energies

Article
New Prototype of Photovoltaic Solar Tracker Based
on Arduino
Carlos Morón 1, * ID
, Daniel Ferrández 1 , Pablo Saiz 2 , Gabriela Vega 1 and Jorge Pablo Díaz 3
1 Departamento de Tecnología de la Edificación, Universidad Politécnica de Madrid, 28040 Madrid, Spain;
daniel.ferrandez.vega@alumnos.upm.es (D.F.); gaby_veg14@hotmail.com (G.V.)
2 Departamento de Construcciones Arquitectónicas y su Control, Universidad Politécnica de Madrid,
28040 Madrid, Spain; pablo.saiz@upm.es
3 Ciclo de Eficiencia Energética y Energía Solar Térmica, Institución Profesional Salesiana,
Salesianos Carabanchel, 28044 Madrid, Spain; jdiaz@salesianoscarabanchel.com
* Correspondence: carlos.moron@upm.es; Tel.: +34-91-336-7583; Fax: +34-91-336-7637

Received: 28 July 2017; Accepted: 25 August 2017; Published: 30 August 2017

Abstract: The global increase in energy demand and exponential exhaustion of fossil recourses
has favored the development of new systems of electricity production. Photovoltaic solar energy
is undoubtedly one that has the highest application in housings, due to its simplicity and easy
implementation. In this work, a new prototype of photovoltaic solar tracker with Arduino platform
was developed. Feedback control system that allows carrying out solar tracking with two axes
using a stepper motor and linear actuator was established through an electronic circuit based on
photodiodes. Moreover, real construction of the prototype was carried out, where the effectiveness
of the design and its capacity to draw a maximum benefit of an incident radiation can be observed,
placing the panel perpendicularly to the received energy and improving its performance for its
application in future installations in housings. Results obtained from the comparison between the
developed prototype and a static panel oriented according to the latitude of the area, show about 18%
energy gain.

Keywords: solar tracker; Arduino; photovoltaic solar energy; photodiodes

1. Introduction
Economic development of industrialized countries and exponential growth of population
remarkably increased energy consumption in recent years [1]. This is why more and more regulations
appear both at the national and international levels that strive to decrease energy consumption in
order to avoid damaging and irreversible effects on the planet such as exhaustion of fossil fuel and
global warming [2,3]. One of the sectors that was the most affected in the last years by the arrival of
these new legislations is the building sector that is increasingly using renewable energy sources for
the production of heating and electricity [4]. Solar energy is an undoubtedly inexhaustible source of
energy that is most commonly used nowadays due to its abundance and its scarce pollutant emissions
generated during its production [5].
Photovoltaic solar energy is the most commonly used in housings due to its simple installation
and good quality-to-price ratio compared to other technological applications (parabolic cylinder
collectors, Stirling dish parabolic collectors, etc.), that even though reach higher levels of electric energy
production, present practically insurmountable difficulties for its architectural integration [6,7]. There
is a great amount of research that tries to improve the performance of this type of installations using
double-sided panels [8], concentration lenses [9], geometrically integrated into buildings panels [10],
development of new solar cells [11], improvement in stages of conversion [12], etc.

Energies 2017, 10, 1298; doi:10.3390/en10091298 www.mdpi.com/journal/energies

Energies 2017, 10, 1298 2 of 13

In order to obtain maximum output power of a photovoltaic module or a set of modules, it is

necessary to have an automated system able to orient the surface of the panel in a way that the highest
possible amount of solar radiation reaches its surface perpendicularly to generate the highest peaks
of energy production. For that purpose, numerous authors developed diverse prototypes of solar
photovoltaic trackers in order to improve the performance of this technology [13,14]. In general, all
of them have a fixed part of structure and moving part composed of tracking equipment and energy
production equipment [15].
Out of all solar trackers existing in the market, the most effective are those that move in two
axes, azimuthal and zenithal [16,17]. Compared to a properly inclined fixed solar panel, energy gain
can be considerably increased using this type of solar tracking systems. These systems of tracking
with two axes have been developed using two types of the most commonly used automatic control
systems, with open loop and closed loop [18,19]. Tracking in closed loop is more effective as it uses
various active sensors responsible for receiving signals of solar radiation, such as light-dependent
resistance (LDR) or charge-coupled device (CCD), and moreover, it has a feedback to the controller
that allows constantly orienting the panel making the most of its effectiveness [20,21]. At the moment,
when an error signal previously calibrated coming from the control system is produced, the motors are
activated and the surface of the panel is redirected [22,23].
On the other hand, in the market there is a great variety of controllers capable to interpret the
signal of automated regulation systems. Referring to the solar tracking equipment, generally complex
strategies of tracking with chips of microprocessors as control platforms are used [24]. Arduino
platform that functions using free software has experienced a considerable rise since it appeared
over a decade ago. For this reason, more and more researchers use this technology to program
their equipment [25,26]. In the field of solar energy, Arduino sensors are also used to improve the
performance of this type of installations through the implementation of solar trackers. They are
also used to measure one of the most common parameters in these systems of energy production,
giving really satisfying results and considerable economic saving compared to other commercial
controllers [27–30].
This paper proposes a new prototype of photovoltaic solar tracker with two axes based on
Arduino technology. A block of four high-sensitivity photodiodes able to emit an electric response
that is interpreted by the Arduino UNO controller was used to capture radiation levels. A stepper
motor was used to provide azimuthal movement and a linear actuator was used to obtain an optimal
inclination. This system is completely autonomous and can improve the levels of energy production of
photovoltaic solar panels. In order to calculate energy gain obtained using developed solar tracker, the
levels of energy produced by the prototype and by a static panel oriented according to the latitude
of the area were compared. Developed prototype is competitive for its installation on a flat roof and
other exterior horizontal building elements to improve the performance of photovoltaic installations at
a reduced cost.

2. Methodology
This section describes the design and fabrication of the prototype of photovoltaic solar tracker.

2.1. 3D Prototype Design

To carry out 3D design of solar tracker drawing tool FreeCAD 0.15 (London, UK) [31] was used.
This tool allows to represent all the elements of the prototype and to visualize its final result before the
fabrication, being compatible with other formats of graphic design. Figure 1 shows the design of the
solar tracker.
Energies 2017, 10, 1298 3 of 13
Energies 2017, 10, 1298 3 of 12

(a) (b)

Figure 1. 3D design of photovoltaic solar tracker: (a) Perspective of the prototype; and (b) front view.
Figure 1. 3D design of photovoltaic solar tracker: (a) Perspective of the prototype; and (b) front view.
Table 1 shows the description of the components of the prototype classified according to their
Table 1 shows the description of the components of the prototype classified according to
functions.
their functions.
Table 1. Short description of prototype’s components.
Table 1. Short description of prototype’s components.
Component * Description
Metal structure Aluminium structure of 27 kN/m3 according to CTE DB SE-AE [3]
Component * Description
Solar panel Photovoltaic solar panel ISOFOTON of monocrystalline silicon 25 Wp
Metal structure Aluminium structure of for
27 kN/m 3
Programmable electronic controller trackingaccording
operationsto CTE DB SE-AE
ATmega328, [3]
14 digital
Arduino UNO R3
Solar panel inputs and 6 analogue inputs, clock of 16 MHz
Photovoltaic solar panel ISOFOTON of monocrystalline silicon 25 Wp
NEMA-23HS9430 Stepper motor for azimuthal movement
Programmable electronic controller for tracking operations ATmega328,
Arduino UNOLinear
LA-10 R3 actuator for elevation movement
14 digital inputs and 6 analogue inputs, clock of 16 MHz
Controller responsible for the transmission of turning movements to the stepper
Driver DM542a
NEMA-23HS9430 motor withStepper motor for
0.9 degree/step azimuthal movement
precision
Double relay
LA-10 Component responsible
Linear forfor
actuator activation
elevationandmovement
moving back the linear actuator, controlled
bridge integrally by Arduino sheet
Controller responsible for the transmission of turning movements to the
Driver DM542a Light semiconductors photodiodes responsible for sending the signal to Arduino to
BPW34 stepper motor with 0.9 degree/step precision
activate the movement
Victron Energy
Double Batteries 12Component
relay bridge V and 2.1 Ahresponsible
to provide fortheactivation
tracker andand movingalimentation
prototype back the linear
with the
Battery autonomy actuator, controlled integrally by Arduino sheet
Light semiconductors
* Moreover, other components photodiodes
such as wiring, protoboards,responsible
mortises, for
etc.sending the signal to
were used.
BPW34
Arduino to activate the movement
2.2. Simulation of the Prototype Batteries 12 V and 2.1 Ah to provide the tracker and prototype
Victron Energy Battery
alimentation with the autonomy
Before the construction of the prototype, a model was developed to validate the performance of
the equipment *with
Moreover, other
regard to components suchof
the variations asan
wiring, protoboards,
incident mortises, etc.
solar radiation on were used.
the photodiodes (North
= PDN, South = PDS, East = PDE, West = PDW), validating the proposed scheme and the response of
the
2.2. block of sensors
Simulation towards the variations of radiation in both movements, azimuthal (checking the
of the Prototype
response of stepper motor) and zenithal (checking the response of linear actuator). The model was
Before the through
implemented construction of the scheme
the electric prototype, a model
of the trackerwas developedlevel
at functional to validate the performance
using PSIM© software
of the equipment with regard to the variations of an incident solar radiation on the photodiodes
Energies 2017, 10, 1298 4 of 13

(North = PDN, South = PDS, East = PDE, West = PDW), validating the proposed scheme and the
response of the block of sensors towards the variations of radiation in both movements, azimuthal
(checking the10,response
Energies 2017, 1298 of stepper motor) and zenithal (checking the response of linear actuator). 4 ofThe
12
model was implemented through the electric scheme of the tracker at functional level using PSIM©
(version (version
software 10.0.4, Powersim Inc., Rockville,
10.0.4, Powersim MD, USA)
Inc., Rockville, [32].
MD, Electric
USA) [32].scheme
Electricofscheme
the simulation can be
of the simulation
observed in Figure 2.
can be observed in Figure 2.

Figure 2. Scheme of simulated

Figure 2. simulated prototype.
prototype.

AsAsititcan
canbebeseen
seeninin Figure
Figure 2,
2, the
the photodiodes
photodiodes were
were modeled
modeledwithwiththethehelp
helpofofnonlinear
nonlinearresistance
resistance
that gives intensity response according to the voltage and incident radiation. Relay modulethat
that gives intensity response according to the voltage and incident radiation. Relay module that
controlsthe
controls thefunctioning
functioning of of linear
linear actuator
actuatorwas
wasbuilt
builtwith
withthe
thehelp
helpofof
two contacts
two contacts (NO(NOandand
NC) in ain
NC)
a way
way that
that ifif the
the incident
incident radiation
radiationin inNorth
Northphotodiode
photodiodeexceeds
exceedsthe theradiation
radiationininSouth
Southphotodiode,
photodiode,
North relay activates with +12 V voltage in terminals of linear actuator, acting towards elongation;
North relay activates with +12 V voltage in terminals of linear actuator, acting towards elongation;
otherwise South relay activates moving back the rod of the motor. NEMA 23HS9430 stepper was
otherwise South relay activates moving back the rod of the motor. NEMA 23HS9430 stepper was
modeled according to the parameters that define two phases of the motor, an inductance per phase
modeled according to the parameters that define two phases of the motor, an inductance per phase of
of 6 Ω and 6.8 mH respectively. The activation of each step of the motor and the direction of rotation
6 Ω and 6.8 mH respectively. The activation of each step of the motor and the direction of rotation
require logic of control that assumes the driver DM542a that is also responsible for providing
require logic of control that assumes the driver DM542a that is also responsible for providing sufficient
sufficient power for the requirements of the motor through the batteries. This stepper is responsible
power for the requirements of the motor through the batteries. This stepper is responsible for azimuthal
for azimuthal movement after having been compared to the levels of radiation in the photodiodes
movement after having been compared to the levels of radiation in the photodiodes West and East.
West and East.
The
Theresults
resultsofofthe
thesimulation
simulationare areshown
shownininFigures
Figures33and
and4.4.In
Incase
caseofofFigure
Figure3,3,South
Southradiation
radiationis
fixed in 10 2 W/m2,2which
is fixed in W/m
10 W/mand 2 andsolar
solarradiation
radiationvaries
variestowards
towardsNorth
Northdirection
direction between
between 00 and
and 3030 W/m , which
are small values to be able to check in the same graphic the functionality of comparison stages at the
beginning of the linear actuator functioning (voltages of ±5 V in Arduino controller and ±12 V in
linear actuator). It can be observed that when North radiation exceeds South one, output voltage of
Arduino is +5 V activating the rod of linear actuator that is placed at +12 V, and conversely when
Energies 2017, 10, 1298 5 of 13

are small values to be able to check in the same graphic the functionality of comparison stages at the
beginning of the linear actuator functioning (voltages of ±5 V in Arduino controller and ±12 V in
linear actuator). It can be observed that when North radiation exceeds South one, output voltage of
Energies2017,
Energies 2017,10,
10,1298
1298 55ofof12
12
Arduino is +5 V activating the rod of linear actuator that is placed at +12 V, and conversely when
South radiation
Southradiation exceeds
radiationexceeds North
exceedsNorth one.
Northone. In
one.In case
Incase
caseofof stepper
ofstepper motor
steppermotor shown
motorshown
shownin in Figure
inFigure
Figure4, 4, the
4,the logic
logicisis
thelogic the
isthe same,
thesame,
same,
South
keeping
keeping in
keeping in this
in this case
this case East
case East radiation
East radiation fixed
fixedand
radiation fixed andWest
and Westradiation
West radiationvariable.
radiation In
variable. In
variable. this
In this case
thiscase stepper
casestepper motor
steppermotormotor
always consumes
consumes333A
alwaysconsumes
always A in
Ain each
ineach movement.
eachmovement.
movement.For For both
Forboth movements
bothmovements
movementsthe the time
thetime of
timeof 25
of2525ssswas
was established
wasestablished
establishedfor for
for
the simulation,
thesimulation,
the simulation,with with a radiation
withaaradiation variation
radiationvariation frequency
variationfrequency between
frequencybetween the
betweenthe photodiodes
thephotodiodes
photodiodesof of 0.2
of0.2 Hz,
0.2Hz, being
Hz,being this
thisaaa
beingthis
repetition
repetitionof
repetition of one
ofone complete
onecomplete wave
completewave every
waveevery 5 s.
every55s.s.

Figure3.
Figure
Figure 3.3.Response
Responseof
Response ofthe
of thesimulation
the simulationof
simulation oflinear
of linearactuator
linear actuatorperformance.
actuator performance.
performance.

Figure
Figure4.
Figure Response
4.4.Response of
Responseof the
ofthe simulation
thesimulation of
simulationof stepper
ofstepper motor
steppermotor performance.
motorperformance.
performance.

Toobtain
To obtainthese
theseappreciable
appreciablevariations
variationsofofradiation,
radiation,aablock
blockofofsensors
sensorswith
withfour
fourphotodiodes
photodiodeswaswas
designedin
designed inaaway
waythat
thatwith
withthe
thehelp
helpof
ofaastructure
structureininform
formofofaacross
crossthe
thelevels
levelsof
ofradiation
radiationare
aremore
more
sensitiveto
sensitive tothe
thevariations
variationsof
ofthe
theposition
positionofofthe
thesun
sunthanks
thankstotoits
itsown
ownshade.
shade.Additionally,
Additionally,this
thisblock
block
ofphotodiodes
of photodiodesisissituated
situatedon
onthe
thesame
sameplan
planas asaaphotovoltaic
photovoltaicpanel,
panel,asasshown
shownin inFigure
Figure5.5.
 Energies 2017, 10, 1298 6 of 13

To obtain these appreciable variations of radiation, a block of sensors with four photodiodes was
designed in a way that with the help of a structure in form of a cross the levels of radiation are more
sensitive to the variations of the position of the sun thanks to its own shade. Additionally, this block of
photodiodes is situated on the same plan as a photovoltaic panel, as shown in Figure 5.
Energies 2017, 10, 1298 6 of 12
Energies 2017, 10, 1298 6 of 12

(a) (b)
(a) (b)
Figure 5. Sensors block scheme. (a) Design phase; and (b) built prototype.
Figure 5. Sensors block scheme. (a) Design phase; and (b) built prototype.
Figure 5. Sensors block scheme. (a) Design phase; and (b) built prototype.
As it can be seen in the final state in Figure 5b, the cross to differentiate cardinal points was
custom As itit can
Asmade can be
withbe seen in
seenhelp
the in the
of afinal
the final state
state in
3D printer Figure
inwith
Figure 5b,
5b, the
polyethylenethe cross
cross to
to differentiate
of dark differentiate
color. cardinal
cardinal points
points was
was
custom
custom mademade with with the
the help
help of of aa 3D
3D printer
printer withwithpolyethylene
polyethyleneof ofdark
darkcolor.
color.
2.3. Solar Tracker Algorithm Definition
2.3.
2.3. Solar
Solar Tracker
Tracker Algorithm
AlgorithmDefinition
Definition
The descriptive diagram of blocks of solar tracker in closed developed loop is shown in Figure 6.
The
The descriptive
descriptive diagram
diagram of
of blocks
blocks of of solar
solar tracker
tracker in closed
in between developed loop
closed developed loop isis shown
shown in in Figure
Figure 6.6.
Its objective is to obtain the maximum perpendicularity the incident rays of sun and the
Its objective
Its objective is to obtain
is to obtain the maximum
the Feedback perpendicularity
maximumcontrollerperpendicularity between
between the incident
the incident rays
rays of sun
ofthe and
sunblock the
and of
the
surface of photovoltaic panel. is based on the Arduino platform and
surface of photovoltaic panel. Feedback controller is based on the Arduino platform and the block of
sensors is based on the photodiodes and operation amplifier of type 741. The input to the comparatorof
surface of photovoltaic panel. Feedback controller is based on the Arduino platform and the block
sensors is based on the photodiodes and operation amplifier of type 741. The input to the comparator
issensors is based
the intensity of on the photodiodes
output received from andtheoperation
block ofamplifier
photodiodes,of type 741. is
which The input to and
amplified the comparator
generates
is
is the
the intensity
intensity of
of output
output received
received from
from the
the block
block of
of photodiodes,
photodiodes, which
which is
is amplified
amplified and
and generates
generates
error voltage of feedback, being the variance between the responses of the sensors North-South and
error voltage of feedback, being the variance between the responses of the sensors North-South and
West-East the cause of this imbalance. At this moment the comparator sensitive to these variationsand
error voltage of feedback, being the variance between the responses of the sensors North-South of
West-East the cause of this imbalance. At this moment the comparator sensitive to these variations
West-East
radiation two theby cause
two of this imbalance.
activates At this moment
a linear actuator being the therod
comparator
extended sensitive
or movedtoback obtain theof
thesetovariations of
radiation
radiation two
two by
by two
two activates
activates aa linear
linear actuator
actuator being
being the
the rod
rod
maximum performance in elevation movement, or activates the driver that allows turning by means extended
extended or
or moved
moved back
back to
to obtain
obtain the
the
ofmaximum
maximum
stepper motor performance
performance
improving in
in elevation
elevation movement,
movement,
the effectiveness or
or activates
activates
in azimuthal the
the driver that
that allows
allows turning
driverConsequently,
movement. turning by
by means
means
the controller
of stepper
of stepperthe
maintains motor
motor improving
improving
photovoltaic the effectiveness
the and
panel effectiveness in azimuthal
in azimuthal
solar radiation movement.
monitored,movement. Consequently,
sendingConsequently, the controller
the controller
a differential signal when
maintains
maintains
the difference the photovoltaic
theoccurs
photovoltaic
what allowspanel and
and solar
panel positioningsolar radiation
the solarmonitored,
radiation panel untilsending
monitored, sending
practicallyaa differential
zero errorsignal
differential signal when
when
voltage is
the difference
the difference
obtained. Each pair occurs
occurs what allows
what(azimuth
of data positioning
allows positioning
and elevation) the
the issolar
solar panel until
panel and
captured practically
untilstored
practically zero
by thezero error voltage
voltage is
error platform
Arduino is
obtained.
obtained. Each
Each pair
pair of
of data
data (azimuth
(azimuth and
and elevation)
elevation)
regularly, and after being interpreted, it activates the movement of motors. is
is captured
captured and
and stored
stored by
by the
the Arduino
Arduino platform
platform
regularly,
regularly,and andafter
afterbeing
beinginterpreted,
interpreted,ititactivates
activatesthe themovement
movementofofmotors. motors.

Figure 6. Closed loop blocks diagram of tracking system.

Figure 6.
Figure 6. Closed
Closed loop
loop blocks
blocks diagram
diagram of
of tracking
tracking system.
system.
Under the premises of the diagram of blocks the control algorithm was designed as flow diagram
Underchecking
that allows the premises of the
all the diagram ofpositioning
photodiodes blocks the control algorithmThis
the prototype. was diagram
designed can
as flow diagram
be seen in
that allows
Figure 7. checking all the photodiodes positioning the prototype. This diagram can be seen in
Figure 7.
Energies 2017, 10, 1298 7 of 13

Under the premises of the diagram of blocks the control algorithm was designed as flow diagram
that allows checking all the photodiodes positioning the prototype. This diagram can be seen in
Figure 2017,
Energies 7. 10, 1298 7 of 12

Figure
Figure 7.
7. Flow
Flow diagram
diagram of
of prototype’s
prototype’s solar tracking.
solar tracking.

Therefore, according to the flow diagram shown in Figure 7, the variable that predominates over
Therefore, according to the flow diagram shown in Figure 7, the variable that predominates over
the movement of the tracker is the radiation, that is different to zero during daylight hours and equal
the movement of the tracker is the radiation, that is different to zero during daylight hours and equal
to zero from the nightfall until the beginning of a new day. The tracker stays positioned towards West
to zero from the nightfall until the beginning of a new day. The tracker stays positioned towards West
once the day is over and before starting a new day of measuring. Moreover, with an aim to avoid
once the day is over and before starting a new day of measuring. Moreover, with an aim to avoid
possible components wear caused by mechanical vibrations produced by continuous starts and stops
possible components wear caused by mechanical vibrations produced by continuous starts and stops
of motors, the measurements were spaced every 10 min, reducing in this way the frequency of capture
of motors, the measurements were spaced every 10 min, reducing in this way the frequency of capture
and possible saturation of the system.
and possible saturation of the system.
3.
3. Results
Results and
and Discussion
Discussion
Once thework
Once the workofofdesign
designandand simulation
simulation of prototype
of the the prototype was done,
was done, real fabrication
real fabrication began.
began. Design
Design guidelines
guidelines indicatedindicated in the previous
in the previous section
section were were followed
followed and aofscheme
and a scheme of real
real wiring wiring
of the of the
prototype
prototype with the sensors block and two motors was carried out, according to the simulation
with the sensors block and two motors was carried out, according to the simulation done by PSIM©. done
by PSIM©.
This schemeThis schemethat
of wiring of wiring that can
can be seen be seen
in Figure in Figure
8 was 8 was implemented
implemented inside a custominside a custom
printed box
printed box made from polyethylene complying with the requirements of ventilation for
made from polyethylene complying with the requirements of ventilation for the circuitry and avoidingthe circuitry
and avoiding
possible possible[33].
overheating overheating [33].
As can be observed in Figure 9, the built prototype can be controlled through laboratory test or
even through dynamic simulators that model the parameters of irradiance and energy production.
Energies 2017, 10, 1298 8 of 13
Energies 2017, 10, 1298 8 of 12

Energies 2017, 10, 1298 8 of 12

Figure8.8.Real
Figure Realscheme
schemeof
ofwiring
wiring of
of the
the prototype’s
prototype’selements.
elements.

As can be observed in Figure 9, the built prototype can be controlled through laboratory test or
even through dynamic simulators that model the parameters of irradiance and energy production.
Figure 8. Real scheme of wiring of the prototype’s elements.

(a) (b)

Figure 9. Designed photovoltaic solar tracker: (a) Front view; and (b) Side view.

Moreover, as shown in Figure 10, a solar photovoltaic installation was performed, using the
same typology of photovoltaic
(a) panel as in developed solar tracker prototype (b) with 30° inclination and
south orientation. In this way, the comparison between both systems was carried out, calculating the
Figure 9. Designed photovoltaic solar tracker: (a) Front view; and (b) Side view.
difference inFigure
energy Designed photovoltaic solar tracker: (a) Front view; and (b) Side view.
9. production.
Moreover, as shown in Figure 10, a solar photovoltaic installation was performed, using the
same typology of photovoltaic panel as in developed solar tracker prototype with 30° inclination and
south orientation. In this way, the comparison between both systems was carried out, calculating the
difference in energy production.
Energies 2017, 10, 1298 9 of 12
Energies 2017, 10, 1298 9 of 13

Moreover, as shown in Figure 10, a solar photovoltaic installation was performed, using the
same typology of photovoltaic panel as in developed solar tracker prototype with 30◦ inclination and
south orientation. In this way, the comparison between both systems was carried out, calculating the
difference in energy production.
Energies 2017, 10, 1298 9 of 12

(a) (b)

Figure 10. (a) Connection scheme of static installation; and (b) applied installation.

Obtained Production and Collected with the Tracker Data

First, Figure 11 presents results obtained in the production of the prototype and static panel
during the months from January until May. For this, the prototype was placed on the roof of the
center Salesianos Carabanchel in Madrid (Latitude 40.37° and Longitude −3.75°), capturing data every
(a) (b)
30 min, and obtaining the average daily production achieved by the panel performing the tracking.
As it canFigure
be 10. (a) Connection
observed, schemeof
the levels of static installation; and (b) applied installation.
Figure 10. (a) Connection scheme of energy production
static installation; keep
and (b) a direct
applied relation with the
installation.
environment conditions registered in the area at the moment of data collection, as shown in Figure
Obtained
11. ClearProduction
days andandand Collected
those with temperatures
of higher the Tracker Dataare ones that give the highest levels of energy
Obtained Production Collected with the Tracker Data
production. Moreover,
First, Figure as it canresults
11 presents be observed in Figure
obtained in the 11, solar tracker
production prototype
of the prototypeallows
andfor obtaining
static panel
First,
higher Figure
energy 11 presents
production resultsto
compared obtained
static in the
panel. production
This gain in of the prototype
production was and18%,
about static panel
being in
during the months from January until May. For this, the prototype was placed on the roof of the
during the
accordance months
with the from January
average values until May.
obtained For this,
by other the prototype was placed on the roof of the
center Salesianos Carabanchel in Madrid (Latitude 40.37°authors using different
and Longitude −3.75°), technologies
◦ capturing data ofevery
solar
center Salesianos
tracking [34,35]. Carabanchel inused
Consequently, Madrid (Latitude
lowproduction 40.37◦ and
cost technology Longitude
with Arduino − 3.75
can be),validated
capturingasdata every
a tool for
30 min, and obtaining the average daily achieved by the panel performing the tracking.
30 min,
solar and obtaining
trackers design. the average daily production achieved by the panel performing the tracking.
As it can be observed, the levels of energy production keep a direct relation with the
environment conditions registered in the area at the moment of data collection, as shown in Figure
11. Clear days and those of higher temperatures are ones that give the highest levels of energy
production. Moreover, as it can be observed in Figure 11, solar tracker prototype allows for obtaining
higher energy production compared to static panel. This gain in production was about 18%, being in
accordance with the average values obtained by other authors using different technologies of solar
tracking [34,35]. Consequently, used low cost technology with Arduino can be validated as a tool for
solar trackers design.

Figure
Figure 11.
11. Average daily production
Average daily production obtained
obtained by
by the
the solar
solar tracker.
tracker.

Furthermore, existing correlation between the average produced power and average incident
As it can be observed, the levels of energy production keep a direct relation with the environment
radiation over the surface of the tracking panel can be seen in Figure 12.
conditions registered in the area at the moment of data collection, as shown in Figure 11. Clear days and

Figure 11. Average daily production obtained by the solar tracker.

Furthermore, existing correlation between the average produced power and average incident
Energies 2017, 10, 1298 10 of 13

those of higher temperatures are ones that give the highest levels of energy production. Moreover, as it
can be observed in Figure 11, solar tracker prototype allows for obtaining higher energy production
compared to static panel. This gain in production was about 18%, being in accordance with the average
values obtained by other authors using different technologies of solar tracking [34,35]. Consequently,
used low cost technology with Arduino can be validated as a tool for solar trackers design.
Furthermore, existing correlation between the average produced power and average incident
radiation over the surface of the tracking panel can be seen in Figure 12.
Energies 2017, 10, 1298 10 of 12

Figure
Figure12.
12.Correlation
Correlationbetween
betweenproduced
producedpower
powerand
andincident
incidentradiation.
radiation.

Therefore, Figure 12 shows a linear relation among the levels of production and average incident
Therefore,
irradiance, whatFigure 12 shows
is really usefula linear relationtheoretical
for further among the levels of production
calculations that allowand average
measuring incident
the
irradiance, what is really useful for further theoretical calculations
maximum performance that can be reached by the panels placed in a determined geographic that allow measuring the maximum
performance
situation that can
knowing onlybethereached
levels by the panelsinplaced
of radiation in aTo
the area. determined
implementgeographic
these systems situation knowing
in building of
houses, the consumption of motors has to be deducted from the obtained energy production thatthe
only the levels of radiation in the area. To implement these systems in building of houses, in
clear areas is in any case lower than reached production. On the other hand, varying the calibrationis
consumption of motors has to be deducted from the obtained energy production that in clear areas
in the
of any sensors
case lower andthan reachedthe
adjusting production.
frequencyOn ofthe other hand,
tracking to thevarying the calibration
real conditions of theofgeographic
the sensors
and adjusting the frequency of tracking
location, the electric production can improve even more. to the real conditions of the geographic location, the electric
production can improve
In relation even more.
to the analysis of the prototype fabrication cost, consulting known commercial
In relation to the analysis
sources [36–38], not superior to 800 ofeuros
the prototype fabrication
cost was obtained. cost, consulting
In terms of large-scale known commercial
production, such
sources [36–38], not superior to 800 euros cost was obtained. In terms
as solar farms, developed solar tracker is not competitive with commercial systems that are able to of large-scale production,
such as
move solar farms,
hundreds developed solar
of photovoltaic tracker
panels. is not competitive
However, it can be with commercial
competitive systems
for small that
less are able
powerful
to move hundreds of photovoltaic panels. However, it can be competitive
installations placed on flat surfaces. Lightweight of this type of prototype is one of its advantages for for small less powerful
installationsinplaced
installation houses, onwhere
flat surfaces.
it is not Lightweight
feasible to place of this type
large of prototype
masses that canisgenerate
one of itsloadsadvantages
on the
for installation
building in houses,
structure, wherecaused
or vibrations it is notbyfeasible
rotatingtomovements
place large that
masses that
could can generate
coincide loads on the
with fundamental
building structure,
resonance frequencies or vibrations causedstructure.
of the building by rotating movements
Moreover, thethat
factcould coincide
of using Arduinowithas fundamental
electronic
control card, provides it with a power comparable to any commercial PLC, but at lower cost,electronic
resonance frequencies of the building structure. Moreover, the fact of using Arduino as not only
control card,
because of theprovides it with
device itself, a power
but comparable
also because of greatto any commercial
amount PLC, but
of developed at lower
freeware cost, not that
programs only
because of the device itself, but also because of great amount of developed
allow modelling, programming and simulating of previous behavior of these systems. That is why freeware programs that
allow
this typemodelling,
of prototype programming
is ideal forand simulating in
its installation of houses
previous behavior
without of these any
presenting systems.
serious That is why
technical
this type of prototype is
difficulties and at a reduced cost. ideal for its installation in houses without presenting any serious technical
difficulties and at a reduced cost.
4. Conclusions
This paper offers a new and effective prototype of photovoltaic solar tracker based on Arduino
platform that with a reduced cost and following logic of effective control is able to move
autonomously and regularly under different conditions of irradiance. Moreover, a previous
simulation of tracker’s behavior was achieved, which is able to anticipate the movement of the
prototype in phase of design, what is really useful to know is the suitability of the device.
On the other hand, the effectiveness of the tracker was verified taking measurements during five
Energies 2017, 10, 1298 11 of 13

4. Conclusions
This paper offers a new and effective prototype of photovoltaic solar tracker based on Arduino
platform that with a reduced cost and following logic of effective control is able to move autonomously
and regularly under different conditions of irradiance. Moreover, a previous simulation of tracker’s
behavior was achieved, which is able to anticipate the movement of the prototype in phase of design,
what is really useful to know is the suitability of the device.
On the other hand, the effectiveness of the tracker was verified taking measurements during five
months, observing a good correlation between the maximum levels of daily radiation in the area and
the levels of energy production reached by the prototype. Furthermore, results obtained from the
comparison between the reference static solar installation and developed solar tracker prototype show
18% energy gain using this latter, applying the same type of photovoltaic panel in both cases. These
results show the effectiveness of the device, and suggest its possible use in buildings (flat roofs, garden
areas, plots, etc.) or centers of photovoltaic production using scale models and developing a correct
encapsulation for electric and electronic components what would allow the equipment to endure
adverse weather conditions. Finally, and thanks to the versatility of Arduino platform, it would be
possible to integrate a unit of control of environmental parameters that would complete commercially
the design of the solar tracker developed in this work.
Finally, despite the fact that the prototype presents a lower performance compared to other
commercial equipment (approximately 12% lower), it is competitive for its installation in houses, due
to its low fabrication cost, easiness to be integrated in the building and simplicity to be programmed
and to update tracking software as it belongs to Arduino community.

Acknowledgments: The authors would like to express their gratitude to Vicente Martínez and José Daniel Sanz
for collaboration in prior calibration of photodiodes and to José Luis Rodríguez for collaboration in machining
of prototype’s components; both are professors of Professional Institution Salesiana Carabanchel with
wide experience.
Author Contributions: All the authors have designed the experiment and worked in the development of
the prototype equally throughout the project. Carlos Morón and Daniel Ferrández created and designed the
experiments. Gabriela Vega and Daniel Ferrández performed the experiments; Carlos Morón and Pablo Saiz
analyzed the data; Daniel Ferrández wrote the article. Jorge Pablo Díaz helped to analyze the documents.
Conflicts of Interest: The authors declare no conflict of interest.

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