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Optimization of Sun Tracking Solar System

using Takagi-Sugeno Method Fuzzy Logic


Suci Imani Putri, Hadi Suyono, Rini Nur Hasanah
Electrical Engineering Departement, Brawijaya University
Malang, East Java, Indonesia
suci.imaniputri@yahoo.com

AbstractGlobally, solar cells use has been increasing 40% since 2000
and becomes a significant portion of long lasting renewable energy
fulfillment. Sun tracking solar system is needed in order that solar
cells can result in maximum power output. It can control the position
of the solar cells to always follow the direction and position of the sun.
In this paper a sun tracking solar system has been controlled using
four LDR sensors to detect the value of sunlight intensity coming to
the cells. Results have been processed using fuzzy Takagi-Sugeno fuzzy
logic method, as it is known to be memory efficient. Calculation results
were then implemented on microcontroller ATMega 128 to drive a DC
motor using a rotary encoder sensor. The DC motor is used to move
the solar panel. Experiment results showed an increase of 0.067 volt
obtained using the traking solar system. It was also proven that the
use of Takagi-Sugeno method resulted in faster computation process as
it was than on the two motors at once not like using Tsukamoto
method where the computation had to be done on each motor.
Keywords Fuzzy logic, Light Dependent Resistor (LDR), Position of
DC Motor, Solar System, Takagi-Sugeno.

The principle of this system is every 30 minutes, microcontroller


take the data of LDR sensor and then will be processed by fuzzy logic. Sun
tracking solar system used for tracker sunlight. It uses fuzzy logic to get
the alternative controller that can work in continuous nonlinear system
with big unexact value, can detect weather, can doing reset when no
sunlight intensity, real time track sunlight intensity, and exactly againts sun
degree.
In this research, fuzzy logic detailed in Fuzzy Inference System
(FIS). FIS contained of Tsukamoto method, Mamdani method, and Sugeno
method. The output of Tsukamoto method are fuzzy value. The output of
Mamdani method is constanta. The output of Sugeno method is similar to
Mamdani method. And Takagi-Sugeno method used in this research. FIS in
Takagi-Sugeno method able to keep continuity results, better used for
linear systems and optimation [3].
II. SYSTEM DESIGN METHOD
This project is divided into two parts, hardware development and
programming development. Figure 1 shows block diagram of this project.

I. INTRODUCTION
Now electricity energy consumption can not be separated from
human life. It is all because of the decreassing of industry development
and telecommunication demand that not compatible with the resource.
The best solution of this problem is using sun energy, the greatest
resource of this planet [1].
The power generated by solar energy systems depends
fundamentally upon the amount of solar energy captured by the solar
panel. The angle of the solar panel facing sun is a key factor
determining the efficiency of solar power generation, thus the problem
of developing tracking schemes capable of tracking the sun throughout
the course of the day on a year-round basis is of great significance. In
general, by optimizing the tilt angle and orientation of the solar
panels, the amount of solar energy captured could be increased by
more than 40% compared to the case in which the solar panel was
fixed on a horizontal surface [2].
To develop and optimize sun tracking solar system, there are some
methods. They are Genetic Alghorithm, Fuzzy Logic, PID controller, etc.
In this research Fuzzy Logic chosen because Fuzzy Logic can easily
understand, flexible, give tolerance for datas that can change fast, and can
design non-linier functions. In this research LDR sensor utilization change
fastly following the sunlight intensity, so fuzzy logic can be used [4].

Figure 1 Block Diagram of the project

This project is built using a balanced concept which is four signals


from the different sensors are compared. Light Dependent Resistor (LDR)
as a light sensor has been used.
LDR sensor used for light intensity detection around solar panel, then
we convert light intensity value into voltage processed by fuzzy logic. LM
35 sensor used for temperature detector around solar panel when
temperature used for to predict weather and rotary encoder sensor used for
DC motor rotary counter toget to expected position, based on fuzzy logic.
Calculation result of fuzzy logic is Z value, where the value will represent
number motor rotation to same direction with highest LDR value.
For the controlling circuit, microcontroller ATMega 128 acts as a brain
that controls the movement DC motor via H-bridge driver for panel
position. Data received from the four LDR sensors and processed by fuzzy

logic. The microcontroller will send a data to the H-bridge circuit DCmotor to ensure solar panel is predicular towards the Sun. Two motors will
be presented four way (rotate clockwise or anticlockwise), there are eastwest and north-south.

A.

HARDWARE SYSTEM

1.

CONSTRUCTION DESIGN
Mechanic design determined by instrument height, setting up of 2 DC
motors, 4 LDR sensors, 1 sensor LM 35, 2 rotary encoder sensors, 1 LCD
and 1 microcontroller ATMega 128. Mechanic design showed by Figure 2
[5].

Figure 3 I/O Microcontroller ATMega 128

B.

PROGRAMMING SYSTEM

1.

FUZZY LOGIC ALGORITHM

In case quotation for fuzzy logic design, there are some step that must
be done at first, such as :

Figure 2 Construction design of a sun tracking solar system

Table 1 shows the spesification of sun tracking solar system model and
the number of component that used.
Table 1 shows the spesification of sun tracking solar system model
Design Aspect
Weight of Solar Cell
Size of Solar Cell
LDR
LM 35
Rotary Encoder
DC motor
LCD
Power Supply

2.

Specification
2 Kg
80 x 50 cm
4 Sensors
1 sensor
2 Sensors
2 Motors
1 piece
1 piece

DESIGN I/O MICROCONTROLLER ATMEGA 128


Microcontroller ATMega 128 was used as data processor, where the
input and output pins were determined.
The Figure below showed that input pin was used for four ldr sensors,
LM 35 sensor and two rotary encoder sensors. Output pin was used for 2
DC motors, LCD as the data viewer of output fuzzy, V out LDR sensor, Vout
solar cells sensor.
The pins alocation that all component used on microcontroller was
shown in Figure 3.

Fuzzification
Quotation of membership function or LDR range value that will be
used for logika fuzzy calculation came from 10 days data observe from 2327 February 2014 until 01-05 March 2014. Solar cell position is LDR 3
toward east side, LDR 2 toward south side, LDR 1 toward south side, LDR
1 toward west side, LDR 4 toward toward north side.
The data testing for 10 days was done by taking the data from the LDR
sensor every half and hour in a day, started from 7 AM to 4 PM. Then the
data was being collected, and the lowest and the highest ones indicated by
the LDR sensor were recorded. The value of the highest and lowest data
would be used to find the median of the LDR sensors output. These
highest, lowest and median data will be used for the reference or LDR
range, which will be used as the membership function in fuzzy logic
calculation.
Data above showed get lowest LDR value is 3,30 volt and highest
LDR value is 5,00 volt, so we can determined LDR average value are
highest LDR value minus lowest LDR value and divide by two, the result
are LDR average value is 4,15 volt. So, we can make membership function
for each LDR with three range that is low, median, and high. It shows in
Figure 4.

Figure 4 Membership function graphic

The Figure above, showed membership function graphic with 3 range,


Deffuzification
that is low, median and high. Therefore, limit of low is 3,30 Volt (less or
To find out amount of motor pulse for solar panel position need to
same with 3,30 Volt), limit of median is 3,30 Volt < 4,15 Volt < 5,00 Volt know that average of Z value from all - predicate (fire strength) in rule
(between) and limit for high is 5,00 Volt (more or same with).
base with defuzzification weighted average method, then Z obtained by
formula [3] :
Membership function:
Low (L):
Takagi Sugeno Method

1,
[x]= 0,
4,15-x
,
4,15-3,30

x3,30
x4,15

Z=

3,30<x<4,15

Median (M):

0 ,
x3,30 & or x5,00
x-3,30
3,30<x4,15
[ x ] = 4,15-3,30 ,
5,00-x
,
4,15<x<5,00
5,00-4,15
High (H):

1, x 5,00
0, x 4.15
[ x]=
x4.15
, 4,15< x <5,00
5,004,15

1 Z 1 ++ 81 Z 81
1+ + 81
= Fuzzification output
= Degree of membership function

Tsukamoto Method

Z=
Z

1 Z 1 ++ 81 Z 81
1+ + 81
= Fuzzification output
= Degree of membership function

The calculation of fire strength for output fuzzy logic (Z), Determined
by this formula, based on Takagi-Sugeno rule base for LDR 1 and LDR 3,
as shown in Figure 5.

Rule Base Design


In this fuzzy logic design use four LDR sensor to be fuzzy logic input
with three LDR possibility range in one day that is low, median and high.
There will be eighty-one possibilities of LDR value based of 4 existing
LDR range (34 = 81 rule). As for possibilities that can be happened, there
are base rule that will be made for fuzzy logic design.
The making of rule base from 81 possibilities of the solar panel
position was done manually. Data retrieval was done by storing the
requaired motor rotation data to the position when the four LDR sensors
values were in the same range. The data collection was done for four days
and the average value of Z was taken. The fuzzy output (Z) contained four
of the motor rotation values for every direction (east,south,west,north).
The value of Z was the value of total motor rotation in sensor rotary
encoder pulse.
Fuzzy logic would make the Z value at rule base as the reference of
fuzzy logic calculation to determine the solar panel position in LDR data
that being taken randomly when system activated.
North side, east side, south side and west side represented in rotation
direction 1 with LDR 1, motor 2 with LDR 2, motor 3 with LDR 3 and
motor 4 with LDR 4. In 81 rule base fuzzy logic, motor 1 position up to
motor 4 represented by 1x4 matriks where first line and first column are
motor 1 direction LDR 1, first line and second column are motor 2
direction LDR 3, first line third column are motor 3 direction LDR 3 and
first line fourth column are motor 4 direction LDR 4.

Figure 5 Fuzzy Output Tsukamoto Method for LDR 1 and LDR 3

{
{

1 , Z 600
0
, Z 1000
Pr decrease [Z ]=
1000Z
,600< Z <1000
1000600
0 , Z 600
1, Z 1000
Pr increase [Z ]=
Z600
, 600<Z <1000
1000600
The calculation of fire strength for output fuzzy logic (Z), Determined
by this formula, based on Takagi-Sugeno rule base for LDR 2 and LDR 4,
as shown in Figure 6.

Result of this sun tracking solar system will be presented in Figure 8


and Figure 9. Figure 8 contains is from the data of LDR value (Light
Dependent Resistor) when static solar panel. Data taken at 09 April 2014
from 07.00 until 16.00 every 30 minutes.
It processed inside fuzzy logic using two method , that is Takagisugeno fuzzification method and Tsukamoto method for comparison.
Calculation of fuzzy logic with two methods showed in Figure below.
Figure 6 Fuzzy Output Tsukamoto method for LDR 2 and LDR 4

2.

{
{

Pr decrease

1,
Z 400
0
,
Z
700
[Z] =
700 - Z
, 400<Z<700
700 - 400

Pr increase

0,
Z 400
1
,
Z 700
[Z] =
Z - 400
, 400<Z<700
700 - 400

OVERALL SYSTEM FLOWCHART

Program design in microcontroller for fuzzy logic control process


planned following flowchart in Figure 7.

Figure 7 Fuzzy Logic Crotrol Program Flowchart

IV. RESULT

Figure 8 Takagi-Sugeno againts Tsukamoto Method

From the Graphic above, explained the value of Z1, Z2, Z3 and Z4
from fuzzy logic calculation. From the Figure above, it can be concluded
that the difference between two methods is the average of 43 pulse for Z1,
28 pulse for Z2, 40 pulse for Z3 and 23 pulse for Z4.
Table 2 shows the data of voltage between using fuzzy logic and
without using fuzzy logic (static) for a day. For static solar panel,
maximum voltage is 19.89 Volt respectively. Meanwhile, for solar tracker,
maximum voltage is 19.94 volt respectively.

Table 2 Vout Solar cells Sensor between static solar panel and tracking
solar panel

Graphic below explained comparison between output voltage when


static and when tracking with fuzzy logic calculation. From data we
can obtain comparison 0,067 Volt from static output voltage dan
tracking output voltage.
III. Conclusion
From the results of research optimization sun tracking solar system
using fuzzy logic Takagi-Sugeno, we obtained conclusion is fuzzy logic
algorithm can be used to control position of solar panel from LDR sensor
alteration. The calculation of fuzzy logic is based on microcontroller
ATMega 128, it can be implemented with help of Bascom-CVR program.
The voltage difference between static solar panel and tracker solar panel is
0.067 Volt from static solar panel position to tracker solar panel and result
of LDR value change to same range. The final conclusion is from test of
entire system show that comparison between Takagi-Sugeno and
Sukamoto method is 43 pulse for Z1, 28 pulse for Z2, 40 pulse for Z3, 23
pulse for Z4. From the data, comparison between two methods less than 1
motor rotation .
Reference
[1]
[2]

Figure 8 shows the voltage characteristic curve comparison of static


solar panel and solar tracker. It shows that solar tracker is able to receive
more sunlight and consequently generate more voltage as compared to
static solar panel.

[3]

[4]
[5]

[6]

[7]

[8]

Figure 9 Voltage characteristic curve comparison of static solar panel and


solar tracker

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