Design, Implementation and Performance Analysis
of a Dual-Axis Autonomous Solar Tracker
Mohammed Saifuddin Munna
Dept. of Electrical and Electronic Engineering
Premier University
Chittagong, Bangladesh
Email: munna.puc@gmail.com
Kazi Mustafizur Rahman
Dept. of Electrical and Electronic Engineering
Premier University
Chittagong, Bangladesh
Email: kazi.eee.puc@gmail.com
Abstract This paper proposed a design, implementation &
performance of an energy efficient solar tracking system based
on closed loop technique. This solar tracking system is
autonomous dual axis hybrid type. Solar efficiency depends on
PV cell and its tracking system. In our works we concentrate on
the panel tracking system. Our tracking system is a sensor based
tracking system and it can track the sun continuously. A sensor
placed on the surface of the panel and sensor compare light
intensity continuously. Then our control unit sends signal to
actuator unit to reposition the panel. This system is energy
efficient because the actuator unit shut down in cloudy weather
and turns on in sunny weather. Powerful microcontroller used to
calculate and evaluate the light intensity form sensor unit, then
send instruction to actuator unit. For graceful and accurate
angular motion we used the servo actuator system. Its no need
additional real time clock to track annual motion and daily
motion because its based on active closed loop system. Our
implemented design is more efficient and convenient than other
tracker
Keywords-tracker; autonomous; active; microcontroller;
sensor; motion; efficiency; PV; actuator; intensity; servo
I. INTRODUCTION
The last few years renewable energy has gained much
importance all over the world. There are different types of
renewable energy like hydropower, wind power, biomass
energy etc. Among them solar energy is an essential resource
of sustainable energy [1]. Basically, solar cell converts the
suns ray into useful electric energy. Solar cell, also called
photovoltaic cell or PV cell. The PV cell is like a classical p-n
junction diode and its convert light energy into electrical
energy. When semiconductor materials absorbs sunlight, which
knocks electrons from their atoms then these electrons flow
through the materials and produce electricity [2]. The solar
system is not smoky and does not produce toxic gas, thats why
its very popular in the present condition of modernization [3].
Researchers estimate that covering 0.16% of the land on
earth with 10% efficient solar conversion system would
978-1-5090-0169-9/15/$31.00 2015 IEEE
Mohammad Ariful Islam Bhuyan
Dept. of Electrical and Electronic Engineering
Premier University
Chittagong, Bangladesh
Email: arif.ajtfs@yahoo.com
Md. Ashiqul Hoque
Dept. of Electrical and Electronic Engineering
Premier University
Chittagong, Bangladesh
Email: ahshawon222@gmail.com
provide 20TW of power, nearly twice the worlds consumption
rate of fossil energy [4]. From this point we can conclude that
solar tracking mechanism can make more power generation.
Tracking mechanism helps to collect sunlight radiation on the
solar surface perpendicularly which ensure more efficiency and
more useful energy. Many researchers developed different
types of solar tracker to ensure maximum solar efficiency.
Fixed solar panel placed in a reasonable titled angle to face
maximum daylight. After that there are two types of solar
tracking system invented based on movement degree of
freedoms. One is a single axis solar tracker and another is Dual
axis solar tracker. Then these two systems further classified as
active, passive and chronological trackers [5].
Different previous works have been done on a single axis
solar tracker in which solar panel follows only the suns daily
motion. It is important that earth rotate in a complex motion
[6]. In daily motion sun movement is from east to west. Annual
motion cause tilt angle at a perpendicular axis while moving
from east to west [7]. In other papers done based on Dual axis
solar tracker. In that case real time clock used for timing
purpose. Tracker moves based on time along with a daily
motion from east to west and annual motion that is from north
to south tracking done by position sensor.
In passive tracking system tracker determine the position of
the sun in the sky, moves in response to an imbalance in
pressure between two points at both ends of the track. The
imbalance solar heat creates gas pressure, low boiling point
compressed gas, fluid that is driven to one side or the other
which then moves the structure. This method is not very
accurate for tracking sunlight [8].
In chronological tracking system tracker tracks the sun with
the help of real time clock. To perform this operation some
calculation needed. To track the sun from east to west with the
help of daily motion, the panel has to move 15 per hour. Also
need to calculate tilt angle increment or decrement annually to
track sunlight more accurately. Calculation performed by
controller section and then sends to actuator unit to track the
sun accurately. This is an efficient way to get maximum energy
from solar panel [9]. But the active system (or concern) is more
accurate and efficient than chronological system.
In an active tracking system, solar panel tracks the sun by
using some light sensor. The light sensor continuously collects
the light from the sun, and then sends corresponding analog
output to the control unit. In that case the ordinary voltage
divider rule helps. Then sensors output feed by ADC of
microcontroller. Microcontroller all time compares the light
intensity from sensors. If the sunlight is not perpendicular to
the tracker, then there will be a difference in light intensity on
one light sensor compared to another. This difference
determines in which direction trackers have to move. This
instruction sends to the motor driver as signal, and then driver
drives the motor or actuator in desire angle. This operation is a
continuous process in which tracker continuously tracks higher
light intensity. As a result solar panel feed sunlight
perpendicularly on a surface. This system is an energy efficient
process because the control system is shut down on cloudy
weather, then again activate during sunny weather. This
process is accurate and efficient for tracking sunlight.
We used servo motor and accurate controller unit which
helps to track maximum sunlight efficiently.
A. Why Autonomous Dual-Axis Solar Tracker
For the most part our common everyday solar cells run at
an efficiency of 18-20%, meaning they convert 18-20% of the
everyday they receive into electricity this is far better than the
3-6% efficiency that most green plants end up with, it doesn't
quite meet our power needs. To bring in enough power we
either need to improve the efficiency of our panels or find ways
of getting more from our current solar panels.
Every panel you see in your day to day life is in a fixed
position, most likely facing south at a 45 degree angle. While
this approach is extremely simple and meets the needs of most
small applications, it isn't producing as much energy as it could
be. The single simplest way of getting more energy out of a
solar panel is to have it track the sun. In fact solar panels that
track the sun create around 30% more energy per day than a
fixed panel.
B. Related Works
Many researchers already have done different research
work on renewable energy. Solar energy based work, one of
them. They work to enrich solar cell efficiency and many of
them work on tracking system to get better output. One paper
proposed fixed angle solar panel with a certain tilt angle to get
sunlight. Another one proposed daily motion based single axis
solar panel tracker with certain tilt angle. And one is done with
chronological motion based Dual axis solar panel tracker [9].
Some works done based on passive panel tracking system [8].
II. METHODOLOGY
In Dual axis tracking system, solar panel can rotate in two
directions, i.e. horizontal and vertical direction by taking
azimuth and inclination angle as a reference. In that situation
two techniques may be applied.
A. Open Loop Control Technique
Open loop control technique that depends on calculation the
voltage corresponding to the output angles and feeding them
into the DC motors.
B. Closed Loop Control Technique
Closed loop technique which mainly depends on the signal
sent by the solar tracking sensors attached on the surface of the
panel. The function of these sensors is to detect the position of
the sun and feed the signal back to the electronic control circuit
which in turn the signal to the motor to correct the real position
of the panel perpendicular to the sun. (To which our work is
concerned)
Each technique has its advantages and drawbacks where the
open loop needs to keep motors operating all the time even
when cloudy days. The closed loop technique saves power
because it controls unit turn off when the weather is cloudy and
turn on in shining weather. In this technique needs sensor,
electronics control kits, a timer can be used to turn the whole
system, pointing towards the east after sunset to put the panel
in a ready position facing the sun in the next morning. So it is a
little bit expensive. Let consider a solar panel to understand the
axial movement in a yaw and vertical direction. To move in
both directions, mechanical parts can be used in solar systems.
Some electronics control kit used to control the mechanical
system based on light intensity by using sensors.
Figure 1. Dual-axis tracking system.
III. PROPOSED DESIGN
Our proposed design is based on closed loop control
technique. It contains sensors, actuators, panel carrier,
electronics and control kit. The total system is divided into two
main sections. One is mechanical section and another is
electronic control section. In brief, all these sections discussed
below:
A. Mechanical Part
This part is challenging part in solar tracking system
because of vertical movement and azimuth movement. Here
motor plays a vital role. Panel systems have to rotate daily
from east to west. Also have to rotate from north to south
annually. In this case azimuthally movement helps to make
annual movement. In that case light intensity captured by the
sensor and angular movement done using control kit.
1) Servo Motor:
In our design we used servo motor for vertical and azimuth
movement. Servo motor controlled by a PWM signal and it
provide more accurate and smooth movement. There is a
minimum pulse, a maximum pulse, and a repetition rate. From
Fig.6 servo motors can usually only turn 90 degrees in either
direction for a total of 180 degree movement [10]. The servo
Figure 3. Light Sensor Circuit
motor expects to see a pulse every 20 milliseconds (ms). Here a
1.5ms pulse will make the motor turn to the 90-degree position.
Here we used a light dependent resistor (LDR) is a resistor
Shorter than 1.5ms moves it to 0 degrees and any longer than
whose resistance decreases with increasing incident light
1.5ms will turn the servo to 180 degrees, as the diagram below:
intensity. The relationship between the resistance (resistance of
the LDR) and light intensity (Lux) for a typical LDR is given
in the following equation:

Figure 2. Servo Operation Strategy
2) Panel Carrier:
Panel carrier is basically a rectangular frame made of
aluminum, which holds the solar panel with the help of a
circular rod. One end of the horizontal base of the panel carrier
is attached to the single rod hook of servo motors and other is a
vertical axis shaft with another servo motor. Both motors shaft
perpendicular to each other. So panel can move along with a
vertical axis and horizontal axis.
500
RLDR = k
LUX
Where RLDR = Resistance of LDR
2) Micro controller:
This is the brain of our control system. Here we used
ATmega328P controller. Sensors analog output feed by ADC
of this microcontroller. Then its comparing the light intensity
and sends the signal to servo motor to move from desire
angular position. This microcontroller is cheap and has robust
design. It has Analog Input Pins 6, DC Current per I/O Pin
40mA, DC Current for 3.3V Pin50 MA, Flash Memory 32KB
of which 0.5KB used by the boot loader, SRAM 2 KB,
EEPROM 1KB. Pin diagram shown below:

B. Electrical Circuit Part

In a close loop system, electrical circuit part is another
important section. This part helps to sense light intensity, then
compares it and moves panel to the higher intense position.
This part contains several circuit sections:
1) Light Sensor:
In this system light sensor is used to measure light
intensity. Then generate corresponding analog output value and
feed by microcontrollers analog port. Then analog value
converted to digital voltage. Our system does not need a real
Figure 4. Pin Diagram of ATmega328P Microcontroller
time clock (RTC) to move annual direction i.e. north to south.
This operation is done by light sensor, by comparing the light
intensity it can move yaw axis and vertical axis. So always get IV. SYSTEM ALGORITHM
maximum sum light. Basically voltage divider rule used to
perform this operation. The divider circuit shown below: A. System Block Diagram
In this system we used sensor, microcontroller and servo
motors. A sensor placed on the frame surface of the solar panel.
So sunlight falls on the sensors. After that sensors output feed
by ADC port of microcontroller. Then controller find out the
average value between two sensors then compared all of the
tensors output voltage. Then the microcontroller sends the
signal to the servo controller and servo start rotate as per
instruction of intensity. This process is shown as block diagram
below:
C. Overall Circuit Diagram
Our electronic part consists of sensors, microcontroller,
motor and motor driver. Sensors output work as voltage
divider. Than controller sends signal to the motor. The total
connection diagram given below:

Figure 5. Block Diagram of Dual Axis Solar Tracker System

B. System Program Algorithm

Our system is totally autonomous. So it is coding algorithm
to perform mathematical calculations and comparing them.
Motor deflection or impulse is based on an artificial coding
algorithm which is given below:

Figure 7. Circuit Diagram of Proposed System

V. RESULTS AND DATA ANALYSIS

A. Experimental Data Tables

We take several data tables in case of our system and other
systems. Then we compare it. All data tables given below:

TABLE I. DATA FOR DIFFERENT SOLAR TRACKER

Dual Axis Tracker Single Axis Tracker Fixed Panel
Time Power Time Power Time Power
(% Watt) (%Watt) (%Watt)
05:00 AM 00 05:00 AM 00 05:00 AM 00
06:00 AM 00 06:00 AM 00 06:00 AM 00
07:00 AM 32 07:00 AM 18 07:00 AM 10
08:00 AM 75 08:00 AM 45 08:00 AM 35
09:00 AM 85 09:00 AM 72 09:00 AM 55
10:00 AM 92 10:00 AM 81 10:00 AM 72
Figure 6. Algorithm of Dual Axis Solar Tracker System 11:00 AM 92 11:00 AM 81 11:00 AM 83
12:00 PM 92 12:00 PM 80 12:00 PM 84 Figure 9. Real View of Implemented System
01:00 PM 92 01:00 PM 80 01:00 PM 86
02:00 PM 92 02:00 PM 81 02:00 PM 79
03:00 PM 92 03:00 PM 78 03:00 PM 68 VI. CONCLUSION
04:00 PM 83 04:00 PM 65 04:00 PM 50
05:00 PM 72 05:00 PM 40 05:00 PM 27
After all we see that the dual axis solar tracker is much
06:00 PM 32 06:00 PM 20 06:00 PM 03 more efficient than other tracker. In fixed panel solar tracker
07:00 PM 00 07:00 PM 00 07:00 PM 00 we get picked at certain hour, then power remains decrease. In
single axis, we get better performance for a few hours but its
B. Simulation Curve efficiency less than Dual axis tracker. In case of Dual axis solar
We get this curve when plot these data. Here x-axis and y- tracker we get better performance. It gives constant power at
axis indicate the time and power (% Watt) respectively. Blue maximum time of a day. It can move all angular directions with
marks for Dual axis solar tracker, green marks for single axis light intensity, whether single and fixed panel cant.
solar tracker and red marks for the fixed solar panel. Now we can get better efficiency and better performance by
making highly efficient solar PV cell.
100
Duel Axis Tracker
Single Axis Tracker
90 Fixed Panel
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