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General Sun Tracking Formula for Heliostats With Arbitrarily Oriented Axes

Article  in  Journal of Solar Energy Engineering · May 2006

DOI: 10.1115/1.2189868

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 General Sun Tracking Formula
Y. T. Chen
for Heliostats With Arbitrarily
e-mail: [email protected]
Oriented Axes
B. H. Lim
The most general form of solar tracking formulae of an arbitrarily oriented heliostat
C. S. Lim toward an arbitrarily located target on the Earth is presented. With this complete solu-
tion, the used azimuth-elevation, spinning-elevation tracking formula, etc., are the special
Department of Astronomy and Applied Physics, cases of it. Therefore, more application may be sought out for many individual cases in
University of Science and Technology of China, solar engineering. The new form of tracking solution could bring changes in the geom-
No. 96, JinZhai Road, etry and structure of the design of heliostat to meet various requirements.
230026 Hefei, P. R. C. 关DOI: 10.1115/1.2189868兴

Keywords: sun tracking, arbitrarily orientated heliostat, general formula,

spinning-elevation

1 Introduction elevation formulae, particularly in Ref. 关12兴 to study a compli-

cated beam incidence problem where the maximum six transfor-
The basic mathematics of sun tracking for heliostats has re-
mations were applied.
mained unchanged for many decades. It is the azimuth-elevation
Sun tracking formula for a heliostat with a fixed target on the
tracking formulae 关1–6兴 with two axes rotations. In this format,
Earth involves a sun vector 共incident sun ray兲, a target vector
one of the rotation axes of the heliostat points to the zenith while
共reflected ray兲, and a heliostat normal vector. However, the unit
another one is perpendicular to the first axis and tangent to the
reflector. The method is comprehensive, perhaps because it was position vector of the sun is usually described in the Earth-center
developed from the natural observation of a human being standing coordinate system 共Earth-center frame兲, whereas the unit position
straight and looking at an object. Since this sun tracking solution vector of fixed target is most conveniently expressed in Earth-
became a popular one, it has hindered further exploitation of the surface coordinate system 共Earth-surface frame兲. For computing
alternative geometry or structure of the design of heliostat. This the individual rotation angle of each of the two axes systems
situation may have blocked us from looking into different ap- attached with a heliostat, it is necessary to perform the calculation
proaches for a better technology of harness solar rays. However, in heliostat-center coordinate system 共heliostat frame兲. Though the
following the earlier arguments made by Ries and Schubnell 关7兴 setup of the heliostat may vary in design, particularly in the con-
and Zaibel et al. 关8兴 that if one of the rotation axes of the heliostat tent of this paper we would consider an arbitrarily oriented struc-
can point towards the target, then the aberration would be reduced ture; the relationships among these three frames are well defined.
dramatically, Chen et al. 关9兴 followed the same move. With a Thus, in order to derive the tracking formula, it would be conve-
newly published spinning-elevation sun tracking formula, the nient to use the coordinate transformation method to transform the
structure of heliostat allows a revolutionary change to minimize sun vector and target vector in their most convenient frame to
the optical aberration, which has made it possible to construct a heliostat frame, e.g., from the Earth-center frame to Earth-surface
focusing heliostat. Chen’s heliostat with the dual function of frame and then to the heliostat frame so that the unit position
tracking and focusing has brought about many new applications vector of the sun and unit position vector of target can be both
关9–14兴. After the study of the obvious advantages of a spinning- expressed within heliostat frame. In this frame, the reflection law
elevation tracking mode over the traditional one 关11兴 and other can be applied to obtain all the necessary information for the
different tracking methods, including the polar oriented mounting purpose of sun tracking.
关15,16兴 to obtain a constant or near constant tracking velocity, we First, let us consider how an arbitrarily oriented heliostat can be
further consider whether is there an other tracking method that has defined. In heliostat frame, the origin O is defined at the center of
been excluded by our study. Inspired by the aforementioned, we the reflector surface of a heliostat. OH, OR, and OU are the three
derived a general form of sun tracking and believe that all kinds of orthogonal axes of the coordinate system as shown in Fig. 1共a兲. To
tracking methods are included and only leave application of the define the orientation of OH, obviously we need another coordi-
theory behind. To demonstrate this, in this paper, we have shown nate frame, Earth-surface frame.
how the existing methods of sun tracking can be extracted from it The coordinate axes in Earth-surface frame are OZ, OE, and
with a certain special conditions. ON, and they points toward zenith, east, and north, respectively.
The orientation of OH can be described by two parameters as
shown in Fig. 1共b兲. The first parameter, ␨, is a rotation angle of
OH from north toward east about the axis of OZ in the Earth-
2 Derivation of General Formula surface frame. The second parameter, ␣ is a vertical angle of OH
from horizon in the Earth-surface frame. ␣ is negative if H is
To study the vector rays from the sun and how they reflect into above heliostat center. OU and OR are oriented in such way that
a fixed target on the Earth with the orbital movements of the sun, when both ␣ and ␨ are zero, OU and OR point toward east and
the coordinate transformation method was utilized in our previous zenith, respectively.
papers. This method was used in Ref. 关9兴 to derive spinning- Then let us consider how to define and describe an arbitrarily
located target point. As the heliostat is arbitrarily oriented, it
Contributed by the Solar Energy Division of ASME for publication in the JOUR-
would be easier to define the position vector of the target refer-
NAL OF SOLAR ENERGY ENGINEERING. Manuscript received March 29, 2005; final manu- enced to the earth surface frame and then transform it to the he-
script received June 25, 2005. Review conducted by Abraham Kribus. liostat frame. Figure 2共a兲 shows that a target relative to center of

Journal of Solar Energy Engineering Copyright © 2006 by ASME MAY 2006, Vol. 128 / 245
 Fig. 2 „a… Orientation TH of an arbitrarily fixed target described
Fig. 1 Orientation OH of an arbitrarily located heliostat de- in the heliostat frame and „b… orientation TE of an arbitrarily
scribed in Earth-surface frame. OR, OU, and OH are the three fixed target described in the Earth-surface frame
orthogonal coordinate axes of heliostat frame.

冤冥
a heliostat in the Earth-surface frame can be described as direction Tr
cosines of two angles: facing angle ␾ and target angle ␭. ␾ is the
rotation angle about zenith from north toward east. Hence, ␾ TH = ␣␨ TE = Tu
= 0 deg means target is due north of heliostat center; ␾ = 90 deg Tt
means target is due east of heliostat. On the other hand, ␭ is the

冤 冥冤 冥冤 冥
cos ␣ 0 sin ␣ 1 0 0 − sin ␭
altitude angle of target relative to the earth surface. ␭ = 0 deg
means the target is at the same horizontal level to the heliostat = 0 1 0 0 cos ␨ − sin ␨ cos ␭ sin ␾
center; ␭ = 30 deg means the target is 30 deg below the heliostat − sin ␣ 0 cos ␣ 0 sin ␨ cos ␨ cos ␭ cos ␾
center. Therefore, the direction cosines of the position vector of
共4兲
the target in the Earth-surface frame can be written in the form

冤冥冤 冥
Tz − sin ␭ where TH is the position vector of an arbitrarily located fixed
TE = Te = cos ␭ sin ␾ 共1兲 target read from the heliostat frame.
Tn cos ␭ cos ␾ The angular movements of two perpendicular rotation axes at-
tached to the heliostat achieve the task of sun tracking. The direc-
Of course, our task should be to describe this position vector of tions OH, OU, and OR are fixed in space relative to the Earth’s
target in the heliostat frame. Figure 2共b兲 shows the unit position surface, as shown in Fig. 1共b兲, while the reflector rotates relative
vector of an arbitrarily orientated fixed target TH and its compo- to these directions. As mentioned before, the first rotation axis
nents relative to heliostat frame. It can be obtained through two may set to be OH and the second rotation axis KK⬘ will be per-
successive transformations ␨ and ␣ as given by pendicular to the first and tangent to the surface of the heliostat,
which may set along the original position of OU as shown in Fig.

冤 冥
1 0 0 3. Here we have to pay attention to the terms of the heliostat
␨ = 0 cos ␨ − sin ␨ 共2兲 frame and heliostat. The heliostat frame is defined using the origi-
nal position of the heliostat that, when the heliostat is oriented in
0 sin ␨ cos ␨ such a way that the normal of the reflector surface is coincident
with OH and rotation axis KK⬘, is coincident with OU. The

冤 冥
cos ␣ 0 sin ␣ amount of rotation along OH direction is ␳H whereas the amount
␣= 0 1 0 共3兲 of rotation along KK⬘ is ␪H. ␳H and ␪H are directly related to the
− sin ␣ 0 cos ␣ direction cosines of the instantaneous unit normal vector of he-
liostat reflector surface NH. The relationship can be expressed in
Then, we will have matrix form as

246 / Vol. 128, MAY 2006 Transactions of the ASME

Fig. 3 „a… The original position of heliostat where KK⬘ is co-
axial with OU axis, and the heliostat surface normal NH is par-
allel with OH, thus ␳H0 = 0, ␪H0 = 0. „b… The heliostat reflector is
oriented to the tracking position after a rotation of ␳H along OH
and a rotation of ␪H along KK⬘.

冤冥冤 冥
Nr cos ␳H cos ␤H Fig. 4 The unit position vector of sun referenced to the Earth-
NH = Nu = sin ␳H cos ␤H 共5兲 center coordinate system

Nt sin ␤H

冤冥冤 冥冤 冥
Sr cos ␣ 0 sin ␣ 1 0 0
where ␤H is the angle between NH and its projection on the plane
that contains OU and OR axes. Therefore, it is obviously SH = ␣␨ SE = Su = 0 1 0 0 cos ␨ − sin ␨
St − sin ␣ 0 cos ␣ 0 sin ␨ cos ␨
␲
␪H = − ␤H 共6兲

冤 冥冤 冥
2 cos ⌽ 0 sin ⌽ cos ␦ cos ␻
It is known 共see 关9兴兲 that the sun position SE in the Earth- ⫻ 0 1 0 − cos ␦ sin ␻ 共8兲
surface frame can be written in the form of direction cosines as − sin ⌽ 0 cos ⌽ sin ␦
follows: After we have both the target position vector and sun position

冤冥冤 冥冤 冥
Sz cos ⌽ 0 sin ⌽ cos ␦ cos ␻ vector written in the heliostat frame, they can be used in the
expression of reflection law of optics with the instantaneous unit
SE = Se = 0 1 0 − cos ␦ sin ␻ 共7兲
normal vector of the heliostat during tracking,
Sn − sin ⌽ 0 cos ⌽ sin ␦
1
where ⌽ is the local latitude, ␦ is the declination angle of sun and NH = 共SH + TH兲 共9兲
␻ is the solar hour angle as depicted in Fig. 4. Following the same 2 cos ␪i
method as described for the target, the unit position vector of sun where ␪i is the incidence angle of sunrays on the reflector of
relative to heliostat frame SH can be obtained through the two heliostat.
successive transformations as follows: Finally, solving Eq. 共9兲 we obtain ␪H, ␳H as

共10兲

␳H = arcsin冋 − cos ␨ cos ␦ sin ␻ + sin ␨共sin ⌽ cos ␦ cos ␻ − cos ⌽ sin ␦兲 + cos ␨ cos ␭ sin ␾ − sin ␨ cos ␭ cos ␾
2 cos ␪i cos ␤H
册 共11兲

The incidence angle ␪i can be found through the dot product of ␪i = 0.5 arccos关− sin ␭共cos ⌽ cos ␦ cos ␻ + sin ⌽ sin ␦兲
two unit vectors, SH and TH
− cos ␭ sin ␾ cos ␦ sin ␻ + cos ␭ cos ␾共cos ⌽ sin ␦
− sin ⌽ cos ␦ cos ␻兲兴 共13兲
␪i = 0.5 arccos共SH · TH兲 = 0.5 arccos共SrTr + SuTu + StTt兲
共12兲 Equations 共10兲–共13兲 represent the complete solution of sun track-
ing for an arbitrarily oriented heliostat with an arbitrarily located
target on the Earth.
Therefore,

Journal of Solar Energy Engineering MAY 2006, Vol. 128 / 247

3 Special Cases of the General Tracking Formula azimuth-elevation tracking method subjects to stronger off-axis
aberration as pointed out by Zaibel et al. 关8兴 and Chen et al.
Since above formulae are the general solution, the special cases
关9,11兴.
can naturally fall into two categories: 共i兲 with no relationship be-
tween heliostat axes and target and 共ii兲 with a relationship be- 3.1.2 Polar Mounted Tracking Method (␣ = ⌽, ␨ = 180 deg). In
tween heliostat axes and target. The famous case of the former is this type of heliostat, one of the rotation axes is always parallel to
azimuth-elevation tracking, and the famous case of the second is the Earth rotation axis. Mathematically, it simply means ␣ = ⌽ and
spinning-elevation tracking. Their differences are actually made ␨ = 180 deg. Taking a case study for a heliostat with ␾ = 180 deg
from setting different conditions to the parameters: ␣ and ␨, ␭ and by substituting these parameters into Eqs. 共10兲, 共11兲, and 共13兲, the
␾ in Eqs. 共10兲, 共11兲, and 共13兲. In Secs. 3.1 and 3.2, we will show angles of the two tracking axes of the heliostat can be written as

冉 冊
how the general formula can be used to obtain the tracking for-
mulae for several special cases of the above categories. ␲ cos共⌽ − ␭兲 − sin ␦
␪H = − arcsin 共17兲
2 2 cos ␪i
3.1 Example of Cases With No Relationship Between He-
liostat Axes and Target
3.1.1 Azimuth Elevation Tracking Method 共␣ = −90 deg兲. In
␳H = arcsin 冉 cos ␦ sin ␻
2 cos ␪i cos ␤H
冊 共18兲
the category of cases with no relationship between heliostat axes
and target, ␣ and ␨ are set following certain regulation while ␭ where ␪i = 0.5 arccos关cos ␦ cos ␻ sin共⌽ − ␭兲 − cos共⌽ − ␭兲sin ␦兴
and ␾ are arbitrary. For an example, in azimuth-elevation tracking 共19兲
method, the heliostat is oriented in such a way that OH points to
the zenith and the rotation angle is denoted as ␳H; while the el- In this case, it is interesting to note that the speed of the first
evation rotation axis KK⬘ is related to the angle ␪H. Therefore, to tracking angle, ␳H, is nearly at constant rate while the hourly
form the azimuth-elevation tracking formula, we first let ␣ = changes of the second tracking angle, ␪H, is faily small. The an-
−90 deg and substitute it into Eqs. 共10兲, 共11兲, and 共13兲; the ␨ term gular velocity of ␳H and its linearity depend on the target angle ␭.
will vanish and we obtain the tracking formula of the azimuth- However, we have to note that the tracking speed, in this case, is
elevation mode, ␪H 共elevation angle兲, and ␳H 共azimuth angle兲 as only nearly constant, it would become constant in the case of

冉 冊
polar-orientated tracking that will be discussed in Sec. 3.2.
␲ − sin ␭ + cos ⌽ cos ␦ cos ␻ + sin ⌽ sin ␦
␪H = − arcsin 3.2 Example of Cases With a Relationship Between He-
2 2 cos ␪i
liostat Axes and Target
共14兲
3.2.1 General Spinning-Elevation Tracking Method (␭ = ␣, ␾

␳H = arcsin冉cos ␭ sin ␾ − cos ␦ sin ␻

2 cos ␪i cos ␤H
冊 共15兲
= ␨). For cases with a relationship between heliostat axes and tar-
get, one of the special examples is the general spinning-elevation
tracking method, in which the target is set to be aligned with one
where of the rotational axes of heliostat, and this rotational axis is the
spinning axis. In this method, the orientation of the tangential and
␪i = 0.5 arccos兵共sin ⌽ cos ␦ cos ␻ − cos ⌽ sin ␦兲共− cos ␭ cos ␾兲
sagittal planes are always kept constant with respect to the reflec-
− cos ␦ sin ␻ cos ␭ sin ␾ tor surface during tracking. This characteristic beneficiates the use
specially configured optical structure 关9,14兴 to make heliostat to
− sin ␭共cos ⌽ cos ␦ cos ␻ + sin ⌽ sin ␦兲其 共16兲 have the dual function of focusing and tracking. To be able to
A heliostat incorporating the azimuth-elevation tracking method obtain the minimum optical aberration is the major advantage of
is relatively easier to design and construct because one of the this tracking method.
rotation axes points toward zenith and that allows the designer to Target-oriented configuration means ␭ = ␣ and ␾ = ␨; the rota-
place the central gravity of the heliostat within or very near to the tion angles of heliostat axes are calculated from Eqs. 共10兲, 共11兲,
central line of pedestal. Nevertheless, in an optics respect, the and 共13兲 as

␪H =
␲
2
− arcsin冉1 − sin ␭共cos ⌽ cos ␦ cos ␻ + sin ⌽ sin ␦兲 − cos ␭ sin ␾ cos ␦ sin ␻ + cos ␭ cos ␾共− sin ⌽ cos ␦ cos ␻ + cos ⌽ sin ␦兲
2 cos ␪i
冊
共20兲

␳H = arcsin冉 − cos ␾ cos ␦ sin ␻ + sin ␾共sin ⌽ cos ␦ cos ␻ − cos ⌽ sin ␦兲
2 cos ␪i cos ␤H
冊 共21兲

␪ i=0.5 arccos关− sin ␭共cos ⌽ cos ␦ cos ␻ + sin ⌽ sin ␦兲 − cos ␭ sin ␾ cos ␦ sin ␻ + cos ␭ cos ␾共− sin ⌽ cos ␦ cos ␻ + cos ⌽ sin ␦兲兴
共22兲

The results are the same as derived in Ref. 关9兴. figurations of heliostat orientation to search for the one that has
3.2.2 Latitude-Oriented Tracking Method (␭ = ␣ = ⌽ − 90 deg, the smallest yearly average incidence angle. It is found that for a
␾ = ␨ = 180 deg). It is known that the off-axis aberration of the sun special case of the spinning-elevation tracking method, in which
image and the cosine loss of a heliostat are a function of incidence the target is defined such that ␭ = ␣ = ⌽ − 90 deg and ␾ = ␨
angle. In order to minimize both the aberration spread and cosine = 180 deg, the yearly average of incidence angle would be mini-
loss of a single heliostat, the authors have analyzed various con- mal. This is because during equinox noon 共middle of the range of

248 / Vol. 128, MAY 2006 Transactions of the ASME

 Table 1 The conditions to obtain the established tracking formula using the complete solution presented in this paper.

Category Name Conditions Major advantages

With no Azimuth- ␣ = −90 deg Vertical mounted

relationship Elevation
between heliostat Polar-mounted ␣ = ⌽, Nearly single-axis
axes and target ␨ = 180 deg tracking for ␾ = 180 deg
With a relationship General ␭ = ␣, Minimum aberration
between heliostat Spinning- ␾=␨ effect
axes and target elevation
Latitude-oriented ␭ = ␣ = ⌽ − 90 deg, Maximum solar power
␾ = ␨ = 180 deg collection; minimum
aberration effect
Polar-oriented ␭ = ␣ = ⌽, Single-axis tracking;
␾ = ␨ = 180 deg minimum aberration
effect

sun declination兲 sun is right behind the target 共on-axis兲, so devia- change much in a tracking day. 共Note that, strictly speaking, the
tions are minimized. With these special conditions, Eq. 共22兲 can above rate of 15 deg/ h is not exactly accurate; it may be off some
be simplified to figure for a year where the sun’s position should be considered. In
principle, a real accurate tracking will not only depend on the
␪i = 0.5 arccos关cos ␦ sin ␻兴 共23兲
accurate tracking formula, but also the accurate sun’s position兲.
Note that the incident angle during winter and summer are same Table 1 summarizes what we have discussed in Sec. 3.
because cos共+␦兲 and cos共−␦兲 are the same. A plot of incidence
angle versus solar hour for two extreme cases is illustrated in Fig. 4 Possible Application of Theory
5. The graph indicates that the range of incidence angle change for
8 h of sun tracking is only within 0 to 33 deg. The advantage of The above complete solution of the solar-tracking formula is
this tracking method is being able to maximum the solar ray col- not only of mathematical interests, but the application in solar
lection while maintaining the characteristic of minimizing the ab- engineering could be more significant. There are two possibilities
erration effect. of application that may alter our traditional approaches in the
practice of solar energy:
3.2.3 Polar-Oriented Tracking Method (␭ = ␣ = ⌽, ␾ = ␨
1. A further study of the complete solution may lead us to more
= 180 deg). Another special configuration of spinning-elevation
hints to change our present structure of a heliostat to im-
mode applied for a single heliostat is the polar-oriented tracking
prove the feature of solar ray collection. In this direction,
method. In the method, one of the rotation axes is always parallel
Chen et al. has moved forward in the direction of cases with
to the Earth is rotation axis or toward the polar direction. This
the relationship between the target and heliostat 关9–14兴. We
type of heliostat fulfills the requirement of constant-velocity
hope there will be more study in this respect.
single-axis tracking since the rotation speed of spinning axis is in
2. The complete solution has provided a universal solution for
clock rate, while the movement for elevation axis KK⬘ is very
the various control of different heliostats. If a universal chip
small throughout a tracking day. These characteristics can be dem-
based on Eqs. 共10兲, 共11兲, and 共13兲 can be made in a large
onstrated by substituting ␭ = ␣ = ⌽ and ␾ = ␨ = 180 deg into Eqs.
quantity, they would become a cost-effective and standard
共20兲–共22兲, and we will get
controller for every kind of heliostat on Earth. What we need
␳H = − ␻ 共24兲 is only to key in seven inputs for any individual heliostat: ␣
共vertical angle of axis one of the heliostat兲, ␨ 共rotation angle
␲ ␦ of axis one of the heliostat about zenith兲, ␭ 共target angle of
␪H = + 共25兲 target兲, ␾ 共facing angle of target兲, ⌽ 共latitude兲, ␻ 共solar hour
4 2
angle兲, and date to initial the tracking 共represents the instan-
␻ is the solar hour angle that is changing approximately with a taneous declination angle of sun, ␦兲. In the microchip, not
clock speed 共15 deg/ h兲, ␦ is the solar declination, which does not only should the universal formula be installed, but also the
sun’s position, which is represented in this paper by the pa-
rameter of 共␻ , ␦兲. There are a number of methods for this
calculation 关17兴. The possible design of such a microchip
will be discussed in our future papers.

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