Tracking System for Photovoltaic Panels Syamsiah Mashohor, Khairulmizam Samsudin, Amirullah M. Noor and Adi Razlan A. Rahman AbstractThe maximum power supplied by a Photovoltaic (PV) panels system change over time. It depends on environmental factors such as the solar irradiation and the temperature of these panels. The average solar energy harvested by the conventional solar panels during the course of the day, is not always maximized. This is due to the static placement of the panel which limits their area of exposure to the sun. In practice, there are three possible approaches for maximizing the solar power extraction in medium and large scale PV systems are sun tracking, maximum power point (MPP) tracking or combination of both. In this paper, a Genetic Algorithm (GA) has been proposed utilizing sun tracking approaches to maximize the performance of PV panels. Literature suggested that the PV panels could produce maximum power if the panels have angle of inclination zero degree to the sun position. This work evaluate the best combination of GA parameters to optimize a solar tracking system for PV panels in terms of azimuth angle and tilt angle. Simulation results demonstrated the ability of the proposed GA system to search for optimal panel positions in term of consistency and convergence properties. It also has proved the ability of the GA-Solar to adapt to different environmental conditions and successfully track sun positions in nding the maximum power by precisely orienting the PV panels. Index Termsgenetic algorithm, solar tracking, PV panels I. INTRODUCTION The photovoltaic (PV) technology is expanding due to the growing demand for renewable energy mainly due to the depletion of fossil fuel. Solar panel is the fundamental energy conversion component of photovoltaic (PV) systems [1]. PV technology offers safe and clean energy sources [2]. The abundance of solar energy throughout the whole year in Malaysia due to the geographic location near the Equator line provides strong reason for the implementation of an efcient PV energy system. Studies show that solar panels constitute a large portion (57%) of the total cost to install PV energy system [3]. As the solar panels are relatively expensive, much research work has been conducted to improve the utilization of solar energy. Physically, the power supplied by the panels depends on many extrinsic factors, such as insolation levels (incident of solar radiation), temperature and load condition. To ensure the economical viability of this energy system, the development of an adaptive system that always obtains the maximum power from these solar panels is essential. The average solar energy intercepted by the conventional solar panels, during the course of the day, is not always maximized. This work was funded by Universiti Putra Malaysia under the New Appointed Lecturer Grant Scheme, grant no. 5315958. Dept. of Computer and Communication Systems Engineering, Universiti Putra Malaysia, 43400 Serdang, Selangor, Malaysia (phone: +603 89464348; fax: +603 86567127; e-mail: syamsiah@eng.upm.edu.my) This is due to the static placement of the panel which limits their area of exposure from the sun [4]. An automatic sun tracking system using a number of Light Detecting Resistors (LDRs) is proposed in [4, 5]. The principle idea is to sense the sun light using LDR and the differential signal representing angular error of the panel is used to rotate the panel in such a way that the angular error is minimized. The usage of LDR is to ensure that the solar panel is always aligned towards the direction of the sun. However, a cloudy day and shading condition around the PV panels may reduce the intensity of light and effect the performance of the tracking system. Proper placement of LDR in the system and the correct quantity of LDR are also important in order to provide correct positioning information for the solar panel at all time. Researcher in [6, 7] has presented the design and implementation of a computer-controlled dual-axis sun tracking system to obtain high precision positioning of the PV panel. The control of dual axis tracking system is complex due to nonlinear dynamics and unavailability of the model parameters. A PC-based fuzzy logic control algorithm utilizing the knowledge of the system behavior is designed in order to achieve the control objectives. Implementation of fuzzy logic reasoning is limited to the predetermined conditions which may not satisfy all conditions in the PV panel environment. Therefore, sun tracking only occurs when these conditions are met, which will not necessarily maximize the solar energy absorption. In this work, GA based solar tracking is proposed to overcome the limitation of current method. GA is an evolutionary algorithm which can adapt itself to the different conditions, not only suitable for solar farm but also applicable for harvesting energy for aerospace industries application, electric vehicles, communication equipment and mobile robots. This paper will discuss the development of GA-based solar tracking system (GA-Solar) by orienting PV panel on two axis (azimuth and tilt angles) to obtain maximum power. In the following section, the methodology of this system is discussed which comprise of system description, GA architecture and solar tracking simulator. Then, the results of the simulation are discussed and nally, the conclusion is presented. II. METHODOLOGY A. System Description This paper is a preliminary work for the implementation of sun tracking using our specially-tailored GA for maximizing 269 978-1-4244-1888-6/08/$25.00 c 2008 IEEE PV panel 180 degree 180 degree Surface Figure 1. The geometry of the PV panel for GA-Solar system performance of PV systems. The details of GA architecture that is implemented in this simulation is discussed in [8]. The geometry of the PV panel that will be explored by the GA technique is shown in gure 1. The azimuth and tilt angle can varies from 0 to 180 degrees which can fulll any location condition either the PV panel is installed on a high building or on the ground. If both tilt and azimuth angle is 90 degrees, the PV panel is normal to the ground surface. This work assumes that the orientation search by GA-Solar is done during the rst time calibration, right after a PV system has been installed. GA-Solar would only require the power measurement from the PV panel to assist the GA search of the optimal position. After acquiring the maximum power value from the PV system, GA-Solar will only start searching again after power obtained from PV systems fell below some threshold value. Subsequent search would be much faster as the GA would start searching from the best individual. B. GA Architecture In this work, the GA is used to track the best tilt and azimuth angle of the PV panel that generate the maximum power from the sun. For this work, real integer coding has been implemented considering the position of the sun in the sky. The tilt and azimuth angle are both ranged from 0 to 180 degrees. Every individual represents a combination of both position parameters which describes position of the PV panel in relation to the sun. The domain of search for these parameters is large (180180=32400) which is suitable for the GA to explore. The tness function in this work is evaluated from the power value measured from the PV panel according to the selected tilt and azimuth angle. There should be only one maximum power value at one time assuming that the panel angle of inclination is zero degrees to the sun, while the minimum value is 0W. Iteratively, the whole population for the next generation is formed by selected individuals from the parents and offsprings in current generation. These individuals are ranked based on their tness performance and only the top ttest individual are selected for a new population. The population will perform GA activities such as selection, mutation and crossover in every generation until the termination requirements are fullled. The GA search will be terminated if an ideal individual which gives the maximum power value has been found or maximum generation has been reached. Table I THE VALUES OF GA PARAMETERS INVOLVED IN EXHAUSTIVE SEARCH GA parameter Values Population size 30, 50, 100, 200 Maximum generation 50, 100, 150, 200, 250 Probability of crossover 0.1 to 1.0 Probability of mutation 0.001 to 0.01 C. Solar Tracking Simulator In this work, to facilitate the development of the GA- Solar system a solar tracking simulator has been developed. The initial orientation of the panel are generated randomly. The GA is used to search for the best tilt and azimuth angle that gives the maximum power value (10W) that has been randomly generated into a Look-Up Table (LUT). The simulator also imitate environment factors such as insolation level and temperature that degrade the performance of PV system. As there is only one source of light which is from the sun, we use a bi-variate normal distribution function to initialize the LUT. The maximum power value and the angular position parameters that have the maximum power value are randomly picked and changed every time a new simulation starts. Figure 2 illustrate four generated LUT to simulate the power obtained by a PV system oriented to a specic tilt and azimuth angle ([tilt,azimuth]). From gure 2(a) and gure 2(b), a maximum power of 10W from a PV system can be obtained by orienting the panel to [90,90] and [0,0] position respectively. Orienting the panel to [180,90] and [120,80] positions would obtain the maximum power of 6.5W and 4.9W from LUT of gure 2(c) and gure 2(d) respectively. D. Experimental setup To maximize the capability of GA to position the PV panel to obtain the maximum power, the values of GA parameters must be chosen carefully. Hence, an exhaustive search has been conducted on all combination of GA parameters as listed in table I to nd the best combination of GA parameters. The exhaustive search is possible due to the availability of the solar tracking simulator which is able to simulate the two angular axis positioning of PV panel very fast. The total combination of GA parameters are 2000 combinations ( 4 x 10 x 10 x 5) and each combination is repeated for consistency evaluation. The maximum power generated by the PV system is xed at 10W to simplify the performance comparison between different GA parameters setting. The effect of every GA parameter in this GA-Solar also can be assessed based on this simulation. The best GA parameter obtained from the exhaustive search is then used to simulate 1000 GA-Solar search considering the inuence of different environmental conditions and sun positions. The maximum power generated by the PV system will vary randomly between zero and 10W due to the environmental factors. 270 0 1 2 3 4 5 6 7 8 9 10 0 30 60 90 120 150 180 0 30 60 90 120 150 180 2 4 6 8 10 Azimuth [Degree] Tilt [Degree] (a) 0 2 4 6 8 10 0 30 60 90 120 150 0 30 60 90 120 150 180 0 2 4 6 8 10 Azimuth [Degree] Tilt [Degree] (b) 0 2 4 6 8 10 0 30 60 90 120 150 180 0 30 60 90 120 150 180 0 2 4 6 8 10 Azimuth [Degree] Tilt [Degree] (c) 0 2 4 6 8 10 0 30 60 90 120 150 180 0 30 60 90 120 150 180 0 2 4 6 8 10 Azimuth [Degree] Tilt [Degree] (d) Figure 2. Generated Look-Up Table for solar tracking simulator using bi-variate normal distribution function III. RESULTS AND DISCUSSIONS A. Optimization of GA The goal of the GA-Solar is to obtain maximum power from PV system at all the time and in any condition. Therefore, selected values of GA parameters that will be used in the future simulation or real-environment experiments must consistently give the maximum power to optimize the utilization of the solar energy. The selected GA parameters should also require less generation to produce the ndings as each measurement of tness function requires positioning of the two axis of the PV panel. To evaluate each combination of the GA parameters, the consistency and convergence properties of the GA-Solar aligning the PV panel to obtain the maximum power is considered. Consistency is dened as the frequency of nding the maximum power, while the convergence is dened as the least number of generation required to nd the maximum power. Each GA parameters combination simulation is repeated 10 times. The consistency in nding the maximum power is the most important feature of the GA-Solar due to adaptability to different conditions, PV panel material and system designs. 0 2 4 6 8 10 0 400 800 1200 1600 2000 F r e q u e n c y GA with different parameters 69% Figure 3. Consistency of GA-Solar in nding the maximum power In the exhaustive search simulation, the best parameters give consistent best results in nding the maximum power point from the Look-Up-Table that emulate power measurement from PV panels that are exposed to the sun. As shown in gure 3, 69% of the simulation results give good consistency in nding the maximum power, which is 10W in all 10 sets. With regard to this ndings, the consistency of nding maximum power in all 10 sets and convergence (sum of generation) properties of these combination of GA parameters are analyzed in order to choose the best GA parameter values. The GA parameters are analyzed in sequence of population, 271 Table II THE NORMALIZED CONSISTENCY AND CONVERGENCE FOR DIFFERENT POPULATION SIZE Population size Consistency Convergence 30 0.58 1.00 50 0.92 0.59 100 1.00 0.39 200 0.94 0.40 maximum generation, probability of crossover and probability of mutation. The population size have signicant impact on embedded system memory footprint. Table II summarized the consistency and convergence for different population size. Based on the table, the population size of 100 gives the most consistent results in nding the maximum power in every set of simulation and the results are found in the least convergence value. The maximum generation determine the limit of time that GA will spend to search for the best solution. There is no signicant difference of consistency and convergence properties of maximum generation parameter for the population size of 100. However, a maximum generation of 50 is chosen since the population size of 100 is already large enough to give enough time for the GA to nd the solution. It would also ensure that the GA would be terminated if the duration taken to obtain the optimal position for maximum power is too long. Detail analysis on the probability of crossover shows that the probability of 0.7 has the most consistency and the least convergence values compared to other probability values. With this value of probability, the crossover operation will happen moderately frequent to produce better offsprings for the next generation. For the probability of mutation, the value of 0.001 is selected based on the least convergence required to nd the same consistency as the other values. The value of 0.001 gives enough occurrence of mutation for the generation to evolve but excessive probability of mutation may increase the time to compute. B. Inuence of Environmental Factors In the simulation of 1000 different environmental conditions, maximum power from PV systems may varied caused by various environmental factors such as cloudy condition, raining condition, dusty PV panels, shading by other objects and temperature of the PV systems. Hence, the ability of the GA-Solar to adapt and nd the best panel position are tested in these conditions. From the simulation ndings, the GA-Solar has performed very well when it is able to nd all the maximum power values initiated randomly in every set. The initial maximum power values generated and the GA-Solar solutions that have been found are shown in gure 4. From the gure, it is obvious that every maximum power initialized randomly in the look-up- table, overlapped with the GA-Solar solution. Detail analysis shows that GA-Solar is able to accurately track the correct 0 2 4 6 8 10 0 200 400 600 800 1000 P o w e r
[ W ] Simulation runs Initialized GA-Solar Figure 4. Comparison of maximum power initialized by the solar tracking simulator with GA-Solar search solution 0 2 4 6 8 10 12 14 16 18 20 22 0 200 400 600 800 1000 G e n e r a t i o n
G a i n Simulation runs Figure 5. Generation gain for GA-Solar search position of the PV panel in nding the maximum power 99.99 percent of the time. Figure 5 shows the analysis on the generation gain required by the GA-Solar to nd the best solutions in every set of simulation. In average, the GA-Solar found the best solutions after the third generation and the fastest is after the rst generation while the slowest is after the 21 st generation. The standard deviation is 1.55 indicates that the generation gain required by the GA-Solar is nearly similar in any conditions. In hardware implementation, short generation gain is important for the system due to the repositioning of the solar panel. The speed of motor to position the PV panel also has to be considered in overall system performance. IV. CONCLUSION This paper described the simulation of GA-based solar tracking system for PV panels. The solar tracking simulator developed is an important tool to simulate and evaluate the performance of the GA-solar system. The best value for GA parameters have been selected according to the simulation results. The most signicant difference of frequency and convergence occur in different population size, followed by different probability of crossover. For various values of probability of mutation, only the convergence yields the signicant difference. From the observation, there is no 272 signicant difference in consistency neither the convergence properties when the maximum generation is varied. The GA parameter that will be used in future simulation and hardware implementation are population size of 100, maximum generation of 50 and probability of crossover and mutation are 0.7 and 0.001 respectively. The simulation ndings also show that the GA-Solar can be implemented to maximize the power harvested by the PV panel systems considering the various inuence of environmental factors and different sun positions. Future work will concentrate on the hardware implementation to prove that the GA-Solar is capable of maximizing the power obtained by the PV panel in real-environment experiments and posses the ability to adapt to different installation location and PV system design. The hardware setup is nearly completed and later, more factors that normally affect the solar panel system performance will be added to the GA module. REFERENCES [1] H. S.-H. Chung, K. K. Tse, S. Y. R. Hui, C. M. Mok, and M. T. . Ho, A novel maximum power point tracking technique for solar panels using a SEPIC or Cuk converter, IEEE Transactions on power electronics, vol. 18, no. 3, pp. 717724, 2003. [2] T. H. et al, Evaluation of neural network based real time maximum power- tracking controller goes PV system, IEEE Transactions on Energy Conversion, vol. 10, no. 3, 1995. [3] J. Enslin, Renewable energy as an economic energy source for remote areas, in Renewable Energy, vol. 1, pp. 243248, 1991. [4] B. Koyuncu and K. Balasubramanian, A microprocessor controlled automatic sun tracker, IEEE Transactions on Consumer Electronics, vol. 37, no. 4, pp. 913917, 1991. [5] O. Bingol, A. Altinta, and Y. Oner, Microcontroller based solar-tracking system and its implementation, Journal of Engineering Sciences, vol. 12, pp. 243248, 2006. [6] H. A. Yousef, Design and implementation of a fuzzy logic computer-controlled sun tracking system, in Proceedings of the IEEE International Symposium on Industrial Electronics, ISIE99, vol. 3, pp. 10301034, 1999. [7] A. Yazidi, F. Betin, G. Notton, and G. A. Capolino, Low cost two-axis solar tracker with high precision positioning, in First International Symposium on Environment Identities and Mediterranean Area, ISEIMA06, pp. 211216, 2006. [8] S. Mashohor, J. R. Evans, and T. Arslan, Image registration of printed circuit boards using hybrid genetic algorithm, in IEEE Congress on Evolutionary Computation, 2006. 273
An Experimental Comparison Study Between Single-Axis Tracking and Fixed Photovoltaic Solar Panel Efficiency and Power Output: Case Study in East Coast Malaysia