International Journal of Reconfigurable and Embedded Systems (IJRES)

Vol. 14, No. 1, March 2025, pp. 157~164

ISSN: 2089-4864, DOI: 10.11591/ijres.v14.i1.pp157-164  157

Implementation of flexible axis photovoltaic system based on

internet of things

Aji Akbar Firdaus1, Muhamad Zalani Daud2, Parvathy Rajendran3, Mahmud Iwan Solihin4,
Li Wang5, Mimi Azmita1, Hamzah Arof6
1
Department of Engineering, Faculty of Vocational, Universitas Airlangga, Surabaya, Indonesia
2
Department of Electronics and Instrumentation, Faculty of Ocean Engineering Technology and Informatics,
Universiti Malaysia Terengganu, Terengganu, Malaysia
3
School of Aerospace Engineering, Universiti Sains Malaysia, Penang, Malaysia
4
Department of Mechanical and Mechatronics, Faculty of Engineering, UCSI University, Kuala Lumpur, Malaysia
5
Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan
6
Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia

Article Info ABSTRACT

Article history: Electricity is a crucial aspect in human life. With population growth,
ongoing regional development, and continuous construction activities, the
Received Mar 18, 2024 demand for electricity and fuel in Indonesia is increasing. The substantial
Revised Aug 31, 2024 power consumption leads to larger financial expenditures for the
Accepted Sep 6, 2024 community. Additionally, the use of electricity, as it has been traditionally
employed, has negative environmental impacts. Solutions are needed to
address these issues, and one effort involves the use of renewable energy,
Keywords: such as the development of solar power plants (PLTS). PLTS, also known as
solar cells, is preferred as it can be used for various relevant purposes in
Energy efficiency different locations, particularly in offices, factories, residential areas, and
Environmental impact others. However, the use of static, single-axis, and dual-axis solar panels still
Flexible-axis tracker has drawbacks, such as suboptimal sunlight intensity and high motor power
Renewable energy consumption. Therefore, a flexible-axis solar panel tracking system has been
Solar power developed to follow the direction of sunlight, ensuring optimal power
efficiency, and significant electricity generation. The flexible-axis tracker
system results in a 34.13% increase in power efficiency.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Aji Akbar Firdaus
Department of Engineering, Faculty of Vocational, Universitas Airlangga
Surabaya, East Java, Indonesia
Email: [email protected]

1. INTRODUCTION
Currently, there is an increase in demand for electrical energy worldwide, however, conventional
methods of generating electricity such as the use of fossil fuels are no longer sustainable due to their
increasing scarcity and cost [1]–[3]. Therefore, in recent years, the use of solar energy has become one of the
primary clean and renewable energy sources globally. Particularly in Indonesia, solar energy has a potential
of 4.8 kWh/m2 or equivalent to 112,000 GW [4]. The main application of solar energy is in power generation
using solar photovoltaic (PV) systems. This system converts direct sunlight into direct current (DC) through
the PV effect [5]–[7]. To maximize the output power of PV panels, the panel position should be
perpendicular to sunlight (radiation) [8]–[11].
The geographical location and changing sunlight conditions have an impact on the output power
produced by solar PV panels. Additionally, the number and angle of solar radiation, types and quantities of
cells, cell load temperature, and voltage are other factors that determine the amount of PV panel output

Journal homepage: http://ijres.iaescore.com

158  ISSN: 2089-4864

power [12]–[14]. To address this issue, solar trackers can be utilized to maximize PV output power. Solar
trackers receive the maximum amount of solar radiation during the day by positioning PV panels
perpendicular to sunlight [15], [16].
However, the issue with uniaxial tracking systems is that they do not provide acceptable tracking
capability due to module rotation limitations, resulting in the loss of a significant amount of solar energy
produced by PV modules [17]–[20]. Several techniques have been employed to achieve optimal power in PV
systems by adding sun-tracking control systems [20]–[23]. This aims to obtain the maximum power point
from the PV and direct the PV towards the sun [24]–[26]. Solar panels also require control to track the sun's
position to always follow the correct sun position, thus maximizing sunlight absorption [27]–[30]. This
tracking system is used to track the horizontal rotation axis and vertical rotation axis. The horizontal axis is
used to track the sun's elevation angle, while the vertical axis is used to follow the sun's azimuth. Therefore,
this research aims to create a system that can track sunlight in all directions, thus generating maximum
electrical power with a flexible axis system that can move in all directions without being limited by axes. The
flexible axis is designed so that the PV surface always faces the sun, thereby improving the efficiency of the
generated power.

2. METHOD
The rapid growth in the PV system market has sparked increasing interest in the development of
solar tracking systems. The mounting structure that has been the focus of research is the pseudo-azimuthal
system, where the rotation speed varies significantly for the primary and secondary axes, creating structural
stability [14]. However, this system still faces challenges related to the limitations of PV module rotation
movements. Limited rotation movements along specific axes can hinder the optimal absorption of solar
energy. Therefore, there is a need to develop a more flexible tracking system capable of rotating in all
directions (east, west, north, and south), ensuring that the PV panels remain perpendicular to sunlight
throughout the day.
The proposed tracking system design embraces the concept of unrestricted flexibility along specific
axes. This aims to create freedom of movement for PV module rotation, thereby enabling more optimal
tracking of sunlight. The freedom to rotate in all directions is a primary advantage, allowing for efficient
adjustment to changes in the sun's position. Several important aspects of the design involve the selection of
materials capable of supporting the weight of PV panels, sturdy frame structures, efficient actuators, shafts as
the main driving elements, wheel mechanisms for smooth movement, and accurate solar power measurement
systems. Sustainability and system reliability are primary concerns during the development process. In
implementing the design, ball-joint technology is used as the central shaft to enable free rotation. The height
of the structure is limited by considering factors such as wind speed and the weight of the PV panels,
ensuring overall system stability without sacrificing performance in different environmental conditions.
The mechanical flexible axis solar panel system consists of solar panels, a DC motor with a gearbox,
hollow iron, galvalume, nylon ropes, ball joints, and bearing rods. A DC motor with a gearbox is connected
to four nylon ropes, and the ends of the panel pass through the installed bearing rods. The movement system
of the nylon ropes differs on each diagonal, creating tension that drives the ball joints to move the solar panel
without axis limitations. Data collection was undertaken for 12 hours from 07:00 to 17:00 WIB at the
Vocational Faculty, Universitas Airlangga during the rainy season. The power formula, indicated in (1), is
used to analyze the data generated by the solar panels to determine the comparison of power efficiency levels
produced by the flexible axis system with the static system:

𝑃 = 𝑉×𝐼 (1)

with: 𝑃 is Watt; 𝑉 is Volt; and 𝐼 is Ampere.

The percentage difference in power relative (𝛥𝑃) can be calculated using the (2):
𝑃𝑡𝑟𝑎𝑐𝑘𝑖𝑛𝑔 − 𝑃𝑓𝑖𝑥𝑒𝑑
𝛥𝑃 = × 100 % (2)
𝑃𝑓𝑖𝑥𝑒𝑑

where (2) explains that 𝛥𝑃 represents the percentage difference in power relative (%). 𝑃𝑡𝑟𝑎𝑐𝑘𝑖𝑛𝑔 is the power
produced by the flexible axis system, and 𝑃𝑓𝑖𝑥𝑒𝑑 is the power produced by the static system. Through these
calculations, the percentage increase in solar panel power between those equipped with flexible axis trackers
and those without trackers (static) is determined. Figure 1 is a model of a mechanical component from a
flexible axis used to move the PV panel so that the PV surface faces the sun. Figure 1(a) depicts the design of

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Int J Reconfigurable & Embedded Syst ISSN: 2089-4864  159

the flexible-axis solar panel mechanism, while Figure 1(b) illustrates the rear-view design of the flexible-axis
solar panel from the rear.

(a) (b)

Figure 1. The design of the flexible-axis solar panel mechanism shown from (a) an isometric view and (b) a
rear view

In the design of this research, there are several designs for assembling the electrical circuit of the
flexible axis and static systems. The microcontroller used in this research is the Arduino Atmega2560 as the
proportional integral derivative (PID) controller, where the microcontroller will receive data from the
encoder sensor in the form of position and motor speed values, and real-time clock (RTC) in the form of time
values (hours, minutes, and seconds), thus providing signals to the motor driver to drive the DC motor with
gearbox. Meanwhile, the NodeMCU ESP8266 serves as the controller for the PZEM-017 sensor and acts as a
connection to Blynk. Other devices for the flexible axis system include the BTS-7960 motor driver, Modbus
RS485 converter, RTC DS3231 sensor, encoder sensor, PZEM-017 sensor, digital pins, push buttons,
LM2596 step down, power supply, and solar charger controller (SCC).
The system operation overview is depicted in Figure 2, starting with the power supply providing
power to the Atmega2560 through the LM2596 step-down to lower its voltage. Then, the entire system will
be powered up, and the RTC and encoder sensors will provide data to the Atmega2560 microcontroller via
Modbus RS485 to monitor and control device operations, as well as to send energy production data to the
central control system. The Modbus RS485 is also connected to the ESP8266 microcontroller, and the
voltage obtained by ESP8266 comes from Atmega2560. This causes the PSEM-017 sensor to activate and
read data, which is then connected to the SCC. Similarly, the MPU6050 sensor is powered by ESP8266 to
read data and transmit it to Blynk.
The flexible-axis system begins with the initialization of input/output, then the RTC sensor will read
the time values (hours, minutes, and seconds), and the encoder sensor will read the values of motor position
and speed before being forwarded to the Arduino Uno Atmega2560. During the process of solar panel
movement following the direction of sunlight based on time, the PZEM-017 sensor will read the current,
voltage, and power values obtained, which are then forwarded to the ESP8266 for processing and
subsequently sent to Blynk for monitoring current, voltage, and power data via Wi-Fi.

Figure 2. Electronic flexible axis operation system

Implementation of flexible axis photovoltaic system based on internet of things (Aji Akbar Firdaus)
160  ISSN: 2089-4864

3. RESULTS AND DISCUSSION

In this section, the data collection results obtained from solar panels using sun tracking systems with
flexible axis and static approaches are presented in Table 1. The proposed system is designed to overcome
the limitations of rotational movement of PV module rotation in the commonly used pseudo-azimuthal
approach. Experiments and analyses were conducted to understand the performance of solar panels with two
different tracking approaches. Solar panels were installed with a flexible axis tracking system utilizing a
central shaft using a ball joint. This system allows the solar panels to rotate in all directions, namely east,
west, north, and south, to keep the PV panels perpendicular to sunlight throughout the day. For comparison,
solar panels were also installed with a static tracking system that limits movement along specific axes.

Table 1. Comparison of data results between flexible axis tracker and static solar panel conditions
Time Flexible axis tracker Static solar panel
(Hour) Voltage (V) Current (A) Power (W) Voltage (V) Current (A) Power (W)
8:30 20.4 0.20 4.08 17.9 0.27 4.83
9:00 20.8 0.30 6.24 18.8 0.27 5.07
9:30 21.2 0.20 4.24 19.4 0.28 5.43
10:00 21.3 0.30 6.39 19.4 0.30 5.82
10:30 21.7 0.40 8.68 20.1 0.37 7.43
11:00 21.7 0.50 10.85 20.3 0.45 9.14
11:30 22.8 0.84 19.15 21.9 0.53 11.60
12:00 22.3 1.00 22.30 21.7 0.60 13.02
12:30 22.6 1.10 24.86 21.2 0.70 14.84
13:00 21.7 1.00 21.70 20.6 0.98 20.18
13:30 21.4 1.30 27.82 19.5 1.10 21.45
14:00 21.3 1.00 21.30 19.3 0.82 15.82
14:30 21.3 0.92 19.59 19.3 0.76 14.66
15:00 21.2 0.85 18.02 17.9 0.27 4.83
15:30 21.1 0.76 16.03 18.8 0.27 5.07
16:00 21.1 0.60 12.66 19.4 0.28 5.43

From the collected data, the percentage difference in relative power (ΔP) can be calculated
using (3)-(5).
𝑃𝑡𝑟𝑎𝑐𝑘𝑖𝑛𝑔 − 𝑃𝑓𝑖𝑥𝑒𝑑
𝛥𝑃 = × 100% (3)
𝑃𝑓𝑖𝑥𝑒𝑑

𝑃total PS fa = 243.92 𝑊 (4)

𝑃total PS t = 181.84 𝑊 (5)

∆𝑃total = 62.08 𝑊

Then (6)-(9).
𝑃𝑡𝑟𝑎𝑐𝑘𝑖𝑛𝑔 − 𝑃𝑓𝑖𝑥𝑒𝑑
𝛥𝑃 = × 100% (6)
𝑃𝑓𝑖𝑥𝑒𝑑

243.92 − 181.84 𝑊
𝛥𝑃 = × 100% (7)
181.84 𝑊

62.08 𝑊
𝛥𝑃 = × 100% (8)
181.84 𝑊

𝛥𝑃 = 34.13% (9)

Based on the data obtained from (3)-(9) explaining the derivation of the solar panel tracking
efficiency formula, a 34.13% reduction in power was observed in the flexible axis solar panel system
compared to the static system. The comparison graph of power is presented in Figure 3, where the blue line
represents the system using a flexible axis to track sunlight, and the orange line represents the system without
a tracker (static), demonstrating a significant difference. As seen in the figure, the voltage in Figure 3(a),
current in Figure 3(b), and power in Figure 3(c) of the flexible axis tracker are consistently higher than those
of the static system throughout the day. This indicates that the flexible axis tracker is more efficient in

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Int J Reconfigurable & Embedded Syst ISSN: 2089-4864  161

capturing sunlight, thereby generating more electrical power. The dynamic adjustment of the flexible tracker
allows it to maintain an optimal angle relative to the sun, maximizing energy absorption, whereas the static
system fails to adapt to the changing position of the sun, resulting in lower performance. Overall, the data
clearly illustrates the advantages of employing a flexible axis tracking system in solar power generation.

(a)

(b)

(c)

Figure 3. Comparison of (a) voltage, (b) current, and (c) power between flexible axis tracker compared to
static solar tracker

Implementation of flexible axis photovoltaic system based on internet of things (Aji Akbar Firdaus)
162  ISSN: 2089-4864

4. CONCLUSION
The research concludes that the integration of a novel flexible axis in the design of mechanical,
software, and electronic components significantly enhances solar energy collection efficiency. The
implemented system successfully followed programmed instructions, resulting in a marked increase in
electrical power output. Specifically, the flexible axis solar panel system generated 243.92 W, compared to
181.84 W from the stationary system, demonstrating a 34.13% improvement in power efficiency. The notable
power difference of 62.08 W underscores the superior effectiveness of the novel flexible axis tracker.
Additionally, the system's efficiency allows for a reduction in the number of DC motors required, further
highlighting its advantages over stationary, single-axis, and dual-axis tracking systems. This study provides
concrete evidence that novel flexible axis trackers substantially boost solar power generation, making them a
highly efficient solution in solar energy technology.

ACKNOWLEDGEMENTS
Thank you to SATU JRS and Universitas Airlangga for supporting our research under contract
number 1616/UN3.LPPM/PT.01.03/2023.

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BIOGRAPHIES OF AUTHORS

Aji Akbar Firdaus received master of engineering in the Department of Electrical

Engineering, Institut Teknologi Sepuluh Nopember (ITS), Surabaya, Indonesia, in 2015. He is
currently a lecturer and researcher in the Department of Engineering, Universitas Airlangga.
His research interests include power systems simulation, power systems analysis, power
systems stability, renewable energy, and artificial intelligence. He can be contacted at email:
[email protected].

Muhamad Zalani Daud completed his bachelor’s degree in electrical and

electronic engineering, Ritsumeikan University, Kyoto, Japan in March 2003. In February
2010 he completed his M.Sc. by research at School of Electrical, Computer and
Telecommunications Engineering, University of Wollongong, Australia. Later in 2014,
completed his Ph.D. in renewable energy from Faculty of Engineering and Built Environment,
Universiti Kebangsaan Malaysia (UKM). He is currently a senior lecturer at the Universiti
Malaysia Terengganu (UMT), Faculty of Ocean Engineering Technology in which his research
interests are in renewable energy, smart energy meter, and energy efficiency. He can be
contacted at email: [email protected].

Parvathy Rajendran is currently an Associate Professor in the School of

Aerospace Engineering at Universiti Sains Malaysia since 2013. She completed her Ph.D. in
Aerospace Engineering from Cranfield University, the United Kingdom, in October 2012. Her
research includes UAV design, development and flight testing, and UAV's systems
development and testing. She has produced many high-impact publications and served as an
editor-in-chief, guest editor, international advisor, and reviewer. She has been the chairman
and member of the technical conference committee of various international conferences. In
addition, she has maintained various grants worth more than RM 1.7 million. She can be
contacted at email: [email protected].

Implementation of flexible axis photovoltaic system based on internet of things (Aji Akbar Firdaus)
164  ISSN: 2089-4864

Mahmud Iwan Solihin is a dedicated and skilled software engineer with a

passion for creating innovative solutions to complex problems. Born and raised in Jakarta,
Indonesia, he showed an early interest in technology and computers. He excelled in
mathematics and science throughout his academic career, laying a strong foundation for his
future in software engineering. Mahmud earned his bachelor's degree in computer science from
the University of Indonesia, where he graduated with honors. During his time at university, he
actively participated in various programming competitions and hackathons, showcasing his
exceptional problem-solving skills and creativity. He is interested in automatic control,
robotics, applied artificial intelligence, applied optimization, and near infrared spectroscopy.
He can be contacted at email: [email protected].

Li Wang received the Ph.D. degree from the Department of Electrical

Engineering, National Taiwan University, Taipei City, Taiwan, in June 1988. He was an
Associated Professor at the Department of Electrical Engineering, National Cheng Kung
University, Tainan City, Taiwan in from August 1988 to July 1995. Since August 1, 1995, he
has been promoted to be a Professor at the Department of Electrical Engineering, National
Cheng Kung University, Tainan City, Taiwan. He was a visiting scholar of School of Electrical
Engineering and Computer Science, Purdue University, West Lafayette, IN, USA from
February 2000 to July 2000. He was a visiting scholar of School of Electrical Engineering and
Computer Science, Washington State University, Pullman, WA, USA from August 2003 to
January 2004. He was a research scholar of Energy Systems Research Center (ESRC), The
University of Texas at Arlington, Arlington, TX, USA from August 2008 to January 2009. His
current research interests include power system dynamics, power system stability, AC
machines analysis, and renewable energy. He is an IEEE Senior Member. He can be contacted
at email: [email protected].

Mimi Azmita is a student motivated to study instrumentation and control

engineering at Airlangga University. Throughout my academic journey, she gained valuable
experience by joining various organizations and working on different projects with my
lecturer, achieving success in numerous academic competitions. Her expertise includes the
installation and calculation of solar cells, operating Microsoft Office, and creating unmanned
aerial vehicles and businesses. She can be contacted at email: [email protected].

Hamzah Arof is a Professor of electrical engineering at the University of Malaya,

Malaysia. He received his Ph.D. at University of Wales in 1997. He is interested in signal
processing, photonics, and econometrics. He can be contacted at email: [email protected].

Int J Reconfigurable & Embedded Syst, Vol. 14, No. 1, March 2025: 157-164