Development of Solar Tracking System Using IMC-PID Controller In the past, solar cells are hooked with fixed elevating angles, and it does not track the sun. Therefore the efficiency of the power generation is low. The stability and improved speed of response can only be achieved with appropriate controller to take care of external disturbances and design uncertainty associated with a conventional controller. The IMC controller would be used to allow good tracking ability and good load disturbance rejection. Modeling of a dual axis solar tracker. An IMC-PID controller was developed for a dual axis solar tracker.

1. Development of Solar Tracking System Using
IMC-PID Controller
Presented by
Ekansh Agarwal
MBA tech(EXTC)
Batch 1

2. Introduction
• In the past, solar cells are hooked with fixed elevating angles, and it
does not track the sun. Therefore the efficiency of the power generation
is low. The stability and improved speed of response can only be
achieved with appropriate controller to take care of external
disturbances and design uncertainty associated with a conventional
controller. The IMC controller would be used to allow good tracking
ability and good load disturbance rejection. Modeling of a dual axis
solar tracker. An IMC-PID controller was developed for a dual axis solar
tracker.

3. Need for solar tracking system
• Manufacturers are constantly making incremental improvements to their
solar panels to create a higher energy yield per unit than previous and
competing models. Another proven way to increase system output is by using
solar trackers, which, unlike fixed-tilt ground-mount systems, make solar
panels follow the sun’s path throughout the day.
• There are two main types of solar trackers available on the market: single-
and dual-axis.
• Single-axis solar trackers track the sun east to west, rotating on a single point,
moving either in unison, by panel row or by section. Dual-axis trackers rotate
on both the X and Y axes, making panels track the sun directly and have
better yield as compared to fixed axis

4. Diagram for solar tracking system

5. Modeling different parts of the solar tracking system

6. DC MOTOR

7. Sensors used for feedback
• SS-DX sun sensor measures the incident angle of a sun ray in both orthogonal axes and the solar
radiation. The high sensitivity reached is based on the geometrical dimensions of the design.
• Its characteristics make it a suitable tool for high accurate sun-tracking and positioning systems, with low
power consumption and high reliability.

8. Flowchart

9. Why we have used IMC PID controller
• The rise time and settling time for IMC-PID is fastest as compared to traditionally used TL-PID and
CHR-PID.
• IMC-PID gave the lowest overshoot when the four controllers were compared with the highest and
the lowest of the four modes at 7.83% and 1% for controller effort mode and disturbance rejection
modes respectively.

10. Step Response of IMC, CHR ZN and TL tuned PID
controller

11. Conclusion
• the Internal Model Controller (IMC) tuned Proportional Integral Derivative
Controller gave the best response in terms of stability and speed of response (rise
time and fall time) when compared with CHR, ZN and TL tuned PID for a dual axis
solar tracker. The internal model control provides a transparent frame work for
control system design and tuning. The internal model control based proportional
integral derivative controller design is simple and robust to handle the model
uncertainties and disturbances and less sensitive to noise than proportional integral
derivative controller for an actual process in industries.
• Modeling of a dual axis solar tracker. An IMC-PID controller was developed for a dual
axis solar tracker. The result of this work showed that the IMC-PID controller
provided an efficient and commendable improvement in the relative stability,
disturbance attenuation, set point tracking and an improved speed of response for
the system

12. References
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