In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
4, D
e
c
e
m
ber
201
9,
pp.
2055~
20
64
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
4.20
5
5
-2
06
4
2055
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Design and im
ple
m
entation of an
aut
om
atic
ally aligned solar
tracking system
A
n
ee
s
Ab
u
S
n
e
i
n
e
h
,
W
ael A
.
S
al
ah
D
e
partm
e
n
t
o
f El
ectri
cal E
ngineeri
n
g
,
Colleg
e
o
f
E
n
g
i
n
eeri
ng an
d
Tech
no
lo
gy,
P
a
lestin
e Tech
ni
c
a
l
Un
iv
ers
ity
- Kad
oo
rie, P
al
estine
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Mar
22,
2
0
1
9
Re
vise
d A
p
r
20,
201
9
Ac
ce
p
t
ed
J
un
1
9
,
2
019
T
h
i
s
p
a
p
e
r
p
r
e
s
e
n
t
s
t
h
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d
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i
g
n
a
n
d
i
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o
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o
f
a
c
l
o
s
e
d
-
l
oo
p
so
la
r
track
er
s
ys
tem
.
T
h
e
d
em
and
f
o
r
cl
ean
e
nerg
y
so
urces
h
as
i
n
c
r
e
as
ed
a
l
ong
with
t
he
r
ising
dem
a
nd
f
o
r
e
l
e
c
t
rical
e
n
e
rgy
an
d
the
in
creasi
n
g
a
m
o
u
n
t
o
f
env
i
ro
nm
ent
pollu
ti
on
t
rig
g
ered
b
y
f
u
el
c
ons
um
ptio
n
.
A
m
o
n
g
t
h
e
s
e
so
urces
,
so
lar
en
ergy
i
s
co
nsi
d
ered
t
h
e
m
ost
f
e
as
ib
le
g
iv
en
its
w
ide
ava
il
a
b
i
l
it
y
a
n
d
easy
op
er
ati
on
in
di
f
f
e
ren
t
e
n
v
i
r
on
m
e
nts.
T
he mai
n p
u
rp
ose
of
t
h
i
s
stud
y
is
t
o
m
a
xim
i
ze
t
h
e
g
e
n
e
rated
ph
ot
ov
olt
a
ic
p
o
w
er
a
n
d
r
edu
ce
CO2
e
m
issi
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s
by
d
e
s
i
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i
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i
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t
a
n
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l
o
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c
o
s
t
s
o
l
a
r
t
r
a
c
k
i
n
g
s
y
s
t
e
m
.
A
n
a
lig
n
e
d
cl
osed
-
lo
op
s
o
l
ar
t
ra
ck
er
i
s
des
i
g
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ed
a
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o
ns
tru
c
ted
to
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h
iev
e
t
h
e
b
e
s
t
accura
cy
.
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e
p
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tem
sh
ows
m
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ree
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om
i
n
its
m
ovement
to
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e
rc
om
e
th
e
probl
e
ms
a
ssoc
i
at
ed
w
i
t
h
the
tilt
o
f
the
frame-hol
der.
A
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i
c
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oco
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oll
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on
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F
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wco
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pro
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ram
m
ing
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positio
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eedback
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y
usin
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ph
oto-s
e
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s
o
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H-Bridg
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ve
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is
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s
e
d
t
o
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ro
l
tw
o
DC
m
ot
ors
.
A
ccord
in
g
to
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he
e
xperi
m
ental
resu
lts,
t
he
p
ro
po
se
d
sy
st
e
m
s
ho
w
s
s
ig
n
i
f
i
cant
im
p
r
o
v
em
en
ts
i
n
ef
fici
ency
c
o
m
pared
w
i
th
st
ati
o
n
a
ry
solar tracki
n
g
sy
st
em
s
.
K
eyw
ord
s
:
Au
to
mat
i
call
y
a
l
i
gn
ed
Elec
tric
a
l
ene
rgy
Ma
ximiz
e
PV
s
y
s
t
e
m
Solar
tra
c
ki
ng
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
Wa
el
A
.
S
a
lah,
D
e
pa
rtme
nt
o
f
El
e
c
t
rica
l
Eng
i
ne
eri
ng,
C
ol
le
ge
of
En
g
i
ne
er
in
g a
n
d Tec
h
n
o
lo
gy,
P
a
l
e
stine
Tec
h
ni
c
a
l
U
ni
ver
s
it
y -
K
a
door
i
e
,
P.O.
B
o
x
:
7
,
Y
af
a St
ree
t
, Tu
l
k
a
r
m,
Pal
est
i
ne
.
Em
ail:
w
ael.
s
alah
@
p
t
u
k.edu.
ps
1.
I
N
TR
OD
U
C
TI
O
N
A
m
ong
the m
o
s
t pre
ssing i
s
s
u
es be
i
n
g
f
a
c
e
d
in t
h
e w
o
rl
d to
da
y
a
r
e
t
he
r
isi
ng
c
ons
um
pti
o
n o
f
e
nerg
y
and
t
h
e
i
n
cre
a
si
ng
degre
e
o
f
env
i
ro
nm
ent
a
l
po
l
l
u
tio
n,
b
o
t
h
o
f
w
h
i
c
h
r
e
s
ul
t
fr
om
t
he
i
n
c
re
asin
g
dem
a
nd
for
elec
tr
ical
e
nergy
a
nd
fue
l
.
O
n
e
p
o
t
en
t
i
a
l
s
o
l
u
t
io
n
to
t
he
se
p
r
o
b
l
ems
i
s
t
o
fi
nd
r
e
n
ewab
l
e
s
ou
rce
s
o
f
e
n
ergy
,
inc
l
ud
ing
sola
r
e
n
e
r
gy,
w
hich
is
bei
ng w
i
del
y
use
d
ac
ross
t
he w
orld today [1].
G
i
ve
n
i
t
s
i
n
c
r
easin
g
ap
p
lic
ati
o
n,
g
e
n
era
tin
g
s
o
lar
e
n
e
r
gy
re
qu
i
r
e
s
impr
ove
d
ma
t
e
rials
a
n
d
met
h
od
s
[2
].
S
ev
e
r
al
f
act
o
r
s
af
f
ect
t
h
e
e
ffi
c
i
en
c
y
o
f
the
s
o
l
a
r
e
nerg
y
c
o
ll
e
c
t
ion
proce
s
s,
i
nc
lu
d
i
ng
so
l
a
r
ph
o
t
o
v
o
l
t
a
i
c
(P
V)
e
ffi
c
ienc
y,
s
ourc
e
r
adia
t
i
on
in
te
ns
ity,
a
nd
s
tora
ge
t
e
c
h
ni
q
u
es.
The
P
V
out
p
u
t
pow
e
r
c
an
b
e
impro
v
e
d
i
f
t
h
e
radia
tio
n
i
s
p
roper
l
y
re
cei
ve
d
fr
om
i
t
s
s
o
u
rce
.
D
iffe
ren
t
m
e
t
h
o
d
s
ca
n
be
u
se
d
to
a
ch
ie
v
e
s
uc
h
goa
l,
t
he
m
ost
c
o
mm
on
of
w
hic
h
i
n
c
l
u
de
l
a
r
ge-
s
c
a
le
s
y
s
te
m
s
,
sun
t
r
ack
i
ng
sys
t
em
s
[3-6]
,
m
axim
um
p
o
w
er
po
int
t
r
ack
in
g
sys
t
em
s
(MPPT)
[7],
o
r
a
system
t
ha
t
c
o
mbi
n
es
a
l
l
t
h
ese
te
ch
no
log
i
e
s
.
The
i
n
c
ons
i
s
te
nc
y
o
f
so
l
a
r
radia
t
i
o
n
fal
l
i
ng
o
n
t
o
t
h
e
P
V
pane
l
ca
n
be
a
scr
i
be
d
to
t
h
e
da
ily
m
ov
em
ent
of
t
he
s
un
f
r
o
m
ea
st
t
o
w
e
st.
There
f
ore
,
a
t
rac
k
ing
s
y
ste
m
t
ha
t
a
l
l
o
w
s
t
he
P
V
pa
ne
l
to
a
u
t
oma
t
i
ca
lly
f
a
ce
the
sun
d
u
ri
ng
da
ytim
e
i
s
des
i
g
n
e
d
i
n
t
h
i
s
w
ork
t
o
g
e
n
e
r
ate
a
large
r
a
m
oun
t
of
s
o
l
a
r
p
ow
e
r.
T
h
e
p
ro
po
s
e
d
aut
o
ma
t
e
d
sy
st
em
h
as
b
e
e
n
implem
e
n
te
d
b
y
u
si
n
g
t
w
o
m
ot
ors.
T
he
s
o
l
a
r
p
ane
l
i
s
m
o
u
n
te
d
on
a
fram
e
t
ha
t
is
m
ove
d
b
y
t
he
se
m
o
t
or
s
t
o
kee
p
t
his
pa
ne
l
fac
i
n
g
t
he
d
ir
ecti
on
o
f
t
he
s
un
as
i
t
m
o
v
e
s
acr
oss
t
h
e
s
ky.
T
he
m
ai
n
pri
n
ci
p
l
e
o
f
t
h
i
s
P
V
s
y
s
t
e
m
i
s
t
o
c
o
n
v
e
r
t
t
h
e
c
o
l
l
e
c
t
e
d
s
o
l
a
r
r
a
d
i
a
t
i
o
n
i
n
t
o
e
l
e
c
t
r
i
c
a
l
e
nergy.
G
ive
n
t
ha
t
t
h
e
a
m
ou
nt
o
f
ra
di
a
t
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
10,
N
o.
4
, Dec
201
9 :
2
0
5
5
– 2
064
2
056
varie
s
a
lo
ng
w
i
t
h
t
he
d
a
i
l
y
m
ovem
e
n
t
a
nd
p
o
s
iti
on
of
t
he
s
un
a
t
d
i
f
fere
nt
s
e
a
so
ns,
the
so
lar
tra
c
k
i
n
g
s
y
s
te
m
orie
nts t
h
e
P
V
sola
r
pa
n
el
s to
w
a
rd
t
he sun
to
m
a
x
i
m
ize
the
am
ou
nt
o
f sola
r ra
di
a
t
i
on
dire
cted
a
t
these
pa
ne
ls.
Ma
ny
ty
pes
of
s
olar
t
rac
k
ers
w
i
t
h
v
a
r
y
i
ng
c
o
s
t
s,
d
e
v
e
l
op
me
nt
s
t
age
s
,
a
nd
perf
orma
nce
a
r
e
be
in
g
use
d
t
oda
y.
T
he
acc
urac
y
re
qu
i
r
em
ents
o
f
the
s
e
trac
kers
g
rea
tly
d
epe
n
d
on
t
h
e
i
r
app
l
i
c
a
t
i
o
n.
F
or
i
nstance
,
conc
e
n
trat
ors
requ
ire
a
hig
h
d
e
g
r
ee
of
a
cc
u
r
ac
y
e
s
pec
i
a
l
l
y
i
n
P
V
app
l
i
c
at
ions
t
o
ens
u
re
t
hat
the
c
o
nce
n
tr
ated
sun
l
i
g
h
t
i
s
pre
c
i
se
ly
d
irec
t
e
d
tow
a
r
d
t
he
p
ow
er
ed
d
e
v
ice
tha
t
i
s
l
o
cat
ed
a
t
t
h
e
fo
c
a
l
p
oi
n
t
(
o
r
n
e
a
r)
o
f
the
re
fl
e
c
t
or.
G
i
ve
n
tha
t
c
o
n
c
e
n
t
rat
o
rs
t
y
p
ic
al
ly
do
n
o
t
w
o
r
k
w
ith
o
u
t
tra
c
k
i
n
g
,
us
i
ng
a
t
l
ea
s
t
a
s
in
gle-a
x
i
s
t
r
a
c
ki
ng
i
s man
d
a
to
ry
.
A
solar
e
l
ec
tr
i
c
p
an
el
c
om
pr
ise
s
m
an
y
PV
c
el
l
s
t
ha
t
a
r
e
wire
d
t
o
g
e
t
h
e
r
i
n
a
s
e
r
i
e
s
t
o
a
c
h
i
e
v
e
the de
si
r
e
d v
o
l
tage
a
s sh
ow
n
in
F
igure
1.
T
he
t
hi
n
w
i
r
e
s in fro
nt of
the P
V
panel pick
up
t
h
e
fre
e el
ect
ron
s
.
F
i
gure
1.
Mu
l
t
i
-c
ryst
a
l
l
i
ne
P
V
panel
A
P
V
c
ell
gen
e
ra
tes
elec
tric
e
ne
rg
y
from
s
olar
e
nergy.
T
he
a
bso
rb
e
d
l
i
g
ht
i
s
mad
e
o
f
p
hot
on
s
w
i
th
fre
que
nc
y-
de
p
e
nde
n
t
e
n
e
rgi
e
s.
T
h
e
e
ne
r
g
y
of
t
hese
p
h
o
t
ons
e
xc
i
t
es
t
h
e
e
lec
t
ron
s
i
n
a
p–
n
sem
i
co
n
duc
t
o
r
ma
terial
t
o
hi
gher
e
n
er
gy
l
e
ve
ls
a
nd
t
o
t
r
a
nsform
t
hem
in
t
o
f
re
e
-
el
ect
ron
s
.
Thi
s
b
eh
a
v
io
r
i
s
k
n
o
wn
a
s
the
p
hot
oe
l
e
c
t
r
i
c
ef
fec
t
,
in
w
h
i
ch
a
n
e
l
e
c
tric
c
urr
e
nt
i
s
pro
d
u
ce
d
w
h
en
t
he
p
–
n
j
u
n
c
t
i
on
is
e
xp
ose
d
t
o
l
i
g
h
t
a
s
show
n
i
n
F
ig
u
r
e
2.
T
he
i
nte
n
s
ity
o
f
t
h
e
g
e
nera
te
d
curre
n
t
r
e
a
c
h
e
s
i
ts
m
axim
um
a
t
m
i
dda
y
w
h
e
n
t
he
s
ol
a
r
radia
t
i
o
n
l
e
vel
is
a
t
its
p
e
a
k.
H
ow
e
v
er,
g
i
ve
n
t
h
at
o
n
l
y
a
mi
n
i
mu
m
l
e
ve
l
of
s
ol
ar
r
a
d
i
a
tion
i
s
ob
s
e
rv
ed
a
t
bo
th
extre
m
e
s
o
f
a
day,
t
he
p
r
o
d
u
c
e
d
curre
nt
i
s
no
t
a
l
w
a
ys
c
ons
tan
t
an
d
gr
e
a
tl
y
de
p
e
nd
s
o
n
t
he
r
a
d
i
a
t
i
o
n
le
ve
l.
A
s
the
i
nte
n
si
t
y
of t
h
e su
nl
i
g
h
t
f
a
l
li
ng
on t
h
e
PV
cell inc
r
ea
s
es, a higher
electr
ical
c
urr
e
n
t
is pro
duc
e
d
[8]
.
F
i
gure
2. P
V cell s
t
ruct
ure
[8
]
2.
SOLAR TRA
C
KER FUND
A
M
E
N
T
A
LS
A
so
l
a
r
t
r
a
c
k
e
r
i
s
a
d
e
vi
ce
t
h
a
t
ali
g
n
s
a
s
i
n
gl
e
PV
p
ane
l
o
r
a
n
a
r
r
ay
o
f
pa
ne
ls
w
i
t
h
the
su
n.
The
im
ple
m
e
n
t
a
ti
on
of
s
o
l
ar
t
ra
cker
s
c
a
n
dram
atica
lly
i
mpr
ove
t
he
p
o
w
er
out
pu
t
of
a
s
yste
m
by
k
e
e
p
in
g
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
ta
ti
o
n
o
f
an
au
tom
a
t
i
c
a
l
l
y
a
l
i
g
ne
d so
la
r track
i
ng sy
ste
m
(Ane
es Abu
S
n
e
i
ne
h)
2
057
the
su
n
i
n
f
oc
us
t
hr
ou
g
hou
t
t
h
e
day.
A
w
e
l
l-
de
sig
n
e
d
t
r
a
c
k
er
n
e
eds
less
P
V
p
anels
due
t
o
its
incr
eased
efficie
n
c
y
,
ther
eby r
e
d
u
ci
n
g
t
he
i
n
i
ti
al im
p
l
e
me
nt
a
t
io
n
costs.
S
o
lar
dri
v
e
t
r
acke
r
s
c
a
n
be
d
iv
ide
d
i
n
t
o
thr
ee
type
s
de
pe
n
d
i
n
g
on
the
ty
pe
o
f
dri
v
e
a
n
d
se
ns
in
g
or
p
o
s
i
t
i
oni
ng
sy
s
t
e
m:
1.
P
a
ssive tra
cker
s use
sola
r ra
di
atio
n
to
h
e
a
t
g
a
s
es
t
ha
t
move
t
h
e
trac
k
e
r
acr
oss
t
h
e
sk
y [9].
2.
A
c
tive
tra
c
ker
s
u
se
e
lec
t
ric
or
h
y
d
rau
lic
d
r
i
ve
s
an
d
som
e
t
y
p
es
o
f
ge
arin
gs
o
r
ac
tu
a
t
or
s
t
o
m
ove
the
trac
ker
[10
]
.
3.
Op
en
l
oop
t
rac
k
e
r
s
d
e
t
e
rmi
n
e
t
h
e
po
si
ti
o
n
o
f
th
e
su
n
by
u
sing
c
omp
u
ter
-
co
ntr
o
l
l
e
d
a
l
g
or
it
hm
s
or
sim
p
le
timi
n
g sys
t
em
s
[11].
Ma
ny
t
y
pes
o
f
s
olar
t
ra
cker
s
c
a
n
a
l
s
o
b
e
g
r
ou
pe
d
i
n
to
s
i
n
gl
e
-
a
n
d
d
ou
b
l
e-a
x
es
t
rac
k
ers
.
O
n
the
o
n
e
han
d
,
s
i
n
g
l
e
-
ax
is
s
ola
r
t
r
ack
e
r
s
fol
l
ow
t
he
s
u
n
a
utom
at
ica
l
l
y
f
ro
m
e
a
s
t
t
o
west
b
y
u
s
i
n
g
h
o
r
i
z
ont
a
l
o
r
ve
rt
i
c
al
axle
s
[
12].
A
hor
izo
n
t
al
a
x
l
e
is
u
se
d
in
a
re
a
s
w
it
h
sh
ort
p
e
rio
ds
o
f
da
y
t
i
m
e
and
h
i
gh
t
e
m
p
er
atures
a
t
no
o
n
,
suc
h
a
s
in
t
ro
pica
l
reg
i
ons,
w
h
i
l
e
a
ve
r
tica
l
a
x
l
e
i
s
u
sed
in
a
rea
s
w
i
t
h
l
on
g
pe
ri
ods
o
f
day
t
ime
(
e
spec
i
a
ll
y
dur
in
g
sum
m
e
r
) but
w
it
h
n
o
t
t
oo
h
i
gh t
e
mpe
r
ature
s
, suc
h
a
s in
h
i
g
h
la
ti
tu
de
r
egio
ns
. M
e
a
n
w
hi
le, D
oub
le-a
x
i
s
so
l
a
r
trac
kers,
a
l
so
k
n
o
wn
a
s
dua
l-a
x
i
s
t
ra
ck
ers,
f
ol
l
o
w
t
h
e
su
n
f
r
o
m
e
ast
to
w
e
s
t
a
n
d
f
r
om
n
o
r
th
t
o
sout
h
by
us
i
n
g
h
o
r
i
z
o
n
t
a
l
a
nd
v
er
t
i
ca
l
axle
s
[1
3-
15]
.
Th
is
t
rac
k
er
p
r
o
d
u
ces
a
n
o
u
t
pu
t
p
o
w
e
r
of
4
0%
g
rea
t
e
r
t
ha
n
tha
t
pro
duce
d
b
y si
ng
le-a
x
i
s
so
lar
tra
c
ker
s
[
5].
3.
MECHANICAL
S
Y
S
TE
M
A
fr
am
e
-
hol
de
r
for
the
tra
c
k
i
ng
sys
t
em
w
ith
a
s
pecia
l
a
li
gnm
en
t
w
as
d
e
s
i
gne
d
t
o
p
os
i
t
io
n
t
h
e
ar
ray
and mo
t
o
rs of
t
h
e P
V
a
s show
n
i
n
F
i
gure 3, the
reb
y
al
l
o
w
i
n
g
t
o
incre
a
se a
c
c
ura
c
y by i
n
c
r
ea
si
n
g
s
un
ra
d
i
a
t
ion
tha
t
r
eac
h
n
o
r
m
a
l
ly
t
o
t
h
e
P
V
a
n
d
p
ro
v
i
d
i
ng
the
sys
t
e
m
w
it
h
s
o
m
e
f
r
ee
do
m
in
i
t
s
m
ov
e
m
en
t
t
o
o
v
e
rc
ome
t
h
e
pro
b
lem
s
a
sso
c
i
a
t
e
d
w
i
t
h
t
h
e
til
t
of
t
he
f
r
a
m
e
-
holde
r.
T
hi
s
m
e
c
han
i
ca
l
system
c
ompr
i
s
e
s
t
w
o
D
C
m
o
tors,
a
warm
g
ear
, four p
ho
t
o
-sens
o
rs,
and
tw
o li
mit sw
itc
hes.
The
f
i
rs
t
m
o
tor
control
s
t
he
azi
m
u
t
h
o
f
t
h
e
P
V
’
s
a
r
r
a
y
i
n
o
n
e
p
lane
,
w
h
i
l
e
t
h
e
se
c
o
n
d
m
otor
i
s
the
D
C
l
i
n
ea
r
a
c
tua
t
or
m
ot
or
a
s
s
how
n
in
F
i
gur
e
4.
T
h
i
s
m
o
t
o
r
w
as
s
ele
c
t
e
d
b
eca
u
s
e
o
f
i
t
s
s
i
m
pl
e
co
nt
rol
,
hi
gh
relia
b
i
l
i
t
y
,
and
its
g
e
a
r
box,
w
hic
h
c
o
nver
t
s
rota
t
i
o
n
a
l
m
ot
i
on
in
to
line
a
r
mot
i
o
n
by
us
in
g
an
a
r
m
t
hat
l
i
f
t
s
t
h
e
fra
me
u
p
and
do
wn
a
s
a
p
p
r
op
ri
a
t
e
to
c
h
a
ng
e
t
h
e
l
o
ca
ti
on
of
t
he
s
un
f
rom
nor
th
t
o
s
o
u
t
h
thr
o
u
g
h
o
u
t
the
yea
r
.
Line
a
r
actua
t
o
rs
c
an
h
a
v
e
a
sta
t
ic
l
oa
d
i
ng
c
apa
c
i
ty,
w
h
ic
h
m
e
a
n
s
tha
t
w
he
n
th
e
m
o
t
o
r
st
o
p
s,
t
he
s
e
ac
t
u
a
t
or
s
are
l
o
c
k
e
d
i
n
p
l
ace
a
nd
ca
n
s
u
ppor
t
ei
the
r
p
u
l
l
i
ng
or
pus
h
i
n
g
l
o
a
d.
T
he
b
ra
k
i
n
g
f
orc
e
o
f
t
h
e
l
i
ne
ar
ac
t
u
a
t
or
var
i
e
s alo
n
g
w
i
t
h th
e
ang
u
l
ar
pi
t
c
h
o
f
the sc
rew
threa
ds
a
n
d
the
sp
e
c
i
f
i
c
de
si
gn o
f
the
t
hr
eads.
F
i
gure
3. P
rop
o
se
d
desi
gn
of
t
he
s
un-trac
kin
g
ali
g
n
m
en
t
sys
t
em
F
i
gure
4.
D
C line
a
r
ac
t
u
a
t
or
Th
e
mo
t
o
rs
n
ee
d
to
r
ot
at
e
l
e
ss
t
h
an
5
°
in
o
rde
r
f
o
r
t
he
s
y
s
t
e
m
t
o
f
a
c
e
t
h
e
s
u
n
a
n
d
r
e
c
e
i
v
e
the
ma
x
i
mum
am
ount
o
f
su
n
l
i
g
h
t
.
To
a
c
h
i
e
v
e
t
h
i
s
g
o
al,
a
w
o
rm
g
e
ar
w
as
u
se
d
t
o
e
n
s
ur
e
a
proper
m
ovem
e
nt
and
loc
a
t
i
o
n
fo
r
t
h
e
fram
e
a
s show
n
i
n
F
ig
ure
5.
The
fina
l
des
i
g
n
of
th
e
ge
ar
in
g sys
t
em
is sh
o
w
n i
n
F
ig
ure
6. A
s
m
all cog w
a
s attac
h
e
d
to
the
sha
f
t
o
f
the
D
C
m
ot
or,
w
h
ic
h
in
t
ur
n
w
a
s
linke
d
as
a
n
ar
c
to
a
l
a
r
ge
r
co
g
th
a
t
i
s
at
t
a
c
h
ed
t
o
t
h
e
s
e
n
s
o
r
p
l
a
ne
o
f
move
me
nt.
T
h
is
g
e
a
ri
ng
s
y
s
tem
effec
t
i
v
el
y
re
d
u
ce
d
the
spee
d
of
fra
m
e,
t
here
by
a
ccur
a
te
ly
p
osi
t
i
o
n
in
g
the P
V
’s array.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w El
ec &
D
ri S
y
s
t
Vo
l. 1
0
,
No
. 4
,
D
e
c
2
0
19
:
2
055
–
2
064
2
058
F
i
gur
e
5.
W
or
m
ge
ar
F
i
gur
e
6.
M
o
t
o
r
g
ea
r
i
ng
sys
t
e
m
G
i
ve
n
tha
t
t
h
e
s
yst
e
m
is
t
r
a
cki
ng
the
s
un,
a
n
e
f
fe
ct
ive
se
nsor
de
s
i
g
n
w
as
d
eve
l
o
p
e
d
w
hi
l
e
co
ns
id
e
r
i
n
g
t
h
e
po
si
t
i
o
n
a
nd
ty
p
e
o
f
se
n
s
ors.
T
h
e
s
en
so
r
d
e
sig
n
o
f
th
e
ti
lt
ed
m
ou
n
t
c
an
e
f
f
ecti
v
ely
lo
cat
e
t
h
e
po
si
tio
n
of
t
h
e
s
un
.
T
h
i
s
d
esi
g
n
i
n
co
rporat
es
a
t
ri
ang
l
e
st
r
u
c
t
ur
e
w
i
th
a
p
h
o
t
o-
se
ns
o
r
m
oun
ted
o
n
e
a
c
h
si
de
a
s
show
n
i
n
F
i
g
ur
e
7.
P
ho
t
o
-
s
e
n
s
o
r
s
h
a
v
e
a
var
i
a
b
le
r
esist
a
n
ce
t
ha
t
chan
ge
s
a
l
o
n
g
w
ith
t
he
i
n
t
e
n
s
i
t
y
o
f
li
g
h
t
t
h
a
t
f
al
ls
u
p
o
n
t
hem
,
t
he
r
e
by
a
l
l
o
w
i
n
g
t
he
se
e
q
u
i
pm
e
n
t
t
o
b
e
use
d
i
n
l
i
g
h
t
-
s
e
n
s
i
ng
c
i
r
cui
t
s.
T
he
p
h
o
t
o-
sen
s
o
r
s
a
r
e
posi
t
i
on
e
d
o
r
t
ho
g
o
n
a
l
l
y
to
t
h
e
o
ppo
si
ng
s
en
so
r
to
e
nsur
e
t
h
a
t
t
hey
w
i
ll
ha
ve
t
he
s
am
e
v
o
l
t
a
g
e
r
eadi
ngs
w
he
n
the tr
ia
ng
le po
i
nt
s
dir
ect
ly
a
t
t
h
e
su
n.
T
he
s
e
n
s
or
s
a
r
e
set
a
t
45°
a
s
sh
ow
n in
F
igur
e
7,
w
her
e
θ
i
s
t
h
e
a
n
g
l
e
o
f
i
n
c
i
d
en
c
e
a
nd
β
i
s
t
h
e
tilt
ed
a
n
g
l
e
.
W
h
en
t
h
e
t
r
i
a
n
g
l
e
is
n
o
t
p
oi
n
tin
g
dire
c
t
l
y
a
t
the
sun
,
the
vo
l
t
age
inc
r
e
a
ses
on
t
h
e
side
(
s)
t
ha
t
i
s
t
he
m
ost
e
x
p
o
s
e
d
t
o
t
h
e
s
u
n
.
T
h
i
s
a
p
p
r
o
a
c
h
a
l
l
o
w
s
u
s
t
o
c
o
m
p
a
r
e
the
s
e
op
p
o
sin
g
se
ts
o
f
sens
or
s
a
nd
con
t
r
o
l
t
h
e
move
me
nt
d
i
r
ec
t
i
on
of
t
h
e
s
ol
a
r
t
r
a
cke
r
.
F
i
gur
e
7.
T
i
l
te
d
moun
t
Li
gh
t
se
nsor
s
a
r
e
am
on
g
t
h
e
m
o
st
c
om
m
on
ty
pes
of
s
e
n
s
o
r
s
.
The
s
imp
l
es
t
t
y
pe
o
f
ph
o
t
o-
sens
or
m
ay
be
a
c
a
d
mi
um
s
u
l
f
i
de
(
C
d
S
)
-
t
ype
p
ho
t
o
r
e
sis
t
or
.
CdS
p
h
o
t
o-
sens
or
s
a
r
e
p
a
ssi
v
e
c
o
mp
on
ent
s
w
hi
c
h
r
e
s
i
s
ta
n
ce
is
i
nver
s
e
l
y
pr
op
or
t
i
ona
l
t
o
t
he
a
m
oun
t
o
f
l
i
g
h
t
i
nte
n
s
i
t
y
d
ir
e
cte
d
t
oward
t
h
em
.
To
f
ur
the
r
gua
r
a
ntee
t
he
s
a
f
e
t
y
of
t
he
s
ys
te
m
,
t
w
o
lim
it
s
w
i
tc
h
e
s
w
er
e
use
d
a
s
sh
ow
n
i
n
F
i
gur
e
8.
Whe
n
o
ne
of t
h
ese sw
i
t
c
h
es
i
s
a
c
t
u
a
t
ed,
the
motor s
t
ops w
ork
i
n
g
a
nd m
o
ves ba
c
k
to
the
p
o
s
iti
on
the
s
w
itc
h is
no
t
a
c
t
u
a
t
ed
a
g
a
in.
Th
is
m
ean
t
he
r
ou
nd
is
f
i
n
i
s
he
d,
a
nd
t
h
e
fr
a
m
e
hol
der
sho
u
l
d
m
ove
s
i
n
d
i
f
f
e
r
e
nt
d
i
r
e
c
ti
o
n
.
F
i
gur
e
8.
L
imit
s
w
itch
des
i
gn
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
pl
e
m
e
n
t
a
tio
n o
f
an
a
u
t
om
atic
ally a
lig
ne
d
so
l
a
r t
r
ac
k
i
ng
sy
stem
(
A
nee
s
Abu Sne
ine
h
)
2
059
4.
CONTROLLE
R
AND
E
LECT
R
ONIC
S
YS
T
E
M
The
pr
o
p
o
se
d t
r
ac
king s
y
ste
m
w
as implem
e
n
t
ed
by us
in
g
a
P
I
C
16F
87
7A
m
i
c
r
o
co
ntr
o
l
l
e
r
.
The
m
a
in
f
u
n
c
tio
ns
o
f
t
h
is
c
o
n
tr
ol
l
e
r
a
r
e
t
o
c
o
nve
r
t
t
h
e
a
na
l
o
g
v
o
lta
ges
f
ro
m
th
e
ph
oto
-
sen
s
o
r
s
in
to
d
i
g
it
al
v
a
l
u
e
s
that
c
a
n
be
c
om
p
a
r
e
d
a
nd
t
o
c
on
tr
o
l
t
he
D
C
m
o
t
o
r
s
t
hr
oug
h
t
h
e
H
-
B
r
id
ge
[
16]
.
The
c
o
de
f
or
t
he
P
I
C
m
i
cr
oc
o
n
t
r
o
lle
r
sys
t
e
m
w
as
d
eve
l
ope
d
b
y
u
s
i
n
g
t
he
F
low
c
ode
l
a
n
g
uage
g
i
v
e
n
i
ts
h
igh
flex
i
b
il
it
y
an
d
sma
l
l
c
ode
s
ize
,
w
hi
c
h
c
an
s
h
o
r
t
e
n
t
he
d
eve
l
opm
e
n
t
and
de
b
u
g
g
i
ng
ti
m
e
s
as well
as imp
ro
v
e
t
h
e
ef
f
i
c
i
ency
.
The
H
-
B
r
idge
u
se
d
f
o
r
the
m
o
tor
dr
i
v
e
r
i
s
L
2
9
8
[
17]
,
an
i
n
t
e
g
r
a
ted
c
i
rc
u
i
t
tha
t
h
a
s
a
d
ua
l
fu
ll-
brid
ge
d
r
i
v
er
d
esig
n
e
d
t
o
d
ri
v
e
i
ndu
ct
iv
e
l
o
ad
s,
s
u
c
h
a
s
r
e
l
ay
s,
s
ol
en
o
i
ds,
a
n
d
D
C
m
o
t
or
s.
B
y
us
in
g
t
h
i
s
s
o
l
a
r
tr
a
c
ker
,
a
c
lose
d-
l
o
o
p
s
ola
r
t
r
acki
n
g
system
t
ha
t
c
o
m
p
r
i
ses
ele
ct
r
i
ca
l
and
mec
h
a
n
ic
al
s
y
s
t
e
ms
w
as
d
e
v
e
l
op
e
d
.
Th
e ov
e
r
a
l
l
bloc
k
d
i
ag
r
a
m
o
f
th
e
p
r
o
p
o
s
e
d
s
yst
e
m
i
s
s
ho
wn i
n
F
i
gu
re
9
. As
c
a
n
b
e
s
een
in
t
h
i
s
blo
ck
d
i
a
gram,
the
p
o
w
e
r
sup
p
l
y
p
r
o
vi
des
v
o
lta
ge
s
of
1
2V
a
n
d
5
V
,
t
h
e
s
y
s
tem
ha
s
fo
ur
p
ho
t
o
-
s
ens
o
r
s
t
ha
t
pr
o
v
ide
f
e
edba
c
k
t
o
t
h
e
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
,
t
h
e
m
i
c
r
o
c
o
n
t
r
o
l
l
e
r
p
r
o
c
e
s
s
e
s
t
h
e
s
e
n
s
o
r
in
pu
t
a
n
d
p
r
ovi
d
e
s
out
pu
t
t
o
t
h
e
H
-B
rid
g
e
s,
the
H
-
br
idge
s
con
t
r
o
l
s
t
h
e
r
ot
a
t
i
o
n
d
i
r
ecti
ons
o
f
t
h
e
D
C
m
ot
or
s
o
r
linear
a
ct
ua
tors
w
hether
f
or
w
a
rd
o
r
r
e
ver
s
e
,
a
nd
t
h
e
motor
move
s
the
ge
ar
a
s
a
n
a
r
c
.
This
m
oti
on
a
l
on
g
w
ith
t
he
m
o
v
em
en
t
of
l
i
n
ea
r
a
c
t
u
a
t
or
s
a
d
jus
t
s
the po
s
i
t
i
on
of
t
he
f
r
a
me
-
hol
der
of
a
P
V
pane
l
.
T
he
P
V
panel
fac
e
s
t
he
s
u
n
a
n
d
c
ol
l
e
c
t
s
t
h
e
m
a
x
i
mum
a
m
oun
t
o
f
s
unr
ays
to
e
nsur
e
a
hig
h
ly
e
f
f
i
c
i
e
n
t
pow
er
c
ol
lec
tio
n
.
A
p
r
ot
o
t
y
p
e
o
f
th
e
clo
s
ed
-l
oop
s
ol
a
r
t
rack
ing
sy
st
em
w
as
t
h
e
n
d
esi
g
ned
a
n
d
im
plem
en
te
d
for
tes
tin
g
a
nd
e
x
per
i
m
e
n
t
al
v
a
l
i
d
a
t
i
o
n
a
s
s
how
n
i
n
F
ig
ur
e
10.
T
he
s
y
s
tem
w
a
s
t
e
s
t
e
d
o
n
a
r
e
a
l
s
i
t
e
t
h
r
o
u
g
h
o
u
t
a
s
i
n
g
l
e
da
y
t
o
c
hec
k
i
t
s
ope
r
a
t
i
o
n
.
F
i
gur
e
9.
B
loc
k
d
ia
gr
a
m
o
f
th
e
close
d
-
l
o
o
p
s
ola
r
t
r
a
ck
i
ng
s
y
s
t
e
m
F
i
gur
e
1
0
.
F
i
nal
so
lar
tr
ac
ker
pr
o
t
o
t
ype
Pow
er Su
pp
l
y
PI
C
Mi
cro
c
o
n
t
ro
l
l
er
2
H
-
Br
id
g
e
Li
n
e
a
r
A
c
tuator
Dc
Mo
t
o
r
Ge
a
r
2
L
S
Solar
Tr
a
c
k
e
r w
i
th P
V P
a
n
e
l
4
ph
ot
o
se
nso
r
s
2
H
-
Br
idg
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
10,
N
o.
4
, Dec
201
9 :
2
0
5
5
– 2
064
2
060
5.
SOLAR TRA
C
KING IMPLE
M
E
N
T
ATION
AN
D EX
PERIMEN
T
S
To
i
mpr
o
v
e
t
h
e
e
ffic
i
e
nc
y
of
t
he
s
o
l
a
r
t
ra
c
k
i
n
g
s
y
st
e
m
[
18,
1
9]
,
a
fe
e
dbac
k
f
or
t
he
P
V
panel’s
pos
it
io
n
w
a
s
d
e
signe
d.
F
our
L
D
R
p
h
o
t
o
-se
n
sors
w
e
r
e
ch
ose
n
a
s
fe
e
d
ba
ck
e
l
e
m
e
nts,
a
nd
t
he
ir
o
u
t
put
s
h
o
w
s
the
cha
n
ge
s
i
n
t
he
i
nc
i
d
e
n
ce
a
n
g
le
s
of
t
he
s
u
n
r
a
ys.
Tw
o
pa
irs
o
f
LD
R
sens
ors
w
e
r
e
u
se
d
in
d
iffere
nt
t
i
l
t
ang
l
es
t
o
i
d
e
n
t
i
f
y
t
he
w
a
y
t
h
a
t
g
i
ves
the
m
o
s
t
e
ffic
ie
nt
r
e
s
po
n
s
e
.
Th
e
fi
rst
p
a
i
r
w
as
m
ou
nt
ed
t
o
f
a
c
e
th
e
sun
perpe
n
d
i
c
u
l
a
r
l
y,
w
hile
t
he
s
e
c
on
d
pa
ir
w
a
s
m
oun
te
d
as
s
h
o
w
n
i
n
F
i
g
u
re
1
1
.
T
he
t
il
t
an
gle
ca
n
b
e
a
d
j
uste
d
t
o
let
the
m
a
ximu
m
am
oun
t
of
s
unra
y
t
o
re
ach
t
he
se
L
D
R
s
e
n
sors.
Th
e
f
i
r
s
t
pair
r
e
p
or
t
e
d
a
w
o
r
s
e
acc
urac
y
th
a
n
t
h
e
seco
nd
p
a
i
r.
Figure
1
1
.
Tilt-a
n
g
l
e
-
m
o
u
n
t
e
d
LD
R
pho
t
o
-sensors
The
b
e
s
t
a
ccur
acy
a
n
d
r
e
s
pon
se
t
o
a
cha
n
ge
i
n
a
ngle
c
a
n
be
o
b
t
a
i
n
e
d
b
y
u
s
i
ng
t
h
e
45
°
t
ilt
an
gle
a
n
d
by
fix
i
n
g
t
he
L
D
R
s
ens
o
rs
o
n
the
pane
l
s
u
rf
ace
.
Eac
h
s
ens
o
r
c
o
n
ne
c
t
s
w
ith
s
er
ies
re
sis
t
ance
e
q
u
a
l
1
2
2
Ω
,
and
a
voltm
eter
w
as
c
on
nec
t
e
d
i
n
par
a
lle
l
t
o
e
a
c
h
resist
a
n
ce
a
s
s
ho
w
n
i
n
F
i
gure
1
2
.
The
P
V
p
ane
l
s
urfa
ce
w
a
s
the
n
m
ove
d b
y
ha
n
d
to
w
ard
the
s
u
n, an
d
the
v
o
lta
ge w
as
o
bse
r
ve
d
f
ro
m
e
a
ch
v
o
l
t
m
e
t
er
u
nti
l
an
e
q
u
a
l
re
ad
i
n
g
w
a
s
obt
a
i
ne
d,
t
ha
t
i
s
,
w
h
e
n
ea
c
h
LD
R
ph
o
t
o-
se
ns
o
r
a
l
m
ost has
th
e
sam
e
s
un l
i
gh
t
in
tens
i
t
y re
ad
in
g.
F
i
gure
1
2
. P
hoto-se
ns
or c
ircuit
A
ph
ot
o-sen
s
o
r
w
a
s
u
se
d
t
o
o
r
i
e
n
t
t
h
e
P
V
p
ane
l
t
ow
ar
d
t
h
e
pos
i
t
io
n
o
f
t
he
s
u
n
.
If
t
his
ph
o
t
o-se
ns
or
is
s
ha
de
d,
t
he
n
t
h
e
c
o
mpa
r
ator
i
n
the
m
i
c
r
oc
ontro
l
l
er
s
h
o
w
s
s
om
e
differences
i
n
the
readings
o
f
the
tw
o
ph
o
t
o-
se
ns
ors.
I
n
t
h
i
s
case
,
t
he
c
o
n
tr
olle
r
turns
t
h
e
mot
o
r
tow
a
r
d
th
e
di
re
c
t
io
n
o
f
t
h
e
s
h
a
d
e
d
phot
o
-
se
n
s
o
r
un
til
i
t
f
ace
s
t
h
e
su
n
a
g
a
i
n.
D
oing
s
o
m
ay
k
ee
p
the
P
V
p
ane
l
f
a
c
i
n
g
t
he
s
un
a
s
it
move
s
a
c
ross
t
h
e
sky.
The
o
u
tp
ut
v
ol
ta
ge
o
f
th
is
c
i
r
cu
i
t
i
ncre
a
s
es
a
l
o
ng
w
i
t
h
lig
ht
i
nt
en
sit
y
a
nd
a
d
e
c
r
e
a
s
in
g
pho
to
-se
n
so
r
resista
n
ce
.
Ta
ble
1
pr
esen
ts
s
om
e
re
ad
i
n
g
s
o
f
p
h
o
t
o-sen
s
or
r
esi
s
t
a
n
ce
a
nd
o
u
t
pu
t
v
o
l
ta
ge
w
he
n
the
li
g
h
t
in
t
e
nsit
y c
h
a
n
g
e
s.
S
e
nsor2
sens
or1
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
ta
ti
o
n
o
f
an
au
tom
a
t
i
c
a
l
l
y
a
l
i
g
ne
d so
la
r track
i
ng sy
ste
m
(Ane
es Abu
S
n
e
i
ne
h)
2
061
Ta
ble
1.
P
hoto
-
sensor
r
esista
nc
e
a
nd o
u
t
pu
t
vol
tage
re
a
d
i
n
g
s un
der
a
chang
i
ng l
i
g
h
t
i
n
t
e
n
sit
y
P
hoto-Se
nsor
R
e
s
i
s
ta
n
c
e
(
Ω
)
O
u
tput
V
olta
g
e
(
V)
T
e
s
ti
n
g
S
t
a
t
u
s
310
1
.
4
1
S
h
a
d
e
d
photo-se
nsor
60
3
.
4
L
ight
ove
r
photo-
s
e
ns
o
r
The
d
i
f
f
er
ence
s
be
t
w
een
t
he
t
wo
p
h
o
to-
s
en
s
o
rs
r
an
ged
a
r
o
u
n
d
2
V
to
3
V
w
h
e
n
t
he
s
e
n
sor
s
w
ere
not
vert
ica
l
l
y
a
rr
ange
d
tow
a
rd
t
he
s
u
n
,
w
h
i
l
e
t
h
e
s
e
di
ffere
n
c
e
s
are
onl
y
a
r
o
und
0
.2
V
whe
n
t
h
e
s
e
s
e
n
sors
w
e
r
e
place
d
ve
rt
i
c
a
l
t
ow
a
r
d
the
su
n.
T
he
D
C
m
o
tor
s
w
e
r
e
c
onne
cted
t
h
roug
h
the
d
r
iv
e
c
i
rc
uit
t
o
t
h
e
out
put
p
o
r
t
o
f
the
m
i
c
r
oc
o
n
tr
ol
ler.
T
hese
m
otors
can
r
o
t
a
t
e
in
f
orw
a
r
d
o
r
reve
rse
dire
c
tio
ns
b
y
us
ing
t
h
e
L2
9
8
d
ua
l
H
-
bridge
d
r
i
ve
r
circui
t
a
s
s
how
n
i
n
F
i
g
ure
1
3
.
When
Q
1
a
n
d
Q
4
a
re
on
w
h
i
l
e
Q
2
a
n
d
Q
3
are
o
ff,
t
he
c
urre
nt
fl
ows
t
h
r
o
u
gh
the
m
o
t
o
r
to
m
ake
i
t
r
o
t
ate
fo
rwar
d
as
s
h
o
wn
i
n
F
i
g
ur
e
13.
If
Q
1
a
n
d
Q
4
are
t
u
r
n
e
d
o
ff
w
hi
le
Q
2
a
nd Q
3
a
re
tur
ned
o
n
, the
n
the m
o
tor r
o
ta
tes i
n
r
ever
se
.
F
i
gur
e 1
3
.
Basi
c H
-
bridge
c
ircui
t
The
drive
se
q
u
e
nce
u
s
ed
f
or
t
he
D
C
mo
t
o
r
a
nd
l
i
n
e
ar
a
c
t
u
a
t
o
r
is
s
ho
w
n
i
n
Ta
ble
2.
A
ll
s
eq
ue
nce
s
are
pr
esented
for
t
h
e
m
o
tor
and
ac
t
u
a
t
or
.
The
deve
lo
pe
d
circ
u
it
b
o
a
r
ds
f
or
t
he
L
2
9
8
H
-
b
ridg
e
dri
v
e
r
a
nd
P
IC
16F
8
77A
m
icr
o
c
o
ntr
o
lle
r
w
e
re
use
d
in
the
ex
p
e
rime
nt
a
l
ver
i
f
i
c
at
i
on as
s
h
o
w
n
in
F
ig
ure
s
14(a
)
a
nd 1
4
(b
), re
s
pecti
v
el
y.
Ta
b
l
e
2.
Drive
seq
ue
n
c
e
for
eac
h m
o
t
o
r
DC Mot
o
r
L
inea
r
A
c
tu
a
t
o
r
R
i
ght
L
e
f
t
Up
D
ow
n
1
0
0
1
0
1
1
0
(a)
(b)
F
i
gure
14.
L29
8
and P
I
C 16F
87
7A
boar
d
c
irc
u
it,
(
a) L298
bo
a
r
d c
ircui
t
,
(b)
PIC 16F
87
7
A
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w El
ec &
D
ri S
y
s
t
Vo
l. 1
0
,
No
. 4
,
D
e
c
2
0
19
:
2
055
–
2
064
2
062
After
the
in
d
i
v
i
d
u
a
l
c
irc
u
it
b
oa
rds
we
re
b
u
i
l
t
a
n
d
t
este
d,
a
F
l
o
w
code
s
o
f
tware
for
t
h
e
m
i
cr
oc
o
n
t
r
o
lle
r
w
a
s
deve
lo
ped
b
y
u
sin
g
P
r
oteus
7
P
r
o
f
ess
i
o
n
a
l
t
o
d
r
a
w
t
h
e
s
c
h
e
m
a
t
i
c
d
i
a
g
r
a
m
o
f
the
cir
c
uitr
y.
F
i
g
ur
e
15
sh
ow
s
t
h
e s
y
s
t
em
f
lo
w
c
har
t
a
nd
o
u
t
line
s
t
h
e
ste
p
s
of
t
he
p
r
o
gr
a
m
d
ur
in
g
t
h
e
ope
r
a
t
i
on
of
t
he
t
r
ack
i
ng
sys
t
em
.
Fig
u
r
e 15
.
Sy
stem flo
w
c
h
a
r
t
The
ga
in
s
of
t
he
a
m
p
lif
i
e
r
s
w
e
r
e
adj
u
ste
d
i
n
or
der
f
o
r
t
h
e
se
ns
or
s
to
p
r
o
d
u
ce
a
lm
os
t
5V
a
n
d
1.
3V
w
h
e
n
t
h
e
p
h
o
t
o
-
s
e
n
s
o
r
d
i
r
e
c
t
l
y
f
a
c
e
s
t
h
e
s
u
n
a
n
d
w
h
e
n
t
h
e
y
r
e
c
e
i
v
e
no
lig
h
t
(
the
r
eb
y
p
r
ov
id
ing
h
i
g
h
a
nd
l
ow
r
e
fe
r
e
nc
es
t
o
p
i
n
V
R
H
of
t
he
m
icr
o
c
ontr
o
l
l
e
r
)
,
r
espe
ctive
l
y
.
Com
p
ar
i
s
ons
i
n
m
i
cr
oc
ontr
o
l
l
er
c
ou
l
d
b
e
ma
de
b
e
t
w
e
en
o
p
p
o
s
i
t
e
s
ens
o
rs
r
e
a
di
n
g
,
an
d
t
h
e
mo
v
e
men
t
o
f
t
h
e
mo
to
rs
c
a
n
b
e
co
nt
ro
ll
e
d
.
Fo
r
ex
a
m
p
l
e,
i
f
s
e
n
s
o
r
L
D
R
1
h
a
s
a
g
r
e
a
t
e
r
v
o
l
t
a
g
e
t
h
a
n
LD
R4,
t
h
e
n
t
h
e
D
C
mot
o
r
r
o
t
a
te
s
cl
oc
kw
i
s
e
un
ti
l
b
o
t
h
se
nsor
s
ha
ve
t
he
s
am
e
r
eadin
gs
.
H
o
w
e
ver
,
i
f
sens
or
L
D
R
4
h
a
s
a
s
m
a
l
l
e
r
v
o
l
t
a
g
e
t
h
a
n
L
D
R
1
,
t
h
e
n
t
h
e
D
C
m
o
t
o
r
r
o
t
a
t
e
s
c
o
u
n
t
e
r
cl
oc
kw
ise
.
T
he
s
am
e
t
e
chn
i
qu
e
a
p
p
lies
for
sen
s
ors LDR2 a
n
d
LDR3 wit
h a
linear
ac
t
uat
o
r.
I
f
a
ll
sen
s
or
s
r
e
a
d
l
ess
t
h
a
n
0
.
5
V
,
t
hen
t
h
e
system
r
e
t
ur
ns
t
o
its
i
n
itia
l
(
s
e
t
)
pos
iti
o
n
and
e
n
ters
the
sta
n
db
y
m
ode,
w
h
ic
h
si
g
n
if
i
e
s
t
h
a
t
t
he
s
un
h
as
s
e
t
(
ni
gh
t)
a
n
d
tha
t
t
he
s
ystem
r
e
t
u
r
n
s
t
o
t
he
e
as
t.
T
h
e
in
i
t
ia
l
p
o
s
iti
on
o
f
t
h
e
P
V
’
s
a
r
r
a
y
is
t
he
p
os
i
t
i
o
n
w
h
e
n
t
he
p
an
e
l
a
ct
ua
te
d
l
i
m
it
switc
h
A
.
F
or
p
r
o
t
e
c
t
io
n,
i
f
a
n
e
r
r
o
r
occ
u
r
s
by
some
s
ha
de
lig
ht
o
n
o
n
e
o
f
L
D
R
s
e
n
sor
,
t
he
n
t
h
e
s
yst
e
m
will
m
o
v
e
t
h
e
PV
p
ane
l
t
owards
the
l
i
g
h
te
st
a
r
e
a
near
by.
A
s
a
n
a
l
t
er
na
tive
,
w
hen
o
n
e
o
f
t
he
l
i
m
i
t
sw
itc
h
e
s
is
act
uate
d,
t
he
n
the
m
o
tor
st
o
p
s
w
o
r
k
in
g
and
m
ove
s
back
t
o
t
h
e
pr
evi
ous
p
o
i
nt
w
her
e
t
he
s
w
i
tc
h
i
s n
o
t ac
t
u
ate
d
a
ga
i
n
.
T
h
e
p
r
op
o
s
ed
s
ol
ar
t
ra
cki
n
g
sy
st
em
w
as
t
est
e
d
si
mult
an
eo
u
s
l
y
w
i
th
a
s
tation
ary
PV
,
an
d
reco
rd
s
for
bo
t
h
s
ystem
s
w
e
r
e
obta
i
ned
to
c
he
c
k
f
or
t
heir
d
i
f
fer
e
nce
s
.
The
exp
e
rime
n
t
a
l
r
e
s
ul
t
s
b
a
s
ed
o
n
t
h
e
cap
tu
re
d
da
t
a
a
r
e
p
r
e
se
nte
d
i
n
F
i
g
u
r
e
16.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
D
e
sig
n
a
nd im
plem
e
n
ta
ti
o
n
o
f
an
au
tom
a
t
i
c
a
l
l
y
a
l
i
g
ne
d so
la
r track
i
ng sy
ste
m
(Ane
es Abu
S
n
e
i
ne
h)
2
063
Figure
1
6
.
Pow
e
r rec
e
ive
d
: su
n-tra
c
k
i
n
g
sys
te
m
vs stati
ona
ry
s
y
st
e
m
6.
CONCL
U
S
IONS
The
ma
in
a
im
o
f
t
h
is
s
t
udy
i
s
t
o
m
a
xim
i
z
e
P
V
pow
er
a
nd
re
duce
C
O
2
e
mission
by
i
m
pl
e
m
e
n
t
i
n
g
a
hig
h
l
y
e
ffici
ent
a
n
d
l
o
w-cos
t
s
o
l
ar
t
r
ack
in
g
s
y
s
t
em
.
A
specia
l
-
al
ign
m
ent
c
l
ose
d
-l
oop
s
o
la
r
tra
c
k
e
r
w
a
s
des
i
g
n
e
d
i
n th
i
s
w
ork
a
s
a
n e
c
o
n
o
mica
l
,
f
l
e
xib
l
e
,
and
e
f
fic
i
e
n
t
fra
me
-ho
l
der.
A
low
-cost
a
n
d
fle
x
ib
le P
I
C
16F
mic
r
oco
n
tro
l
le
r
w
a
s
used
a
s
the
c
ontro
l
u
n
i
t
for
th
e
pr
op
o
s
ed
s
ys
tem
,
a
nd
t
h
e
su
n
p
o
s
i
t
i
o
n
w
as
d
e
t
e
c
t
e
d
b
y
us
i
n
g
ph
o
t
o-se
nsors.
T
he
d
e
v
el
o
p
ed
s
u
n
-
tr
ac
kin
g
system
c
aptured
t
he
m
axim
um
pos
sible
a
m
ou
nt
o
f
so
l
a
r
ene
r
g
y
t
hr
oug
h
o
u
t
t
he
e
n
t
ire
da
y
c
o
mpa
r
ed
w
it
h
the
sta
t
io
nary
s
ys
tem
,
w
hic
h
o
n
l
y
c
o
l
l
e
c
ted
m
a
x
i
mum
solar
ene
r
g
y
w
he
n
t
h
e
s
u
n
w
a
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s.
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he
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om
paris
o
n
of
t
he
d
es
i
gne
d
s
o
lar
trac
kers
r
evea
l a
40% im
p
ro
ve
m
e
nt in
the
e
f
fi
cienc
y
o
f
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h
e
p
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syst
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m c
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mp
a
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w
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h
st
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n
a
ry
pan
e
l
s.
ACKNOW
LEDG
E
MEN
T
S
The
a
u
t
h
or
s
th
a
nk
t
h
e
Pa
l
e
s
t
i
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e
Tech
ni
ca
l
Unive
r
si
t
y
-
K
a
d
o
o
rie
f
or
s
up
por
tin
g
th
is
r
ese
a
rc
h
as
w
e
l
l
as the
tec
h
n
ic
ia
ns
a
n
d
unde
rg
ra
dua
te stu
de
n
t
s w
ho
prov
ide
d
tec
h
nic
a
l
a
ssi
s
ta
nce
and
la
b w
o
r
k
sup
p
o
rt.
REFE
RENCES
[1]
W
ael
A
.
S
a
lah
,
B
asi
m
A
ls
ayid,
M
a
hm
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ud
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.
M
.
Al
breem
,
Basem
Ab
u
Z
n
eid
,
M
ut
asem
A
l
k
h
a
s
a
wn
eh,
A
n
war
A
l
M
o
fl
eh,
A
n
ees
A
bu
S
nei
n
eh
,
A
m
i
r
A
b
u
A
l
A
i
sh,
“
E
lectri
c
veh
i
cl
e
techn
o
l
o
g
y
i
m
p
acts
on
e
nerg
y,”
International
Jou
r
n
a
l
o
f
Po
we
r Electr
onics
and D
r
i
ve Sys
t
ems
(
I
JPE
D
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,
v
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. 1
0, no
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b
u
S
n
e
in
eh,
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d
M
i
n
g
-yan
W
an
g,
“
A
novel
hyb
rid
fly
i
ng-ca
pa
ci
tor-h
alf
-
b
r
idg
e
cascad
e
1
3
-l
evel
i
nv
erter
f
o
r
hig
h
p
ow
er
a
pp
licatio
ns,
”
IE
E
E
ICIEA
,
200
7,
p
p
.
2
4
2
1
-
24
26
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[3]
Yao
Yi
ngx
ue,
Yegu
ang
Hu
,
Shen
gd
ong
G
ao
,
Gan
g
Y
ang
,
a
nd
J
i
ngu
ang
D
u,
“
A
mu
l
t
ip
urp
o
s
e
du
a
l
-a
xis
so
l
a
r
track
er wi
t
h
tw
o t
r
ackin
g strat
e
gies,”
R
e
newab
l
e Ener
gy,
v
o
l
.
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2
,
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.
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8
-
98
,
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014
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[4]
El
d
i
n,
S
A
S
h
araf
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.
A
bd-E
l
h
a
dy
,
an
d
H.
A
.
Kan
d
i
l
,
“
F
easi
b
il
ity
o
f
solar
tracking
system
s
f
o
r
P
V
p
an
els
i
n
h
o
t
and
col
d
reg
io
ns,”
Renewabl
e Energy
, vo
l
.
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5
, pp
.
2
2
8
-2
33
, 20
1
6
.
[5]
Ti
rmikci
,
Ceyda
A
k
s
o
y
,
and
Cen
k
Y
av
uz,
“
C
om
p
a
ri
so
n
of
s
olar
t
ra
ck
ers
and
app
l
i
catio
n
of
a
s
ens
o
r
les
s
d
u
a
l
axi
s
so
lar t
r
acker,”
Jo
ur
nal o
f
E
n
ergy a
nd
Power Engi
neer
ing
,
v
o
l
.
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,
p
p
.
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56
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,
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[6]
S
i
d
e
k
M
.
H
.
M
.
,
N
.
A
z
i
s
,
W
.
Z
.
W
.
H
a
s
a
n
,
M
.
Z
.
A
.
A
b
K
a
d
i
r
,
S
.
S
h
afi
e
,
and
M
.
A
.
M
.
R
adzi
,
“
A
utom
at
ed
position
i
ng
dua
l-axi
s
s
olar
t
rack
i
n
g
sys
t
em
w
i
t
h
preci
sion
e
l
e
v
a
t
io
n
a
n
d
a
z
i
muth
a
ng
le
c
on
tro
l
,”
Energy,
v
o
l
.
124,
pp
.
1
60-1
7
0
,
2
0
1
7.
[7]
Kh
ajeho
d
d
i
n
,
S
ay
e
d
A
li,
P
raveen
K
.
Ja
i
n
,
and
Alireza
Bak
h
s
h
a
i
,
“
M
aximum
P
ow
er
P
oi
n
t
T
rack
in
g
fo
r
a
P
o
we
r
Generator,
”
U.
S
.
P
a
ten
t
Appli
c
a
t
io
n 1
3
/0
94,
20
7
,
Oct
27,
2
011.
[8]
Nel
s
on
,
J
e
nn
y,
The p
h
ysi
c
s of solar
cells
,
W
o
rl
d
Sci
e
ntif
i
c
P
ub
lishi
n
g
Co
m
p
any,
20
0
3
.
[9]
Cliff
o
rd
M
.
J.
,
an
d
D.
E
astw
o
o
d,
“
Des
i
gn
o
f
a
n
ovel
p
a
ss
ive
s
o
l
ar
t
rack
er,”
So
la
r En
e
r
g
y
,
vo
l.
7
7
,
no.
3
,
pp
.
2
69-2
8
0
,
2
0
0
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[10]
Ind
r
asari
Wi
dyanin
g
ru
m,
R
iser
F
ah
di
ran
,
E
sm
ar
B
udi
,
an
d
Lu
tvi
V
it
r
i
a
Kadarwati,
“
Active
Sol
a
r
T
r
ac
ker
Bas
e
d
o
n
Th
e
H
o
ri
z
o
n
Coo
r
di
nat
e
S
yste
m
,
”
In
Jo
urn
a
l
of Ph
ys
i
c
s: Confer
e
n
ce Seri
es,
I
OP
P
ubli
s
hin
g
,
vo
l.
1
120,
n
o
.
1
,
pp
.
0
121
02
,
2
018.
0
10
20
30
40
50
60
P
o
we
r
Rec
i
ved(
w/h)
Ti
me
O
f
Da
y
S
u
n-
Tr
a
c
k
i
ng
S
y
s
t
e
m
St
a
t
ion
a
r
y
Syst
e
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
10,
N
o.
4
, Dec
201
9 :
2
0
5
5
– 2
064
2
064
[11]
Li
n
Ch
in
E
.
,
C
heng
-H
si
en
C
h
e
n, Yi
n
-Ch
i
H
uang
,
an
d Hsi
n
-Y
uan
Che
n
,
“
A
n
O
p
e
n-
L
o
o
p
S
o
l
a
r
T
r
a
c
k
i
n
g
f
o
r
M
o
bi
l
e
P
h
o
t
o
v
ol
t
a
i
c
S
ys
t
e
m
s
,
”
Jou
r
n
a
l
o
f
Aer
o
n
autics,
Ast
r
on
auti
c
s
a
nd Avi
a
t
i
on
, vo
l
.
47
, no
. 3
,
p
p
. 3
15
-
3
2
4
, 2
01
5.
[12]
Ch
i
n
,
C
.
S
.,
Ba
b
u
,
A.,
and
McBride,
W
.,
“Des
i
g
n,
m
o
d
el
i
n
g
an
d
t
e
s
ti
ng
o
f
a
st
and
a
lo
ne
s
in
g
l
e
axi
s
act
iv
e
so
lar
track
er us
i
ng
MATLA
B/Sim
u
li
n
k
,”
Re
ne
wa
ble
En
e
r
gy
,
v
ol.
36,
no.
1
1
,
p
p
.
3
07
5-30
90
,
2
011
.
[13]
S
u
w
a
ndi
,
F
.
W
.,
“
D
u
al
A
xis
S
u
n
T
r
ac
k
i
n
g
S
ystem
wi
th
P
V
p
a
nel
as
t
he
s
en
so
r
U
t
i
l
i
z
ing
Elect
rical
C
h
a
racteris
tics
of
t
he
s
ol
ar
p
an
el t
o
Determi
n
e
In
sol
a
ti
on
,
”
2
nd
IEEE
In
t
e
rn
a
t
io
n
a
l
Confer
ence ICS
E
T
, Dec 2
0
1
0
, p
p.
1-5
.
[14]
I
o
n
i
t
a
,
M
.
A
.
,
a
n
d
C
.
A
l
e
x
a
n
d
r
u
,
“
S
i
m
u
l
a
t
i
o
n
o
f
a
D
u
a
l
-
A
x
i
s
T
r
a
ck
in
g
S
y
s
t
em
f
o
r
P
V
Mo
du
les,”
Bull
e
t
i
n
of
t
h
e
Tran
si
lv
an
ia
Un
iv
e
r
si
ty
o
f
B
r
as
ov
,
E
n
g
i
n
e
er
i
n
g S
c
i
e
n
c
e
s
,
Se
rie
s
I
, v
ol
.
4
, no
.
2
,
p
p
.
4
5, 20
1
1
.
[15]
Hijawi
H
am
zah,
an
d
A
r
af
eh
,
Lab
i
b,
“
D
e
si
gn
o
f
du
a
l
a
xi
s
so
lar
tr
ack
er
s
ys
tem
b
a
s
e
d
on
f
uzzy
i
n
f
erence
sy
st
em
s,”
Int
e
rnat
i
o
na
l
Journal on Sof
t
Comput
i
n
g, A
r
t
ific
i
a
l
Inte
l
l
i
g
ence
and
Appli
c
a
t
ions
(
I
JSC
A
I
)
,
v
ol.
5,
n
o.
2
/3
,
pp
.
2
3-36
,
2
0
1
6
.
[16]
M
u
h
a
mm
ad
A
li
Mazi
di
,
Rolin
D
.
M
c
K
i
nlay
a
n
d
D
an
ny
C
au
se
y
,
PIC Micr
ocont
roller
and
Embedd
ed S
y
s
t
em
s
,
P
r
ent
i
ce
Ha
l
l
,
2008
.
[17]
ST
M
i
cr
oelect
roni
cs
d
a
t
a
sh
eet f
o
r
L
2
9
8
,
[
D
at
aset]
,
Ava
il
able
:
ht
t
p
s://www
.st.com/
en/mo
t
or-drivers/l
298
.
html.
[18]
Bash
ar
A
l
a
thari,
M
o
h
am
m
e
d
F
a
lih
K
a
dhim,
S
al
a
m
A
l
-
Khamm
a
si, Nabe
el
S
ali
h
A
l
i
,
“A
f
ram
e
wo
rk
i
m
p
l
e
m
e
ntation
of
s
urveill
ance
t
r
ack
in
g
s
y
st
em
b
as
ed
o
n
P
I
R
m
o
ti
on
s
en
sors,”
Ind
o
n
e
si
an Jo
ur
na
l of
El
ectrical
En
gi
neeri
n
g
an
d
Com
put
er S
c
ien
ce
(
I
JEECS)
, vo
l
. 1
3,
no
.
1
,
p
p
. 2
35
-24
2
,
Jan 2
01
9.
[19]
Ah
m
e
d
M
oham
e
d
A
b
d
u
l
m
ula,
K
amaru
z
z
a
m
a
n
S
opi
an,
Lim
C
h
i
n
Haw,
A
hm
ad
F
azli
zan,
“
P
erf
o
rm
an
ce
e
v
a
luat
ion
of
s
t
a
ndal
o
n
e
d
o
u
ble
axi
s
s
olar
t
racki
n
g
sy
s
t
em
w
ith
m
ax
im
um
l
i
g
h
t
det
ect
ion
ML
D
f
o
r
tel
ecommunicat
ion
to
wers
in
M
a
l
ay
si
a,”
Intern
at
io
nal Jo
ur
n
a
l of Po
wer
Electr
onics
an
d Drive S
y
st
ems (
I
JPEDS)
,
vol.
10,
n
o
.
1
,
pp.
4
44
-453
,
M
a
r
20
19
.
B
I
OGRAPHIES
O
F AUTHO
RS
A
n
ees
A
b
u
S
n
e
in
eh
r
e
cei
ved
th
e
M
.
S.
d
egree
in M
echatro
ni
cs
E
n
g
i
n
eeri
n
g
f
r
o
m
H
arbi
n
Ins
tit
ute
of
T
e
c
hn
olog
y
,
C
hina
,
in
2
00
4,
a
nd
P
h
.
D.
d
e
g
re
e
in
P
owe
r
E
le
c
t
r
on
ics
an
d
Ele
c
t
r
ical
D
ri
ves
E
ngi
neeri
n
g
f
r
o
m
H
arbin
In
stitu
t
e
of
T
echno
lo
gy
,
Chi
n
a,
i
n
2007
.
He
i
s
current
ly
a
n
assis
t
an
t
p
r
of
ess
o
r
in
P
ales
ti
ne
T
echn
i
cal
U
n
i
v
e
rsity-K
had
o
o
r
i
.
H
is
r
es
ea
r
c
h
in
te
re
s
t
s
a
r
e
p
o
w
e
r
el
ectron
i
cs
a
n
d
e
l
ectri
c
dri
v
es
,
re
n
e
wab
l
e
en
ergy
s
y
s
t
e
m
s
,
elec
t
r
ic
al
m
achi
n
e
an
d
it
s
au
to
m
a
ti
on
,
Ro
bot
ics
and
its
a
p
p
l
i
cat
ion,
a
n
d
a
p
p
l
i
ed
e
lectro
ni
cs.
D
r
.
A
b
u
Sn
e
i
ne
h
ha
s
p
u
blishe
d
ma
n
y
p
a
pers
i
n
in
terna
t
io
na
l
jo
urn
a
l
s
a
nd
conf
eren
ces.
W
a
el
A
.
S
a
l
a
h
w
a
s
b
o
rn
i
n
H
e
bro
n
,
P
a
l
e
s
tine
i
n
1
97
8.
H
e
receive
d
hi
s
Bachel
or
d
egree
in
E
l
ectri
cal
a
nd
Com
p
uter
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n
g
ineerin
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from
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sti
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e
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o
ly
tech
ni
c
Univ
ersity
i
n
2
001.
H
e
o
b
t
a
i
n
ed
h
is
M
S
and
P
h
D
d
e
gree
s
in
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l
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cal
a
nd
Elect
ronic
E
n
g
i
ne
e
r
in
g
fro
m
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nive
rsi
ti
Sa
in
s
M
a
lay
s
i
a
i
n
2007
and
2
012
,
respect
iv
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rom
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o
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r
20
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.
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n
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l
t
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m
e
d
i
a
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n
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rre
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at
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ech
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gy
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a
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sso
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d A
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on
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d
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the
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o
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l
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d E
l
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cs E
ng
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he U
S
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