DUAL AXIS SOLAR TRACKER

ABSTRACT
The goal of this thesis was to develop a laboratory prototype of a solar tracking
system, which is able to enhance the performance of the photovoltaic modules in
a solar energy system. The operating principle of the device is to keep the
photovoltaic modules constantly aligned with the sunbeams, which maximises
the exposure of solar panel to the Sun’s radiation. As a result, more output power
can be produced by the solar panel.
The work of the project included hardware design and implementation, together
with software programming for the microcontroller unit of the solar tracker. The
system utilised an ATmega328P microcontroller to control motion of one Gear
motor, which rotate solar panel in two axes. The amount of rotation was
determined by the microcontroller, based on inputs retrieved from four photo
sensors located next to solar panel.
At the end of the project, a functional solar tracking system was designed and
implemented. It was able to keep the solar panel aligned with the sun, or any light
source repetitively. Design of the solar tracker from this project is also a reference
and a starting point for the development of more advanced systems in the future.

LITERATURE REVIEW
Hossein Mousazadeh et Al[ (2011), Journal of Solar Energy Engineering,Vol.133 ] studied and
investigated maximization of collected energy from an on-board PV array, on a solar assist plug-
in hybrid electric tractor (SAPHT). Using four light dependent resistive sensors a sun-tracking
system on a mobile structure was constructed and evaluated. The experimental tests using the sun-
tracking system showed that 30% more energy was collected in comparison to that of the
horizontally fixed mode.. Four LDR sensors were used to sense the direct beams of sun. Each pair
of LDRs was separated by an obstruction as a shading device. A microcontroller based electronic
drive board was used as an interface between the hardware and the software. For driving of each
motor, a power MOSFET was used to control the actuators. The experimental results indicated that
the designed system was very robust and effective.

K.S. Madhu et al., (2012) International Journal of Scientific & Engineering Research vol. 3, 2229–
5518, states that a single axis tracker tracks the sun east to west, and a two-axis tracker tracks the
daily east to west movement of the sun and the seasonal declination movement of the sun.
Concentrates solar power systems use lenses or mirrors and tracking systems to focus a large area
of sunlight into a small beam. PV converts light into electric current using the photoelectric effect.
Solar power is the conversion of sunlight into electricity. Test results indicate that the increase in
power efficiency of tracking solar plate in normal days is 26 to 38% compared to fixed plate. And
during cloudy or rainy days it’s varies at any level.
 SCOPE OF WORK IN THE PROJECT

The solar project was implemented using two servo motors. The choice was informed by the fact
that the motor is fast, can sustain high torque, has precise rotation within limited angle and does
not produce any noise. The Arduino IDE was used for the coding. Kolkata has coordinates of
22.5726°N, 88.3639°E and therefore the position of the sun will vary in a significant way during
the year. In the tropics, the sun position varies considerably during certain seasons. There is the
design of an input stage that facilitates conversion of light into a voltage by the light dependent
resistors, LDRs. There is comparison of the two voltages, then the microcontroller uses the
difference as the error. The servo motor uses this error to rotate through a corresponding angle for
the adjustment of the position of the solar panel until such a time that the voltage outputs in the
LDRs are equal. The difference between the voltages of the LDRs is received as analog readings.
Function of the processor: The analog readings are converted to integer values by ADC input ports
which is compared in order to get the difference value for motor movement.
The difference is transmitted to the servo motor and it thus moves to ensure the two LDRs are an
equal inclination. This means they will be receiving the same amount of light, and the Solar panel
will receive the sunlight at 90°, (the plane of PV panel will make an angle 90° with the Sun, and
the perpendicular drawn on the plane makes an angle 0° with the Sun, to ensure maximum
illumination: Lambert’s cosine Law) The procedure is repeated throughout the day. Tracker
systems work on two simple principles together. One being, the normal principle of incidence and
reflection on which our tracker works and the other is the principle on which the solar (PV) panel
works, which will produce electricity. Both these principles can be combined and as a result of
which it can produce nearly double the output that the panel specifies normally.
WORKING PRINCIPLE:
1. Resistance of LDR depends on intensity of the light and it varies according to it. The
higher is the intensity of light, lower will be the LDR resistance and due to this the output
voltage lowers and when the light intensity is low, higher will be the LDR resistance and
thus higher output voltage is obtained.
2. A potential divider circuit is used to get the output voltage from the sensors (LDRs).The
circuit is shown here.

The LDR senses the analog input in voltages between 0 to 5 volts and provides a digital number
at the output which generally ranges from 0 to 1023.
Now this will give feedback to the microcontroller using the arduino software(IDE).
The servo motor position can be controlled by this mechanism which is discussed later in the
hardware model.
The tracker finally adjusts its position sensing the maximum intensity of light falling
perpendicular to it and stays there till it notices any further change.
The sensitivity of the LDR depends on point source of light. It hardly shows any effect on diffuse
lighting condition.

BASIC CIRCUIT DIAGRAM

An overview of the required circuit for the Dual-axes solar tracker is shown here.
The 5V supply is fed from an USB 5V dc voltage source through Arduino Board.
Servo X :Rotates solar panel along X direction
Servo Y :Rotates solar panel along Y direction
HARDWARE MODEL
BLOCK DIAGRAM OF THE SOLAR TRACKER:
ARDUINO UNO
The Arduino Uno is a microcontroller board based on the ATmega328. Arduino is an open-source,
prototyping platform and its simplicity makes it ideal for hobbyists to use as well as professionals.
The Arduino Uno has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6
analog inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and
a reset button. It contains everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.
The Arduino Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial
driver chip. Instead, it features the Atmega8U2 microcontroller chip programmed as a USB-to-
serial converter.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The
Arduino Uno and version 1.0 will be the reference versions of Arduno, moving forward. The Uno
is the latest in a series of USB Arduino boards, and the reference model for the Arduino platform.

THE ATMEGA328P-PU ATMEL 8 BIT 32K AVR MICROCONTROLLER

The Atmel®picoPower®ATmega328/P is a low-power CMOS 8-bit microcontroller based on the
AVR® enhanced RISC architecture.
PIN DIAGRAM:

AVR CPU CORE ARCHITECTURE

The main function of the CPU core is to ensure correct program execution. The CPU must
therefore be able to access memories, perform calculations, control peripherals, and handle
interrupts.
Flash, EEPROM, and SRAM are all integrated onto a single chip, removing the need for external
memory in most applications. Some devices have a parallel external bus option to allow adding
additional data memory or memory-mapped devices. Almost all devices (except the smallest
Tiny AVR chips) have serial interfaces, which can be used to connect larger serial EEPROMs or
flash chips.
CPU
The CPU of the AVR microcontroller is same but so simple like the one in a computer. The main
purpose of the CPU is to confirm correct program performance. Therefore, the CPU must be able
to access perform calculations, memories, control peripherals & handle interrupts. The CPUs of
Atmel’s 8-bit and 32-bit AVR are based on an innovative “Harvard architecture” thus every IC has
two buses namely one instruction bus and data bus. The CPU reads executable instructions in
instruction bus, wherein the data bus, is to read or write the corresponding data. The CPU core of
the AVR consists of the ALU, General Purpose Registers, Program Counter, Instruction Register,
Instruction Decoder, Status Register and Stack Pointer
Flash Program Memory
The program of the AVR microcontroller is stored in non-volatile programmable Flash program
memory which is just similar to the flash storage in your SD Card or Mp3 Player. The Flash
program memory is separated into two units. The first unit is the Application Flash section. It is
where the program of the AVR is stored. The second section is named as the Boot Flash section
and can be fixed to perform directly when the device is powered up. One significant fact to note is
that the microcontrollers Flash program memory has a resolution of at least 10,000 writes/erase
cycles.
SRAM
The SRAM (Static Random Access Memory) of the AVR microcontroller is just like computer
RAM. While the registers are used to execute calculations, the SRAM is used to supply data
through the runtime. This volatile memory is prearranged in 8-bit registers.
EEPROM
The term EEPROM stands for Electrically Erasable Read-Only Memory is like a nonvolatile
memory, but you can’t run a program from it, but it is used as long time storage. The EEPROM
doesn’t get removed when the IC loses power. It’s a great place for storing data like device
parameters and configuration of the system at runtime so that it can continue between resets of the
application processor. One significant fact to note is that the EEPROM memory of the AVR has a
limited lifetime of 100,000 writes / EEPROM page – reads are limitless. Keep this in 15
mind in your application and try to keep writing to a minimum, so that you only write the small
amount of info required for your application every time you update the EEPROM.
Digital I/O Modules
The digital I/O modules let digital communication or logic communication with the AVR
microcontroller and the exterior world. Communication signals are that of TTL/CMOS logic.
Analog I/O Modules
Analog I/O modules are used to input or output analog information from or to the exterior world.
These modules comprise analog comparators and analog-to-digital converters (ADC).
Interrupt Unit
Interrupts have enabled the microcontroller to monitor particular events in the background while
performing and application program & respond to the occurrence if required pausing the unique
program. This is all synchronized by the interrupt Unit.
Timer
Most AVR microcontrollers have at least one Timer or Counter module which is used to achieve
timing or counting operations in the microcontroller. These comprise time stamping, counting
events, measuring intervals, etc. 16
LDR
• It is a photo-resistor is a device whose resistivity is a function of the incident electromagnetic
radiation. Hence, they are light sensitive devices. They are also called as photo conductors, photo
conductive cells or simply photocells.
• They are made up of semiconductor materials having high resistance.
• LDR works on the principle of photo conductivity.

Photo conductivity is an optical phenomenon in which the material’s conductivity is increased

when light is absorbed by the material.
The most common type of LDR has a resistance that falls with an increase in the light intensity
falling upon the device (as shown in the image above). The resistance of an LDR may typically
have the following resistances:
Daylight = 5000Ω
Dark = 20000000Ω
Therefore,
ADC CONCEPT IN ARDUINO UNO

Arduino uno board has 6 ADC input ports. Among those any one or all of them can be used as
inputs for analog voltage. The Arduino Uno ADC is of 10 bit resolution (so the integer values
from (0-(2^10) 1023)). This means that it will map input voltages between 0 and 5 volts into integer
values between 0 and 1023. So, for every (5/1024= 4.9mV) per unit.
The UNO ADC channels have a default reference value of 5V. This means we can give a maximum
input voltage of 5V for ADC conversion at any input channel. Since some sensors provide voltages
from 0-2.5V, with a 5V reference we get lesser accuracy, so we have a instruction that enables us
to change this reference value. So for changing the reference value we have
(“analogReference();”).
As default we get the maximum board ADC resolution which is 10bits, this resolution can be
changed by using instruction (“analogReadResolution(bits);”).
SOFTWARE PROGRAM MODEL
void setup() {

// initialize digital pin 13 as an output.

pinMode(2, INPUT);

pinMode(3, INPUT);

pinMode(4, INPUT);

pinMode(5, INPUT);

pinMode(6,OUTPUT );

pinMode(7,OUTPUT );

pinMode(8,OUTPUT );

pinMode(9,OUTPUT );

// the loop function runs over and over again forever

void loop()

if( digitalRead(2)&&digitalRead(3)&&digitalRead(4)&&digitalRead(5)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,LOW);

else if( digitalRead(2)&&digitalRead(4)==HIGH)

digitalWrite(6,HIGH);
digitalWrite(7,LOW);

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

else if( digitalRead(3)&&digitalRead(5)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

else if( digitalRead(2)&&digitalRead(5)==HIGH)

digitalWrite(6,HIGH);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);

else if( digitalRead(3)&&digitalRead(4)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

}
else if( digitalRead(2)==HIGH)

digitalWrite(6,HIGH);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,LOW);

else if( digitalRead(3)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,HIGH);

digitalWrite(8,LOW);

digitalWrite(9,LOW);

else if( digitalRead(4)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,HIGH);

digitalWrite(9,LOW);

else if( digitalRead(5)==HIGH)

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,HIGH);
}

else

digitalWrite(6,LOW);

digitalWrite(7,LOW);

digitalWrite(8,LOW);

digitalWrite(9,LOW);

}
DUAL AXIS MOVEMENT OF SOLAR TRACKER
 The dual axis solar tracker is device which senses the light and positions towards the
maximum intensity of light. It is made in such a way to track the light coming from any direction.
 To simulate the general scenario of the Sun’s movement, the total coverage of the
movement of the tracker is considered as 120˚ in both the directions.
 The initial position of both the servo motors are chosen at 90˚i.e, for east-west servo motor
as well as for north-south servo motor.
 The position of the tracker ascends or descends only when the threshold value is above
the tolerance limit.
BENEFITS AND DEMERITS OF SOLAR ENERGY
There are several benefits that solar energy has and which make it favourable for many uses.
Benefits:
• Solar energy is a clean and renewable energy source.
• Once a solar panel is installed, the energy is produced at reduced costs.
• Whereas the reserves of oil of the world are estimated to be depleted in future, solar
energy will last forever.
• It is pollution free.
• Solar cells are free of any noise. On the other hand, various machines used for pumping
oil or for power generation are noisy.
• Once solar cells have been installed and running, minimal maintenance is required. Some
solar panels have no moving parts, making them to last even longer with no maintenance.
• On average, it is possible to have a high return on investment because of the free energy
solar panels produce.
• Solar energy can be used in very remote areas where extension of the electricity power
grid is costly.

Demerits:
• Solar panels can be costly to install resulting in a time lag of many years for savings on
energy bills to match initial investments.
• Generation of electricity from solar is dependent on the country’s exposure to sunlight.
That means some countries are slightly disadvantaged.
• Solar power stations do not match the power output of conventional power stations of
similar size. Furthermore, they may be expensive to build.
• Solar power is used for charging large batteries so that solar powered devices can be used
in the night. The batteries used can be large and heavy, taking up plenty of space and needing
frequent replacement.

FINALLY,
As the merits are more than the demerits, the use of solar power is considered as a clean and
viable source of energy. The various limitations can be reduced through various ways.
 OBSERVATIONS AND RESULT
WHAT WE HAVE OBSERVED....

In this Dual Axis Solar Tracker, when source light falls on the panel, the panel adjusts its position
according to maximum intensity of light falling perpendicular to it.
The objective of the project is completed. This was achieved through using light sensors that are
able to detect the amount of sunlight that reaches the solar panel. The values obtained by the LDRs
are compared and if there is any significant difference, there is actuation of the panel using a servo
motor to the point where it is almost perpendicular to the rays of the sun.
This was achieved using a system with three stages or subsystems. Each stage has its own role. The
stages were;
An input stage that was responsible for converting incident light to a voltage.
A control stage that was responsible for controlling actuation and decision making.
A driver stage with the servo motor. It was responsible for actual movement of the panel.
The input stage is designed with a voltage divider circuit so that it gives desired range of
illumination for bright illumination conditions or when there is dim lighting. The potentiometer
was adjusted to cater for such changes. The LDRs were found to be most suitable for this project
because their resistance varies with light. They are readily available and are cost effective.
Temperature sensors for instance would be costly.
The control stage has a microcontroller that receives voltages from the LDRs and determines the
action to be performed. The microcontroller is programmed to ensure it sends a signal to the servo
motor that moves in accordance with the generated error.
The final stage was the driving circuitry that consisted mainly of the servo motor. The servo
motor had enough torque to drive the panel. Servo motors are noise free and are affordable,
making them the best choice for the project.
 CONCLUSION

In this 21st century, as we build up our technology, population & growth, the energy consumption
per capita increases exponentially, as well as our energy resources (e.g. fossils fuels) decrease
rapidly. So, for sustainable development, we have to think alternative methods (utilization of
renewable energy sources) in order to fulfil our energy demand.
In this project, Dual Axis Solar Tracker, we’ve developed a demo model of solar tracker to track
the maximum intensity point of light source so that the voltage given at that point by the solar panel
is maximum. After a lot of trial and errors we’ve successfully completed our project and we are
proud to invest some effort for our society. Now, like every other experiment, this project has
couple of imperfections.
i (i) Our panel senses the light in a sensing zone, beyond which it fails to respond.

ii (ii) If multiple sources of light (i.e. diffused light source) appear on panel, it calculates the
vector sum of light sources & moves the panel in that point.

This project was implemented with minimal resources. The circuitry was kept simple,
understandable and user friendly.
 REFERENCES

[1] Solar Tracking Hardware and Software by Gerro J Prinsloo

[2] Design and Implementation of a Sun Tracker with a Dual-Axis Single Motor

“Jing-Min Wang and Chia-Liang Lu’’

[3] Sensors and Transducers...Second Edition...’’D.Patranabis”

[4] Atmel ATmega48A/PA/88A/PA/168A/PA/328/P-datasheet

[5] Utilisation of Electrical Power. Author, Er. R. K. Rajput.

[6] Arduino Programming Book. Author, Brian W. Evans