Design and Performance Analysis of Three axis

Solar Tracking System

2022 7th Asia Conference on Power and Electrical Engineering (ACPEE) | 978-1-6654-1819-5/22/$31.00 ©2022 IEEE | DOI: 10.1109/ACPEE53904.2022.9783762

Parija Gupta Vinay Gupta Madhu Sharma

Department of Electrical Engineering Department of Electrical Engineering School of EngineeringP
Manipal University Jaipur Manipal University Jaipur University of Petroleum and Energy Studies
Jaipur, India Jaipur, India Dehradun, India
[email protected] [email protected] [email protected]

Rupendra K Pachauri Jamil Akhtar

School of Engineering Department of Electronics & Communication Engineering
University of Petroleum and Energy Studies Manipal University Jaipur
Dehradun, India Jaipur, India
[email protected], [email protected]

Abstract— This study introduces the design and performance throughout the day, a sun tracking system is essential to
of a three-axis solar tracker system. The primary objective of generate the maximum output power from a PV system. A
evolving a three-axis solar tracker is to follow the sun's location solar tracker is a system that increases power by tracking the
and remove shading caused by obstacles. High-rise objects, such sun's location [3]. A solar tracking system's main goal is to
as upcoming buildings, trees, or shading caused by the preceding collect solar radiation for as long as possible. Solar radiation is
row of PV modules due to the sun's changing latitudes during the
winter and summer, could be obstacles. To overcome these
perpendicular to the PV plate only during the noon period in
challenges, a third axis is included to allow the height of the solar static PV systems. The solar tracker provides the solution to
panel to be adjusted so that it is not shaded. Existing solar this problem. Finster was the first to introduce a fully
tracking systems attempt to generate maximum output power but mechanical solar tracker in 1962. Saavedra then developed a
are unable to eliminate 100% shading on the solar panel's surface, self-contained solar tracking system [6]. Anusha et al. [7]
resulting in lower received output power. If the PV module is kept conducted a comparison study between a fixed PV system and
vertical to the sun's radiation, the PV system will produce the a solar tracking system with an ARM processor that rotates
most power. With this addition to the tracker, the solar panel along one axis. According to the experimental data, the
stays perpendicular to the rays of sunlight with this addition to performance of the PV panels was increased by 40% from 9:00
the tracker, allowing it to collect the most solar radiation at sunset
and sunrise, which is difficult to achieve with static solar panels
a.m. to 6:00 p.m. using the solar tracking system. Flores-
and a two-axis tracker system. Test outcomes reveal that the Hernandez et al. suggested a mechatronics-based dual-axis sun
developed system generates more output power by up to 181% tracker with a photovoltaic system controlled by a robotic
and 19% as compared to the static solar panels and dual-axis sensor [8]. Away et al. designed a two-axis solar tracker
(active type) solar tracker systems, respectively. Thus, the main system using three identical light-dependent resistors in a
ideology of this technology is to obtain maximum solar radiation tetrahedron shape that can track the sun or the point where
from sunrise to sunset, regardless of the sun's changing positions visible light intensity is highest. When compared to previous
(summer and winter). types of solar trackers, this design demonstrated a broad field
Keywords— Solar tracker, Single-axis solar tracker, Double – of view, precision, and efficacy [9]. A solar tracker produces
axis solar tracker, Three-axis solar tracker system, PV system 27% more output energy than a fixed solar PV tracking system
by using an open-loop control system for the electric drive
I. INTRODUCTION [10]. The two-axis tracker system is 81.68% more effective
than the fixed PV modules, and the one-axis solar tracker is
Many countries around the world have used solar systems
32.17% more effective [11]. The solar tracker system generates
to generate electricity in the last ten years. This is because solar
57.55% more energy than a static PV module [12]. Solar
energy is a limitless energy source that can be used to produce
tracking with two axes has been demonstrated to be more
electricity and heat for the user while also being
effective and beneficial than single-axis and fixed tracking.
environmentally friendly. There are several parameters, such as
Although the use of trackers is largely dependent on the
humidity, dust accumulation, wind, solar radiation, tilt angle,
physical characteristics of the land [13], Most solar PV panels
installation site, temperature, shading, etc., that directly and
are installed only during the summer days, as the solar
indirectly influence the performance of the PV system [1-2].
radiation is higher during the summer days. Due to the
Solar radiation is the most important factor in the PV system's
elliptical orbit, the east-to-west motion is not constant during
power generation. A PV system's maximum output power can
the year. Over the course of a year, the Earth's axial tilt moves
be achieved by keeping the PV module vertical to the sun's
the Sun north/south, and the elliptical orbit moves it east and
beams. However, because the sun's location changes
west. At the equinoxes (March 21 and September 21), the

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 declination is zero, making it positive in the northern PV panels due to shifting sun latitudes during the winter and
hemisphere summer, and negative in the northern hemisphere summer seasons, as well as upcoming obstacles such as high-
winter. On June 21 (the northern hemisphere's summer rise objects, buildings, trees, and so on. This study describes
solstice), the declination reaches a maximum of 23.45° and a the design and performance of the three-axis solar tracker. The
minimum of -23.45° (winter solstice in the northern primary goal of creating a three-axis solar tracker system is to
hemisphere). track the sun's path and avoid shading.
II. PROPOSED THREE-AXIS SOLAR TRACKER SYSTEM
The prototype of the suggested three-axis solar tracker system
is demonstrated in fig. 3. A three-axis solar tracker system
comprises of two vertical aluminium bars and a horizontal rod
configured to mount the two vertical aluminium bars. A solar
panel was placed on a horizontal bar between two vertical
aluminium bars. The scissor lift concept was used to allow for
smooth movement of the axis up and down (i.e. the third axis).
The spindle attached to it serves as a support for mounting the
solar panel on, as well as allowing the solar panel to move
freely. The solar panel is rotated using a servo motor.

Fig.1. Variation of sun path during summer and winter

Fig. 3. Prototype of proposed Three-axis solar tracker system

The entire system is supported by a circular platform, which
can rotate up to 180°. To avoid shading, a third axis has been
added for upward and downward motion. With the help of a
scissor lift and a DC motor, this lifting is possible. The
Arduino UNO is used for automatic control, and appropriate
connections are made. On the top of the solar module, four
Fig. 2. Shading causes by the preceding panels LDRS (Light Detecting Resistors) are mounted, which provide
Figure 1 shows the shifting of the sun's axis by the signal to move the solar module and track the sun's
approximately 47° from summer to winter. Figure 2 shows the location. The sun's location can be calculated from the
shading due to the preceding panel in winter. The shading brightness of the light sensors' algorithm and sent the signals
through Arduino UNO to servo motors to trace the sun's
problem can be minimized if a maximum power point
movement. In this case, the LDR 1,2 and LDR 3,4 for
tracking algorithm is used to move the tracker systems to horizontal axis movement and the LDR 1,3 and LDR 2,4 for
achieve the most direct sunlight exposure. Existing solar vertical axis movement are given as inputs to the
tracking systems try to generate the maximum output power microcontroller, which will rotate the PV module to an exact
but are unable to reduce shading by 100% on the surface of position using the servo motors. At the bottom of the solar
the solar modules, so the received output power is not module, another LDR is connected. This LDR is used to
maximum. The proposed three-axis solar tracker system has a automatically control the third axis' operation, sending signals
third axis to remove shading produced by the preceding row of

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 to a relay, and controlling the DC motor to move the scissor Tables 2 & 3 show the technical specifications of experimental
lift upward when shading is detected. In this way, solar environment and measuring instruments.
radiation keeps the perpendicular on the surface of the PV TABLE 1 Technical Characteristics of PV Cell
panel and achieves the maximum output power from the PV
panel. According to the size of the PV panel, the number of Specification Value
LDRs on the bottom edge of the PV panel may be increased. Type Poly Crystalline
During the night, dark activated LDR plays the role of Peak Power (Pmpp) 189 mw
downward motion. A Reed relay is used to stop the downward Peak Power Voltage (Vmpp ) 4.5 V
motion of a scissor lift. Because it has been observed that Peak Power Current (Impp ) 42 mA
shading on the PV panels begins at either the bottom or the Open Circuit Voltage (Vo) 5.12Volts
side edge, LDR sensors can be installed on the bottom and Short Circuit Current (Io) 48 mA
side edges of the PV panels. The number of LDR sensors
TABLE 2 Technical Parameters of Experimental Environment
required is determined by the size of the PV panel.
Specification Value
III. EXPERIMENTAL SETUP AND TESTING Solar Radiation 780 W/m2
METHODOLOGY Ambient Temperature 30°C
A prototype of a three-axis solar tracker system has been Humidity 58%
developed to determine the performance of the suggested TABLE 3 Technical Parameters of Measuring Instrument
tracking system. To evaluate the effectiveness of the
suggested three-axis solar tracker, we conducted two indoor Specification Value
experimental tests on a small polycrystalline solar module. Make/Model METARAVI/Model-603
Fig. 5 shows the experimental setup of the suggested solar Type Digital
DC Voltage 0-200mV/20/1000V
tracker. Table.1 shows the specifications of the specimen of
Accuracy 0.5%
the PV module. In this test, 1000 W halogen bulbs are fixed at
DC Current 0-2mA/20A
an angle, and artificial shading has been produced by using
Accuracy 0.8%
cardboard in different shapes. These various cardboard shapes,
which represent various obstacles such as upcoming buildings,
poles, trees, and so on, or previous panels due to the changing
latitudes of the sun during winters and summers, were all
fixed at the same distance. In this indoor experimental test, we
have produced the shading on the surface of the PV module,
which represents
Case-I: the shading caused by the previous panel (shading area
as demonstrated in fig.4.a)
Case-II: the shading caused by Pole (shading area as
demonstrated in fig.4.b)
Case-III: the shading caused Tree. (Shading area as
demonstrated in fig.4.c)
Case-IV: the shading caused by Building. (Shading area
demonstrated in fig.4.d)
As the shading area varies from sunrise to sunset. In the
experimental test, we varied the shading length (1 cm - 3cm)
from the bottom edge of the PV module gradually. We Fig. 5. Indoor Experiment setup of proposed three-axis and dual-axis (active
recoded the values (three) of open-circuit voltage and short type) solar Tracking system
circuit current of the fixed PV module, dual tracker system,
and proposed a three-axis solar tracker with the same shading
area and identical test conditions.

(a) (b) (c) (d)

Fig. 4. Different shading patterns (a) shading due to precede solar module, (b) shading due to pole, (c) shading due to tree, and (d) Shading due to
building for analysis of performance of proposed three-axis tracker system.

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 A 1000 W halogen bulb was used as a source of light in
this second test, which was attached to a system that moved
it like a sun from 0° to 180° to evaluate the energy utilization
of the proposed three-axis solar tracker. We measured the
energy consumption of the proposed three-axis solar tracker
system and the two-axis (active type) solar tracker over a 10-
hour period.
IV. RESULTS AND DISCUSSION
A. Comparison of Power Output
Fig. 6 shows the output power of the fixed PV panel, the
two-axis tracker system, and the proposed three-axis solar
tracker system with artificially generated shading patterns. It
is seen that there is less of a drop in output power due to pole
shading as compared to other shading patterns in the static
flat PV plate case. The drop in current is greater as compared
to voltage due to shading because the voltage has no direct
relationship with the sunlight intensity. In case-I, the power
output of the static panel is 167.5 mw, 151.5 mw, 130.9 mw,
98.4 mw, and 62.37 mw; the dual-axis tracking system's
power output is 173.8 mw, 169.8 mw, 162.6 mw, 154.4 mw,
and 142 mw, respectively, shading of 1 cm, 1.5 cm, 2 cm, 2.5
cm, and 3 cm. In case-II, the power output of the static panel
is 166.6 mw, 158.9 mw, 148.2 mw, 106 mw, and 68.2 mw;
the dual-axis tracking system's power output is 174.3 mw,
170.6 mw, 165.4 mw, 159.1 mw, and 151.7 mw,
respectively, shading of 1 cm, 1.5 cm, 2 cm, 2.5 cm, and 3
cm. In case-III, the power output of the static panel is 168.7
mw, 155.6 mw, 144.5 mw, 100.9 mw, and 65.85 mw; the
dual-axis tracking system's power output is 174.7 mw, 171.9
mw, 168.1 mw, 163.8 mw, and 159.8 mw, respectively,
shading of 1 cm, 1.5 cm, 2 cm, 2.5 cm, and 3 cm. In case-IV,
the power output of the static panel is 167.9 mw, 152.3 mw,
140.8 mw, 93.2 mw, and 64.7 mw; the dual-axis tracking
system's power output is 174.8 mw, 172.1 mw, 168.2 mw,
164.1 mw, and 160.9 mw, respectively, shading of 1 cm, 1.5
cm, 2 cm, 2.5 cm, and 3 cm. The power output of the three-
axis tracking system is found to be constant at 175.6 mw for
every shading area and every case. So, a three-axis tracking
system can gain up to 181% in average power gain over a
static panel, depending on shading conditions. Similarly, the
maximum possible gain in average power of a three-axis
system over the dual-axis tracking system is up to 19%,
depending on shading conditions.
B. Energy Utilization
The energy utilization by the servo motors in both the
solar tracking systems is almost equal. In a three-axis tracker,
total energy consumption is slightly higher because during
sunrise and sunset, the DC motor works to lift the PV cell
and get more power. Table 4 shows the comparison of Fig. 6. Comparison between Performance of Fixed plate, Dual axis tracker and
energy utilization of the proposed three-axis tracker with the proposed Three-axis tracker under Case-I, Case-II, Case-III & Case-IV
dual axis tracker. The energy utilization by a three-axis
tracker is slightly more than a dual-axis tracker, but the
proposed tracking system can generate up to 19% more
power as compared to a dual-axis tracking system depending
on shading conditions.

978-1-6654-1819-5 /22/$31.00©2022 IEEE

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 TABLE 4 Comparison of Energy Utilization of proposed Three-axis solar tracker with dual axis solar tracker system

Movement Energy Utilization Energy Utilization Difference in Energy

with Three-axis tracker with Dual axis tracker Utilization
(mWhr) (mWhr) (mWhr)
East to West 47.4 47.35 0.05
North to South 0 0 0
Upward 1.2 0 1.2

V. CONCLUSION
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