Journal of Theoretical and Applied Information Technology

30th November 2022. Vol.100. No 22

© 2022 Little Lion Scientific

ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

DESIGN AND PERFORMANCE OF DUAL AXIS SOLAR

TRACKER BASED ON LIGHT SENSORS TO MAXIMIZE THE
PHOTOVOLTAIC ENERGY OUTPUT
ASNIL12, KRISMADINATA12, IRMA HUSNAINI12, ERITA ASTRID23
1
Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Padang, Indonesia
2
Centre for Energy and Power Electronics Research (CEPER), Universitas Negeri Padang, Indonesia
3
Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Medan, Indonesia
E-mail: [email protected], [email protected], [email protected], [email protected]

ABSTRACT

The effectiveness of solar energy absorption has become an issue in photovoltaic (PV) performance. In
addition to environmental considerations such as cloud shadows, the ever-changing position of the sun is a
determining factor in maximizing the output of electrical energy from PV systems. This research proposes
a design of a dual axis solar tracker to increase energy production and discusses its function to track the
sun's location in the effective way. To verify the effectiveness of the proposed system, a test is conducted
by comparing the system’s performance with a system that does not employ a solar position tracking
system know as a fixed system.The test is carried out under several conditions, including on a sunny day, a
cloudy day, and a cloudy day with intermittent rain. According to the test results, the solar position tracking
system with dual axes is more efficient at generating electrical energy in PV systems. The electrical energy
generated is 18.56% higher than that of a fixed system

Keywords: Dual Axis Solar Tracker, Photovoltaic, Energy Production, Solar Tracker

1. INTRODUCTION them is greatest. The amount of electrical energy

produced by solar panels will be maximized if the
The energy crisis is a worldwide issue that many sunlight is perpendicular to the surface of the solar
countries are grappling with right now. Recently, panels during their operations. The amount of
many countries have tried to deal with the energy electrical energy produced by solar panels will be
crisis. The supply of fossil energy sources has maximized if the sunlight is perpendicular to the
become relatively limited and there has been surface of the solar panels during their operations.
excessive consumption in the last 30-40 years, thus This condition can be achieved if the solar panel's
renewable energy sources, such as solar and wind surface can track the sun's position from morning to
energy, are the only options to meet energy needs evening. This tracking idea is also referred to as a
[1] [2]. Solar energy is a clean, pollution-free solar tracking system. In general, the tracking
renewable energy source that does not contribute to approach, the number of motion axes, the presence
global warming. It is widely available practically all and function of the electronic system, and the
around. However, the efficiency of the electrical presence of feedback can all be broken down into
energy generated has remained an issue. Therefore, different components of the solar position tracking
there should be solutions to increase the production system [5].
of electricity output from solar energy sources. The tracking strategy divides it into three
Solar energy can be converted into electricity by categories: chronological, sensor-based, or a
utilizing solar panels. However, the intensity of combination of both [6]. The chronological
solar radiation, ambient or environmental technique is functions at a constant angle
temperature, wind speed, and humidity have a throughout the day and month. The motor or
significant impact on how much electricity solar actuator's rotation speed is set at a slow condition in
panels can produce [3][4]. When the sun is one rotation per day (15 degrees per hour) [7]. The
perpendicular to the solar panels' surface during system requires more energy to run continuously
operation, the electrical energy generated from throughout the day, and it is inefficient on cloudy

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

days [8]. Additionally, optical sensors such as light- algorithm, and subsequently causing the tracking
dependent resistors (LDR), light optical sensors, position to be reoriented towards the sun [16].
and light intensity sensors are also employed in the Despite the use of solar PV energy having many
sun position tracking system [9], with the LDR benefits, however, this system is still a long way
sensor being the most frequently used. This sensor from displacing conventional sources. It is still
converts the light captured by the sun into a voltage difficult to maximize the power output of
value, which is then utilized as an input in the photovoltaic (PV) systems in areas with low solar
algorithm that tracks the sun's position. The surface radiation. Therefore, more innovative technologies
of the solar panel will be shifted to the area of the are still required to be developed to enhance the
sensor that receives the highest illumination value. performance of PV materials.
A hybrid system is the one that combines the use of The main issue with PV systems is their
chronological and sensor methods. According to the efficiency in producing electrical energy. Many
test results, the hybrid system performs 13.44% factors, such as weather and ambient temperature,
better than the system that does not track the sun's influence the resulting output. Aside from that, the
position [10]. movement of the sun from morning to evening, as
The solar tracking system can be categorized as well as the direction of sunlight, have become
one axis or two axes depending on how many axes essential factors that also influence the its
of motion are being utilized to track the location of efficiency.
the sun. A single-axis sun position tracking system The location of the PV system will affect the
only tracks the sun along one axis, usually from east direction of arrival and changes in solar radiation.
to west. The two axes will move in opposite More electrical energy can be generated when the
directions from north to south and east to west, surface of the solar panel is perpendicular to the
respectively, to follow the path of the sun. direction of the sunlight. A dual axis solar tracking
Furthermore, Vertical single-axis tracker (VSAT), system is one method for ensuring that the surface
Horizontal single-axis tracker (HSAT), Tilted of the solar panel is remain aligned perpendicular
single-axis tracker (TSAT), Polar-altitude dual-axis perpendicular to the direction of the sun's rays. It is
tracker (PADAT), Azimut-altitude dual axis tracker able to orient itself towards the sun so that the panel
(AADAT) are the different types of solar position can be in direct contact of the sun for maximum
tracking systems based on the number of axes of power generation. Although there is a change in the
movement [11][12]. In addition, an electronic position of the sun from morning to evening and the
system as a control system is also utilized in the sun influence of shadows, especially shadows from
position tracking so that the system can operate clouds.
properly. In this research, a feasible method of system
According to research results on the use of dual design and module construction for the dual-axis
axes with closed loop control by applying the solar tracker is developed. The developed system
concept of the Astronomical Almanac (AA) aims to track the movement of the sun's position.
Algorithm in tracking the sun's position, this system This tracking system maintains the position of the
can perform up to 13.9 percent better than fixed surface of the solar panel to always be
systems and 2.1 percent better than optical tracking perpendicular to the direction of the sun's rays.
systems [13]. Comparing closed and open loop Apart from that, this system also functions to
tracking systems, where closed loop is developed overcome the problem if the sunlight that leads to
using LDR and open loop is developed using an the surface of the solar panel is blocked by clouds,
algorithm. The study shows that the open-loop the solar tracker will direct the surface of the solar
system gained 28.5%, while the closed-loop system panel to the highest position of solar radiation so
tracking gained 33% [14]. Solar position tracking that the solar panel will always absorb the
systems frequently employ both open loop and maximum sunlight.
closed loop control schemes. Although open loop This system appears to be promising in terms of
control is easier to use and less expensive, it is less maximizing power output since it is not only
effective at resolving steady-state errors [15]. The designed to be able to track sunlight but also
presence of a feedback system, which is a feedback constructed at a reasonable cost.
signal from a variable output, is the most essential The proposed system is designed and built with
part of a closed loop control system. The sensor is simple and low-cost components. The tracking of
also a crucial element for determining the precise the sun's position is controlled with an Arduino
sun position, giving feedback to the tracking Mega 2560 with four LDRs that act as sensors to
detect differences in sunlight illumination. This

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

tracking system has a vertical and horizontal axis Diode current can be calculated using Equation (3)
that allows it to track the sun's movement, ensuring and saturation current (𝐼 ) can be determined using
that the solar panel's surface is always Equation (4) [19].
perpendicular to the sun's rays. The sensor's
( )
difference in illumination from sunlight is read by 𝐼 = 𝐼 𝑒𝑥𝑝 −1 (3)
the Arduino Uno, which is then processed and gives
a trigger to the motor as an actuator to move ∆
𝐼 (𝑇) = (4)
towards the highest sunlight illumination. Although ∆ /
there is a shadow that covers the sun's light that
leads directly to the surface of the solar panel from where,
morning to evening, the sensor will still detect the k : Boltzmann constant (1.3806 x 10 -23 J/K)
sunlight and the actuator will still direct it to the q : electron charge (1.60217 x 10-19 C)
highest illumination from the detected sunlight. As T : module’s temperature
a result, the perpendicular position between the Rs : series resistance value
surface of the solar panel and the sun is always A : ideal diode factor value (1.1<A< 1.6)
maintained from morning to evening. 𝐼 : short-circuit current value of the PV cell (can
be found in the product datasheet.
1.1. Mathematical Modeling of PV Module Ki : short circuit temperature coefficient value at
the time of short circuit (A/K)
Photovoltaic functions to convert photon energy 𝐾 : temperature coefficient value when the
from solar radiation into direct current (DC), with voltage is open (V/K)
the amount of electrical energy produced depending
on the level of radiation and temperature [17][18]. Equation (5) can be used to calculate IPV value.
In order to maximize the energy extracted from the
PV module as well as to obtain the current and 𝐼 = 𝐺 𝑥 [𝐼 + 𝐾 ∆𝑇] (5)
voltage characteristics of the PV array,
mathematical modeling is required. Equation (1) Where G is the incident illumination of the PV
illustrates the I-V characteristics for PV modules module (kW/m2), and 𝐼 can be calculated using
formed from series-connected PV cells based on a equation (6).
single exponential model [19].
𝐼 = (6)
( )
𝐼 =𝐼 − 𝐼 𝑒𝑥𝑝 −1 −
1.3. PV Module and Array
(1) PV cells are installed in series and parallel in a
PV module to obtain a higher voltage and power
1.2. PV Cell Module value. As shown in Figure 2, the series and parallel
combination of PV cells is known as a module or
Figure 1 shows the equivalent circuit of the PV panel, while the series and parallel combination of
model to convert photon energy into electrical modules is known as a PV array. The relationship
energy. In Figure1, the current Kirchhoff's law between the PV module's output current and
equation applies as in equation (2). voltage can be expressed as equation (7), while the
value of the PV array's output current and voltage
𝐼 =𝐼 +𝐼 +𝐼 (2) can be expressed as equation (8) [20].
Where 𝐼 is the photocurrent generated by sunlight 𝐼 =𝐼 − 𝐼 𝑒𝑥𝑝
( )
−1
and 𝐼 is the diode current. 𝐼 is the current
generated by the PV cell while 𝐼 is the leakage − (7)
current value from the p-n junction.
Where 𝑉 and 𝐼 represent the PV module's
voltage and current, respectively, and 𝑅 and 𝑅
represent the series and parallel resistances. 𝐼 is the
saturation current value of the diode, and 𝛼 is the
ideality factor of the diode.

Figure 1: PV Equivalent Cell Circuit

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

Figure 2: PV Array Circuits Equivalent

𝐼 = 𝐼 𝑁 − 𝐼 𝑁 𝑒𝑥𝑝 −
Figure 3: I-V Curves of PV Module MSP-100W [21]

1 − (8)

𝑁 is the number of PV modules installed in series,

and 𝑁 is the number of PV modules installed in
parallel. While 𝐼 is the PV output current, and
𝑉 is the PV output voltage.
In this study, the type of the solar panel used is a
monocrystalline type, Greentek MSP-100W. The
detailed specifications of this product is shown in
table 1.

Table 1: Electrical specification of PV MSP-100W [21]

No Parameters Variable Value Figure 4: I-V Curves of PV Modules MSP-100W at

1 Maximum power Pmax 100 W Various Cell Temperatures [21]
2 Voltage at Pmax Vmp 18.1 V
3 Current at Pmax Imp 5.54A 1.4. Dual Axis Solar Tracker
4 Open circuit Voc 22.2V The main objective of the research is to
voltage optimize electrical energy from solar panels by
5 Short-circuit Isc 6.00A minimizing the angle of incidence of solar radiation
current on the solar panels' surface. The surface of the solar
6 Temperature Kv -(0.40 ± panel must be perpendicular to the incoming solar
coefficient of Voc 0.05)%/0C radiation in order for it to be perpendicular to the
7 Temperature Ki (0.065 ± surface of the solar panel. As a result, even though
coefficient of Isc 0.01)%/0C
the sun's position is changing all the time, the sun
8 No. of cells and ns 72 (4 x 18)
position tracker must be able to retain the angle of
connection
incidence of solar radiation with the surface of the
solar panel as small as possible. The position of the
The current and voltage characteristics of the sun in the sky can be determined by two angles, the
MSP-100W PV module with various levels of solar elevation angle and the azimuth angle, as shown in
radiation under constant operating temperature Figure 5 [22][23].
conditions is presented in Figure 3. Meanwhile
Figure 4 shows the current and voltage
characteristics of the MSP-100W PV module at
constant radiation and variable temperature.

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

axis and Y axis or what is known as a double axis

tracker. The LDR's output is an analog signal,
which is connected to the analog pin on the
Arduino Mega 2560. The data is then processed
according to the programming algorithm, which
results in an instruction for the actuator to move.
The actuator movement corresponds to the intensity
difference obtained from the LDR sensors.

Figure 5: Azimuth And Altitude Angle [23]

The azimuth axis is perpendicular to the ground,

and the altitude axis is perpendicular to it. To
determine the magnitude of the altitude angle (𝛼),
use equation (9) and equation (10) to determine the
azimuth angle [24].

𝛼 =arcsin(sin 𝛿 sin Φ + cos 𝛿 cos 𝜔 cos Φ) (9)

𝐴 = 180 + 𝑠𝑖𝑔𝑛(𝑠𝑖𝑛 𝜔) 𝑥
𝑎𝑟𝑐𝑐𝑜𝑠 (10)

Where 𝐴 is the azimuth angle, 𝛿 is the equator's

latitude angle with the sun, Φ is the local latitude,
and 𝜔 is the solar hour angle, which is 0 when the
sun is at its highest position for one day.

2. PROPOSED SYSTEMS
Several steps are involved in the construction of
the dual-axis solar tracker to ensure that the Figure 6: The Proposed System’s Block Diagram
research is accurately designed and executed. It
begins by designing the system’s block diagram Furthermore, the mechanical position and
consisting of hardware components used to surface of the solar panel move to find a position
construct the proposed system as shown in Figure perpendicular to the sun's light direction. To
6. The whole working algorithms are summed up in operate the Arduino Mega 2560 and actuators,
the flowcharts shown in the 7. In addition, the however, an additional DC voltage source is
hardware design construction is presented in Figure required. The workflow of the dual-axis solar
8. position tracking system is depicted in Figure 7.
The dual-axis solar tracker system has been
designed and developed with main components are
four LDRs as sensors, an Arduino Mega 2560 as a
control processor, a four channel relay module, and
two linear actuators. The block diagram of this
system is presented in Figure 6. The position of the
solar panel surface is moved in the direction of the
highest intensity of sunlight based on the difference
in intensity value. This is the direction of
movement of the solar panel surface for the east,
west, north, and south positions based on the
intensity of sunlight measured by the LDRs
sensors, which analogizes the movement of the X

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

Figure 8: Design of a Solar Position Tracking System

Using Dual Axis
Figure 7: Workflow of a Solar Position Tracking System
Using a Dual Axis
Figure 8 depicts the design of the dual-axis
construction of the sun position tracking system
Calibration process is carried out at the with a dual axis that able to move on the X and Y
beginning so that the solar panels are in horizontal axes using two linear actuators.
position (180 degrees). The system is activated and
the LDR sensor starts working to measure the sun's 3. RESULT AND ANALYSIS
intensity if it is in the proper position. The LDR is
divided into two parts, oone for where the first axis The dual-axis sun position monitoring system's
(X axis) is located for east and west directions and hardware construction and testing are conducted
the other two for where the second axis (Y axis) is when the design phase is complete. The system is
located for north and south directions. If the LDR tested under three distinct weather conditions: a
for the east direction detects a value of the sun's sunny day, a sunny day with clouds, and a cloudy
intensity greater than the west or other positions, day with rain. This test is carried out to evaluate
the actuator will move the mechanical system and and compare the performance of the solar position
the surface of the solar panel towards the east, and tracking system employing a dual axis in an effort
vice versa. However, if the solar intensity detected to generate electrical energy under varying weather
by the LDR for the east and west positions is the conditions. In addition, the same test procedure is
same, the solar panel will be in a stationary also applied to the solar panel that uses a fixed
position, which usually occurs among 11 AM and system. Those varying weather conditions are taken
12 PM. The work process that occurs in the LDR into account in order to determine whether the dual-
for the east and west positions also applies to the axis solar tracker keeps producing electrical energy.
north and south position processes. The electrical parameter data such as voltage,
The structure of the dual axis solar position current, and power output are recorded during the
tracking system is straightforward but efficient. The test using the Parallax Data Acquisition (PLX-
main support pole is made of iron and can support DAQ) interface as depicted in Figure 9.
the weight of the load from the solar panels, while
the actuators used are calibrated to the weight of the
existing load. In this study, two hydraulic linear
actuators of the Harl-3618 type with a maximum
load capacity of 250 Kg and smooth movement are
used.

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

Figure 10: System Testing

Figure 9: Interface Using PLX-DAQ
Figure 11 shows the result of testing done from
Installation of solar panels with a fixed tracker morning to evening on the first day under sunny
system and a dual-axis tracker system for testing conditions. The output voltage (Voc) ranges from 20
can be seen in Figure 10. Furthermore, the to 22 volts from the beginning to the end of the test.
comparison of voltage, current, and power output However, the output voltage remains stable at 21
between the comparison of a fixed tracker system volts. The voltage value generated by the dual axis
and a dual axis tracker system under three different tracker system is always greater than the one
weather conditions are presented in Figures 11 to produced by the fixed system. On average values,
19. According to the test results, the dual-axis solar the voltage generated by the dual axis system and
tracker produces more energy than the system with fixed system is 20.20 Volts and 20.81 Volts,
a fixed system in all weather conditions. However, respectively.
the pattern of energy produced on a cloudy day
with rain differs slightly from the other two weather
conditions.

Figure 11: A Comparison of the Voltage Values

Generated During the Sunny Day Test

The current characteristics (Isc) of the system

during the test is shown in Figure 12. In the solar
Figure 9: Interface Using PLX-DAQ panels with a dual axis tracking system, the current
tends to rise in the morning until 10 PM but after
Installation of solar panels with a fixed tracker that the current is between 4 A to 6 A. However, in
system and a dual axis tracker system for testing a solar panel with a fixed system, the resulting
can be seen in Figure 10. current has decreased from 12.30 AM until the end
of the test. The average current of dual axis system
and fixed system is 5.06 A and 4.38, respectively.

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ISSN: 1992-8645 www.jatit.org E-ISSN: 1817-3195

Figure 12: A Comparison of the Current Values Figure 14: A Comparison of the Voltage Values
Generated During the Sunny Day Test Generated During the Cloudy Day Test

Figure 13 shows the typical shape of the electrical Figure 15 shows the characteristics of the current
energy generated in the first day’s test. The pattern generated during the second test. The value of the
follows the current characteristics generated during current generated varied from the beginning of the
the test. The difference in electrical energy test until 10 AM then it become stable until it
produced using a dual axis tracking system is sharply dropped after 12:30 AM. Solar panels with
17.5% higher than using a fixed system. a dual axis tracker system, as opposed to solar
panels with a fixed system, can still produce a
greater current value even when there are many
cloud shadows. With a dual axis system, the
average test current is 4.66 A, but with a fixed
system, it is 3.96 A.

Figure 13: A Comparison of the Power Values

Generated During the Sunny Day Test

Figures 14, 15, and 16 show the characteristics

of the second test. The weather is cloudy in the Figure 15: A Comparison of the Current Values
morning and sunny around 10 PM, but there are Generated During the Cloudy Day Test
more cloud shadows after 13:00 AM until the test is
finished. The obtained voltage value is stable over
20 volts at the beginning of the test, but it rapidly
drops after 17.00 AM as additional cloud shadows
block the sun. The average voltage produced by a
dual axis system and a fixed system is 21.09 Volt
and 20.86, respectively.

Figure 16: A Comparison of the Power Values

Generated During the Cloudy Day Test

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The electrical energy generated in the second The pattern of electrical energy generated during
test remains the same as the resulting current the third test from morning to evening is depicted in
pattern. Although there is a thick cloud shadow Figure 19. During the test, the electrical energy
during the test on the second day, solar panels with generated by the system using the dual axis method
a dual axis tracker system is able to produce is always greater in both voltage and current value
18.56% greater electrical energy than solar panels than the solar panels using the fix system. The
using a fixed system. maximum electrical energy generated during the
test occurred around 10:00 AM.

Figure 17: A Comparison of the Voltage Values

Obtained When Testing Cloudy Day Interspersed With Figure 19: A Comparison of the Power Values Obtained
Rain When Testing Cloudy Day Interspersed With Rain

Figure 17, Figure 18, and Figure 19 show the On the third day of testing, the average value of
results of the third test. The voltage is almost stable electrical energy produced by a dual axis tracker
on solar panels using a dual axis tracker system system was 14.3% greater than solar panels using a
which is above 20 Volts. Meanwhile, the current fixed system.
tends to increase from morning to midday, while
there have been a few cases of a sharp fall because
cloud shadows prevented sunlight from penetrating
the solar panel's surface as shown in Figure 18. The
current, however, dropped precipitously from 13.30
PM till the test's conclusion. The test will
eventually come to a conclusion with a minor
increase in the value of the resulting current
because of the occurrence of dense cloud shadows
and some light rain.

Figure 20: Average Electrical Energy Generated During

the Test

Overall, the average electrical energy generated

from testing with three different conditions can be
seen in Figure 20. The comparative value of
electrical energy generated by solar panels using a
dual axis tracker system is always greater than that
of solar panels using a fixed system. Thus, the
system that has been built has proven to be
successful in increasing the production of electrical
Figure 18: A Comparison of the Current Values energy despite changing environmental conditions
Obtained When Testing Cloudy Day Interspersed With
such as sunny, cloudy and rainy weather conditions.
Rain

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4. CONCLUSION microcontrolled solar tracker,” Processes, vol.

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