention divides the whole automatic sun direction tracking device into two working modes by using the light intensity sensor, and can well solve the influence of weather change on the sun direction tracking stability. Meanwhile, a relatively complex photoelectric tracking mode and a solar motion trail tracking mode are switched and are multiplexed, so that the system is more convenient and practical, and the loss of electric energy is saved to a certain extent.
Drawings
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a graph of solar azimuth and elevation deviation shifts in the system of the present invention;
FIG. 3 is a tracking flow diagram of the system of the present invention.
Detailed Description
The invention provides a photovoltaic power generation sun azimuth tracking system based on a hill climbing algorithm, which comprises:
the light intensity sensor is used for acquiring light intensity data of the sun;
the signal processor is used for processing the light intensity data to obtain light intensity information;
and the controller judges the weather condition according to the light intensity information to select a tracking mode and controls the solar azimuth automatic tracker to drive the solar panel to execute a corresponding tracking strategy.
In this embodiment, the light intensity sensor is of model TSL2561, and the signal processor and controller use a high performance digital signal processor TMS320LF 2407A.
The solar azimuth angle is the angle between the projection of the sun ray on the ground plane and the local meridian, and can be approximately regarded as the angle between the shadow of a straight line standing on the ground in the sun and the south. The azimuth angle is zero in the positive south direction, negative from south to east to north and positive from south to west to north, for example, the sun is in the positive east, the azimuth angle is-90 degrees, the azimuth angle is-135 degrees in the positive east-north direction, the azimuth angle is 90 degrees in the positive west direction, and the azimuth angle is +/-180 degrees in the positive north direction. The solar altitude is the angle between the local horizontal plane and the light rays directly projected from the center of the sun to the local (or the angle between the line from the observation point to the sun and the ground), and the value of the solar altitude varies from 0 ° to 90 °, and is zero at sunrise and sunset, and the angle is 90 ° at the positive zenith.
In the sun movement track tracking mode, the sun azimuth angle calculation formula is as follows:
Figure GDA0003459258230000051
wherein A is the azimuth angle of the sun,
Figure GDA0003459258230000052
the geographical latitude, δ is solar declination.
In the sun movement track tracking mode, the sun azimuth angle calculation formula is as follows:
Figure GDA0003459258230000053
wherein h is the solar altitude,
Figure GDA0003459258230000054
is the geographic latitude; delta is solar declination; and omega is a time angle.
The light intensity sensor of the invention divides the tracking mode into a sunny weather mode, a cloudy weather mode and a rainy weather mode through the collected light intensity information. In a sunny weather mode and a cloudy weather mode, a sun movement track tracking mode and a hill climbing algorithm are used, and in a cloudy weather mode, the operation of tracking and transposing is stopped. The method improves the tracking precision and saves the electric energy loss while solving the weather change and the environmental interference. The method specifically comprises the following steps:
step 1, setting the working time of an automatic sun direction tracker according to the sunrise and sunset time of the location of a solar photovoltaic power generation system, wherein the sunrise and sunset time can be obtained according to the existing astronomical calculation technology (or can be manually set on a controller); the working time corresponds to the sunrise and sunset time and can be set to 7 points earlier to 6 points later, for example.
Step 2, after the working time of the automatic solar direction tracker is reached, judging the weather condition through light intensity information collected by a light intensity sensor so as to select a tracking mode;
the light intensity sensor collects light intensity information once every Tr time (10s < Tr <60s), and the light intensity information collected in the Tr time is processed to obtain an average value Er; setting a threshold Em, and when Er is greater than Em, adopting a sunny weather mode and a cloudy weather mode; and when Er is less than or equal to Em, adopting a rainy weather mode.
The threshold Em may be a threshold value of light intensity information detected by the light intensity sensor when the local cloud and rain are cloudy. The specific process of setting the threshold value is that the light intensity information collected when the local area is cloudy is tested by a light intensity sensor, and an average value Et is obtained; then, by testing the light intensity information collected in the local rainy days, an average value En is obtained; the value range of the threshold Em is En < Em < Et. When the test is inconvenient, the value can be taken according to the current weather condition and the radiation illumination in the local meteorological data, and if the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; reading the average radiant illuminance D in the cloudy period and the average radiant illuminance E in the rainy period by referring to meteorological data; the average light intensity information F ═ E × C/D in rainy days can be obtained.
And 3, selecting corresponding tracking strategies according to different tracking modes:
strategy 1: sunny and cloudy weather patterns
Obtaining the initial value theta a of the solar azimuth angle and the initial value theta of the solar altitude angle of the current time and position through the formula of the solar altitude angle and the azimuth angleb(ii) a The solar azimuth automatic tracker drives a solar panel of the solar photovoltaic power generation system to track light according to the initial value of the solar azimuth angle and the initial value of the solar altitude angle;
according to the definition of the solar azimuth angle and the solar altitude angle, hill climbing algorithm processing is carried out; set every K hours (1 h)<K<3h) The accumulated error is eliminated by carrying out a hill climbing algorithm, and the specific algorithm is as follows: the hill climbing algorithm is started, firstly, the controller controls the automatic sun azimuth tracker to carry out +/-5-degree deviation movement on the current sun azimuth angle, and light intensity information S fed back by the light intensity sensor is collectediI ═ 10, 11, … …, k; recording each light intensity information SiCorresponding sun azimuth angle thetaiAnd regarding each light intensity information as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is less than the neighbor node value, replacing the current node value with the maximum neighbor node value until the current node value is greater than all neighbor node values, thereby obtaining a maximum light intensity value Sj(ii) a In order to prevent data deviation, the hill climbing algorithm needs to be restarted again randomly to obtain the maximum light intensity value; when the maximum light intensity value S is obtainedjThe controller controls the solar direction automatic tracker to track the corresponding maximum light intensity value SjOf the sunThe azimuth angle.
Similarly, the controller controls the current solar altitude θbDeviation movement of +/-2.5 degrees is carried out, and light intensity information S fed back by the light intensity sensor is collectedi10, 11, … …, k, recording the solar altitude angle θ i' corresponding to each light intensity information; and (2) regarding each data as a node value, and then randomly selecting a node value as a current node value for judgment: if the current node value is greater than all the neighbor node values, returning the current node value as a maximum light intensity value; if the current node value is less than the neighbor node value, replacing the current node value with the maximum neighbor node value until the current node value is greater than all neighbor node values, thereby obtaining a maximum light intensity value Sj'; in order to prevent data deviation, the hill climbing algorithm needs to be restarted again randomly to obtain the maximum light intensity value Sj'. When the maximum light intensity value S is obtainedj' the controller controls the sun direction automatic tracker to track the sun altitude theta corresponding to the maximum light intensity valueb’。
In addition, when the azimuth or the altitude corresponding to the maximum light intensity value is located at the ± 5 ° (or ± 2.5 °) deviation value (± 5 °), there may be a deviation of the current solar azimuth value. At the moment, the controller controls the sun to move +/-1 degree (or +/-0.5 degree) on the basis of deviation movement +/-5 degrees (or +/-2.5 degrees), and then the mountain climbing algorithm is carried out once again to obtain the sun azimuth and altitude angle corresponding to the maximum light intensity value.
Strategy 2: overcast and rainy weather pattern
And the solar azimuth automatic tracker stops tracking, the solar panel keeps the current position, and the solar panel enters a sunny weather mode and a cloudy weather mode to track the sun azimuth when the light intensity sensor detects weather changes and the weather accords with sunny weather and cloudy weather.
Step 4, the tracking is finished and the reset is carried out
When the sun falls behind (the sunset time can be calculated according to the existing astronomical technology and can also be manually set on the controller), the working time range of the solar azimuth automatic tracker is exceeded, and at the moment, the solar azimuth automatic tracker stops tracking and resets, and returns to the position when the sun is sunout.
In conclusion, the invention adds the hill climbing algorithm to accurately track the solar azimuth angle and the altitude angle in the solar motion trajectory tracking mode, can better eliminate the accumulated error of the solar motion trajectory tracking mode and provides the tracking precision of the solar azimuth. Meanwhile, the whole automatic sun direction tracking device is divided into two working modes by using the light intensity sensor, so that the influence of weather change on the sun direction tracking stability can be well solved. Meanwhile, a relatively complex photoelectric tracking mode and a solar motion trail tracking mode are switched and are multiplexed, so that the system is more convenient and practical, and the loss of electric energy is saved to a certain extent.

Claims (4)

1.一种基于爬山算法的光伏发电太阳方位跟踪系统，其特征在于，包括：1. a photovoltaic power generation solar azimuth tracking system based on mountain climbing algorithm, is characterized in that, comprises: 光强传感器，用于采集太阳的光强数据；Light intensity sensor, used to collect the light intensity data of the sun; 信号处理器，用于对光强数据进行处理，得到光强信息；The signal processor is used to process the light intensity data to obtain the light intensity information; 控制器，根据所述的光强信息，判断天气状况以选择跟踪模式，并控制太阳方位自动跟踪器带动太阳能板执行对应的跟踪策略；The controller, according to the light intensity information, judges the weather condition to select the tracking mode, and controls the automatic solar azimuth tracker to drive the solar panel to execute the corresponding tracking strategy; 其中，所述的判断天气状况以选择跟踪模式包括：Wherein, judging weather conditions to select a tracking mode includes: 把光强传感器每隔Tr时间内采集的光强信息进行处理得平均值Er；设定阈值Em，当Er>Em时，采用晴天和多云天气模式；当Er≤Em时，采用阴雨天气模式；The average value Er is obtained by processing the light intensity information collected by the light intensity sensor every Tr time; the threshold value Em is set, when Er>Em, the sunny and cloudy weather modes are used; when Er≤Em, the rainy weather mode is used; 所述的跟踪策略包括：The tracking strategy includes: 策略1：晴天和多云天气模式Strategy 1: Sunny and Cloudy Weather Patterns 计算当前时间、位置的太阳方位角初值θa和太阳高度角初值θb；太阳方位自动跟踪器根据太阳方位角初值、太阳高度角初值带动太阳能光伏发电系统的太阳能板进行追光；设定每K个小时(1h<K<3h)进行一次以下过程以消除积累误差：Calculate the initial value θa of the sun azimuth angle and the initial value θ b of the sun altitude angle at the current time and position; the automatic sun azimuth tracker drives the solar panel of the solar photovoltaic power generation system to follow the light according to the initial value of the sun azimuth angle and the initial value of the sun altitude angle; Set the following process to be performed every K hours (1h<K<3h) to eliminate accumulated errors: 控制器控制对当前太阳方位角进行±5°偏差移动，收集光强传感器反馈的光强信息Si，记录每个光强信息Si对应的太阳方位角θi，然后利用爬山算法得到最大的光强值Sj，控制器控制太阳方位自动跟踪器跟踪对应最大的光强值Sj的太阳方位角度；The controller controls the deviation of the current sun azimuth angle by ±5°, collects the light intensity information Si fed back by the light intensity sensor, records the sun azimuth angle θ i corresponding to each light intensity information Si , and then uses the mountain climbing algorithm to get the maximum value. light intensity value S j , the controller controls the sun azimuth automatic tracker to track the sun azimuth angle corresponding to the maximum light intensity value S j ; 控制器控制对当前太阳高度角θb进行±2.5°偏差移动，收集光强传感器反馈的光强信息Si，记录每个光强信息对应的太阳高度角θi’；然后利用爬山算法得到最大的光强值Sj’，控制器控制太阳方位自动跟踪器跟踪对应最大的光强值的太阳高度角θb’；The controller controls the deviation movement of the current sun altitude angle θb by ±2.5°, collects the light intensity information S i fed back by the light intensity sensor, and records the sun altitude angle θ i ' corresponding to each light intensity information; then use the mountain climbing algorithm to obtain the maximum the light intensity value S j ', the controller controls the sun azimuth automatic tracker to track the sun altitude angle θ b ' corresponding to the maximum light intensity value; 所述的爬山算法为：The hill-climbing algorithm described is: 把每个光强信息看成一个节点值，然后随机选择一个节点值作为当前节点值进行判断：如果当前节点值大于所有的邻居节点值，那么返回当前节点值作为最大光强值；如果当前节点值小于邻居节点值，则利用最大的邻居节点值替换当前节点值，直至当前节点值大于所有邻居节点值，从而得到最大的光强值；Consider each light intensity information as a node value, and then randomly select a node value as the current node value for judgment: if the current node value is greater than all neighbor node values, then return the current node value as the maximum light intensity value; if the current node value If the value is less than the neighbor node value, the current node value is replaced with the largest neighbor node value until the current node value is greater than all neighbor node values, so as to obtain the maximum light intensity value; 策略2：阴雨天气模式Strategy 2: Rainy Weather Pattern 太阳方位自动跟踪器停止跟踪，太阳能板保持当前位置，等待光强传感器检测到天气变化，符合晴天和多云天气时，再进入晴天和多云天气模式进行太阳方位跟踪。The sun position automatic tracker stops tracking, the solar panel maintains the current position, and waits for the light intensity sensor to detect the weather change, when it matches the sunny and cloudy weather, then enter the sunny and cloudy weather mode to track the sun position. 2.如权利要求1所述的基于爬山算法的光伏发电太阳方位跟踪系统，其特征在于，所述的阈值Em的确定方法为：2. The photovoltaic power generation solar azimuth tracking system based on mountain climbing algorithm as claimed in claim 1, is characterized in that, the determination method of described threshold value Em is: 通过光强传感器测试当地在多云时收集到的光强信息，取平均值Et；再通过测试当地阴雨天收集到的光强信息，取平均值En；阈值Em的取值范围则为En<Em<Et；或：Use the light intensity sensor to test the local light intensity information collected when it is cloudy, and take the average value Et; then test the local light intensity information collected in cloudy and rainy days, take the average value En; the value range of the threshold Em is En<Em <Et; or: 通过当前天气情况和当地气象资料中的辐射照度进行取值，若当前天气多云，光强传感器收集到的平均光强信息为C；参考气象资料，读取多云时平均辐射照度D，阴雨时平均辐射照度E；则可得阴雨时平均光强信息F＝E*C/D。The value is obtained according to the current weather conditions and the irradiance in the local meteorological data. If the current weather is cloudy, the average light intensity information collected by the light intensity sensor is C; referring to the meteorological data, read the average irradiance D when it is cloudy, and the average when it is rainy. The irradiance E; then the average light intensity information F=E*C/D can be obtained when it is cloudy and rainy. 3.如权利要求1所述的基于爬山算法的光伏发电太阳方位跟踪系统，其特征在于，当最大光强值所对应的方位角或高度角处于偏差值±5°或±2.5°的边缘值时，可能存在当前太阳方位值有所偏差；此时，控制器控制在偏差移动±5°或±2.5°的基础上再偏差移动±1°或±0.5°，然后再进行爬山算法，求得最大光强值所对应的太阳方位和高度角。3. The solar azimuth tracking system for photovoltaic power generation based on a hill-climbing algorithm as claimed in claim 1, wherein when the azimuth angle or the altitude angle corresponding to the maximum light intensity value is at the edge value of the deviation value ±5° or ±2.5° When , there may be a deviation of the current sun azimuth value; at this time, the controller controls the deviation to move ±1° or ±0.5° on the basis of the deviation movement of ±5° or ±2.5°, and then performs the hill-climbing algorithm to obtain The sun azimuth and altitude angle corresponding to the maximum light intensity value. 4.一种基于爬山算法的光伏发电太阳方位跟踪方法，其特征在于，包括以下步骤：4. A solar azimuth tracking method for photovoltaic power generation based on a hill-climbing algorithm, characterized in that it comprises the following steps: 步骤1，根据太阳能光伏发电系统所在地日出日落时间，设定太阳方位自动跟踪器的工作时间；Step 1, according to the sunrise and sunset time of the location of the solar photovoltaic power generation system, set the working time of the automatic solar azimuth tracker; 步骤2，进入太阳方位自动跟踪器的工作时间后，通过光强传感器收集的光强信息，判断天气状况以选择跟踪模式；Step 2: After entering the working hours of the automatic solar azimuth tracker, the light intensity information collected by the light intensity sensor is used to judge the weather conditions to select the tracking mode; 把光强传感器每隔Tr时间内采集的光强信息进行处理得平均值Er；设定阈值Em，当Er>Em时，采用晴天和多云天气模式；当Er≤Em时，采用阴雨天气模式；The average value Er is obtained by processing the light intensity information collected by the light intensity sensor every Tr time; the threshold value Em is set, when Er>Em, the sunny and cloudy weather modes are used; when Er≤Em, the rainy weather mode is used; 步骤3，针对于不同的跟踪模式，选择对应的跟踪策略：Step 3, for different tracking modes, select the corresponding tracking strategy: 策略1：晴天和多云天气模式Strategy 1: Sunny and Cloudy Weather Patterns 计算当前时间、位置的太阳方位角初值θa和太阳高度角初值θb；太阳方位自动跟踪器根据太阳方位角初值、太阳高度角初值带动太阳能光伏发电系统的太阳能板进行追光；设定每K个小时(1h<K<3h)进行一次以下过程以消除积累误差：Calculate the initial value θa of the sun azimuth angle and the initial value θ b of the sun altitude angle at the current time and position; the automatic sun azimuth tracker drives the solar panel of the solar photovoltaic power generation system to follow the light according to the initial value of the sun azimuth angle and the initial value of the sun altitude angle; Set the following process to be performed every K hours (1h<K<3h) to eliminate accumulated errors: 控制器控制对当前太阳方位角进行±5°偏差移动，收集光强传感器反馈的光强信息Si，记录每个光强信息Si对应的太阳方位角θi，然后利用爬山算法得到最大的光强值Sj，控制器控制太阳方位自动跟踪器跟踪对应最大的光强值Sj的太阳方位角度；The controller controls the deviation of the current sun azimuth angle by ±5°, collects the light intensity information Si fed back by the light intensity sensor, records the sun azimuth angle θ i corresponding to each light intensity information Si , and then uses the mountain climbing algorithm to get the maximum value. light intensity value S j , the controller controls the sun azimuth automatic tracker to track the sun azimuth angle corresponding to the maximum light intensity value S j ; 控制器控制对当前太阳高度角θb进行±2.5°偏差移动，收集光强传感器反馈的光强信息Si，记录每个光强信息对应的太阳高度角θi’；然后利用爬山算法得到最大的光强值Sj’，控制器控制太阳方位自动跟踪器跟踪对应最大的光强值的太阳高度角θb’；The controller controls the deviation movement of the current sun altitude angle θb by ±2.5°, collects the light intensity information S i fed back by the light intensity sensor, and records the sun altitude angle θ i ' corresponding to each light intensity information; then use the mountain climbing algorithm to obtain the maximum the light intensity value S j ', the controller controls the sun azimuth automatic tracker to track the sun altitude angle θ b ' corresponding to the maximum light intensity value; 所述的爬山算法为：The hill-climbing algorithm described is: 把每个光强信息看成一个节点值，然后随机选择一个节点值作为当前节点值进行判断：如果当前节点值大于所有的邻居节点值，那么返回当前节点值作为最大光强值；如果当前节点值小于邻居节点值，则利用最大的邻居节点值替换当前节点值，直至当前节点值大于所有邻居节点值，从而得到最大的光强值；Consider each light intensity information as a node value, and then randomly select a node value as the current node value for judgment: if the current node value is greater than all neighbor node values, then return the current node value as the maximum light intensity value; if the current node value If the value is less than the neighbor node value, the current node value is replaced with the largest neighbor node value until the current node value is greater than all neighbor node values, so as to obtain the maximum light intensity value; 策略2：阴雨天气模式Strategy 2: Rainy Weather Pattern 太阳方位自动跟踪器停止跟踪，太阳能板保持当前位置，等待光强传感器检测到天气变化，符合晴天和多云天气时，再进入晴天和多云天气模式进行太阳方位跟踪；The sun position automatic tracker stops tracking, the solar panel maintains the current position, and waits for the light intensity sensor to detect the weather change. When it matches the sunny and cloudy weather, enter the sunny and cloudy weather mode to track the sun position; 步骤4，跟踪结束，复位Step 4, end of tracking, reset 当超出太阳方位自动跟踪器的工作时间范围，此时太阳方位自动跟踪器停止跟踪并复位，回到当天日出时的位置。When it exceeds the working time range of the automatic sun azimuth tracker, the automatic sun azimuth tracker stops tracking and resets, returning to the position at the sunrise of the day.
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