In this paper, a continuous tracking strategy for the heliostat in the James S. Markiewicz Concentrated Solar Energy Research Facility at Valparaiso University is developed. A model of the nonlinear dynamics of the heliostat motion is developed and the open-loop control strategy is presented. Asymptotic stability of the heliostat control using the Lyapunov and LaSalle’s theorems was proven. Simulations using the nonlinear dynamic model are presented and interpreted to identify the feedback gain that maximizes the time response of the heliostat without introducing oscillations in its motion. Finally, the control strategy is put to the test during summertime operation. The data presented show that the tracking strategy has an root mean square (RMS) tracking error of 0.058 mrad, where the error is defined as the difference between the desired and actual heliostat positions. Images of the aperture of a high-temperature solar receiver over 8 h of testing are also presented to qualitatively demonstrate the success of the tracking strategy.

Issue Section:
Research Papers
Topics:
Errors, Motors, Simulation, Solar energy, Stability, Simulation results, Control systems, Furnaces, Mechanical drives, Torque, Feedback, Oscillations

References

1.
Hisada
,
T.
,
Mii
,
H.
,
Noguchi
,
C.
,
Noguchi
,
T.
,
Hukuo
,
N.
, and
Mizuno
,
M.
,
1957
, “
Concentration of the solar radiation in a solar furnace
,”
Solar Energy
,
1
(
4
), pp.
14
–
16
.
2.
Trombe
,
F.
, and
Vinh
,
A. L. P.
,
1973
, “
Thousand kw solar furnace, built by the National Center of Scientific Research, in Odeillo (France)
,”
Solar Energy
,
15
(
1
), pp.
57
–
61
.
3.
Diver
,
R.
,
Carlson
,
D.
,
Macdonald
,
F.
, and
Fletcher
,
E.
,
1983
, “
A new high-temperature solar research furnace
,”
ASME J. Sol. Energy. Eng.
,
105
(
3
), pp.
288
–
293
.
4.
Neumann
,
A.
, and
Groer
,
U.
,
1996
, “
Experimenting with concentrated sunlight using the dlr solar furnace
,”
Solar Energy
,
58
(
4–6
), pp.
181
–
190
.
5.
Abdurakhmanov
,
A.
,
Akbarov
,
R. Y.
,
Gulamov
,
K.
,
Riskiev
,
T.
, and
Yuldashev
,
A.
,
1998
, “
Operating experience of a big solar furnace 1000 kw in power
,”
Appl. Solar Energy
,
34
(
1
), pp.
29
–
33
.
6.
Haueter
,
P.
,
Seitz
,
T.
, and
Steinfeld
,
A.
,
1999
, “
A new high-flux solar furnace for high-temperature thermochemical research
,”
ASME J. Sol. Energy Eng.
,
121
(
1
), pp.
77
–
80
.
7.
Riveros-Rosas
,
D.
,
Herrera-Vázquez
,
J.
,
Pérez-Rábago
,
C.
,
Arancibia-Bulnes
,
C.
,
Vázquez-Montiel
,
S.
,
Sánchez-González
,
M.
,
Granados-Agustín
,
F.
,
Jaramillo
,
O.
, and
Estrada
,
C.
,
2010
, “
Optical design of a high radiative flux solar furnace for Mexico
,”
Solar Energy
,
84
(
5
), pp.
792
–
800
.
8.
Reda
,
I.
, and
Andreas
,
A.
,
2004
, “
Solar position algorithm for solar radiation applications
,”
Solar Energy
,
76
(
5
), pp.
577
–
589
.
9.
Grena
,
R.
,
2008
, “
An algorithm for the computation of the solar position
,”
Solar Energy
,
82
(
5
), pp.
462
–
470
.
10.
Chong
,
K.
, and
Wong
,
C.
,
2009
, “
General formula for on-axis sun-tracking system and its application in improving tracking accuracy of solar collector
,”
Solar Energy
,
83
(
3
), pp.
298
–
305
.
11.
Aiuchi
,
K.
,
Yoshida
,
K.
,
Katayama
,
Y.
,
Nakamura
,
M.
, and
Nakamura
,
K.
,
2004
, “
Sun Tracking Photo-Sensor for Solar Thermal Concentrating System
,”
ASME 2004 International Solar Energy Conference
,
Portland, OR
,
July 11–14
, pp.
625
–
631
.
12.
Brey
,
J. J.
,
Quero
,
J. M.
,
Franquelo
,
L. G.
,
Domínguez
,
M.
, and
Castañer
,
L.
,
2002
, “
Light Source Tracking Microsensor for Solar Power Plants
,”
NEXUS-Network of Excellence in Multifunctional Microsystems EUROPRACTICE-Microsystems Service for Europe
, MST News, no. 3/02: pp.
45
–
48
.
13.
Abdallah
,
S.
, and
Nijmeh
,
S.
,
2004
, “
Two axes sun tracking system with plc control
,”
Energy Convers. Manage.
,
45
(
11
), pp.
1931
–
1939
.
14.
Kribus
,
A.
,
Vishnevetsky
,
I.
,
Yogev
,
A.
, and
Rubinov
,
T.
,
2004
, “
Closed loop control of heliostats
,”
Energy
,
29
(
5-6
), pp.
905
–
913
.
15.
Aiuchi
,
K.
,
Yoshida
,
K.
,
Onozaki
,
M.
,
Katayama
,
Y.
,
Nakamura
,
M.
, and
Nakamura
,
K.
,
2006
, “
Sensor-controlled heliostat with an equatorial mount
,”
Solar Energy
,
80
(
9
), pp.
1089
–
1097
.
16.
Schubnell
,
M.
, and
Ries
,
H.
,
1990
, “
Velocity-controlled tracking of the Sun
,”
Solar Energy Mater.
,
21
(
2–3
), pp.
207
–
212
.
17.
Kribus
,
A.
,
Vishnevetsky
,
I.
,
Meri
,
M.
,
Yogev
,
A.
, and
Sytnik
,
A.
,
2003
, “
Continuous Tracking of Heliostats
,”
ASME 2003 International Solar Energy Conference
,
Kohala Coast, Hawaii
,
Mar. 15–18
.
18.
Duncan
,
G. S.
,
Nudehi
,
S.
,
Palumbo
,
R.
, and
Venstrom
,
L. J.
,
2014
, “
A High-Flux Solar Furnace for Undergraduate Engineering Education and High-Temperature Thermochemistry Research
,”
ASME 2014 8th International Conference on Energy Sustainability collocated with the ASME 2014 12th International Conference on Fuel Cell Science
,
Boston, MA
,
June 30– July 2, p. V001T02A018.
19.
Hession
,
P.
, and
Bonwick
,
W.
,
1984
, “
Experience with a Sun tracker system
,”
Solar Energy
,
32
(
1
), pp.
3
–
11
.
20.
Zogbi
,
R.
, and
Laplaze
,
D.
,
1984
, “
Design and construction of a Sun tracker
,”
Solar Energy
,
33
(
3
), pp.
369
–
372
.
21.
Rumala
,
S.-S. N.
,
1986
, “
A shadow method for automatic tracking
,”
Solar Energy
,
37
(
3
), pp.
245
–
247
.
22.
Cho
,
H.
,
Lee
,
C.
, and
Cho
,
Y.
,
1980
, “
Optimal control-system design for solar-tracking concentrators
,”
Trans. Inst. Meas. Control
,
2
(
4
), pp.
207
–
213
.
23.
Baruh
,
H.
,
1999
,
Analytical Dynamics
,
McGraw-Hill
,
New York
.
24.
Greenwood
,
D. T.
,
1988
,
Principles of Dynamics
,
Prentice-Hall
,
Englewood Cliffs, NJ
.
25.
Dorf
,
R. C.
, and
Bishop
,
R. H.
,
1998
,
Modern Control Systems
,
Pearson (Addison-Wesley)
,
Upper Saddle River, NJ
.
26.
Khalil
,
H. K.
, and
Grizzle
,
J.
,
1996
,
Nonlinear Systems
, Vol.
3
,
Prentice-Hall
,
Englewood Cliffs, NJ
.
Copyright © 2019 by ASME
You do not currently have access to this content.