Design of an Automatic Solar tracking controller

Solar tracking controller

Aayush Sharma, VarunVaidya and K.Jamuna*

School of Electrical Engineering
VIT University, Chennai Campus
Tamilnadu, India
*Corresponding author: [email protected]

Abstract— Each day sun illuminates the whole earth by rising in because of which different regions receive different amount of
east and setting in the west. The parallel rays of the sun radiations [4]. The three basic parameters which determine
irradiating directly gives the best output and hence the panel solar energy conversion system are quantity and quality of
solar rays, and the available timing of solar irradiance at that
must directly face the sun throughout the day for maximum
site [5]. A feasible approach to maximizing the efficiency of
efficiency. The designed solar tracker is controlled using
solar array systems is automatic sun tracking under maximum
controllers and servo motor to obtain the good performance. The power point condition [6]. Currently many Maximum Power
system can be programmed to rotate at various step angles as per Point Tracking (MPPT) techniques based on current and real
need and also the sensitivity of the system can also be altered time analysis are being used to harness maximum amount of
giving much greater flexibility over traditional systems. The solar energy and several enhancements are being made
continuously [7-11]. But existing MPPT techniques have some
system has been designed for single axis tracking but the
serious disadvantages associated with it like abnormal
algorithm can be extended to be used for dual axis tracking as behavior of the algorithm due to rapid change of solar
well. irradiance, shadowing of panel which would cause the
Keywords— MPPT, microcontrollers, servo motor, sensor less additional task of reframing the algorithm. .
tracker.
The parallel rays of the sun irradiating directly gives the best
I. INTRODUCCTION output and hence the panel must directly face the sun
Renewable energy is the source of energy which can be throughout the day for maximum efficiency [6, 12-13]. This
reused, replenished, and recycled again and again. It is an paper deals with the system that controls the movement of a
inexorable source of energy. Sun has been an indispensable solar array so that it is constantly aligned towards the direction
part of mankind since its existence. It is the prime source of of the sun. The designed tracker will be made without the use
energy from where every living organism derives its energy. of sensors and will be controlled using microcontrollers. The
Energy obtained by sun is known as solar energy. It comes system can be programmed to rotate at various step angles as
from the light of sun, which in fact makes it as a renewable per need and also the sensitivity of the system can also be
source of energy which is pollution free. altered giving much greater flexibility over traditional
systems.
The ravenous appetite of energy has whetted serious research
to extract this (solar) omnipresent source of energy [1].With The system has been designed for single axis tracking but the
the constant depletion and rising cost of conventional sources algorithm can be extended to be used for dual axis tracking.
of energy, the use of solar energy has become a foremost The solar tracker designed and constructed offers a reliable
requirement [2-3]. The most basic unit which is used to and affordable method of aligning a solar array along with the
harvest this energy is called solar cell that convert the sunlight sun in order to maximize its energy output. With the feature of
into electrical energy [1]. It has been found that solar sensor less, it also cuts down the overall cost of tracking
irradiance is not constant throughout the earth surface, due to system. The main objective of the system is to be able to
relative motion of the sun with respect to earth’s geographical dynamically follow the movement of the sun across the sky
regions and the influence of the earth local atmosphere. The without the use of any sensors, reducing the system cost and
solar irradiance varies at wide range from one place to another maximize the output.

978-1-5090-4679-9/17/$31.00 2017
c IEEE 505
 II. DESIGN OF SOLAR PANEL AND SYSTEM DEVELOPMENT • The solar panel is divided into two regions (i.e. top and
bottom) and the voltages across the two parts are transmitted
The solar panel arrangement is shown in Fig.1. It is divided to the microcontroller’s ADC for compare on which part of
into four quarters. Each quarter panel produces the open the panel is getting higher amount of irradiation.
circuit voltage of 5V and hence totally 20V is obtained from
the panel. The voltage of each quarter of the panel is displayed • The obtained the analogy voltage input from the two regions
in LCD which is shown in Fig.2. of the panel is converted into the digital form with ADC of
the microcontroller and then values are compared.

• The pulse for servo movement is generated as per control

algorithm.

• The controller can be programmed to give the precise

angles varying from 15-90 degrees.

Fig. 1. Arrangement of solar panel

• V1- Voltage of Upper left (UL) of solar panel

• V2- Voltage of Upper right (UR) of solar panel.
• V3- Voltage of Lower left (LL) of solar panel.
• V4- Voltage of Lower right (LR) of solar panel.

Fig. 3. Solar tracking controller

Fig. 2. Volatge display of solar panel

The system consists of solar panel, microcontroller, servo III. ALGORITHM DEVELOPMENT
motor, power supply unit and LCD display. The power supply
unit comprises transformer, converter and regulator to The control algorithm for the tracker is shown in Figure 4. The
maintain the constant supply to the microcontroller and servo voltage obtained from the upper part of the panel and the
motor. The connection diagram is shown in Fig 3.The solar voltage received from the lower part of the panel are Vu and
panel and servo motors are connected to microcontroller. The VL respectively. The upper part voltage is obtained by the
angle movement of the panel has been decided by the addition of upper left and upper right voltages. Similarly, the
algorithm developed and written in the paper. lower part is also obtained. The compared values sent to the
microcontrollers that evaluates and changes the position of the

506 2017 International Conference on Power and Embedded Drive Control (ICPEDC)
panel according to the value. The algorithm steps are given as of sunlight and hence both will give less output leading to
follows. no movement.

• Receive the Vu and VL. 2. If the tracker has moved by mistake and the sun is in a
different direction altogether : The panel can be moved at
• Compare the voltages. larger step angles on either side if the ADC voltage is
below a certain threshold value to check whether the sun is
• If Vu > VL then move panel one step clockwise. shining in any other different direction or not.

• If VL > Vu then move panel one step anticlockwise. 3. During night time: The microcontroller can be interfaced
with a flash memory and made to turn off at night time of
• Provide sufficient delay between two comparisons. its own.

• If tracker senses no voltage change (Threshold voltage < The clouds, shadow cover also considered in the system
Current measured voltage) , the tracker is made to take a designed. The solar tracking modules commonly installed with
step angle of 15 degree after every 30 minutes either side fixed rotating algorithms or have sensors for dynamically
in order to track the sun light . If it suspects any change, it tracking the position of the sun. Trackers with fixed rotating
follows the same voltage comparison method, if not then it algorithms are not portable whereas those sensors made the
will return to its initial position. system to be heavier .More sensors are needed to obtain the
accurate movements of the tracker. The proposed system takes
care of both these issues which increase efficiency of the
system.

IV. RESULTS AND DISCUSSION

The paper analyses the circuit in two different conditions.
Case study 1 is performed during high sunny days and Case
study 2 performed on cloudy days. Both studies are discussed
in details.

After analyzing the solar irradiance data and the location, the
tracker will be set up its position. | Vu - VL | >= 0.2V; if 0.2V
is taken as threshold voltage in order to track sun accurately,
keeping maximum solar cell output. This threshold value can
be altered to few decimal points to increase the real time
accuracy of the prototype after analysing solar irradiance data
of the location. This threshold value can be modified
according to location and amount of solar irradiance
consumed by the same location.

As sun moves 15 degree after every hour, the tracker must

move accordingly in an effort to extract maximum amount of
solar energy. So it must sense the voltage change in order to
follow the sun direction during sunny days. When the
threshold value is sensed, then it moves 15 degree.

Fig. 4. Proposed algorithm for microcontroller based solar tracking system The step angle of servo motor can be decreased/increased
based on conditions: a). the tracker is moved mistakenly. b).
The proposed algorithm handles the following conditions very
during cloudy condition. The control algorithm is made to
effectively.
move 15 degree either side if there is no change in voltage.
1. In case both the regions are under cloud cover or shadow:
Again the step angle of servo in this case can be modified
Both parts of the panel will not be receiving proper amount
according to demand.

2017 International Conference on Power and Embedded Drive Control (ICPEDC) 507
Case Study1- Sunny day: The tracker starts from 23.5 degree The complete readings are shown in Table I. The column V1
at 8:00 am and complete its full cycle at 18:00 am with 158.5 and V2 represent upper voltages and V3 and V4 shows lower
degree. The sum of 23.5 and 158.5 gives 180 degree in total voltages of the panel. It was found from each quarter voltage
tells that tracker is made to cover complete 180 degree cycle. data that the panel receives the differential voltage greater than
The above observations are obtained at GPS location: 26O threshold value between last 15 minutes as sun motion causes
50’27.1”N 75O 49’01.4”E Jaipur (Rajasthan). the considerable amount of voltage change due to its
orientation relative to panel i.e. greater than equal to 0.2V.
The maximum voltage of each quarter panel is 5V. This The every 15 minutes data is shown in Table I. However the
voltage is reduced to 2.5V using variable resistor in order to data of every minute is considered during experiment. After
work in the lab environment. The sum of voltage of each first 90 degrees the initial upper panel acts lower panel vice
quarter at upper side of the panel is compared with the sum versa. The voltage data of each quarter is displayed in their
voltage of each quarter at lower side of the panel. The series or respective column in Table 1. When tracker moves close to 90
parallel connection of solar cells can be used to avoid degree, the voltage difference is almost close to zero. Initially
cumbersome data calculation in case of large solar panels. the tracker has given a tilt angle of 23.5 Degree.

TABLE I. PANEL VOLATGE AND ITS ANGLE FOR SUNNY DAYS

Angle
Time(hr) V1(v) V2(v) V3(v) V4(v) (Degree)
8:00 2.11 2.07 2.23 2.13 23.5
8:15 2.13 2.11 2.35 2.15 23.5
8:30 2.17 2.15 2.33 2.19 23.5
8:45 2.23 2.2 2.3 2.15 23.5
9:00 2.29 2.25 2.25 2.2 38.5
9:15 2.29 2.24 2.27 2.2 38.5
9:30 2.27 2.2 2.25 2.17 38.5
9:45 2.25 2.22 2.23 2.15 38.5
10:00 2.29 2.27 2.25 2.23 53.5
10:15 2.27 2.25 2.23 2.23 53.5
10:30 2.29 2.25 2.25 2.27 53.5
10:45 2.29 2.25 2.25 2.22 53.5
11:00 2.33 2.33 2.29 2.31 68.5
11:15 2.35 2.36 2.32 2.3 68.5 Fig. 5. Movement of solar tracker during sunny day
11:30 2.36 2.37 2.34 2.31 68.5
11:45 2.39 2.37 2.3 2.27 68.5 It can be observed from the data that the designed algorithm
12:00 2.4 2.37 2.35 2.35 83.5 follows the sun accurately using threshold value 0.2V. The
12:15 2.38 2.37 2.35 2.37 83.5
12:30 2.37 2.37 2.35 2.38 83.5
sun orientation in last 15 minutes causes a significant amount
12:45 2.34 2.3 2.36 2.38 83.5 of voltage variation on either side of the panel causing voltage
13:00 2.41 2.39 2.41 2.39 98.5 difference between upper and lower part greater than threshold
13:15 2.41 2.4 2.41 2.39 98.5
voltage.
13:30 2.4 2.4 2.43 2.38 98.5
13:45 2.33 2.33 2.45 2.38 98.5
14:00 2.41 2.4 2.42 2.42 113.5 It was examined and observed that at any minute among last
14:15 2.45 2.43 2.46 2.45 113.5 15 minutes the voltage difference gets greater than threshold
14:30 2.42 2.43 2.46 2.47 113.5
14:45 2.42 2.4 2.47 2.47 113.5
value; let the tracker following the sun. So after every four
15:00 2.48 2.45 2.49 2.49 128.5 readings in each hour, the tracker gets the push of 15 degree
15:15 2.49 2.45 2.52 2.49 128.5 movement forward. The movement of the tracker is plotted in
15:30 2.47 2.44 2.52 2.52 128.5
polar chart as shown in Fig.5.
15:45 2.45 2.43 2.49 2.52 128.5
16:00 2.4 2.39 2.45 2.45 143.5
16:15 2.37 2.37 2.37 2.36 143.5 Case study 2 - Cloudy Day: The case 2 represents the cloudy
16:30 2.3 2.33 2.34 2.33 143.5 day condition. The Fig.6 shows the polar chart of the tracker
16:45 2.25 2.25 2.25 2.25 143.5
movement with every hour during cloudy day. The voltage
17:00 2.19 2.17 2.22 2.22 158.5
17:15 2.13 2.13 2.17 2.17 158.5 drop at respective quarter can be seen in Table 2 as the voltage
17:30 1.93 1.93 2.07 2.07 158.5 drops down significantly. The sudden increase in voltage on
17:45 1.8 1.8 2.05 2.05 158.5 respective solar quarter in Table 2 represents no cloud cover.
18:00 1.79 1.79 1.88 1.9 158.5

508 2017 International Conference on Power and Embedded Drive Control (ICPEDC)
 TABLE II. PANEL VOLATGE AND ITS ANGLE FOR CLOUDY DAYS then cloud cover shows up restricting the prototype to track
Angle the sunlight between 13:00pm and 13:15pm.
Time(hr) V1(v) V2(v) V3(v) V4(v) (Degree)
8:00 2.12 2.11 2.25 2.25 23.5
The prototype finds no voltage difference across its panel after
8:15 2.13 2.13 2.25 2.25 23.5
10:00am. In spite of getting stuck unlike other trackers the
8:30 2.19 2.17 2.23 2.21 23.5
prototype moves back and forth after every 15 minutes to
8:45 2.22 2.22 2.19 2.17 23.5
9:00 2.27 2.29 2.25 2.25 38.5
track the sun position in case if sun has moved to forward
9:15 1.13 1.11 1.15 1.09 38.5 direction during cloud cover.
9:30 1.13 1.13 1.15 1.11 38.5
9:45 2.23 2.21 2.17 2.13 38.5
10:00 2.25 2.27 2.23 2.2 53.5
10:15 2.25 2.27 2.23 2.2 53.5
10:30 2.26 2.27 2.2 2.21 53.5
10:45 2.27 2.27 2.17 2.19 53.5
11:00 2.22 2.23 2.2 2.19 53.5
11:15 1.45 1.41 1.42 1.62 53.5
11:30 1.45 1.41 1.42 1.6 53.5
11:45 1.19 1.17 1.21 1.33 53.5
12:00 1.19 1.17 1.21 1.33 53.5
12:15 1.13 1.11 1.15 1.29 53.5
12:30 1.11 1.11 1.13 1.27 53.5
12:45 1.11 1.11 1.13 1.27 53.5 Fig. 6. Movement of solar tracker during cloudy day
13:00 1.09 1.07 1.11 1.23 53.5
13:15 1.13 1.15 1.19 1.3 98.5 The prototype keeps hunting for voltage greater than threshold
13:30 1.13 1.15 1.19 1.3 98.5 voltage. Even if the voltage received at panel is low, the
13:45 1.13 1.15 1.19 1.3 98.5 prototype makes sure that panel keeps facing the sun to obtain
14:00 1.41 1.41 1.45 1.63 98.5 maximum output. This scenario can be observed between
14:15 1.45 1.43 1.48 1.64 98.5 10:00 am and 13:15 pm. Even though voltage received at each
14:30 1.47 1.45 1.5 1.68 98.5 quarter is low as compared to sunny day, the prototype using
14:45 1.21 1.19 1.23 1.35 98.5 designed algorithm manages to find sun position after 3 hours.
15:00 1.42 1.39 1.48 1.58 98.5
15:15 1.94 1.9 1.99 1.99 98.5
15:30 2.22 2.21 2.35 2.33 128.5
15:45 1.39 1.37 1.41 1.56 128.5
16:00 1.17 1.15 1.19 1.2 128.5
16:15 1.45 1.43 1.48 1.44 128.5
16:30 0.88 0.86 0.88 0.98 128.5
16:45 0.84 0.82 0.86 0.96 128.5
17:00 0.7 0.7 0.7 0.8 128.5
17:15 0.56 0.56 0.58 0.64 128.5
17:30 0.49 0.49 0.53 0.55 128.5
17:45 0.33 0.33 0.33 0.37 128.5
18:00 0.23 0.23 0.25 0.27 128.5
Fig. 7. Prototype of the solar tracking system

The voltage increases from 8:00 am to 11:00 am. Then Presently many available tracker s or trackers based on various
decrease till 12:45pm due to cloud cover. Once the sky starts MPPT techniques fail to function under cloudy days. Even if
to get clear the voltage on each quarter increases slowly till the cloud is not for entire day, the improper alignment of panel
15:30 pm. And then decreases hereafter when cloud starts to with respect to sun makes tough for the available trackers to
show again after 15:30 pm. The tracker enters day end mode follow the sunlight. For instance: On some cloud days panel
at 18:00pm. The prototype of the solar tacking controller is sticks on one direction and sun appears on other direction,
shown in Fig.7. The prototype follows sun till 10:00 am and making difficult for tracker to position the sun. This exception
handling has been handled experimenting this prototype.

2017 International Conference on Power and Embedded Drive Control (ICPEDC) 509
 V. CONCLUSION conversion unit” IEEEProceedings on Power Electronic
The prototype of the solar tracker system has been developed. Drives and Energy Systems for Industrial Growth, Volume 1,
1-3 Dec. 1998, Page(s):488 - 492
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like sunny day and cloudy day. The prototype is performed 7. Trishan Esram, Patrick L. Chapman, “Comparison of
effectively even in shadow present in the solar panel. Efforts Photovoltaic Array Maximum Power Point Tracking
Techniques”, IEEE Trans. on Energy Conversion, vol. 22,
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no.2, pp.439-449, June 2007
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order to closely follow the sun throughout the day. The 8. D. Sera, T. Kerekes, R. Teodorescu, F. Blaabjerg,
developed algorithm is working well to obtain the maximum "Improved MPPT method for rapidly Changing environmental
output from solar panel which improves the efficiency of the conditions," in Proc. IEEE International Symposium on
solar energy utilization. Industrial Electronics, 2006, vol. 2, pp. 1420-1425.

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510 2017 International Conference on Power and Embedded Drive Control (ICPEDC)