201217724 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種太陽追蹤控制系統高精度感測太陽 追蹤器位置的方法，尤指一種可可取代外部安裝之馬達位置感 測器，以解決精準度以及誤判之問題，而達到具有節省成本、 精準度高以及穩定性佳之功效者。 【先前技術】 按’一般高聚光型太陽電池發電系統與傳統太陽電池發電 系統相比較’具有較高的發電效率，但須配有太陽追蹤器才能 發電，而太陽追縱器的追蹤精度直接影響發電效率；但目前世 界各研發機構均以高精度及穩定追蹤為研究核心。 而運用時係必須將太陽能電池安置於太陽追蹤器上，因 此’對於聚光型太陽能電池而言是發電的必要設備’若無太陽 追蹤器則無法正對太陽，以致無法聚光，也就無法發電；而目 則之聚光太陽電池追蹤器的追蹤控制系統，係包含有太陽感測 器4、微處理器控制器5及太陽追蹤器6，而該太陽追蹤器6 係具有仰角馬達61、方位馬達6 2、及馬達位置感測器6 i 1、6 2 1 ° 然而目前聚光型太陽能系統之控制方法大致如下： 1、太陽軌跡控制方法：係依據太陽軌跡運動公式和位置 計數器而控制的方法，先計算即時的太陽軌跡值對應 於位置計數器的值，直接驅動太陽追蹤器6至太陽軌 =值而對準太陽’絲在根據發電量微調太陽追縱 器，使太陽能系統得到最大發電量，優點是不會受太 201217724 陽光微弱、烏雲、下雨、等天候下，造成太陽感測器 4判斷錯誤’影響系統追蹤精度與系統穩定度；缺點 是太陽追縱器6至太陽軌跡值而對準太陽後每次都 要微調太陽追蹤器6，而耗廢電力。 2、太陽_||控制方法：係由太陽制器4判斷太陽位 置在太陽追蹤器6的東邊、西邊、南邊或北邊’經由 微處理器控制器5的類比數位轉換器將太陽感測器4 所得到的值以轉換單元5 〇數位化，在經過混合式控 ^ 制策略單元51驅動馬達驅動電路5 2，使太陽追蹤 器6利用仰角馬達61及方位馬達62，讓使太陽追 蹤器6的平面垂直對準太陽，達到高精度追蹤，使高 聚光太陽電池取得最高效率，優點是使用太陽位置感 測器4或電力回饋直接控制太陽追蹤器6對準太陽， 使太陽能系統得到最大發電量；缺點會受太陽光微 弱、烏雲、下雨、等天候下，造成太陽感測器4判斷 錯誤，影響系統追蹤精度與系統穩定度。 % 3、混合式控制方法：係合用太陽軌跡5 3及太陽感測器 4控制方法，太陽軌跡5 3就是太陽一年四季所在的 經緯度’利用太陽位置在太陽追蹤器6追蹤為主，具 有省電的優點，太陽軌跡5 3來辅助給予太陽追蹤器 6移動上的限制，可避免太陽感測器4受太陽光微 弱、烏雲、下雨、等天候下，造成太陽感測器4判斷 錯誤；因此，需利用馬達位置感測器611、6 2丄 配合脈波訊號54來計算太陽軌跡5 3與太陽的移動 速度所需要走的位置來辅助太陽追蹤系統。 4 201217724 而由於各馬達位置感測器6工丄、6 2工主要可分為有磁 簧開關(ReedSwitch)型與角度編碼器型(Enc〇der)兩種；該磁菁 開關(Reed Switeh)以墙目形雜絲於仰肖轉軸及方位 角驅動軸的馬達轴上，·磁簧開關的優點是成本低，缺點是馬達 轉圈有✓、個„十數因此精度低，且磁簧開關會受到潮渥、水 氣、等外在環境容易損壞。另該角度編碼器型(Encoder)以圓盤 不斷方疋轉光電晶體將持續送出開路與通路訊號，當然圓盤 橫分劃越細密，所能量測的角度位置精度越高，若要測量正反 轉位置時，則相藉由不畫方式將每—她置區分開 來，獲得絕對位置的角度變化；優點是精度高，缺點是成本高， 受到/朝溼、水氣、等外在環境也有損壞的可能。 有馨於上述馬達位置感測器611、6 21的諸多缺點， 本發明提出-種太陽追雜·統高精度制太陽追縱器位 置的方法’姻高精度計數^來取餅部絲的馬達位置 感測器，具有高精度與低成本且不易損壞。 【發明内容】 。本發明之主要目的係在於，可取代外部安裝之馬達位置感 測器以解決精準度以及誤判之問題，而達到具有節省成本、 精準度高以及穩定性佳之功效。 為達上述之目的，本發鴨—種太陽追雜姆統高精度 感測太陽追㈣位置的方法，包含—可麟太陽位置之太陽感 測機構與太陽感測機構連接之處理機構，其至少包含有一 計數單it，可魏太_職構之搞位置域，並將該訊號 加以數位化；以及-與處理機構連接之太陽追縱機構，可接收 201217724 數位化之太陽位置訊號，並依據該訊號進行方位與角度之移 動’且由計數單元接收太陽追蹤機構之運轉進行累加及遞減之 計數，而獲得太陽追蹤機構之運轉時間。 於本發明之一實施例中，該處理機構更進一步包含有： 一可將太陽位置訊號數位化之轉換單元； 一提供太陽經緯度之太陽執跡單元； 一接收轉換單元、太陽軌跡單元及計數單元之相關資訊之 混合式策略控制單元；以及 ^ 一配合接收混合式策略控制單元之相關資訊以驅動一太 陽追蹤機構之驅動單元。 於本發明之一實施例中，該計數單位以〇.丨秒為基準。 於本發明之一實施例中’該太陽追蹤機構至少包含有與計 數單元連接之仰角調整單元以及方位調整單元。 於本發明之一實施例中，該仰角調整單元以及方位調整單 元係可為驅動馬達。 【實施方式】 請參閱『第1圖』所示’係係本發明之方塊示意圖。如圖 所示：本發明係一種太陽追蹤控制系統高精度感測太陽追蹤器 位置的方法，其至少包含有一太陽感測機構1、一處理機構2 以及一太陽追蹤機構3所構成。 上述所提之太陽感測機構1係可判斷太陽之位置。 該處理機構2係與太陽感測機構1連接，其至少包含有一 §十數單元21，可接收太陽感測機構1之太陽位置訊號，並將 太陽位置訊號加以數位化，其中，該處理機構2更進一步包含 201217724 有一可將太陽位置訊號數位化之轉換單元2 2 ;—提供太陽經 緯度之太陽軌跡單元2 3;—接收轉換單元2 2、太陽轨跡單 元2 3及計數單元21之相關資訊之混合式策略控制單元2 4;及一配合接收混合式策略控制單元2 4之相關資訊以驅動 一太陽追蹤機構3之驅動單元2 5。 該太陽追蹤機構3係與處理機構2連接，可接收數位化之 太陽位置訊號，並依據該太陽位置訊號進行方位與角度之移 動，且由處理機構2之計數單元21接收太陽追蹤機構3之運 轉進行累加及遞減之計數’而獲得太陽追蹤機構之運轉時間， 其中該太陽追縱機構3至少包含有與計數單元21連接之仰 角調整單元3 1以及方位調整單元3 2，而該仰角調整單元3 1以及方位調整單元3 2係可為驅動馬達。 當本發明於運用時’係可包含晴天模式及陰天模式兩種模 式之應用，而依據不同天象而交互使用，並將所需之太陽能電 池設置於太陽追蹤機構3上（圖未示）。 於晴天時，在太陽光下太陽追蹤機構3開始追蹤，此時該 太陽感測機構1判斷太陽位置於太陽追蹤機構3之東邊、西 邊、南邊或北邊，經由處理機構2之轉換單元2 2、太陽軌跡 單元2 3計算太陽感測機構1之東、西向差值及南、北向差值 而由混合式策略控制單元2 4配合驅動單元2 5驅動太陽追 蹤機構3之仰角調整單元3!以及方位調整單元3 2，使太陽 ，蹤機構3之平面垂直對準太陽，並同時以處理機構2之計數 單702 1進行計數，當太陽追蹤機構3往西方與南方向轉時， i十數單元2 1便開始以累加方式計數，而太陽追蹤機構3往 東方與北相以遞減方式賴，且計數之單位於（U秒到H)[s] 7 201217724 秒為基準，因此，可使處理機構2得知太陽追蹤機構3之即時 方位角及仰角之計數值。 而在陰天烏雲遮蔽太陽一段時間時，而太陽感測機構工就 誤判而太陽追蹤機構3遠離對準太陽位置，而當太陽遠離大於 某個角度時，便會使太陽感測機構2產生死角，此時，可利用 太陽軌跡單元2 3依據太陽軌跡運動公式以及處理機構2之 計數單it 2 1控制的方法’計算及時之太陽獅賴應的計數 值，直接驅動太陽追縱機構3追至太陽軌跡值而對準太陽，可 避免感測器之死角。 另外，在陰天太陽光微弱、烏雲、下雨、等天候下，直射 照度會依雲層的厚薄、停留時間的長短而變化，直射照度弱； 而由於東、西向差值變化大，會誤導太陽追縱機構3追蹤，而 為避免震盡’因此，在方位角方面，推算太陽運轉速度為每分 鐘〇·1度至10度之間，故，需太陽追蹤機構3模擬陽光區之 追蹤速度絲準，作為關綠肖追蹤；另在仰肖方面，其太 陽運轉速度為每分鐘G.G1度至〇·3度之間，故，以每分鐘〇 2 度的追縱速度為基準，作為限鱗角追蹤。如此，可依據太陽 移動速度向則推算移動之位置搭配處理機構2之計數單元2 1控制的方法算出每度的計數值發現成線性關係，作為限制追 蹤以克服亂追_。而當晚上天暗的時候職太陽追縱機構3 回到原點(回到東方和水平位置），並同時將處理機構2之計 數單元21的值歸零。 如此’可使本發明以計數單元2工計數之方法應用於高聚 光追蹤控織略上，&含晴天赋聽天赋兩種模式的應 用，並依據不同天象而交互使用，使本發明在太陽光下，可精 L 1 8 201217724 確偵測太陽追蹤器的位置，在陰天太陽光微弱、烏雲、下雨、 等天候下’依據太陽的移動速度來模擬太陽追蹤機構3之位置 並給予太陽追蹤機構3移動上之限制；藉以使太陽能追縱系統 之穩定度提升，並取代外部安裝的馬達位置感測器，具有低成 本且高精度與不易損壞之功效。 综上所述，本發明太陽追蹤控制系統高精度感測太陽追縱 器位置的方法可有效改善習用之種種缺點，可取代外部安裝之 馬達位置感測器，以解決精準度以及誤判之問題，而達到具有 節省成本、精準度高以及穩定性佳之功效；進而使本發明之産 生旎更進步、更實用、更符合消費者使用之所須，確已符合發 明專利申請之要件，爰依法提出專利申請。 惟以上所述者，僅為本發明之較佳實施例而已，當不能以 此限定本發明實施之範圍；故，凡依本發明申請專利範圍及發 月說明書内谷所作之簡單的等效變化與修飾，皆應仍屬本發明 專利涵蓋之範圍内。 【圖式簡單說明】 第1圖’係本發明之方塊示意圖。 第2圖，係習用之方塊示意圖。 【主要元件符號說明】 (本發明部分） 太陽感測機構1 處理機構2 計數單元21 轉換單元2 2 201217724 太陽軌跡單元2 3 混合式策略控制單元2 4 驅動單元2 5 太陽追蹤機構3 仰角調整單元31 方位調整單元3 2 (習用部分）201217724 VI. Description of the Invention: [Technical Field] The present invention relates to a method for accurately sensing the position of a solar tracker by a solar tracking control system, and more particularly to a motor position sensor that replaces an externally mounted cocoa to solve Accuracy and misjudgment to achieve cost savings, high precision and stability. [Prior Art] According to the 'general high-concentration solar cell power generation system compared with the traditional solar cell power generation system', it has high power generation efficiency, but it must be equipped with a solar tracker to generate electricity, and the tracking accuracy of the solar tracker directly affects power generation. Efficiency; but at present, all R&D institutions in the world are based on high precision and stable tracking. In the application, the solar cell must be placed on the solar tracker, so 'the necessary equipment for power generation for the concentrating solar cell' cannot be converge against the sun without the sun tracker, so that it cannot be concentrated. The tracking control system of the concentrating solar battery tracker includes a solar sensor 4, a microprocessor controller 5 and a solar tracker 6, and the solar tracker 6 has an elevation motor 61, Azimuth motor 6 2, and motor position sensor 6 i 1, 6 2 1 ° However, the current control method of concentrating solar system is as follows: 1. Solar trajectory control method: controlled according to solar trajectory motion formula and position counter The method first calculates the instantaneous solar trajectory value corresponding to the value of the position counter, directly drives the sun tracker 6 to the sun track = value and aligns with the sun's wire to fine tune the sun tracker according to the amount of power generation, so that the solar system obtains maximum power generation. The quantity, the advantage is not to be too 201217724 Sunshine, dark clouds, rain, and other weather, causing the solar sensor 4 to judge the error 'affecting system chase Trace accuracy and system stability; the disadvantage is that the sun tracker 6 to the sun trajectory value and after aligning with the sun, each time the sun tracker 6 is fine-tuned, and the power is consumed. 2. Sun _||Control method: The solar controller 4 determines that the sun position is on the east, west, south or north side of the sun tracker 6 'the sun sensor 4 via the analog digital converter of the microprocessor controller 5 The obtained value is digitized by the conversion unit 5, and the motor drive circuit 52 is driven by the hybrid control strategy unit 51, so that the sun tracker 6 uses the elevation motor 61 and the azimuth motor 62 to make the sun tracker 6 The plane is vertically aligned with the sun to achieve high-precision tracking, which maximizes the efficiency of the high-concentration solar cell. The advantage is that the solar position sensor 6 or the power feedback directly controls the solar tracker 6 to align with the sun, so that the solar system can obtain the maximum power generation; It will be subject to faint sunlight, dark clouds, rain, and other weather conditions, causing the solar sensor 4 to make errors, affecting system tracking accuracy and system stability. % 3. Hybrid control method: the solar trajectory 5 3 and the solar sensor 4 control method are combined. The solar trajectory 5 3 is the latitude and longitude of the sun all year round. The sun position is tracked by the sun tracker 6 and has a province. The advantage of electricity, the solar trajectory 5 3 assists in the limitation of the movement of the solar tracker 6, and can prevent the solar sensor 4 from being misjudged by the solar sensor 4 due to weak sunlight, dark clouds, rain, and the like; Therefore, the motor position sensor 611, 62 2 is required to cooperate with the pulse signal 54 to calculate the position of the sun trajectory 5 3 and the moving speed of the sun to assist the solar tracking system. 4 201217724 And because each motor position sensor 6 work, 6 2 workers can be divided into two types: ReedSwitch type and angle encoder type (Enc〇der); the magnetic switch (Reed Switeh) The wall-shaped miscellaneous wire is on the motor shaft of the axis and the azimuth drive shaft. The advantage of the reed switch is that the cost is low. The disadvantage is that the motor turns have a mark, a tens of times, so the precision is low, and the reed switch will It is easily damaged by the external environment such as tides, moisture, etc. In addition, the angle encoder type (Encoder) continuously sends out the open circuit and the channel signal by rotating the disk, and of course the disk is divided into fine lines. The higher the angular position accuracy of the energy measurement, if the positive and negative position is to be measured, the angle of the absolute position is obtained by distinguishing each of them by the non-drawing method; the advantage is high precision, and the disadvantage is cost. High, there is also the possibility of damage to the external environment such as exposure to wetness, moisture, etc. There are many disadvantages of the above-mentioned motor position sensors 611, 621, and the present invention proposes a sun-like hybrid high-precision solar system. Method of tracking the position of the device The motor position sensor for taking the cake wire has high precision and low cost and is not easily damaged. SUMMARY OF THE INVENTION The main purpose of the present invention is to replace the externally mounted motor position sensor to solve the accuracy. And the problem of misjudgment, and achieve the effect of cost saving, high precision and good stability. In order to achieve the above purpose, the method of high-precision sensing of the sun chasing (four) position of the duck-type sun chasing system includes: The processing mechanism for connecting the solar sensing mechanism of the sun position to the sun sensing mechanism comprises at least one counting unit it, which can be used to digitize the position and digitize the signal; and-and The solar tracking mechanism connected to the mechanism can receive the digital position signal of 201217724 and perform the movement of the azimuth and the angle according to the signal, and the counting unit receives the counting of the operation of the solar tracking mechanism to accumulate and decrement, and obtains the sun tracking. The operating time of the mechanism. In an embodiment of the invention, the processing mechanism further comprises: a position of the sun a digital conversion unit; a solar tracking unit that provides solar latitude and longitude; a hybrid policy control unit that receives information about the conversion unit, the solar trajectory unit, and the counting unit; and a correlation with the receiving hybrid strategy control unit The information is used to drive a driving unit of a solar tracking mechanism. In one embodiment of the invention, the counting unit is based on 〇.丨 seconds. In one embodiment of the invention, the solar tracking mechanism includes at least a counting unit. In the embodiment of the present invention, the elevation adjustment unit and the orientation adjustment unit may be a drive motor. [Embodiment] Please refer to the figure shown in Figure 1 The present invention is a method for accurately sensing the position of a solar tracker by a solar tracking control system, which includes at least a solar sensing mechanism 1, a processing mechanism 2, and a solar tracking mechanism 3. Composition. The above-described solar sensing mechanism 1 can determine the position of the sun. The processing mechanism 2 is connected to the solar sensing mechanism 1 and includes at least a § ten unit 21 for receiving the solar position signal of the solar sensing mechanism 1 and digitizing the solar position signal, wherein the processing mechanism 2 Further comprising 201217724, there is a conversion unit 2 2 for digitizing the solar position signal; a solar trajectory unit 23 providing the solar latitude and longitude; - receiving information of the conversion unit 2, the solar trajectory unit 23 and the counting unit 21 The hybrid policy control unit 24; and a related information for receiving the hybrid policy control unit 24 to drive the driving unit 25 of a solar tracking mechanism 3. The solar tracking mechanism 3 is connected to the processing mechanism 2, and can receive the digitized solar position signal, and perform orientation and angle movement according to the solar position signal, and the counting unit 21 of the processing mechanism 2 receives the operation of the solar tracking mechanism 3. The running time of the sun tracking mechanism is obtained by performing the counting of the counting and decrementing, wherein the sun tracking mechanism 3 includes at least an elevation adjusting unit 31 and an azimuth adjusting unit 32 connected to the counting unit 21, and the elevation adjusting unit 3 1 and the orientation adjustment unit 32 can be a drive motor. When the present invention is applied, the application can include both the sunny mode and the cloudy mode, and is interactively used according to different celestial phenomena, and the required solar battery is placed on the solar tracking mechanism 3 (not shown). On a sunny day, the sun tracking mechanism 3 starts tracking under the sunlight. At this time, the solar sensing mechanism 1 determines that the sun position is on the east, west, south or north side of the sun tracking mechanism 3, and the conversion unit 2 via the processing mechanism 2 2. The solar trajectory unit 2 3 calculates the difference between the east and west directions of the solar sensing mechanism 1 and the south and north directions, and the hybrid strategy control unit 24 cooperates with the driving unit 25 to drive the elevation adjusting unit 3 of the sun tracking mechanism 3 and the orientation. Adjusting unit 3 2, the plane of the sun and trace mechanism 3 is vertically aligned with the sun, and at the same time counting by the counting unit 702 1 of the processing mechanism 2, when the sun tracking mechanism 3 turns to the west and the south, i tens unit 2 1 starts counting in an accumulative manner, and the sun tracking mechanism 3 goes to the east and the north in a decreasing manner, and the unit of counting is based on (U seconds to H)[s] 7 201217724 seconds, thereby enabling the processing mechanism 2 The instantaneous azimuth and elevation angles of the sun tracking mechanism 3 are known. When the cloudy sky obscures the sun for a period of time, the solar sensing mechanism misjudges and the sun tracking mechanism 3 moves away from the alignment sun position, and when the sun is farther than a certain angle, the solar sensing mechanism 2 produces a dead angle. At this time, the solar trajectory unit 2 3 can be used to calculate the timely count value of the sun lion according to the solar trajectory motion formula and the method of the counting unit of the processing mechanism 2, and directly drive the sun tracking mechanism 3 to The sun's trajectory value is aligned with the sun to avoid the dead angle of the sensor. In addition, in the faint sun, dark clouds, rain, and other weather, the direct illuminance will vary depending on the thickness of the cloud layer and the length of the dwell time. The direct illuminance is weak; and because the difference between the east and west directions is large, the sun will be misdirected. The tracking mechanism 3 tracks and avoids the shock. Therefore, in terms of azimuth, the solar operating speed is estimated to be between 1 and 10 degrees per minute. Therefore, the sun tracking mechanism 3 is required to simulate the tracking speed of the sunlight zone. As the standard, the sun runs at a speed of G.G1 to 〇3 degrees per minute. Therefore, the tracking speed is 〇2 degrees per minute. Scalar angle tracking. In this way, the count value per degree is calculated in accordance with the method of controlling the sun movement speed to the position unit 21 of the positional processing unit 2 of the estimated movement to find a linear relationship as a limit pursuit to overcome the chase. When the night is dark, the sun chasing mechanism 3 returns to the origin (returning to the east and the horizontal position), and at the same time, the value of the counting unit 21 of the processing mechanism 2 is zeroed. In this way, the method of the invention can be applied to the method of counting and counting by the counting unit 2, and the application of the two modes of the sunny day, and the interaction of the two modes according to different days, so that the invention is in the sunlight Next, the fine L 1 8 201217724 does detect the position of the sun tracker, simulates the position of the sun tracking mechanism 3 and gives the sun tracking according to the moving speed of the sun in the faint sun, dark clouds, rain, and other weather. The limitation of the movement of the mechanism 3; thereby improving the stability of the solar tracking system and replacing the externally mounted motor position sensor, which has the advantages of low cost, high precision and non-damage. In summary, the method for accurately sensing the position of the sun tracker by the solar tracking control system of the present invention can effectively improve various disadvantages of the conventional use, and can replace the externally mounted motor position sensor to solve the problem of accuracy and misjudgment. The utility model has the advantages of cost saving, high precision and good stability; furthermore, the invention is more progressive, more practical and more suitable for the use of the consumer, and has indeed met the requirements of the invention patent application, and patented according to law. Application. However, the above is only the preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto; therefore, the simple equivalent change made by the valley in the patent application scope and the monthly specification of the present invention And modifications are still within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram of the present invention. Figure 2 is a block diagram of the conventional use. [Description of main component symbols] (part of the invention) Solar sensing mechanism 1 Processing mechanism 2 Counting unit 21 Conversion unit 2 2 201217724 Solar trajectory unit 2 3 Hybrid strategy control unit 2 4 Drive unit 2 5 Solar tracking mechanism 3 Elevation adjustment unit 31 Azimuth adjustment unit 3 2 (customized part)
太陽感測器4 微處理器控制器5 轉換單元5 0 混合式控制策略單元5 1 馬達驅動電路5 2 太陽執跡5 3 脈波訊號5 4 太陽追蹤器6 仰角馬達6 1 方位馬達6 2 馬達位置感測器611、6 2 1Solar Sensor 4 Microprocessor Controller 5 Conversion Unit 5 0 Hybrid Control Strategy Unit 5 1 Motor Drive Circuit 5 2 Sun Track 5 3 Pulse Signal 5 4 Solar Tracker 6 Elevation Motor 6 1 Azimuth Motor 6 2 Motor Position sensor 611, 6 2 1