DESIGN AND IMPLEMENTATION OF

AUTOMATIC DUAL AXIS SOLAR TRACKER

SYSTEM
ABSTRACT

This project proposes a novel design of an automated dual axis solar

tracking system using a four quadrant light dependent resistor (L.D.R). The
proposed system uses the tracker to actively track the solar radiation and
accordingly adjust the panel to maximize the power output. The project
focuses on the simulation and implementation of the most efficient
algorithm on the dual axis solar tracker which rotates in azimuth and
elevation direction. This simulation positions the panel in a hemi spherical
rotation absorbing maximum solar irradiation thus increasing the total
electricity generation. This vehicles moves from one place to another place.
The vehicle set up work with the iot blynk application. Here we using Node
McU Micro Controller.
 CHAPTER 1

INTRODUCTION

1.1BACKGROUND

As the energy demand and the environmental problems increases with

population and economic developments, the problem of energy crisis and
global warming effects are today a cause of increasing concern. It is the need
of the hour to utilize conventional energy resources which are copious that is
collected from resources which are naturally replenished on a human
timescale such as sunlight, wind, rain, tides and geothermal heat, etc. Solar
energy is one of the most promising renewable energy resource which is
abundant in nature generally in warm countries. In general India has
relatively long sunny days for more than 10 months and partly cloudy sky
for most of the days of the rest two months. Also worldwide many projects
have been done using photo voltaic cells (PV) in collecting solar radiation
and converting to electrical energy, but most of these projects did not take
into account the difference of sun angle of incidence by installing the panels
in fixed orientation which very highly influences the solar energy collected
by the panel. Solar cell (Also called photo voltaic cell) is an electrical device
that converts energy of light directly into electricity by photovoltaic effect.
Solar cells are building blocks of photovoltaic modules, otherwise known as
solar panels. Solar panel is a set of photo voltaic modules which is
electrically connected and mounted on supporting structure to absorb sun
rays as a source of energy for generating electricity or heating. This design
consists a working experimental model which focuses on the use of solar
panel which would follow sun’s motion viz. Azimuth altitude, automatically
adjusting itself every time without human intervention. This cart moves
from one place to another. A Robot car work with the Blynk IoT
Application.

1.2 The Earth: Rotation and Revolution

The position of the sun changes continuously throughout the day. It is

due to the motion of earth that we experience sun at different angles in the
sky. Earth exhibit two types of motion. One is the motion of earth along its
own axis, and the other is the earth revolving around the sun. the motion of
the earth along its own axis, known as rotation, results in the phenomenon of
days and nights. One rotation of the earth takes 23 hours and 56 minutes. On
its own axis, the motion of the earth is west to east.

Figure 1.1: Earth Rotation

Revolution that is the motion of the earth around the sun is

responsible for the different seasons in the year. The earth takes 365 days to
revolve around the sun. Earth revolves around the sun in an elliptical orbit
and the plane covered by the earth during the revolution is known as an
ellipsis. The axis of rotation and ellipsis makes an angle of 66.5 degrees
between themselves. This is the explanation behind the summer/winter
solaces and spring autumn equinoxes. Due to these motions of the earth, the
amount of sunlight received throughout the year varies. Sunlight is the
electromagnetic radiation from the sun expropriated by the earth. The total
power given off by the sun into space is much more than that intercepted by
the earth.

Figure 1.2: Earth Rotation and Revolution

Within a given period of time, the emission of solar radiation is

somewhat constant and the intensity this radiation hitting a unit area of the
earth’s crust is also constant, known as solar constant. The value of this solar
constant can be expressed as: -

In the above expression, σ is termed as Stefan Boltzmann Constant

with a value of 5.67×10-8 W /m 2. K4 , R is known as the radius of the Sun,
696·106 m and D is 150 ·109 m, the average distance between the Sun and
the earth. The absorption of solar radiation on the surface of the earth also
varies with different parameters. Latitude and longitude are one of the
prescribed parameters. Latitude the horizontal imaginary line, parallel to the
equator, is the angle suspended by the arc linearly join a person’s position
and the equator, at the center of the earth. On the contrary longitudes are the
vertical imaginary lines, where longitude is the angle suspended by the arc
joining the north-pole and south-pole as well as passing through the given
location, linearly with the Greenwich meridian, at the center of the earth.
The latitude and longitude express north-south and east-west directions
respectively on the earth. The sunlight is observed at different angles
depending on the place on the earth and the angles of the sun. The sun’s
angle can be classified into the following: -

• Elevation Angle

• Zenith Angle

•Azimuth Angle

The elevation angle is the angle made by the sun with the horizon.
The elevation angle is 0 degree at sunrise and 90 degrees around noontime,
at the equator. The elevation angle is different at a different time of the day
and different for different latitudes. The depicted formula can be used to
determine the elevation angle.

𝛼 = 90 + 𝜑 – 𝛿

When the equation above gives a number greater than 90° then
subtract the result from 180°. It means the sun at solar noon is coming from
the south as is typical the northern hemisphere. φ is the latitude of the
location of interest (+ve for the northern hemisphere and −ve for the
southern hemisphere). δ is the declination angle, which depends on the day
of the year.
 Figure 1.3: Angle of elevation and zenith angle

Zenith angle is akin with elevation angle. The only difference being it
is measured along the vertical. Therefore, it’s the angle between the sun and
the vertical i.e. Zenith Angle = 90° – elevation angle.

𝜁 = 90° − α

Azimuthal Angle, this is the compass direction from which the

sunlight is coming. At solar noon, the sun is directly south in the northern
hemisphere and directly north in the southern hemisphere. The azimuth
angle varies throughout the day. At the equinoxes, the sun rises directly east
and sets directly west regardless of the latitude. Therefore, the azimuth
angles are 90 degrees at sunrise and 270 degrees at sunset. Sunrise and
Sunset time can be formulated by the following formulas

1 TC
Sunrise= 12 − 15° cos−1 (− tan 𝜑 tan 𝛿) − 60

1 TC
Sunrise= 12 + 15° cos−1 (− tan 𝜑 tan 𝛿) − 60

Where φ being the latitude of the place, δ being the declination angle
and TC is the Time Correction
1.3 SOLAR TRACKER

The Solar Trackers are used to continuously direct the solar panel
towards the sun rays, thus assisting in maximizing the expectation towards
this system. This car moves from one place to another place. The vehicle set
up work with the iot blynk application. Here we using Node McU Micro
Controller. This system efficiently tracks sun’s position in the sky and
generate more electricity than their counterparts because of increased direct
exposure to the sun light. There are two kinds of solar tracker single axis and
dual axis trackers. Solar tracker generates more electricity in roughly the
same amount of space needed for fixed tilt systems, making them ideal
optimizing land usage. Also very necessarily, it emphasizes on not only on
increasing the production of energy, but also ameliorates the way power
output is delivered.

Sunlight has two components, the direct beam that causes about 90%
of the solar energy, and the diffused sunlight that carries the remainder. The
diffused portion is the sky on a clear day which increases proportionately on
a cloudy day. As the majority of the energy is in the direct beam, maximum
collection requires the sun to be visible to the panels as long as possible. A
typical solar panel converts only 30 to 40 percent of this incident solar
radiation into electrical energy.

3.2 Types of Solar Tracker Types Specification

Active Solar Tracker

It uses motors and gear trains or direct drive actuators, to follow the
movement of the sun. Directed by a controller. Deactivates during darkness
based on the design of the system. It uses a light sensor to locate the angle
at which maximum sunlight can be absorbed. The MCU directs the solar
panel to change the angle.

Passive Solar Tracker

It uses a liquid, easily compressible and boiled. It is driven by the

solar heat. The fluid moves when heated, like a teeter-totter and hence the
solar panel moves.

Chronological Solar Tracker

Works with the rotation of the earth. Have no sensors. Depends on the
geographical location.Uses a controller to calculate the moment and position
of the earth with respect to the sun at a given time and location.

Single Axis Solar: Single axis tracking system can have either vertical
axle or a horizontal axle. The vertical type is used in high latitudes as in UK
where the sun does not get very high, but summer days can be very long The
horizontal axel is used in tropical regions where the solar rays very high at
noon, but the days are short.

Dual Axis Solar Tracker: Dual axis tracking system have both vertical
axle and a horizontal axel so can be used to track the sun motion anywhere
in the upper sky. This tracking system is used for the control of astronomical
telescopes, and due to which there are hundreds of software available to
predict the motion of the sun across the sky and track automatically. Dual
axis tracking system track the sun both North to South and East to West for
efficient power output.
1.4 BLOCK DIAGRAM:

Figure 1.4: Architecture of Solar Tracker

 CHAPTER 2

LITERATURE REVIEW

Ghazanfar Mehdia,b, Naveed Alia, Shafquat Hussaina Asad A.

Zaidib,c, Ahmer Hussain Shahd , M. Mustafa Azeem, “Design and
Fabrication of Automatic Single Axis Solar Tracker for Solar
Panel”,International Conference on Computing, Mathematics and
Engineering,2019.

This study associated by means of the designing and manufacturing

process of single axis tracker device by using photo voltaic conversion
panels. This solar tracker system assures the conversion optimization of
electricity from the source of sun energy by proper using of orientated
photovoltaic panel in a manner conforming to the actual direction of sun.
Experimental system based on the function of DC motor, which is controlled
by dedicated drive astutely so as to move the PV panel in accordance with
the signals be given as of effective light sensors. It has been found that at the
same sunny day the energy output of solar panel with tracking system was
1742.88Wh and with non tracking system was 829.6Wh and

Abhisak Sharma, Chahak Sharma,” Design and fabrication of an automatic

dual axis solar tracker by using LDR sensors”, International Journal of
Engineering, Science and Technology, 2017.

represents a setup, which is fabricated to minimize the angle of

incidence between incoming light from Sun and a flat photovoltaic (PV)
panel to increase the intensity of the light received. It increases the power
generated by an installed power generating unit. This setup consists of a
mechanical mechanism to tilt the flat PV panel towards the Sun. This
mechanism is derived by DC motors having a high reduction ratio. Voltage
supplies to these motors are controlled by the LDR (Light Dependent
Registers) sensors by the means of electronic circuits. The energy consumed
by the tracking system is very less. The cost of the mechanical parts and
electronic components are very less. The Microprocessor is not used in this
setup. Hence it does not require programming and computer interface. Not
any geological data are required, because LDRs work on the differential of
the light intensity at the both ends of the plate. The motive of the work is to
fabricate a solar tracker at a very low cost.

Ambeyraj mishra, Manvendra singh, Sarjana singh, Rishita singh, Bhavana

sharma, ”Design and implementation of Automatic dual axis solar Tracking
System“, International Research Journal of Engineering and
Technology,2018.

“Automatic dual axis solar tracking system” is a method of generating

power by the use of sunlight. Since the older panels were not so efficient in
producing power whole day. It was maximum only at mid noon. This paper
is for gaining maximum power automatically even when the sun is not at its
peak. So the automatic solar system is for maximum intensity. For the
maximum intensity this system rotates automatically hence increasing power
efficiency

Neenu Sharma, Brijbhushan Sharma,” An Analysis of Automatic Dual Axis

Sun Tracking Solar System”,International Journal of Innovative Research in
Electrical, Electronics, Instrumentation and Control Engineering,2016.

Neenu Sharma et.al Presents a dual axis solar tracking system which
attain more energy from the sun and extends the efficiency or gives more
accuracy. The dual axis solar tracker system contain the horizontal position
and vertical position in which horizontal position can be vary while vertical
position remain fixed. In dual axis solar system they continuously track the
sun position in both directions. The paper studied the orientation and tilting
of solar panel for which maximum energy can be generated. .In this project
maximum power has been generated from the sunlight automatically. This
system is tracking for maximum intensity of light. When there is decrease in
intensity of light this system automatically changes its direction to get
maximum intensity of light.

Gagari Deb et al., (2012), International Journal of Computer &

Electrical Engineering, Vol.4 2012, deals with the design and execution of a
solar tracker system dedicated to the PV conversion panels. His proposed
single axissolar tracker device is to ensureoptimum conversion of solar
energy into electricity by sun tracking. Theoperation of the experimental
model of the device is based on a stepper motor intelligently controlled by a
dedicated drive unitthat moves a mini PV panel according to the signals
received from two simple but efficient light sensors.A Labview program is
claimed tom to have increased the efficiency of the solar panel.

Ahmed Rhif et al., (2012), International Journal of Control Theory &

Computer Modeling Vol.2, review the literature on tracking process for the
dual axis sun tracker by a sliding mode control law. The sun tracker
considered inthis study has two degrees of freedom and is significant due to
lack of sensors. In this way, the tracker will have a set of sun positions at
every second during the day for a period of fiveyears. After sunset, the
tracker goes back to the initial position corresponding to
sunrise.Experimental measurements show that this autonomic dual axis sun
tracker increases the power production by over 40%.Experimental results
showthe effectiveness of the sliding mode control in the tracking process, its
robustness and the high estimation quality of the sliding mode observer.

Ashraf Balabel et al., (2013), International Journal of Control,

Automation and Systems 26 2165–8285, reports on design and testing of
control system to achieve optimal operational efficiency of solar
photovoltaic module using a mathematical analysis. The proposed solar
tracking system design was tested, based on calculated data of the altitude
angle at Taifcity, Saudi Arabia. The obtained system response results show
the simplicity, accuracy and applicability of design in meeting different
operational conditions.It is shown that the sun tracking algorithm can be
classified into closed-loop and open-loop systems, according to its control
mode. Each system acquires relative advantages/disadvantages which
strongly affect their performance.

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.
 Okpeki U.K.et. Al.,International Journal of Engineering & Science
Vol. 2 (2013) PP. 32-38, describes the design and construction of a bi-
directional solar tracking system. The constructed device was implemented
by integrating it with 900V inverter and 12volts, 100AH battery. The
amount of power available from a photovoltaic panel is determined by three
parameters, the type and area of the materials, the intensity of the sunlight
and the wavelength of the sunlight. With advancement in solar panel
technology, parameter one, the type and area of the material had been fully
improved upon and standardized. In this research work the other two
parameters were fully addressed, as this device ensures maximum intensity
of sun rays hitting the surface of the panel from sunrise to sunset. Test
showed that power used by tracker system is less than the power gain by
tracking the sun accurately. The most important conclusion of this research
is the total cost of construction of the tracker system is very low
METHODOLOGY

The complete operation of the dual axis tracking system wholly

depends on the light dependent resistor (L.D.R) which is used as a sensor
whose resistance decreases with increasing light intensity. The fully geared
stepper motors are implemented for the rotation of the solar panel in two
different axes. This dual axis design consists of four LDRs which are placed
on the solar panel for detecting the light intensity. The main objective of this
system is to make the panel always face the sun in order to maximize the
energy absorbed thus giving greater efficiency. The vehicle set up work
with the iot blynk application. Here we using Node McU Micro Controller.
The daily motion causes the sun to appear in east to west direction over the
earth whereas the annual motion causes the sun to tilt on at an angle 23.5
degrees while moving along east-west direction ,so maximum efficiency of
solar panel cannot be obtained using single axis tracker. In the conventional
design of dual axis solar tracking system, motion is conveyed to the panel
with the help of two linear actuators. But the use of linear actuator results in
various problems:

 Motion range is limited

 Noisy operation.

 Very slow operation. Thus, in this design we opted for the use of
gear arrangement for the motion of panel along both the axes. The use of
gear instead of linear actuator we get:

 Increase in step motion accuracy.

 Smooth operation.
  Increase in the motion range.

The panel consists of two pairs of LDRs which are used to track the
sun’s exact position is along the inclined axis and along the azimuth axis.
LDR is a resistor whose resistance decreases with increasing incident light.
When any of the LDR receives maximum intensity radiation its resistance
decreases. This information is sent to the light comparison unit which further
transfers this information to the microcontroller.

The microcontroller is the main control unit of the whole system,

which determines the direction of movement of the motors in both azimuth
and vertical axis. The implementation of the LDR is based on shadow effect.
If the solar panel is not perpendicular to the sun’s rays the shadow will cover
only one or two LDRs, this causes different light intensity to be received by
the sensing device. The output signal from the microcontroller is supplied to
the DC motor which gives step motion to the panel accordingly to the
incident radiation.

1.1 Purpose of solar tracking system:

• Able to convert maximum solar energy throughout the day.

• Efficiency of the system is increased.

• Power per unit area is increased. Fig 1 solar tracking system The sun
direction in the sky vary whole day as the sun moves in the sky 0 to 1800.
Hence there are also two types of solar tracker

•Single Axis

• Dual Axis Single Axis Solar: Single axis tracking system can have either
vertical axle or a horizontal axle. The vertical type is used in high latitudes
as in UK where the sun does not get very high, but summer days can be very
long The horizontal axel is used in tropical regions where the solar rays very
high at noon, but the days are short. Dual Axis Solar Tracker: Dual axis
tracking system have both vertical axle and a horizontal axel so can be used
to track the sun motion anywhere in the upper sky. This tracking system is
used for the control of astronomical telescopes, and due to which there are
hundreds of software available to predict the motion of the sun across the
sky and track automatically. Dual axis tracking system track the sun both
North to South and East to West for efficient power output.

SYSTEM DESCRIPTION

In this project maximum power has been generated from the sunlight
automatically. This system is tracking for maximum intensity of light. When
there is decrease in intensity of light this system automatically changes its
direction to get maximum intensity of light. Sun tracking solar system can
be divided into four parts;

a) Mechanical parts

b) Electrical parts

c) Electronics parts

d) Programming to control the system

A. Mechanical Part

This part contains a mechanical work. There is a structure is made

which support the panel with the two degree of freedom that vary the
tiltation and orientation of the panel. The vertical and horizontal axis has
been designed for the supporting of the panel. In vertical axis they remain
stable that is they remain fixed with respect to the panel and the other hand
in horizontal axis they can be move from east to west and south to north
with tiltation and orientation.

B. Electrical Part

The electrical part contains motor, sensors and gears. The servo motor
can be used for orientation and control the axis of the solar panel, it only
rotate by 90 degree in either direction for the total 180 degree movement and
its wheel can be controlled by the gears attached to it. There are two servo
motor can be used, one is moving in east and west and other in south to
north direction. LDR sensors have been used in sun tracking solar system.
LDR is a variable resistor and its intensity depends upon how much they
receive the light. Four LDR sensors have been used for sensing in four
different directions to obtain maximum intensity of light. The difference
between the outputs of sensor is given to microcontroller unit.

C. Electronic Part

In the electronic part, they contain Arduino which is also called a

programmable logic controller. Arduino is easy to use hardware and
software electronic device. In sun tracking solar system. Arduino can be
used for better working of system.

D. Programming to control the system.

In this part the programming has been done to control the tiltation and
orientation of sun tracking solar system. In Arduino simple programming
has been written and is very simple „c‟ language. There is no extra codes
and complex method used for implementation the program in Arduino. III.
ARDUINO SYSTEM INTERFACE

A photovoltaic cell or solar cell is an electrical device that converts

the light into electricity. Photovoltaic cell is made of mono-crystalline
silicon, polycrystalline silicon, amorphous silicon etc. types of materials.
The solar panel is mounted on the fixed vertical position. The vertical
position remains fixed and the horizontal position makes the movements of
solar panel. Fig: 1: Block diagram of Sun Tracking System The four LDR
placed on the four direction of the panel which receives the maximum
intensity of light, where the sun intensity is high LDR can attain maximum
light on that direction. The resistance of LDR is very high. LDR is very
reliable and simple in structure. The output from the LDR is given to the
Arduino. Arduino is such proficient hardware and software tool through
which several of input from the various switchesor sensors has been
observed and control the movement of motor and light intensity with
accurate output. The programming written in Arduino is very simple and the
cost of Arduino is also very low. Arduino can easily interact with
environment such as sensors and motors. Servo motor can be used to control
the movement of panel. The output from the Arduino is given to the servo
motor and servo motor moves the panel where the intensity of light is high.
Servo motor contains motor which is attached to a sensor for position
feedback. Servo motor very suitable solar tracking system and used mostly
electronics devices. It also low cost and reliable.
To attain the maximum intensity of light the solar panel can be mounted
properly with accurate location and angles. The azimuthal angle, elevation
angle and angle of tiltation mostly used in sun tracking solar system. The
zenith angle is the angle where the maximum intensity of light from the sun
is taken because at this angle the sun is perpendicular to the solar panel.

Fig: 2: Sun path across the sky from sunrise to sunset

In the studies, the angle of optimal tiltation is equal to the 90 degree

subtract the angle of the sun. The angle of tiltation varies from 0 to 90
degree and angle of tiltation changes in summer days and winter days
because in summer days the intensity of light is high than winter days. Solar
tracking system is popular renewable energy to produce electricity. Solar
tracker system is most advanced technology used in modern era. Through
the solar tracking system more energy efficient electricity is produced which
is more suitable for environment. Solar tracking system has some problems
such as they have high cost and complex in nature. Solar panel requires high
maintenance w

hich is very costlier for any company wealth.

 CHAPTER 4

4.1 POWER SUPPLY

There are many types of power supply. Most are designed to convert
the Voltage AC Mains electricity to a suitable low voltage supply for
electronic Circuits and other Devices. A power supply can by broken down
into a series of blocks, each of which performs a particular function. Here
the AC supply main is given to the step down transformer. The transformer
having the different voltages.
 Figure 4.1: Circuit Diagram of Regulated Power Supply

The output from the transformer is given to the rectifier circuit. In this
rectifier circuit the AC voltage is converted to DC voltages. The rectified
DC voltage is given to the regulator circuit. The output of the regulator is
depends upon the regulator IC chosen in the circuit.
4.1.1 BRIDGE RECTIFIER

A bridge rectifier can be made using four individual diodes, but it is

also available in special packages containing the four diodes required. It is
called a full-wave rectifier. Smoothing is performed by a large value
electrolytic capacitor connected across the DC Supply to act as a reservoir,
supplying current to the output when the varying DC Voltage from the
rectifier is falling

Figure 4.2: Bridge Rectifier

The fig 4.2 shows the unsmoothed DC, smoothed DC by the filter
capacitors. The capacitor charges quickly near the Peak of the varying DC,
and then discharges as it supplies current to the output.

Note that smoothing significantly increases the average DC voltage to

almost the peak Value (1.4-× RMS value). For example, 6V RMS AC is
rectified to full wave DC of about 4.6V RMS (1.4V is lost in the bridge
rectifier), with smoothing this increases to almost The peak value giving 1.4
× 4.6 = 6.4V smooth DC. Smoothing is not perfect due to the capacitor
voltage falling a little as it discharges, Giving a small ripple voltage. For
many circuits a ripple which is 10% of the supply Voltage is satisfactory and
the equation below gives the required value for the Smoothing capacitor. A
larger capacitor will give less ripple. The capacitor value must Be doubled
when smoothing half-wave DC.

4.1.2 REGULATOR

Voltage regulators ICs are available with fixed (typically 5, 12 and

15V) or variable Output voltages. They are also rated by the maximum
current they can pass. Negative Voltage regulators are available, mainly for
use in dual supplies. Most regulators include some automatic protection
from excessive current ('overload protection') and Overheating ('thermal
protection').

Figure 4.4(a): Regulator

Figure 4.4(b): Regulator IC

Many of the fixed voltage regulator ICs has 4 leads and look like power
transistors, Such as the 7805 +5V 1A regulator shown on the right. They
include a hole for attaching a heat sink if necessary.
 Figure 4.5: Rectifier Circuit Diagram and Waveform

The above fig 4.5 shows the rectifier circuit diagram and the
regulated output voltage. The regulated DC output is very smooth with no
ripple. In generally there are two types of regulators are used. Namely the
positive and negative type regulators. For positive type regulators 78**
series of regulators are used. For negative type regulators 79** series of
regulators are used. Depends upon the voltage and type of the voltage the
regulator IC is selected.

4.2 4.2 NODEMCU

The NodeMcu is an open-source firmware and development kit that

helps you to Prototype your IOT product within a few Lua script lines.
 Figure 4.5 NodeMcu

The NodeMCU (Node MicroController Unit) is an open source software and

hardware development environment that is built around a very inexpensive
System-on-a-Chip (SoC) called the ESP8266. The ESP8266 is designed and
manufactured by Express, contains all crucial elements of the modern
computer: CPU, RAM, networking (wi-fi), and even a modern operating
system and SDK. When purchased at bulk, the ESP8266 chip costs only $2
USD a piece. That makes it an excellent choice for this system design.

The NodeMCU aims to simplify ESP8266 development. It has two key

components.

 An open source ESP8266 firmware that is built on top of the chip

manufacturer's proprietary SDK. The firmware provides a simple
programming environment based on eLua (embedded Lua), which is a
very simple and fast scripting language with an established developer
community. For new comers, the Lua scripting language is easy to
learn. And to add on NodeMCU can be programmed with the Android
IDE too.
 A development kit board that incorporates the ESP8266 chip on a
standard circuit board. The board has a built-in USB port that is
already wired up with the chip, a hardware reset button, Wi-Fi
antenna, LED lights, and standard-sized GPIO (General Purpose Input
Output) pins that can plug into a bread board.

4.2.1 DESCRIPTION:

The ESP8266 WiFi Module is a self-contained SOC with integrated

TCP/IP protocol stack that can give any microcontroller access to your WiFi
network. The ESP8266 is capable of either hosting an application or
offloading all Wi-Fi networking functions from another application
processor. Each ESP8266 module comes pre-programmed with an AT
command set firmware, meaning, you can simply hook this up to your
Arduino device and get about as much WiFi-ability as a WiFi Shield offers
(and that’s just out of the box).The ESP8266 module is an extremely cost
effective board with a huge, and ever growing, community.

This module has a powerful enough on-board processing and storage

capability that allows it to be integrated with the sensors and other
application specific devices through its GPIOs with minimal development
up-front and minimal loading during runtime. Its high degree of on-chip
integration allows for minimal external circuitry, including the front-end
module, is designed to occupy minimal PCB area. The ESP8266 supports
APSD for VoIP applications and Bluetooth co-existance interfaces, it
contains a self-calibrated RF allowing it to work under all operating
conditions, and requires no external RF parts. There is an almost limitless
fountain of information available for the ESP8266, all of which has been
provided by amazing community support. In the Documents section below
you will find many resources to aid you in using the ESP8266, even
instructions on how to transforming this module into an IoT.

 NodeMCU is an open source IoT platform. Which includes firmware

which runs on the ESP8266 Wi-Fi Module from Espressif
Systems,and hardware which is based on the ESP-12 module.
 Figure 4.6 Node MCU Pin diagram

 The term “NodeMCU” by default refers to the firmware rather than

the dev kits. NodeMCU firmware was developed so that AT
commands can be replaced with Lua scripting making the life of
developers easier. So it would be redundant to use AT commands
again in NodeMCU.

 The ESP8266 is a low-cost Wi-Fi chip with full TCP/IP stack and
microcontroller capability

Features:

 Open-source
 Interactive
 Programmable
 Low cost
  Simple
 Smart
 WI-FI enabled

4.3 ARDUINO NANO MICROCONTROLLER

Arduino Nano is a small, complete, flexible and breadboard-friendly

Microcontroller board, based on ATmega328p, developed by Arduino.cc in
Italy in 2008 and contains 30 male I/O headers, configured in a DIP30 style.
Arduino Nano Pinout contains 14 digital pins, 8 analog Pins, 2 Reset Pins &
6 Power Pins. It is programmed using Arduino IDE, which can be
downloaded from Arduino Official site. Arduino Nano is simply a smaller
version of Arduino UNO, thus both have almost the same functionalities. It
comes with an operating voltage of 5V, however, the input voltage can vary
from 7 to 12V. Arduino Nano’s maximum current rating is 40mA, so the
load attached to its pins shouldn’t draw current more than that. Each of these
Digital & Analog Pins is assigned with multiple functions but their main
function is to be configured as Input/Output.

Arduino Pins are acted as Input Pins when they are interfaced with
sensors, but if you are driving some load then we need to use them as an
Output Pin. Functions like pinMode() and digitalWrite() are used to control
the operations of digital pins while analogRead() is used to control analog
pins. The analog pins come with a total resolution of 10-bits which measures
the value from 0 to 5V. Arduino Nano comes with a crystal oscillator of
frequency 16 MHz. It is used to produce a clock of precise frequency using
constant voltage. There is one limitation of using Arduino Nano i.e. it
doesn’t come with a DC power jack, which means you can not supply an
external power source through a battery. This board doesn’t use standard
USB for connection with a computer, instead, it comes with Type-B Micro
USB. The tiny size and breadboard-friendly nature make this device an ideal
choice for most applications where the size of the electronic components is
of great concern.

Flash memory is 16KB or 32KB that all depends on the Atmega board
i.e Atmega168 comes with 16KB of flash memory while Atmega328 comes
with a flash memory of 32KB. Flash memory is used for storing code. The
2KB of memory out of total flash memory is used for a bootloader. The
SRAM memory of 2KB is present in Arduino Nano. Arduino Nano has an
EEPROM memory of 1KB. t is programmed using Arduino IDE which is an
Integrated Development Environment that runs both offline and online. No
prior arrangements are required to run the board. All you need is a board,
mini USB cable and Arduino IDE software installed on the computer. USB
cable is used to transfer the program from the computer to the board. No
separate burner is required to compile and burn the program as this board
comes with a built-in boot-loader.
 FIG 4.7 ARDUINO NANO

Microcontroller ATmega328p
Operating Voltage 5V
Input Voltage 7-12V
(recommended)
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 8
DC Current per I/O Pin 40 mA
DC Current for 4.4V Pin 50 Ma
Flash Memory 16KB or 32KB (ATmega328) of which 2KB used
by boot loader
SRAM 2 KB (ATmega428)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz
Table 1.1:Arduino Summery

4.3.1 ARDUINO NANO PINOUT

 Each pin on the Nano board comes with a specific function associated
with it. We can see the analog pins that can be used as an analog to a digital
converter, where A4 and A5 pins can also be used for I2C communication.
Similarly, there are 14 digital pins, out of which 6 pins are used for
generating PWM.

4.3.2 ARDUINO NANO POWER PINS

 Vin: It is input power supply voltage to the board when using an

external power source of 7 to 12 V.
 It is a regulated power supply voltage of the board that is used to
power the controller and other components placed on the board.

 3V3: This is a minimum voltage generated by the voltage regulator on

the nano board.
  GND Pin: These are the ground pins on the board.
 There are multiple ground pins on the board that can be interfaced
accordingly when more than one ground pin is required.

4.3.3 ARDUINO NANO FUNCTION PINS

Reset Pin: Arduino Nano has 2 reset pins incorporated on the board,
making any of these Reset pins LOW will reset the microcontroller. Pin#13:
A built-in LED is connected to pin#13 of nano board. This LED is used to
check the board i.e. it’s working fine or not. AREF: This pin is used as a
reference voltage for the input voltage.
4.3.4 ARDUINO NANO I/O PINS

4.4 LIGHT DEPENDENT RESISTOR

Light dependent resistors, LDRs or photoresistors are often used in

circuits where it is necessary to detect the presence or the level of light.They
can be described by a variety of names from light dependent resistor, LDR,
photoresistor, or even photo cell, photocell or photoconductor. Although
other devices such as photodiodes or photo-transistor can also be used,
LDRs or photoresistors are a particularly convenient electronics component
to use. They provide large change in resistance for changes in light level.In
view of their low cost, ease of manufacture, and ease of use LDRs have been
used in a variety of different applications. At one time LDRs were used in
photographic light meters, and even now they are still used in a variety of
applications where it is necessary to detect light levels.
 Typical leaded light dependent resistor

A photoresistor or light dependent resistor is a component that is

sensitive to light. When light falls upon it then the resistance changes.
Values of the resistance of the LDR may change over many orders of
magnitude the value of the resistance falling as the level of light increases.It
is not uncommon for the values of resistance of an LDR or photoresistor to
be several megohms in darkness and then to fall to a few hundred ohms in
bright light. With such a wide variation in resistance, LDRs are easy to use
and there are many LDR circuits available. The sensitivity of light
dependent resistors or photoresistors also varies with the wavelength of the
incident light.

The LDR symbol used in circuits is based around the resistor

circuit symbol, but shows the light, in the form of arrows shining on it. In
this way it follows the same convention used for photodiode and
phototransistor circuit symbols where arrows are used to show the light
falling on these components.
 Photoresistor / light dependent resistor circuit symbols
The light dependent resistor / photoresistor circuit symbols are shown for
both the newer style resistor symbol, i.e. a rectangular box and the older zig-
zag line resistor circuit symbols.

4.4.1 WORKING PRINCIPLE OF LDR

It is relatively easy to understand the basics of how an LDR works

without delving into complicated explanations. It is first necessary to
understand that an electrical current consists of the movement of electrons
within a material.

Good conductors have a large number of free electrons that can drift
in a given direction under the action of a potential difference. Insulators with
a high resistance have very few free electrons, and therefore it is hard to
make the them move and hence a current to flow.

An LDR or photoresistor is made any semiconductor material with a

high resistance. It has a high resistance because there are very few electrons
that are free and able to move - the vast majority of the electrons are locked
into the crystal lattice and unable to move. Therefore in this state there is a
high LDR resistance.
 As light falls on the semiconductor, the light photons are absorbed by
the semiconductor lattice and some of their energy is transferred to the
electrons. This gives some of them sufficient energy to break free from the
crystal lattice so that they can then conduct electricity. This results in a
lowering of the resistance of the semiconductor and hence the overall LDR
resistance.

The process is progressive, and as more light shines on the LDR

semiconductor, so more electrons are released to conduct electricity and the
resistance falls further.

Interfacing with Arduino

A light sensor or LDR can be very easily interfaced with an Arduino.

The light sensor is connected to the analogue inputs of the Arduino. One of
the pins of the LDR is connected to the ground while the other is connected
to one of the 5 analogue in pins. Depending on the function of the LDR it
may need another resistor connected to it. Say for instance if the LDR is
controlling a LED, if it allows to much current to get through it might cause
the LED to blow up. This is the reason for another resister being needed.
And of course the Arduino will need to be programmed in order for there to
be an output from the input of the LDR.
4.5 SERVO MOTOR
Servos are small but powerful motors that can be used in a multitude
of products ranging from toy helicopters to robots. A servo consists of three
basic parts: an electric motor, a feedback potentiometer that connects to the
output shaft, and a controller. This allows the servo to rotate to specific
angles by keeping track of its current angular position. The servo is
controlled via Pulse-Width Modulation, or PWM. The motor aligns the shaft
to a specific angle depending on the duty cycle of the signal that is sent. The
ability to 3 rotate to a certain position rather than at a certain speed makes
servos very useful in prosthetic devices by making very precise movements
through the elimination of the time variable. Normal DC motors require
running the motor for a given amount of time at a certain speed to derive a
distance, servos can directly choose a position.

Fig. 5.9 Servo Motor

A servo motor is an electrical device which can push or rotate an

object with great precision. If you want to rotate and object at some specific
angles or distance, then you use servo motor. It is just made up of simple
motor which run through servo mechanism. If motor is used is DC powered
then it is called DC servo motor, and if it is AC powered motor then it is
called AC servo motor. We can get a very high torque servo motor in a small
and light weight packages. Doe to these features they are being used in many
applications like toy car, RC helicopters and planes, Robotics, Machine etc.

4.5.1WORKING PRINCIPLE OF SERVO MOTORS

A servo consists of a Motor (DC or AC), a potentiometer, gear

assembly and a controlling circuit. First of all we use gear assembly to
reduce RPM and to increase torque of motor. Say at initial position of servo
motor shaft, the position of the potentiometer knob is such that there is no
electrical signal generated at the output port of the potentiometer. Now an
electrical signal is given to another input terminal of the error detector
amplifier. Now difference between these two signals, one comes from
potentiometer and another comes from other source, will be processed in
feedback mechanism and output will be provided in term of error signal.
This error signal acts as the input for motor and motor starts rotating.
Now motor shaft is connected with potentiometer and as motor rotates so the
potentiometer and it will generate a signal. So as the potentiometer’s angular
position changes, its output feedback signal changes. After sometime the
position of potentiometer reaches at a position that the output of
potentiometer is same as external signal provided. At this condition, there
will be no output signal from the amplifier to the motor input as there is no
difference between external applied signal and the signal generated at
potentiometer, and in this situation motor stops rotating.

4.5.2 CONTROLLING SERVO MOTOR

All motors have three wires coming out of them. Out of which two
will be used for Supply (positive and negative) and one will be used for the
signal that is to be sent from the MCU.
 Servo motor is controlled by PWM (Pulse with Modulation) which is
provided by the control wires. There is a minimum pulse, a maximum pulse
and a repetition rate. Servo motor can turn 90 degree from either direction
form its neutral position. The servo motor expects to see a pulse every 20
milliseconds (ms) and the length of the pulse will determine how far the
motor turns. For example, a 1.5ms pulse will make the motor turn to the 90°
position, such as if pulse is shorter than 1.5ms shaft moves to 0° and if it is
longer than 1.5ms than it will turn the servo to 180°.

Servo motor works on PWM (Pulse width modulation) principle,

means its angle of rotation is controlled by the duration of applied pulse to
its Control PIN. Basically servo motor is made up of DC motor which is
controlled by a variable resistor (potentiometer) and some gears. High speed
force of DC motor is converted into torque by Gears. We know that
WORK= FORCE X DISTANCE, in DC motor Force is less and distance
(speed) is high and in Servo, force is High and distance is less.
Potentiometer is connected to the output shaft of the Servo, to calculate the
angle and stop the DC motor on required angle.
 PWM pulse width to angel relation of a servo motor

Servo motor can be rotated from 0 to 180 degree, but it can go up to

210 degree, depending on the manufacturing. This degree of rotation can be
controlled by applying the Electrical Pulse of proper width, to its Control
pin. Servo checks the pulse in every 20 milliseconds. Pulse of 1 ms (1
millisecond) width can rotate servo to 0 degree, 1.5ms can rotate to 90
degree (neutral position) and 2 ms pulse can rotate it to 180 degree
 CONCLUSION

This paper presents an interesting and simple attempt to implement

Dual Axis Solar Tracker by using LDR and Microcontroller. The use of
gears instead of linear actuator helps in increasing the efficiency of the
overall tracker. The design assists to extract maximum power from the solar
radiation by tracking using a dual axis tracker. This cart moves from one
place to another. This is possible if the solar is always in proper alignment
with incident rays of sun.

The proposed methodology presents the following features:

 A simple and economic implementation.

 An ability to simultaneously adjust panel along both the axes.

 Ability to adjust the tracking accuracy. Provides efficient tracking

even under diffuse weather conditions.
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