Design and Performance of Solar Tracking Photo-Voltaic System; Research and Education

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1 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTEMS VOL. NO. ARIL 3 ISSN (rin) ISSN 6-88 (Online) hp:// eign and erforance of Solar Tracking hoo-volaic Sye; Reearch and Educaion Ahraf Balael, *, Ahad A. Mahfouz 3,4, Farhan A. Sale,4 Arac In he preen paper, aheaical analyi, conrol ye, and iulink odel have een developed, deigned and eed uing he MATLAB/Siulink for racking a olar energy phoo/volaic odule in order o achieve i opial operaional efficiency. The inpu daa provided o he deigned conrol ye, in for of he aliude angle, i oained fro he oluion of a ye of governing equaion which decrie he oveen of he un fro he unrie o he une. The opiu perforance of he deigned racking ye can e achieved if he angle of incidence i equal o zero during he unhine. In uch cae, he olar energy acquired y he ye i axiized. The oained reul how he ipliciy, accuracy and applicailiy of he preen deigned conroller o ee all operaional requireen. Moreover, he propoed racking ye can e ued eiher for educaional or reearch purpoe. Index Ter eign, MATLAB/Siulink, erforance, hoo-volaic Sye, Solar Energy, Sun Tracker. I. INTROUCTION HOTOVOLTAIC olar ye i conidered o e a a renewale energy oluion for o of energy crie and environenal polluion. In order o increae he olar ye efficiency, i i required o axiize he oupu power y keeping he olar panel aligned wih un. Conequenly, a racking of he un poiion wih high degree of accuracy i required. The ain purpoe of a olar racking ye i o rack he oveen of he un during he aunhine in order o orienae he olar panel o he axiu radiaion in all ie. Large nuer of racking ye have een developed and inroduced previouly in he lieraure. More deail can e found in he high level overview of he un racking ye preened y []. In uch preened review, i ha een hown ha he un racking algorih can e claified ino cloed-loop and open-loop ye, according o i conrol ode. Each ye acquire relaive advanage/diadvanage which rongly affec heir perforance Mechanical Engineering ep., Faculy of Engineering, Taif Univeriy, 888, Taif, Saudi Araia. (e-ail: [email protected]). Mechanical Engineering ep., Faculy of Engineering, Menoufiya Univeriy, Shein El-o, Menoufiya, Egyp. 3 eparen of Auoaic and Mecharonic Sye, Vladiir Sae Univeriy, Vladiir, RF. ([email protected]) 4 Alpha Cener for Engineering Sudie and Technology Reearche, Aan, Jordan. ([email protected]) Recenly, a iple odel for racking he apparen oveen of he Sun for arirary laiude ha een developed []. Alhough hi odel can e ued in variou applicaion, however, uch odel ha cerain liiaion concerning he applied e of equaion, which i aed on 'ineger day' inead of depending on he ore accurae coninuou ie daa. More recenly, a aheaical iulaion ha een propoed and evaluaed for a olar racking of wo degree of freedo conrolled y fuzzy logic in order o achieve he correc poiioning of a phoovolaic olar cell and ge a uch unligh during he unhine [3]. Such propoed ye i an econoical alernaive only in he ediu power generaion o ee elecriciy deand in all area. In he preen paper, a iplified analyi i ade o oain he aliude angle, which in urn i provided o a well deigned conrol ye ha orienae he olar panel oveen. A MATLAB/iulink odel i developed o oain he oupu of he conrol ye. The propoed ye can e ued in olar energy reearch and a an educaional ye a well. II. METHOOLOGY The preen odel i applied for Taif ciy locaed a he weern of Saudi Araia, a hown in Fig.. The hiory of eperaure in uch ciy for 7 day i hown in Fig.. Fig.. Taif locaion in he ap of Saudi Araia Fig.. Hiory of eperaure in Taif ciy 49

2 rive angle INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTEMS VOL. NO. ARIL 3 ISSN (rin) ISSN 6-88 (Online) hp:// The governing e of equaion, applied in he preen paper, i he odified one explained previouly in [4]. I i required here o calculae:. The aliude angle () for he angle eween he olar radiaion and he olar panel urface.. The day lengh (T ) in a pecified day during he whole year in Taif area. I i aued ha he laiude and longiude angle for Taif ciy are aou.73 o and 4.48 o, repecively. The olar panel urface i aued o e locaed horizonally. The calculaed aliude angle i conidered a he inpu daa for he deigned conrol ye, which in urn adju he olar panel; in uch anner ha he olar radiaion reain perpendicular on he olar panel urface. The aliude angle α can e evaluaed fro he following equaion: =in - (in L in + co L co co h) () where L, δ, h are he laiude, declinaion and hour angle, repecively. The declinaion angle δ can e evaluaed a a funcion of he day nuer, n a: 3.4 in [(36/36)(84+n)] () The hour angle i defined a: h= ±. (No. of in. fro local olar noon) (3) where he value of h i aued poiive in he afernoon period. The day lengh (or he unhine ie) (T ), which i conidered a he period fro unrie o une, can e calculaed fro he following equaion, T = (C/) co - (an L an ) (4) The day lengh calculaed fro he aove equaion i divided ino a nuer of inue and, conequenly, he aliude angle i eaily defined for each inue in he day pecified. The conan C, in he aove equaion ay e ued a C= for calculaion of unrie and une given a hour efore and afer local noon, repecively. If C=, he oal dayie i calculaed in hour. Fig. 3. Change of Aliude angle wih ie for Augu Fig. 3 how he diriuion of he aliude angle for Taif ciy on h Augu. The axiu aliude angle oained i aou 8.83 o a he local olar oon. The ie for unrie and une i alo defined. III. SYSTEM ESIGN The olar racker ye require oveen in differen direcion, and ue elecric oor a prie over, aed on hi; olar racker ye oion conrol i iplified o an elecric oor oion conrol. In olar racking ye deign, any ligh eniive device can e ued a inpu enor uni o deec and rack he un poiion, aed on enor reading, and generaed un racking error, he conrol uni generae he volage ued o coand he circui o drive he oor, ha oupu he roaional diplaceen of elecric oor, which i he oion of olar racking ye. Siplified lock diagra repreenaion of olar racking ye i hown in Fig. 4. Ligh enor Coparaor Ligh enor ower upply The aove equaion i known a a rigonoeric forula o copue he ie of unrie and une, given a a funcion of he nuer of hour efore and afer he local noon., which defined a he ie of day when he un i direcly overhead. The local olar noon i iply calculaed according o he longiude we and he known Julian cycle. A aple of daa oained for Taif Ciy, and on h Augu, can e een in he following ale: TABLE I A aple of he calculaed daa for Taif Ciy on h Aug. ay ie Sunrie Sune hour and 38 inue 6 hour and inue 6 hour and 8 inue Local Solar noon hour and inue Error Conroller oiion enor C oor Gear Solar panel Fig. 4. Siplified lock diagra repreenaion of olar racking ye A. Ligh enor elecion and circui Ligh deecing enor ha ay ued o uil olar racker include; phooranior, phoodiode, LR and LLS-A ligh enor, a uiale, inexpenive, iple and eay o inerface enor i analog LR. epending on paricular applicaion and required axiu energy

3 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTEMS VOL. NO. ARIL 3 ISSN (rin) ISSN 6-88 (Online) hp:// receiving of olar panel, wo ain olar racking ye arrangeen; one-axi (one direcional) un racking ye uing wo ligh deecor and wo-axi (wo direcional) un racking ye uing four ligh eniive enor, in oh cae, enor are ouned on he olar panel and placed in an encloure, he LR are creened fro each oher y opaque urface. For wo axi ye, Fig.4 can e odified o have he arrangeen hown in Fig. (d). For one-axi un racking ye, one ligh racking circui coniing of wo enor, and one elecric oor are ued, eanwhile, for wo-axi un racking B. Acuaor and drive elecion Elecric oor o ued for olar racker are MC and epper oor, he proper elecion of oor and drive coinaion can ave energy and iprove perforance. A uiale, availale, eay o conrol and inerface elecion i MC oor. For idirecional driving, a oor can e driven via H-ridge drive fored y wo pair of arlingon ranior, or H-Bridge in IC, e.g. L93, which i 6 pin chip dual H-Bridge oor driver, o wih one IC we can inerface wo C oor. IV. BASIC SYSTEM MOELING The eranen Magne C oor i an exaple of elecroechanical ye wih elecrical and echanical coponen. Baed on [-7], he MC oor open loop ranfer funcion wihou any load aached relaing he inpu volage, V in (), o he oupu angular diplaceen, θ(), i given y Eq.(). The oal equivalen ineria, J equiv and oal equivalen daping, equiv a he araure of he oor are given y equaion given y Eq.(6), for ipliciy, he olar panel can e conidered o e of cuoide hape, wih he ineria calculaed y Eq.(6),correpondingly, he equivalen olar racker ye ranfer funcion wih load aached and gear raio, n, i given y Eq.(7): G G angle ( ) V ( ) 3 in LaJ ( RaJ La ) ( Ra ) N equiv Load N 3 N h Jequiv J J Load, J load N ( ) / n angle, () (6) (7) Vin ( LaJequiv ) ( RaJequiv equiv La ) ( Raequiv ) A. Siulaion in MATLAB/Siulink Siulaion of one OF olar racker open loop ye i hown in Fig.6, he ae odel i ued for oher direcion in cae of wo OF ye V. CONTROL SYSTEM SELECTION AN ESIGN The goal for a conrol ye i o achieve a fa repone o a ep inpu coand wih inial overhoo and iniu poile error. Solar racking ye oion conrol i iplified o an elecric oor oion conrol in er of oupu angular diplaceen; hi oion conrol ye i o e uil wih a uniy feedack uch ha i inure ha he deired oupu poiion i e, wih iniu error a iniu ie. To deerine he locaion of he olar panel and in order o preven he panel fro he ipac when i reache he edge, a poiion enor can e ued e.g. lii wich or a variale reior (poenioeer). A uiale choice i poenioeer, when he poenioeer reache he value correponding o edge, he conroller op he oor and iune i fro roaing in ha direcion. oenioeer i a enor ued o eaure he acual oupu poiion, he poenioeer conan po, i equal o he raio of he volage change o he correponding aliude angle change, and given y Eq.(8). epending on axiu deired oupu panel angle ( in our cae 8), he poenioeer can e choen, for inpu volage of V in = :, and axiu angle of :8 degree, uiuing, we have po value a given y Eq.(8). V p L * po po (egree change) po 8 (Volage change).667 V / degree The decried elow conrol raegie can e applied for achieving deired olar racker fa repone wih iniu error, ye Siulink odel will include hee conrol raegie, o he propoed ye odel can e eed applying any of hee conrol raegie, o chooe he o uiale conrol. I conroller are coonly ued o regulae he iedoain ehavior of any differen ype of dynaic plan [7]. The ranfer funcion of I conrol i given y: I I I GI ( ) roporional erivaive, -conroller: The ranfer funcion of -conroller i given y Eq.(9) : G p Z o (9) Where: Z / i zero -conroller wih deadea repone :eadea repone ean he repone ha proceed rapidly o he deired level and hold a ha level wih inial overhoo [7]. The characeriic of deadea repone include; Zero eady ae error, Fa repone, (hor rie ie and 8

4 Ligh enor Coparaor Microconroller Ligh enor INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTEMS VOL. NO. ARIL 3 ISSN (rin) ISSN 6-88 (Online) hp:// eling ie), percen overhoo greaer or equal o.% and le or equal % and inial underhoo, le han ±% error and. eigning wih deadea repone: Uing iplified fir order for of MC oor ranfer funcion in er of oupu angle given y Eq.(9): ( ) RJ () a Gangle Vin J Ra The ye forward ranfer funcion i given y: ( ) p RJ a Gforward J J Ra The ye overall cloed loop ranfer funcion ranfer funcion i given y: ( ) p RJ a T p J J Ra RaJ RaJ Referring o [6], The conroller gain and depend on he phyical paraeer of he acuaor drive, o deerine gain ha yield opial deadea repone, he overall cloed loop ranfer funcion T() i copared wih andard econd order ranfer funcion given y Eq.(), and knowing ha paraeer α and ω n are known coefficien of ye wih deadea repone given y [6], α =.8 and ω n T n = 4.8, T n = and give he following: ω n T n = 4.8, ω n = 4.8/=.4 n G ( ) () 3 n n Equaing and coparing he acual and deired characeriic equaion, he value of gain are found: 3 p n n J J Ra RaJ RaJ Sye deign wih prefiler: refiler i defined a a ranfer funcion G p () ha filer he inpu ignal R() prior o calculaing he error ignal. Adding a conrol ye o plan, will reul in he addiion of pole and/or zero, ha will effec he repone, ainly he added zero, will ignificanly inverely effec he repone and hould e cancelled y prefiler, he required prefiler ranfer funcion o cancel he zero i given y Eq.(). Z O Gr efiler () Z O For ye wih -conroller, a prefiler i ued o eliinae any undeired effec of he er + z inroduced in he cloed-loop ranfer funcion, he required prefiler ranfer funcion i given y Eq.(3): Z GI _ r efiler (3) Z The iulink odel of cloed loop olar racker ye, including conrol raegie, elecric oor, a uye and I, and wih prefiler conroller applied, i hown in Fig.7(a). VI. TESTING AN RESULTS To e he propoed overall ye odel, fir, ep inpu, will e applied and analyzed. Finally, he calculaed aliude angle will e conidered a he inpu ignal o he overall ye odel, eed and analyzed. A. Siulaion of un aliude angle change Baed on Tale, in Taif ciy for day pecified, auing, he un i hining exacly hour, fro unrie a 6: a o une a 6:4 p, in hee hour he un i o ravel fro he degree o axiu 8 degree, correpondingly, he olar panel, in hour will roae 8 degree, un angle change per hour can e calculaed y dividing axiu degree over nuer of hour; or inue or econd; 8/() =.466= degree per hour or, 8/(*6*6 ) =.466 degree per econd, wih he iniial aliude angle i a 3 degree, and axiu angle lii o e 9 degree, he iulaion hown in Fig. 7() i propoed. Sun Norh Ea enor enor3 Shadow Ligh enor Encloure enor4 We enor Souh (a) One-axi un racking ye () Two-axi un racking ye (c) LR enor Fig.. ligh deecing and racking circui and arrangeen.

5 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTEMS VOL. NO. ARIL 3 ISSN (rin) ISSN 6-88 (Online) hp:// oiion enor C oor Gear Norh enor enor4 We Ea enor3 Senor Souh Error Error Conroller C oor Gear Solar panel & echani C oor iulaion oiion enor V=; J=.; =.; =.; R=; L=.; Fig. (d) wo axi olar racker ye arrangeen Rreiance, Ra elecrooive force conan (=e=) =. N/Ap Ra Vin Sep, Vin= Su /La Inducance, /La d/d Inegraor curren,i -- Moor.a To File Curren. Angle Moor.a load u /J Ineria, /J Oupu peed d/d(hea) Inegraor Oupu angle To File d/d(hea) Angular peed Moor3.a Sep, Vin=.. x' = Ax+Bu y = Cx+u Sae-Space Moor.a To File du/d erivaive anlge aping, Inegraor, To File anlge Moor. To File Moor4.a To File3 Curren. Fig. 6 aic Open loop one OF olar racker ye, ( MC odel) Oupu peed. eired Angle (Rad) Signal Signal Builder Z +Z refiler Tranfer Fcn.. I() ' (), /.3 Sep, Vin=. Inducance, /La Su. Error ignal Conrol_ignal Rreiance, Ra. Inpu olar.a To File. olar6.a To File4. SepLoad orque TL TL Inegraor. Curren --. Curren Angular diplaceen Angular peed C oor uye.3.. Curren olar.a Tload -- /. Angular Ineria poiion, Inegraor.. Rad Su. /J Angular peed (rad/ec).678 peed in rad/ec olar.a.3 To File aping,. Angular poiion Rad RM olar3.a.63 To File peed in RM Inegraor.. Oupu angle.. -- olar4.a Angle feedack, ac To File3 Fig.7(a) The iulink odel of cloed loop olar racker ye, wih C oor, a uye and I conroller. ie :34 igial Clock.467 deg/hour roduc 36 ar angle roduc Scope - Conan roduc Swich Fig. 7() ropoed odel for calculaion 3 9 Conan Swich

6 Rad Ap Rad/ N Ap Rad Ap Rad N Rad/ N Rad/ INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTMS VOL., NO., ARIL 3 B. Teing and analyi Uing anual wich o acivae and apply -conroller, and wih a e of conroller gain;,, running he odel, wih ep inpu, will reul in repone of he propoed olar racker odel hown in Fig.7 (c). Repone curve how he ye reache deired oupu poiion in. econd wih zero eady ae error, u wih overhoo, which i no deirale. Swiching he odel o conroller wih deadea repone, calculaing gain y propoed procedure, we find p = and = , zero Z = p / =3.88, running he odel, will reul in repone curve hown in Fig.7(d), repone curve how ha deign requireen applying deadea repone are achieved, he olar racker ye reache he deired oupu in iniu ie wihou overhoo. By furher eing, y applying ignal uilder wih ignal ha iic epper change of inpu, will reul in repone curve hown in Fig. 7(e). The aliude angle i changed regularly, aed on hi, he reading of wo LR are changed, he ucceive equenced aliude angle change can e conidered a he difference (error) eween he reading of wo LR ha i ued y conrol ye o drive he elecric oor. wiching he odel o apply -conroller wih deadea repone, applying, he calculaed aliude angle, (hown in Fig. 3) o e he inpu ignal o he propoed olar ye odel, and running he odel will reul in correponding panel angle, ploing oh un inpu aliude angle and oupu panel angle in he ae graph window, will reul in repone curve hown in Fig. 8(a). Repone curve how ha, he inpu aliude angle and oupu panel angle curve are all oly idenical, wih all error, y of uning of conrol ye, he inpu can ach he oupu wihou error,, coparion of oh curve how ha he olar panel rack he un, reuling in opial operaional efficiency of olar energy phoovolaic odule. Angle VS ie Speed/ie -. Error ignal Fig.7 (c) angle/ie, peed/ie, curren/ie, orque/ie repone curve applying conroller. Angle VS ie -. Curren/ie 4 Conrol ignal Speed/ie -. /ie Tie (econd). Error ignal Fig.7(d) angle/ie, peed/ie, curren/ie, orque/ie repone curve applying wih deadea repone. 3 Angle VS ie 4 Speed/ie Conrol Curren/ie ignal /ie x 4 Curren/ie /ie Error ignal Conrol ignal Fig.7(e) Applying I conroller repone Error ignal curve 4

7 INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AN SYSTMS VOL., NO., ARIL Angle Aliude angle anel angle Tie (Min) Fig. 8. Coparion eween aliude angle; acual calculaed and reuled uing he propoed odel VII. CONCLUSION AN FUTURE WOR In order o achieve he opial operaional efficiency of olar energy phoovolaic odule, a aheaical analyi, iulink odel, and conrol ye have een deigned and eed. The propoed overall olar racking ye deign wa eed, aed on calculaed daa of he aliude angle of Taif ciy, Saudi Araia. The oained ye repone reul how he ipliciy, accuracy and applicailiy of deign in eeing differen operaional condiion. In he fuure work, i i planned o exend our odel o include a econd degree of freedo and o perfor experienal eaureen for he purpoe of validaing he iulaed odel. REFERENCES []. Chia-Yen Lee, o-cheng Chou, Che-Ming Chiang and Chiu-Feng Lin, Sun Tracking Sye: A Review, Senor, 9, , 9. []. Vyachelav havru and Ihor Shelevyky, Inroducion o olar oion geoery on he ai of a iple odel, hy. Educ., 4, 64-66,. [3]. Guavo Ozuna, Carlo Anaya. iana Figueroa. Nun ialua, Solar Tracker of Two egree of Freedo for hoovolaic Solar Cell Uing Fuzzy Logic, roceeding of he World Congre on Engineering, London, U.,. [4]. Ahaed M. Haed, El-Shafei B. Zeidan, Ali S. Aloaiy, and Talal. ae, Applicaion of olar energy for regeneraion of liquid deiccan uing roaing iled wick, Inernaional Journal of Mechanical & Mecharonic Engineering IJMME-IJENS Vol: No:,. []. Wai hyo Aung, Analyi on Modeling and Siulink of C Moor and i riving Sye Ued for Wheeled Moile Roo, World Acadey of Science, Engineering and Technology 3 7. [6]. Richard C. orf and Roer H. Bihop. Modern Conrol Sye. Ninh Ediion, renice-hall Inc., New Jerey,. [7]. Ahad A. Mahfouz, Ayan A. Aly, Farhan A. Sale,"Mecharonic eign of a Moile Roo Sye", IJISA, vol., no.3, pp.3-36, 3. [8]. Capolino G. A., Cirrincione G., Cirrincione M., Henao H., Griel R., igial ignal proceing for elecrical achine, Inernaional Conference on Elecrical Machine and ower Elecronic, uadai (Turkey), pp.-9,. NOMENCLATURE Syol Quaniy UNIT Vin The applied inpu volage,(moor erinal volage) R a Araure reiance,( erinal reiance) Vole, V Oh,Ω i a Araure curren Apere, A Moor orque conan N./A e Moor ack-elecrooive force con. V/(rad/) ω Moor haf angular velociy rad/ T produced y he oor N. J Moor araure oen of ineria kg. J oal Toal ineria=j+jload kg. L a Araure inducance Henry, H Vicou daping, fricion coefficien N./rad. e a The ack elecrooive force, EMF e a,emf: = dθ/d θ Moor haf oupu angular poiion radian T load of he echanical load T load Tα du o roaional acceleraion Tα Tω du o roaional velociy Tω T EMF The elecroagneic orque. TEMF Auhor rofile Ahraf Balael wa orn in Minoufiya, Egyp. He received he B.Sc. (he fir-cla, Excellen wih Honor egree), and M.Sc. degree in Mechanical ower Engineering fro Faculy of Engineering, Minoufiya Univeriy, Shein El-o, Egyp, h.. degree in Mechanical Engineering, fro RWTH-Aachen Univeriy, Gerany, in 988, 99, and, repecively. In 99, he ecae a eonraor a Minoufiya Univeriy, and hen wa an Aian Lecurer in 99. In wa a Lecurer, in 8 he ecae an Aociae rofeor in he ae faculy and univeriy ill now. Hi reearch inere include Thero-Fluid ynaic, CF, Two-hae flow, Turulence Modelling, rople ynaic, Level Se Mehod, and Renewale Energy. Ahad Aallah Sale AuMahfouz B.Sc. and M.Sc; Bari Univeriy, Ialy and Mocow ae Acadey. Now, He i in ep of Auoaic and Mecharonic Sye, Vladiir Sae Univeriy and he direcor of alpha cener for engineering udie and echnology reearche. Major acadeic and reearch inere: Rooic, Elecronic, eign, odeling and analyi of priary Mecharonic Machine Conrol Sye, Microconroller, and Quaniy Surveying. Farhan Aallah Sale AuMahfouz B.Sc., M.Sc and h.., in Mecharonic of producion ye, Mocow. Now he i a. profeor in Taif Univeriy, Mecharonic progra, ep. of Mechanical Engineering and gen-direcor of alpha cener for engineering udie and echnology reearche. Reearch Inere; eign, odeling and analyi of priary Mecharonic Machine, Conrol elecion, deign and analyi for Mecharonic ye. Roor ynaic and eign for Mecharonic applicaion.