DUAL AXIS SOLAR TRACKING SYSTEM

MAJOR PROJECT
Submitted to Rajiv Gandhi Proudyogiki Vishwavidyalaya
Towards Partial Fulfillment of the Degree of
BACHELOR OF ENGINEERING
(Electrical & Electronics Engineering)

GUIDED BY
Md. Firoz
SUBMITTED BY
Ashish Verma
Chhotelal Sahu
Deepak Kumar
Rohit Pandey
Swapnil Sonkusare

ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT
INSTITUTE OF ENGINEERING & SCIENCE
IPS ACADEMY INDORE
2014-15

ELECTRICAL & ELECTRONICS ENGINEERING

DEPARTMENT
INSTITUTE OF ENGINEERING & SCIENCE

IPS ACADEMY INDORE

CERTIFICATE
We are pleased to certify that the major project entitled DUAL AXIS SOLAR TRACKING
SYSTEM submitted by following is accepted.
Ashish Verma
Chhotelal Sahu
Deepak Kumar
Rohit Pandey
Swapnil Sonkusare

0808EX111010
0808EX111014
0808EX111015
0808EX111046
0808EX111059

INTERNAL EXAMINER

EXTERNAL EXAMINER

Date:

Date:

Acknowledgement
It is our great pleasure to express our profound gratitude to our esteemed guide Md.Firoz,
Assistant Professor, Electrical and Electronics Engg. Dept., IES IPS Academy Indore for their
valuable inspiration, able guidance and untiring help, which enabled us to do this project.
We are grateful to Mr. B. N. Phadke, Professor and Department Head of Electrical and
Electronics
Engineering, IES IPS Academy Indore, for his keenness towards this work and efforts put in, and
also for sharing his valuable time to our problems and providing useful solutions.
At this juncture we also take this opportunity to express our deep gratitude to all the faculties of
Electrical and Electronics Engineering Department, for their appreciation and moral support.
We are also thankful to all our friends who helped us directly or indirectly to bring the
dissertation
work to the present shape.
Date:

Ashish Verma
Chhotelal Sahu
Deepak Kumar
Rohit Pandey
Swapnil Sonkusare

Abstract
Solar energy is the most readily available energy available on earth. The energy of the sun is
used since ancient times. With fast growing environmental concerns over the climate change
risks associated with power generation with non-renewable energy, solar power has been the best
answer over the decades. However, the output power of the solar cell panel is highly affected by
the sunlight incident angle. By tracking the direction of solar panel to the sun, it can always be
pointing at the optimum angle to harvest the maximum solar energy throughout a day or a year.
We proposed a Dual axis Solar Tracking System in which dual axis solar photovoltaic panel is
characterized by the capability to move in horizontal and vertical directions. The proposed sun
tracking system will use 4 photo resistors, which will be mounted on the sides of the photo
module. By these photo resistors the solar tracking system will become more sensitive and will
allow determining a more accurate location of the sun. This tracking system will make the solar
photovoltaic array more efficient by keeping the panels face perpendicular to the sun and
therefore extract maximum solar energy resulting into increased overall efficiency.

Table of Contents
Title

Page No.

Abstract

iv

Table of Contents

List of Figures

vii

List of Tables

ix

List of Abbreviation, Symbols

Chapter 1 Introduction

1-3

1.1 Overview 1
Chapter 2 Project Background & Literature Review

4-16

2.1 Solar Radiation

2.2 Insolation

2.3 Projection Effect

2.4 Solar Photovoltaic Power

2.5 Photovoltaic Cell

2.5.1 Working of Photovoltaic Cell

2.5.2 PV Module

2.5.3 PV Modeling

2.6 Types of Solar Panels

11

2.6.1 Monocrystalline Solar Panel

11

2.6.2 Polycrystalline Solar Panel

13

2.6.3 Amorphous Solar Panel

13

2.7 Literature Review

14

Chapter 3 Solar Tracker

16-25

3.1 Introduction

16

3.2 Need for Solar Tracker

16

3.3 Types of Solar Tracker

19

3.3.1 Single Axis Trackers

3.3.1.1 Horizontal Single Axis Tracker (HSAT)

19
20

3.3.1.2 Horizontal Single Axis Tracker with Tilted Modules (HTSAT)

20

3.3.1.3 Vertical Single Axis Tracker (VSAT)

21

3.3.1.4 Tilted Single Axis Tracker (TSAT)

21

3.3.1.5 Polar Aligned Single Axis Trackers (PASAT)

21

3.3.2 Dual Axis Trackers

22

3.3.2.1 TipTilt Dual Axis Tracker (TTDAT)

22

3.3.2.2 Azimuth-Altitude Dual Axis Tracker (AADAT)

23

3.4 Drive Type used in the Trackers

23

3.4.1 Active Tracker

23

3.4.2 Passive Tracker

24

3.4.3 Chronological Tracker

24

3.4.4 Manual Tracking

25

Chapter 4 Design of Solar Tracker

26-35

4.1 Proposed Scheme

26

4.2 Components to be Used in Project

27

4.2.1 Microcontroller 8051 27

4.2.2 Pin Description 28
4.2.3 LDR 30
4.2.4 Comparator Circuit 32
4.2.5 DC Motor 32
4.2.6 Interfacing DC Motor with 8051 34
Chapter 5 Conclusion 35
References 36

List of Figures
Figure

Title

Page. No

1.1

Illustration of Solar Angles: Altitude Angle () & Azimuthal Angle ()

2.1

Declination Angles

2.2

Monthly available Insolation in Wm2 for the Equator, 30, 60, And 90 N

2.3

Effect of Angle on the Area that Intercepts an Incoming Beam of Radiation.

2.4

Angle of Incidence to Solar Cell

2.5

PV Generate Electricity when Irradiated by Sunlight

2.6

Photovoltaic Module

2.7

Single Diode Model of a PV Cell

2.8

I-V Characteristics of a Solar Panel

10

2.9

P-V Characteristics Curve of Photovoltaic Cell

11

2.10

Mono Crystalline Solar Panel

12

2.11

Polycrystalline Solar Panel

13

2.12

Amorphous Solar Panel

14

3.1

Graph between Direct Power Loss due to Misalignment vs Angle of Incidence 18

3.2

Single Axis Tracker on a Horizontal Axis

20

3.3

Single Axis Tracker on a Vertical Axis

21

3.4

Single Axis Tracker on a Tilted Axis

21

3.5

Dual Axis Tracker

22

4.1

Block Diagram of Proposed System

26

4.2

Proposed Model of Dual Axis Solar Tracker

27

4.3

Control Algorithm

28

4.4

Pin Diagram of 8051

29

4.5

An LDR

30

4.6

Symbol of LDR

30

4.7

LDRs in a Voltage Divider Arrangement

31

4.8

Shadow Technique

31

4.10

Working of a Brushed DC Motor

33

4.11

Types of DC Motors

34

4.12

Interfacing Circuit of DC Motor with 8051 C

35

List of Tables
Table Title

Page No

3.1

Relation between Angle of incidence and direct power loss

19

4.1

Truth table for L293D motor driver IC

35

List of Abbreviations
PV- Photovoltaic
DOF - Degrees of Freedom
PV panels - Photovoltaic panels
MPPT - Maximum Power Point Tracking
SCM - Single-chip microcomputer
DC - Direct Current
HSAT - Horizontal Single Axis Trackers
VSAT - Vertical Single Axis Trackers
AADAT - Azimuth-Altitude Dual Axis Trackers
- Altitude Angle
- Azimuth Angle

Chapter 1
Introduction
1.1 Overview
During the last few years the renewable energy sources like solar energy have gained much
importance in all over the world. Different types of renewable or green energy resources like
hydropower, wind power, and biomass energy are currently being utilized for the supply of
energy demand. Among the conventional renewable energy sources, solar energy is the most
essential and prerequisite resource of sustainable energy [1, 2].
Solar energy refers to the conversion of the suns rays into useful forms of energy, such as
electricity or heat. A photovoltaic cell, commonly called a solar cell or PV, is the technology used
to convert solar energy directly into electrical power. The physics of the PV cell (solar cell) is
very similar to the classical p-n junction diode. Sunlight is composed of photons or particles of
solar energy. Semiconductor materials within the PV cell absorb sunlight which knocks electrons
from their atoms, allowing electrons to flow through the material to produce electricity [3, 4].
Because of its cleanliness, ubiquity, abundance, and sustainability, solar energy has become well
recognized and widely utilized [5].
Different researches estimate that covering 0.16% of the land on earth with 10% efficient solar
conversion systems would provide 20 TW of power, nearly twice the worlds consumption rate
of fossil energy [6]. This proves the potential of solar energy which in turn points out the
necessity of tracking mechanism in solar systems. The tracking mechanism is an
electromechanical system that ensures solar radiation is always perpendicular to the surface of
the photovoltaic cells (solar cells) which maximizes energy harnessing [7].
Before the introduction of solar tracking methods, static solar panels were positioned with a
reasonable tilted angle based on the latitude of the location. With the advancement in technology
introduced automated tracking systems which improve existing power generation by 50% [8].
Previous researchers used single axis tracking system which follows only the suns daily motion

[9]. But the earth follows a complex motion that consists of the daily motion and the annual
motion.
The daily motion causes the sun to appear in the east to west direction over the earth whereas the
annual motion causes the sun to tilt at a particular angle while moving along east to west
direction
[10].The suns location in the sky relative to a location on the surface of the earth can be
specified by two angles as shown in Figure 1.1. They are the solar altitude angle () and the solar
azimuth angle (). Azimuth angle is the angle between the suns position and the horizontal plane
of the earths surface while Altitude angle specifies the angle between a vertical plane containing
the solar disk and a line running due south [11].

(Source: http://dx.doi.org/10.1155/2014/629717)
Figure 1.1: Illustration of the Solar Angles: Altitude Angle () & Azimuthal Angle ()

Solar tracking is best achieved when the tilt angle of the solar tracking systems is synchronized
with the seasonal changes of the suns altitude. An ideal tracker would allow the solar modules to
point towards the sun, compensating for both changes in the altitude angle of the sun (throughout
the day) and latitudinal offset of the sun (during seasonal changes). So the maximum efficiency
of the solar panel is not being used by single axis tracking system whereas double axis tracking
would ensure a cosine effectiveness of one.

In active tracking or continuous tracking, the position of the sun in the sky during the day is
continuously determined by sensors. The sensors will trigger the motor or actuator to move the
mounting system so that the solar panels will always face the sun throughout the day. If the
sunlight is not perpendicular to the tracker, then there will be a difference in light intensity on
one light sensor compared to another. This difference can be used to determine in which
direction the tracker has to be tilted in order to be perpendicular to the sun. This method of sun
tracking is reasonably accurate except on very cloudy days when it is hard for the sensors to
determine the position of the sun in the sky [12].
Passive tracker, unlike an active tracker which determines the position of the sun in the sky,
moves in response to an imbalance in pressure between two points at both ends of the tracker.
The imbalance is caused by solar heat creating gas pressure on a low boiling point compressed
gas fluid that is, driven to one side or the other which then moves the structure. However, this
method of sun tracking is not accurate [13,14].
A chronological tracker is a time-based tracking system where the structure is moved at a fixed
rate throughout the day as well for different months. Thus the motor or actuator is controlled to
rotate at a slow average rate of one revolution per day (15 per hour). This method of sun
tracking is more energy efficient [15].
To track the suns movement accurately dual axis tracking system is necessary. The
active/continuous tracking system tracks the sun for light intensity variation with precision.
Hence, the power gain from this system is very high [16]. But to achieve this power gain the
system uses two different motors continuously for two different axes. Finally the motivation of
the project was to design and implement a dual axis solar tracking system.
A simple energy efficient and rugged tracking model is proposed in this project in order to build
a dual axis solar tracker. To track the suns daily motion, that is, from east to west direction, a
pair of light sensors is used and to track the seasonal motion of the sun real time clock (RTC) is
used to create the accurate azimuth angle from some predetermined parameters. The light
intensity is compared by microcontroller and it generates the suitable control signals to move the
motors in proper direction. So a driver circuit is used to increase the voltage and current level for
the operation of the motors. Two geared DC motors are used for rotating the solar module in two
different axes which ensures tracking the point of maximum light intensity.

Chapter 2
Project Background & Literature Review
2.1 Solar Radiation
The sun, at an estimated temperature of 5800 K [17], emits high amounts of energy in the form
of radiation, which reaches the planets of the solar system. Sunlight has two components, the
direct beam and diffuse beam. Direct radiation (also called beam radiation) is the solar radiation
of the sun that has not been scattered (causes shadow). Direct beam carries about 90% of the
solar energy, and the diffuse sunlight" that carries the remainder. The diffuse portion is the blue
sky on a clear day and increases as a proportion on cloudy day .The diffuse radiation is the sun
radiation that has been scattered (complete radiation on cloudy days). Reflected radiation is the
incident radiation (beam and diffuse) that has been reflected by the earth. The sum of beams,
diffuse and reflected radiation is considered as the global radiation on a surface. As the majority
of the energy is in the direct beam, maximizing collection requires the sun to be visible to the
panels as long as possible [18].
Declination Angle - The declination of the sun is the angle between the equator and a line drawn
from the centre of the Earth to the centre of the sun as shown in Figure 2.1. The declination is
maximum (23.450) on the summer/winter (in India 21 June and 22 December) The declination
angle () varies seasonally due to the tilt of the Earth on its axis of rotation and the rotation of the
Earth around the sun. If the Earth were not tilted on its axis of rotation, the declination would
always be 0. However, the Earth is tilted by 23.45 and the declination angle varies plus or
minus this amount. Only at the spring and fall equinoxes is the declination angle equal to 0
[19].
Hour Angle - The Hour Angle is the angular distance that the earth has rotated in a day. It is
equal to 15 degrees multiplied by the number of hours from local solar noon. This is based on the
nominal time, 24 hours, required for the earth to rotate once i.e. 360 degrees. Solar hour angle is

zero when sun is straight over head, negative before noon, and positive after noon (here noon
means 12.00 hour) [19].
Solar Altitude () - The solar altitude is the vertical angle between the horizontal and the line
connecting to the sun as shown in Figure 1.1. At sunset/sunrise altitude is 0 and is 90 degrees
when the sun is at the zenith. The altitude relates to the latitude of the sit, the declination angle
and the hour angle [20]

(Source: http://www.itacanet.org)
Figure 2.1: Declination Angles

Solar Azimuth ()-The azimuth angle is the angle within the horizontal plane measured from
true South or North. The azimuth angle is measured clockwise from the zero azimuth [20].

2.2 Insolation
Insolation is a measure of solar radiation energy received on a given surface area and recorded
during a given time. It is also called solar irradiation and expressed as hourly irradiation if
recorded during an hour, daily irradiation if recorded during a day, for example. The unit
recommended by the World Meteorological Organization is MJ/m2 (mega joules per square
meter) or J/cm2 (joules per square centimeter).Practitioners in the business of solar energy may
use the unit Wh/m2 (watt-hours per square meter). If this energy is divided by the recording time
in hours, it is then a density of power called irradiance, expressed in W/m 2 (watts per square
meter) [21].

Over the course of a year the average solar radiation arriving at the top of the Earth's atmosphere
at any point in time is roughly 1366 watts per square meter. The Sun's rays are attenuated as they
pass through the atmosphere, thus reducing the irradiance at the Earth's surface to approximately
1000W/m2 for a surface perpendicular to the Sun's rays at sea level on a clear day. The insolation
of the sun can also be expressed in Suns, where one Sun equals 1000 W/m2

(Source: http://www.physicalgeography.net)
Figure 2.2: Monthly values of available Insolation in Wm2 for the Equator, 30, 60, and 90 North

2.3 Projection Effect

The insolation into a surface is largest when the surface directly faces the Sun. As the angle
increases between the direction at a right angle to the surface and the direction of the rays of
sunlight, the insolation is reduced in proportion to cosine of the angle as illustrated in Figure 2.3.
This 'projection effect' is the main reason why the Polar Regions are much colder than equatorial
regions on Earth. On an annual average the poles receive less insolation than does the equator,
because at the poles the Earth's surface are angled away from the Sun [23].

(Source: http://en.wikipedia.org/wiki/Insolation)
Figure 2.3: Effect of Angle on the Area that Intercepts an Incoming Beam of Radiation

2.4 Photovoltaic Power

Solar panels are formed out of solar cells that are connected in parallel or series. When connected in
series, there is an increase in the overall voltage, connected in parallel increases the overall current.
Each individual solar cell is typically made out of crystalline silicon, although other types such as
ribbon and thin-film silicone are gaining popularity.
Because the PV cells generate a current, cells/panels can be modeled as DC current sources. The
amount of current a PV panel produces has a direct correlation with the intensity of light the panel is
absorbing as illustration shown in Figure 2.4

(Source: Google Image)

Figure 2.4: Angle of Incidence to Solar Cell

The normal to the cell is perpendicular to the cells exposed face. The sunlight comes in and
strikes the panel at an angle. The angle of the sunlight to the normal is the angle of incidence ().
Assuming the sunlight is staying at a constant intensity () the available sunlight to the solar cell
for power generation (W) can be calculated as below:
W = A* cos()

(i)

= (Pmax/W)*100%

(ii)

Here, A represents some limiting conversion factor in the design of the panel because they cannot
convert 100% of the sunlight absorbed into electrical energy. By this calculation, the maximum
power generated will be when the sunlight is hitting the PV cell along its normal and no power
will be generated when the sunlight is perpendicular to the normal. With a fixed solar panel,
there is significant power lost during the day because the panel is not kept perpendicular to the
suns rays.
A tracking system can keep the angle of incidence within a certain margin and would be able to
maximize the power generated [24].

2.5 Photovoltaic Cell

2.5.1 Working of Photovoltaic Cell
A photovoltaic cell or photoelectric cell is a semiconductor device that converts light to electrical
energy by photovoltaic effect. If the energy of photon of light is greater than the band gap then
the electron is emitted and the flow of electrons creates current as shown in figure 2.5. However
a photovoltaic cell is different from a photodiode. In a photodiode light falls on n channel of the
semiconductor junction and gets converted into current or voltage signal but a photovoltaic cell
is always forward biased
.