Direct and Indirect Dual Axis Solar Tracking System With Weather Condition

Domain: Embedded System
Technology: Renewable
Direct and indirect dual axis solar tracking system with weather condition
Abstract:
The main goal of this project is to design a

very
precise solar tracker. The project is
divided into two parts;
hardware and software. Hardware part
generally composed of
solar panel, two-DC motors with gearbox,
LDR sensor module
and electronic circuit. Software part
represents the thinking
behavior of the system, that is how the
system acting under
several weather conditions. In this work
sensing of the sun
position carried out in two stages primary
and secondary.
Primary stage or indirect sensing

performed via sun-earth
relationship as a coarse adjustment and
second stage or direct
sensing performed via set of LDR sensors
as output tuning to
trims the azimuth and altitude angles. If
the weather is cloudy
or dusty, the tracking system uses primary
stage or sun-earth
geometrical relationships only to identify
the location of the
sun; so the system tracks the position of
the sun regardless the
weather condition. The energy extracted
from photovoltaic
(PV) or any solar collector depends on
solar irradiance. For
maximum extraction of energy from the

sun, the solar collector
panel should always be normal to the
incident radiation Solar
trackers moves the solar collector to
follow the sun path and
keeps the orientation of the solar collector
at an optimal tilt
angle. Solar tracking system improves
substantially the energy
efficiency of photovoltaic (PV) panel. In
this paper, an
automatic dual axis solar tracking system
is designed and
developed using Light Dependent Resistor
(LDR) and DC
motors on a mechanical structure with
gear arrangement. Two-
axis solar tracking (azimuth angle as well

as altitude angle) is
implemented through Arduino UNO
controller based on Sun-
Earth Geometry. The results indicated that
the automatic solar
tracking system is more reliable and
efficient than fixed one.
The main goal of this project is to design a very precise solar tracker. The project is
divided into two parts; hardware and software. Hardware part generally composed of solar panel,
two-DC motors with gearbox, LDR sensor module and electronic circuit. Software part
represents the thinking behavior of the system, that is how the system acting under several
weather conditions. In this work sensing of the sun position carried out in two stages primary and
secondary. Primary stage or indirect sensing performed via sun-earth relationship as a coarse
adjustment and second stage or direct sensing performed via set of LDR sensors as output tuning
to trims the azimuth and altitude angles. If the weather is cloudy or dusty, the tracking system
uses primary stage or sun-earth geometrical relationships only to identify the location of the sun;
so the system tracks the position of the sun regardless the weather condition. The energy
extracted from photovoltaic (PV) or any solar collector depends on solar irradiance. For
maximum extraction of energy from the sun, the solar collector panel should always be normal to
the incident radiation Solar trackers moves the solar collector to follow the sun path and keeps
the orientation of the solar collector at an optimal tilt angle. Solar tracking system improves
substantially the energy efficiency of photovoltaic (PV) panel. In this paper, an automatic dual
axis solar tracking system is designed and developed using Light Dependent Resistor (LDR) and
DC motors on a mechanical structure with gear arrangement. Two-axis solar tracking (azimuth
angle as well as altitude angle) is implemented through Arduino UNO controller based on Sun-
Earth Geometry. The results indicated that the automatic solar tracking system is more reliable
and efficient than fixed one. In this project we are going to monitor the weather condition around
it by utilizing DHT11 sensor and rain sensor and the output is displayed in lcd display.
CHAPTER 1
INTRODUCTION
1.1. INTRODUCTION TO EMBEDDED SYSTEMS:
An embedded system is a special-purpose computer system designed to perform one or a few

dedicated functions, sometimes with real-time computing constraints. It is usually embedded as
part of a complete device including hardware and mechanical parts. In contrast, a general-
purpose computer, such as a personal computer, can do many different tasks depending on
programming. Embedded systems have become very important today as they control many of the
common devices we use.
Since the embedded system is dedicated to specific tasks, design engineers can optimize it,
reducing the size and cost of the product, or increasing the reliability and performance. Some
embedded systems are mass-produced, benefiting from economies of scale.
Physically embedded systems range from portable devices such as digital watches and MP3
players, to large stationary installations like traffic lights, factory controllers, or the systems
controlling nuclear power plants. Complexity varies from low, with a single microcontroller
chip, to very high with multiple units, peripherals and networks mounted inside a large chassis or
enclosure.
In general, "embedded system" is not an exactly defined term, as many systems have some
element of programmability. For example, Handheld computers share some elements with
embedded systems — such as the operating systems and microprocessors which power them —
but are not truly embedded systems, because they allow different applications to be load and
peripherals to be connected.
An embedded system is some combination of computer hardware and software, either fixed in
capability or programmable, that is specifically designed for a particular kind of application
device. Industrial machines, automobiles, medical equipment, cameras, household appliances,

airplanes, vending machines, and toys (as well as the more obvious cellular phone and PDA) are
among the myriad possible hosts of an embedded system. Embedded systems that are
programmable are provided with a programming interface, and embedded systems programming
is a specialized occupation.Certain operating systems or language platforms are tailored for the
embedded market, such as Embedded Java and Windows XP Embedded. However, some low-
end consumer products use very inexpensive microprocessors and limited storage, with the
application and operating system both part of a single program. The program is written
permanently into the system's memory in this case, rather than being loaded into RAM (random
access memory), as programs on a personal computer are.
1.2. CHARACTERISTIC OF EMBEDDED SYSTEM
 Speed (bytes/sec): Should be high speed

 Power (watts): Low power dissipation
 Size and weight: As far as possible small in size and low weight
 Accuracy (%error): Must be very accurate
 Adaptability: High adaptability and accessibility
 Reliability: Must be reliable over a long period of time
1.3. APPLICATIONS OF EMBEDDED SYSTEMS
We are living in the Embedded World. You are surrounded with many embedded products
and your daily life largely depends on the proper functioning of these gadgets. Television, Radio,
CD player of your living room, Washing Machine or Microwave Oven in your kitchen, Card
readers, Access Controllers, Palm devices of your work space enable you to do many of your
tasks very effectively. Apart from all these, many controllers embedded in your car take care of
car operations between the bumpers and most of the times you tend to ignore all these
controllers.
 Robotics: industrial robots, machine tools, Robocop soccer robots

 Automotive: cars, trucks, trains
 Aviation: airplanes, helicopters
 Home and Building Automation
 Aerospace: rockets, satellites
 Energy systems: windmills, nuclear plants
Medical systems: prostheses, revalidation machine.
1.4. INTRODUCTION TO THE PROJECT:
At the present time, climate change on the world is at a delicate level. Climate change can
be divided into two classes, human and natural causes. Natural causes of climate changes are
ocean current, solar variations and earth orbital changes. The major part of climate changes
caused by human is man-made greenhouse gases emission Global waning can be shown through
some of the natural phenomenon around the globe like the severe weather conditions. Solar
energy is the energy derived from the sun in the form of solar irradiation. Solar energy is the
most inexhaustible, renewable source of energy known to humanity. In order to increase the
efficiency of solar energy systems, solar tracker is added at the expense of system's complexity
and cost. The two basic categories of trackers are single axis and dual axis. Single axis tracker
has one axis of freedom, vertical or horizontal. Dual axis tracker has both a vertical and a
horizontal axis of freedom, so it able to track the position of the sun precisely. A prototype of the
automatic two-axis solar tracking system with a new design of sun-position tracker mechanism
and wireless supervisory is designed in this paper. The solar tracker mechanism is composed of
Arduino UNO controller, DC motors, gear box, LDR sensor module, angle sensor, timing circuit,
Bluetooth module and motor driving circuit. Arduino UNO sends command to DC motors to
specify elevation and azimuth angles of solar panel in which to maintain the panel always
nominal to sun light. Two angle sensors are used to measure the physical angles on both outlet
shafts of azimuth and elevation to make sure the desired angles are reached. Set of four LDR
light sensor are used to trim the errors of altitude and azimuth angles. The parameters of the
tracking system are monitored remotely on the supervisor and control computer program through
Bluetooth module. As a result of experiments the power generated by the proposed tracking
system is increased in the overall of about 1 0% ~ 40% more than fixed angle system in general.
CHAPTER 2
LITERATURE REVIEW
[1] Arduino based solar tracking system for energy improvement of Pv solar panel- Peter
Amaize, Idiake Stanley Uzairue
Solar energy is a clean, easily accessible and abundantly available alternative energy source in
nature. Getting solar energy from nature is very beneficial for power generation. Using a fixed
Photovoltaic panels extract maximum energy only during 12 noon to 2 PM in Nigeria which
results in less energy efficiency. Therefore, the need to improve the energy efficiency of PV
solar panel through building a solar tracking system cannot be overemphasized. Photovoltaic
panels must be perpendicular with the sun in order to get maximum energy. The methodology
employed in this work includes the implementation of an Arduino based solar tracking system.
Light Dependent Resistors (LDRs) are used to sense the intensity of sunlight and hence the PV
solar panel is adjusted accordingly to track maximum energy. The mechanism uses servo motor
to control the movement of the solar panel. The microcontroller is used to control the servo
motor based on signals received from the LDRs. The result of this work has clearly shown that
the tracking solar panel produces more energy compared to a fixed panel.
[2] THE IMPLEMENTATION OF SOLAR TRACKER USING ARDUINO WITH

SERVOMOTOR- P.Ramya1, R Ananth
The aim of this project is to consume the maximum solar energy through solar panel. A Solar
Tracker is a device onto which solar panels are built-in which tracks the motion of the sun
ensuring that maximum amount of sunlight strikes the panels all over the day. Power output from
a solar cell will be maximum when it is facing the sun i.e. the angle between its surface and sun
rays is 90 degree. Solar tracking allows more energy to be produced because the solar array is
able to remain aligned to the sun. The components used for its construction are servo motor,
Arduino and LDR. The active sensors continuously monitor the sunlight and alternate the panel
towards the direction where the intensity of sunlight is maximum. In this project, it’s divided by
two categories; hardware and software. In hardware part, 2 light dependent resistor (LDR) has
been used to trace the synchronize of sunlight by detecting brightness level of sunlight. For
rotation part, one standard servo motor has been selected. In software part, the code is
constructed in C programming and inserted in Arduino. This project is designed for low power
and portable application. Therefore, it’s suitable for rural area usage. Moreover, the effectiveness
of output power which collected by sunlight are increased.
[3] Arduino Based Solar Tracking System For Energy Improvement Of Pv Solar Panel- Amaize
Peter Aigboviosa1 , Adoghe Anthony1 , Awosope Claudius1
Solar energy is a clean, easily accessible and abundantly available alternative energy source in
nature. Getting solar energy from nature is very beneficial for power generation. Using a fixed
Photovoltaic panels extract maximum energy only during 12 noon to 2 PM in Nigeria which
results in less energy efficiency. Therefore, the need to improve the energy efficiency of PV
solar panel through building a solar tracking system cannot be over-emphasized. Photovoltaic
panels must be perpendicular with the sun in order to get maximum energy. The methodology
employed in this work includes the implementation of an Arduino based solar tracking system.
Light Dependent Resistors (LDRs) are used to sense the intensity of sunlight and hence the PV
solar panel is adjusted accordingly to track maximum energy. The mechanism uses servo motor
to control the movement of the solar panel. The microcontroller is used to control the servo
motor based on signals received from the LDRs. The result of this work has clearly shown that
the tracking solar panel produces more energy compared to a fixed panel.
CHAPTER 3
EXISTING METHOD
A Solar Tracker is a device onto which solar panels are built-in which tracks the motion
of the sun ensuring that maximum amount of sunlight strikes the panels all over the day. Power
output from a solar cell will be maximum when it is facing the sun i.e. the angle between its
surface and sun rays is 90 degree. Solar tracking allows more energy to be produced because the
solar array is able to remain aligned to the sun. The components used for its construction are
servo motor, Arduino and LDR. The active sensors continuously monitor the sunlight and
alternate the panel towards the direction where the intensity of sunlight is maximum. In this
project, it’s divided by two categories; hardware and software. In hardware part, 2 light
dependent resistor (LDR) has been used to trace the synchronize of sunlight by detecting
brightness level of sunlight. For rotation part, one standard servo motor has been selected. In
software part, the code is constructed in C programming and inserted in Arduino. This project is
designed for low power and portable application. Therefore, it’s suitable for rural area usage.
Moreover, the effectiveness of output power which collected by sunlight are increased.
DRAWBACKS:
 No monitoring of Weather condition

CHAPTER 4
PROPOSED SYSTEM
In this project presents the direct and indirect dual axis solar tracking system by using
arduino, solar panel, ldr, rtc, motor driver, dc motor. Here we have placed ldr on top of solar
panel so it detects the sunlight are shift its position according to it by utilizing dc motor and there
is an add on advantage like if it is of rainy season or cloudy so there is an switch option by
pressing it switches from ldr mode to real time clock (rtc) mode where it shift its position with
respect to time accordingly.
4.1. BLOCK DIAGRAM:
Figure: Block diagram of Dual axis solar tracker with weather condition
4.2. WORKING:
The project is divided into two parts; hardware and software. Hardware part generally composed
of solar panel, two-DC motors with gearbox, LDR sensor module and electronic circuit.
Software part represents the thinking behavior of the system, that is how the system acting under
several weather conditions. In this work sensing of the sun position carried out in two stages
primary and secondary. Primary stage or indirect sensing performed via sun-earth relationship as
a coarse adjustment and second stage or direct sensing performed via set of LDR sensors as
output tuning to trims the azimuth and altitude angles. If the weather is cloudy or dusty, the
tracking system uses primary stage or sun-earth geometrical relationships only to identify the
location of the sun; so the system tracks the position of the sun regardless the weather condition.
The energy extracted from photovoltaic (PV) or any solar collector depends on solar irradiance.
For maximum extraction of energy from the sun, the solar collector panel should always be
normal to the incident radiation Solar trackers moves the solar collector to follow the sun path
and keeps the orientation of the solar collector at an optimal tilt angle. Solar tracking system
improves substantially the energy efficiency of photovoltaic (PV) panel. In this paper, an
automatic dual axis solar tracking system is designed and developed using Light Dependent
Resistor (LDR) and DC motors on a mechanical structure with gear arrangement. Two-axis solar
tracking (azimuth angle as well as altitude angle) is implemented through Arduino UNO
controller based on Sun-Earth Geometry. The results indicated that the automatic solar tracking
system is more reliable and efficient than fixed one and moreover we also monitor the weather
condition by using DHT11 sensor and rain sensor around it and the output will be displayed in
16*2 lcd display.
4.3. FLOWCHART:
Fig: flowchart
4.4. CIRCUIT DIAGRAM:
Circuit diagram of dual axis solar tracking system with weather condition
CHAPTER 5
TOOL CONTENT
5.1. HARDWARE TOOLS:

5.1.1. ARDUINO UNO:
The Arduino Uno is an open-source microcontroller board based on
the Microchip ATmega328P microcontroller and developed by Arduino.cc. The board is
equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to
various expansion boards (shields) and other circuits. The board has 14 digital I/O pins (six
capable of PWM output), 6 analog I/O pins, and is programmable with the Arduino
IDE (Integrated Development Environment), via a type B USB cable. It can be powered by the
USB cable or by an external 9-volt battery, though it accepts voltages between 7 and 20 volts. It
is similar to the Arduino Nano and Leonardo. The hardware reference design is distributed under
a Creative Commons Attribution Share-Alike 2.5 license and is available on the Arduino
website. Layout and production files for some versions of the hardware are also available.
Pin Description:
 LED: There is a built-in LED driven by digital pin 13. When the pin is high value, the
LED is on, when the pin is low, it is off.
 VIN: The input voltage to the Arduino/Genuino board when it is using an external power
source (as opposed to 5 volts from the USB connection or other regulated power source).
You can supply voltage through this pin, or, if supplying voltage via the power jack, access it
through this pin.
 5V: This pin outputs a regulated 5V from the regulator on the board. The board can be
supplied with power either from the DC power jack (7 - 20V), the USB connector (5V), or
the VIN pin of the board (7-20V). Supplying voltage via the 5V or 3.3V pins bypasses the
regulator, and can damage the board.
 3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current draw is 50
mA.
 GND: Ground pins.
 IOREF: This pin on the Arduino/Genuino board provides the voltage reference with
which the microcontroller operates. A properly configured shield can read the IOREF pin
voltage and select the appropriate power source, or enable voltage translators on the outputs
to work with the 5V or 3.3V.
 Reset: Typically used to add a reset button to shields that block the one on the board.
Special pin functions:
Each of the 14 digital pins and 6 analog pins on the Uno can be used as an input or output, under
software control (using pinMode(), digitalWrite(), and digitalRead() functions). They operate at
5 volts. Each pin can provide or receive 20 mA as the recommended operating condition and has
an internal pull-up resistor (disconnected by default) of 20-50K ohm. A maximum of 40mA must
not be exceeded on any I/O pin to avoid permanent damage to the microcontroller. The Uno has
6 analog inputs, labeled A0 through A5; each provides 10 bits of resolution (i.e. 1024 different
values). By default, they measure from ground to 5 volts, though it is possible to change the
upper end of the range using the AREF pin and the analogReference() function.
In addition, some pins have specialized functions:
 Serial / UART: pins 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL
serial data. These pins are connected to the corresponding pins of the ATmega8U2 USB-to-
TTL serial chip.
 External interrupts: pins 2 and 3. These pins can be configured to trigger an interrupt on
a low value, a rising or falling edge, or a change in value.
 PWM (pulse-width modulation): pins 3, 5, 6, 9, 10, and 11. Can provide 8-bit PWM
output with the analogWrite() function.
 SPI (Serial Peripheral Interface): pins 10 (SS), 11 (MOSI), 12 (MISO), and 13 (SCK).
These pins support SPI communication using the SPI library.
 TWI (two-wire interface) / I²C: pin SDA (A4) and pin SCL (A5). Support TWI
communication using the Wire library.
 AREF (analog reference): Reference voltage for the analog inputs.
Communication:
The Arduino/Genuino Uno has a number of facilities for communicating with a computer,
another Arduino/Genuino board, or other microcontrollers. The ATmega328 provides UART
TTL (5V) serial communication, which is available on digital pins 0 (RX) and 1 (TX). An
ATmega16U2 on the board channels this serial communication over USB and appears as a
virtual com port to software on the computer. The 16U2 firmware uses the standard USB COM
drivers, and no external driver is needed. However, on Windows, a .inf file is required. Arduino
Software (IDE) includes a serial monitor which allows simple textual data to be sent to and from
the board. The RX and TX LEDs on the board will flash when data is being transmitted via the
USB-to-serial chip and USB connection to the computer (but not for serial communication on
pins 0 and 1). A SoftwareSerial library allows serial communication on any of the Uno's digital
pins.
Fig: Arduino UNO

Fig: Arduino UNO pinout
SOLAR PANEL:
Essentially, a sun based board works by permitting photons, or particles of light, to pound
electrons liberated from particles, making a development of force. Sun organized sheets really
join many, more unassuming units called photovoltaic cells. (Photovoltaic fundamentally gathers
they convert daylight into power.) Many cells related together make up a sunshine based board.
Each photovoltaic cell is essentially a sandwich included two cuts of semi-driving material,
usually silicon — a tantamount stuff utilized in microelectronics.
To work, photovoltaic cells need to set up an electric field. Much like an engaging field, which
happens in light of in reverse screws, an electric field happens when converse charges are
restricted. To get this field, creators "dope" silicon with different materials, giving each cut of the
sandwich a positive or negative electrical charge.
Specifically, they seed phosphorous into the top layer of silicon, which adds extra electrons, with
a negative charge, to that layer. Meanwhile, the base layer gets a fragment of boron, which
accomplishes less electrons, or a positive charge. This all amounts to an electric field at the
intermingling between the silicon layers. By at that point, when a photon of daylight pounds an
electron free, the electric field will push that electron out of the silicon crossing point.
A couple of extraordinary bits of the cell change these electrons into usable force. Metal
conductive plates on the sides of the cell aggregate the electrons and move them to wires. By at
that point, the electrons can stream like some other wellspring of intensity.As of late, analysts
have delivered ultrathin, adaptable sun oriented cells that are simply 1.3 microns thick — around
1/100th the width of a human hair — and are on various occasions lighter than a sheet of office
paper. In all honesty, the cells are light so much that they can sit on top of a chemical air pocket,
yet then they produce energy with presumably as much viability as glass-based sun fueled cells,
analysts nitty gritty in an assessment disseminated in 2016 in the journal Organic Electronics.
Lighter, more adaptable sunlight based cells, for example, these could be coordinated into
engineering, aviation innovation, or even wearable gadgets.
There are different sorts of sun oriented force innovation — including sun based warm and
thought sun based force (CSP) — that work in an unexpected style in comparison to photovoltaic
sun based boards, yet all saddle the intensity of daylight to either make power or to warm water.
microcontroller or a microchip which can perform exchanging working.
Figure: Solar panel
L293D Pin Configuration
Pin Pin Name Description

Number
1 Enable 1,2 This pin enables the input pin Input 1(2) and Input 2(7)
2 Input 1 Directly controls the Output 1 pin. Controlled by digital circuits
3 Output 1 Connected to one end of Motor 1
4 Ground Ground pins are connected to ground of circuit (0V)
6 Output 2 Connected to another end of Motor 1
8 Vcc2 (Vs) Connected to Voltage pin for running motors (4.5V to 36V)
9 Enable 3,4 This pin enables the input pin Input 3(10) and Input 4(15)
11 Output 3 Connected to one end of Motor 2
14 Output 4 Connected to another end of Motor 2
16 Vcc2 (Vss) Connected to +5V to enable IC function
All the Ground pins should be grounded. There are two power pins for this IC, one is the
Vss(Vcc1) which gives the voltage to the IC to work, this must be related with +5V. The other is
Vs(Vcc2) which offers voltage to the motors to run, considering the detail of your motor you can
interface this pin to wherever between 4.5V to 36V, here I have related with +12V.
The Enable pins (Enable 1,2 and Enable 3,4) are used to Enable Input pins for Motor 1 and
Motor 2 separately. Since all around we will use both the motors both the pins are held high
normally by interfacing with +5V deftly. The data pins Input 1,2 are used to control the motor 1
and Input pins 3,4 are used to control the Motor 2. The data pins are related with the any Digital
circuit or microcontroller to control the speed and heading of the motor. You can flip the data
pins reliant on the going with table to control your motor.
Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 rotates in Clock

wise Direction
Input 2 = LOW(0v) Output 2 = LOW
Input 3 = HIGH(5v) Output 1 = HIGH Motor 2 rotates in Clock

wise Direction
Input 4 = LOW(0v) Output 2 = LOW
Input 1 = LOW(0v) Output 1 = LOW Motor 1 rotates in Anti-

Clock wise Direction
Input 2 = HIGH(5v) Output 2 = HIGH
Input 3 = LOW(0v) Output 1 = LOW Motor 2 rotates in Anti

-Clock wise Direction
Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 stays still

Input 3 = HIGH(5v) Output 1 = LOW Motor 2 stays still
You can likewise see a diode associated over the curl of the hand-off, this diode is known as the
Fly back Diode. The motivation behind the diode is to shield the change from high voltage spike
that can created by the transfer loop. As indicated one finish of the heap can be associated with
the Common pin and the opposite end is either associated with NO or NC. Whenever associated
with NO the heap stays separated before trigger and whenever associated with NC the heap stays
associated before trigger.
Uses of Relay :
 Commonly utilized in exchanging circuits.

 For Home Automation ventures to switch AC loads
 To Control (On/Off) Heavy loads at a pre-decided time/condition
 Used in wellbeing circuits to detach the heap from flexibly in occasion of disappointment
 Used in Automobiles hardware for controlling markers glass engines and so on
L293D MOTOR DRIVER IC

L293D Motor Driver IC

Motor Driver IC L293D Pinout
Highlights:
 It is competent to work two dc engines simultaneously.

 Speed and Direction control both are conceivable
 Engine voltage Vcc2 (Vs) is 4.5V to 36V
 Most extreme Peak engine current is 1.2A
 Most extreme Continuous Motor Current is 600mA
 Gracefully Voltage to Vcc1(vss) to work this module is4.5V to 7V
 Transition time of L293D is 300ns (at 5Vand 24V)
 Automatic Thermal shutdown is available in this circuit
 It can be available in 16-pin DIP, TSSOP, SOIC packages
Where to use L293D IC
The L293D is a standard 16-Pin Motor Driver IC. As the name prescribes it is transcendently
used to drive motors. A single L293D IC is good for running two DC motors all the while; also
the course of these two motors can be controlled self-rulingly. So if you have motors which has
working voltage under 36V and working current under 600mA, which are to be compelled by
cutting edge circuits like Op-Amp, 555 clock, electronic entryways or even Micron rollers like
Arduino, PIC, ARM, etc this IC will be the right choice for you.
Bit by bit directions to use a L293D Motor Driver IC
Using this L293D driver IC is direct. The IC goes after the standard of Half H-Bridge, let us not
jump exorbitantly profound into what H-Bridge infers, yet for now understand that H associate is
a set up which is used to run motors both in clock smart and hostile to clockwise heading. As
said before this IC is equipped for running two engines at the any heading simultaneously, the
circuit to accomplish the equivalent is demonstrated as follows.
Applications
 It is utilized to drive high current Motors utilizing Digital Circuits

 Can be utilized to drive Stepper engines
 High current LED's can be driven
 Transfer Driver module (Latching Relay is conceivable)
DC Motor
DC Motor Wiring
Pin Description
No Pin Description
: Name
1 Terminal A normal DC motor would have only two terminals which works on dc
1 voltage. Since these terminals will be connected together only through a

coil they won’t have any not polarity. Reversing the connection will
2 Terminal only reverse the direction of the motor
2
In the event that you need to invert the speed of the engine essentially trade the terminals and
heading will likewise be turned around.
Motor Specifications
 It is standard 130 Type DC motor

 Its operating Voltage: 4.5V to 12V
 The recommended/Rated Voltage for a dc motor is 6V
 The current at No load condition is 70mA (max)
 The No-load Speed condition is 9000 rpm
 Loaded current should be approximately 250mA
 The rated Load is 10g*cm
 The motor size specifications are 27.5mm x 20mm x 15mm
 Weight: 17 grams
Where to Use Hobby DC motor
A considerable lot of us might have gone over this DC engines through children toys, for
example, far off controlled vehicles, trains and so forth, consequently this engine is likewise
called as engine. All things considered this engine can likewise be utilized for some other normal
purposes and is generally utilized by fledgling level gadgets specialist. They are extremely rough
and simple to utilize and control with normally accessible and wide scope of voltage levels.
These engines can turn one or the other way and speed control is likewise conceivable, anyway
don't anticipate a quick speed and high force from these little folks. Fortunately this engine is
generally modest contrasted with different engines. So on the off chance that you are searching
for a pocket benevolent engine for some essential gadgets ventures, at that point this engine
could be the correct decision for you.
The most effective method to utilize the DC engine
As the name recommends the DC engine is exceptionally utilized by specialists who begin
investigating gadgets. Subsequently this engine is basic and simple to utilize. You can utilize any
typical 9V battery or even a 5V flexibly since this engine has a working reach from 4.5V to 9V.
To cause it to turn simply interface the positive (+) side of battery to one terminal and the
Negative (- ) indication of the battery to the opposite end and you should see the engine pivoting
To control the speed of the engine you need to differ the voltage provided to the Motor the least
demanding approach to do this is utilizing a Potentiometer. There are additionally numerous
other method to accomplish this.
Additionally recollect that the engine can devour upto 250mA during stacked conditions so
ensure you gracefully could source it. In the event that you are controlling it through any Digital
IC or any Microcontroller you should utilize an engine driver IC like L293D or ULN2003 these
IC's will likewise let you to control the heading of the engine without any problem.
5.1.5. DHT11 TEMPERATURE SENSOR:
DHT11 Temperature & Humidity Sensor features a temperature & humidity sensor complex
with a calibrated digital signal output. By using the exclusive digital-signal-acquisition technique
and temperature & humidity sensing technology, it ensures high reliability and excellent long-
term stability. This sensor includes a resistive-type humidity measurement component and an
NTC temperature measurement component, and connects to a high performance 8-bit
microcontroller, offering excellent quality, fast response, anti-interference ability and cost-
effectiveness.
Fig.6. DHT11 Temperature Sensor
Each DHT11 element is strictly calibrated in the laboratory that is extremely accurate on
humidity calibration. The calibration coefficients are stored as programmes in the OTP memory,
which are used by the sensor’s internal signal detecting process. The single-wire serial interface
makes system integration quick and easy. Its small size, low power consumption and up-to-20
meter signal transmission making it the best choice for various applications, including those most
demanding ones. The component is 4-pin single row pin package. It is convenient to connect and
special packages can be provided according to users’ request.
Detailed Specification:
Overall Communication Process:
When MCU sends a start signal, DHT11 changes from the low-power-consumption mode to the
running-mode, waiting for MCU completing the start signal. Once it is completed, DHT11 sends
a response signal of 40-bit data that include the relative humidity and temperature information to
MCU. Users can choose to collect (read) some data. Without the start signal from MCU, DHT11
will not give the response signal to MCU. Once data is collected, DHT11 will change to the low
power-consumption mode until it receives a start signal from MCU again.
Fig.7.Communication Process
5.1.6. 16x2 LCD:

Pin Configuration:
Pin Pin Name: Description

No:
1 Vss (Ground) Ground pin connected to system ground

2 Vdd (+5 Volt) Powers the LCD with +5V (4.7V – 5.3V)
3 VE (Contrast Decides the contrast level of display. Grounded to get maximum contrast.
V)
4 Register Select Connected to Microcontroller to shift between command/data register
5 Read/Write Used to read or write data. Normally grounded to write data to LCD
6 Enable Connected to Microcontroller Pin and toggled between 1 and 0 for data
acknowledgement
7 Data Pin 0
Data pins 0 to 7 forms a 8-bit data line. They can be connected to Microcontroller to send
8-bit data.
These LCD’s can also operate on 4-bit mode in such case Data pin 4,5,6 and 7 will be
left free.
8 Data Pin 1
9 Data Pin 2
10 Data Pin 3
11 Data Pin 4
12 Data Pin 5
13 Data Pin 6
14 Data Pin 7
15 LED Positive Backlight LED pin positive terminal
16 LED Negative Backlight LED pin negative terminal
Features of 16×2 LCD module
 Operating Voltage is 4.7V to 5.3V

 Current consumption is 1mA without backlight
 Alphanumeric LCD display module, meaning can display alphabets and numbers
 Consists of two rows and each row can print 16 characters.
 Each character is build by a 5×8 pixel box
 Can work on both 8-bit and 4-bit mode
 It can also display any custom generated characters
 Available in Green and Blue Backlight
16x2 Display Equivalents
Dot Matrix LED Display, 7-Segment LED Display, OLED Display, TFT LCD Screen Display

Brief Description on LCD modules
LCD modules are very commonly used in most embedded projects, the reason being its cheap
price, availability and programmer friendly. Most of us would have come across these displays in
our day to day life, either at PCO’s or calculators. The appearance and the pinouts have already
been visualized above now let us get a bit technical.
16×2 LCD is named so because; it has 16 Columns and 2 Rows. There are a lot of combinations
available like, 8×1, 8×2, 10×2, 16×1, etc. but the most used one is the 16×2 LCD. So, it will
have (16×2=32) 32 characters in total and each character will be made of 5×8 Pixel Dots. A
Single character with all its Pixels is shown in the below picture.
Now, we know that each character has (5×8=40) 40 Pixels and for 32 Characters we will have
(32×40) 1280 Pixels. Further, the LCD should also be instructed about the Position of the Pixels.
Hence it will be a hectic task to handle everything with the help of MCU, hence an Interface IC
like HD44780is used, which is mounted on the backside of the LCD Module itself. The function
of this IC is to get the Commands and Data from the MCU and process them to display
meaningful information onto our LCD Screen.
An LCD is an electronic display module that uses liquid crystal to produce a visible image. The
16×2 LCD display is a very basic module commonly used in DIYs and circuits. The
16×2 translates o a display 16 characters per line in 2 such lines. In this LCD each character is
displayed in a 5×7 pixel matrix.
RS (Register select)
A 16X2 LCD has two registers, namely, command and data. The register select is used to switch
from one register to other. RS=0 for command register, whereas RS=1 for data register.
Command Register: The command register stores the command instructions given to the LCD.
A command is an instruction given to LCD to do a predefined task. Examples like:
 initializing it
 clearing its screen
 setting the cursor position
 controlling display etc.
Processing for commands happens in the command register.
Data Register: The data register stores the data to be displayed on the LCD. The data is the
ASCII value of the character to be displayed on the LCD. When we send data to LCD it goes to
the data register and is processed there. When RS=1, data register is selected.
Important command codes for LCD
Sr.No. Hex Code Command to LCD instruction Register
1 01 Clear display screen
2 02 Return home
3 04 Decrement cursor (shift cursor to left)
4 06 Increment cursor (shift cursor to right)
5 05 Shift display right
6 07 Shift display left
7 08 Display off, cursor off
8 0A Display off, cursor on
9 0C Display on, cursor off
10 0E Display on, cursor blinking
11 0F Display on, cursor blinking

12 10 Shift cursor position to left
13 14 Shift cursor position to right
14 18 Shift the entire display to the left
15 1C Shift the entire display to the right
16 80 Force cursor to beginning ( 1st line)
17 C0 Force cursor to beginning ( 2nd line)
18 38 2 lines and 5×7 matrix
Displaying Custom Characters on 16X2 LCD
Generating custom characters on LCD is not very hard. It requires the knowledge about custom
generated random access memory (CG-RAM) of LCD and the LCD chip controller. Most LCDs
contain Hitachi HD4478 controller.
CG-RAM is the main component in making custom characters. It stores the custom characters
once declared in the code. CG-RAM size is 64 byte providing the option of creating eight
characters at a time. Each character is eight byte in size.
CG-RAM address starts from 0x40 (Hexadecimal) or 64 in decimal. We can generate custom
characters at these addresses. Once we generate our characters at these addresses, we can print
them by just sending commands to the LCD. Character addresses and printing commands are
below.
In the table above you can see starting addresses for each character with their printing
commands.
The first character is generated at address 0x40 to 0x47 and is printed on LCD by just sending a
command 0.
The second character is generated at address 0x48 to 0x55 and is printed by sending a command
1.
5.1.7. POWER SUPPLY:

A power supply is a сomponent that provides at least one eleсtriсal сharge with power. It
typiсally сonverts one type of eleсtriсal power to another, but it сan also сonvert a different
Energy form in eleсtriсal energy, suсh as solar, meсhaniсal, or сhemiсal.
A power supply provides eleсtriсal power to сomponents. Usually the term refers to deviсes built
into the powered сomponent. Сomputer power supplies, for example, сonvert AС сurrent to DС
сurrent and are generally loсated along with at least one fan at the baсk of the сomputer сase.
Most сomputer power supplies also have an input voltage switсh that, depending on the
geographiс loсation, сan be set to 110v/115v or 220v/240v. Due to the different power voltages
supplied by power outlets in different сountries, this switсh position is сruсial.
Some basic components used in the supply of power:
Transformer:
A transformer is a statiс eleсtriсal gadget that exсhanges сontrol between at least two сirсuits. A
fluсtuating сurrent сreates a сhanging attraсtive motion in one transformer сurl, whiсh thus
aсtuates a differing eleсtromotive power over a seсond loop twisted around a similar сenter.
Without a metalliс assoсiation between the two сirсuits, eleсtriсal vitality сan be exсhanged
between the two loops. The enlistment law of Faraday found in 1831 portrayed the impaсt of
prompted voltage in any сurl beсause of the сhanging attraсtive flux surrounded by the сoil.
Circuit of transformer
Transformer
Rectifier:
A rectifier is an electrical device that converts alternating current (AС), which periodically
reverses direction, to direct current (DС), which flows in only one direction. The process is
known as rectification, since it straightens the direction of current.
Rectifiers have many uses, but are often found to serve as components of DС power supplies and
direct power transmission systems with high voltage. Rectification can be used in roles other
than direct current generation for use as a power source.
Circuit of rectifier
Rectifier
Capacitors:
Сapaсitors are used to attain from the сonneсtor the immaсulate and smoothest DС voltage in
whiсh the reсtifier is used to obtain throbbing DС voltage whiсh is used as part of the light of the
present identity. Сapaсitors are used to aсquire square DС from the сurrent AС experienсe of the
сurrent сhannels so that they сan be used as a touсh of parallel yield.
Capacitor
Voltage regulators:
The 78XX voltage сontroller is mainly used for voltage сontrollers as a whole. The XX speaks to
the voltage delivered to the speсifiс gadget by the voltage сontroller as the yield. 7805 will
supply and сontrol 5v yield voltage and 12v yield voltage will be сreated by 7812.
The voltage сontrollers are that their yield voltage as information requires no less than 2 volts.
For example, 7805 as sourсes of information will require no less than 7V, and 7812, no less than
14 volts. This voltage is сalled Dropout Voltage, whiсh should be given to voltage сontrollers.
7805 voltage regulator with pinout
7812 voltage regulator with pinout
5.1.8. Rain Sensor
A rain sensor or rain switch is a switching device activated by rainfall. There are two main
applications for rain sensors. The first is a water conservation device connected to an
automatic irrigation system that causes the system to shut down in the event of rainfall.
Depending on the type of yard you have, where you live, and how often it rains, you will want to
determine the type of sensor to use. Here are some of the different rain sensors:
 Rainfall collection cup - This sensor stops the sprinklers from turning on when the
rainfall cup fills to a certain level. An issue to be aware of with this kind of sensor is a false
fill up. Leaves, debris, and even bugs or pests can fill up the collection cup causing the
sprinklers to shut off. They often work through wireless communication.
 Expansion disk - This type of rain sensor is becoming more and more popular all the
time. This particular sensor uses a cork disk that expands when there is rainfall to measure
the level of precipitation. A pressure switch is then used to break the electrical connection
which causes the sprinklers to turn on and off.
5.2. SOFTWARE REQUIREMENTS:

5.2.1. ARDUINO IDE:
By default, NodeMCU and Arduino UNO uses Lua scripting language to program
NodeMCU. Here, we are going to learn how to program NodeMCU using Arduino C++
language. Arduino is a prototype platform (open-source) based on an easy-to-use hardware
and software. It consists of a circuit board, which can be programed (referred to as a
microcontroller) and a ready-made software called Arduino IDE (Integrated Development
Environment), which is used to write and upload the computer code to the physical board.
When you use the NodeMCU with the Arduino IDE, it will write directly to the firmware, of
NodeMCU erasing the original firmware, so if you want back the Lua SDK, and use the
“flasher” to re-install the firmware. For installing the flasher you need to follow the steps
discussed in 4.5.6 NODEMCU ESP8266.
The NodeMCU automatically draw power from either, the USB connection to the computer
or an external power supply. Connect the NodeMCU board to your computer using the USB
cable. The power LED (labeled PWR) should glow.
After your Arduino IDE software is downloaded, you need to unzip the folder. Inside the
folder, you can find the application icon with an infinity label (application.exe). Double-click
the icon to start the IDE.
Fig
Once the software starts, you have two options −
 Create a new project.

 Open an existing project example.
To create a new project, select File → new.
Fig
To open an existing project example, select File → Example → Basics → Blink.

Fig
Here, we are selecting just one of the examples with the name Blink. It turns the LED on and off
with some time delay. You can select any other example from the list. To avoid any error while
uploading your program to the board, you must select the correct Arduino board name, which
matches with the board connected to your computer.
Go to Tools → Board and select your board. Here, we have selected Arduino Uno board
according to our tutorial, but you must select the name matching the board that you are using.
Select the serial device of the Arduino board. Showed in fig.24
Fig
Go to Tools → Serial Port menu. This is likely to be COM3 or higher (COM1 and COM2 are
usually reserved for hardware serial ports). To find out, you can disconnect your Arduino board
and re-open the menu, the entry that disappears should be of the Arduino board. Reconnect the
board and select that serial port. Showed in fig.25
Fig
Before explaining how we can upload our program to the board, I am demonstrate the function
of each symbol appearing in the Arduino IDE toolbar.
Fig
A − Used to check if there is any compilation error.
B − Used to upload a program to the Arduino board.
C − Shortcut used to create a new sketch.

D − Used to directly open one of the example sketch.
E − Used to save your sketch.
F − Serial monitor used to receive serial data from the board and send the serial data to the board.
Now, simply click the "Upload" button in the environment. Wait a few seconds; you will see the
LEDs on the board, flashing. If the upload is successful, the message "Done uploading" will
appear in the status bar.
Sketch − the first new terminology is the Arduino program called “sketch”.
Arduino programs can be divided in three main parts: Structure, Values (variables and
constants), and Functions. In this tutorial, we will learn about the Arduino software program,
step by step, and how we can write the program without any syntax or compilation error.
Let us start with the Structure. Software structure consist of two main functions −
 Setup( ) function
 Loop( ) function
Fig
Void setup ( ) {
PURPOSE − the setup () function is called when a sketch starts. Use it to initialize the variables,
pin modes, start using libraries, etc. The setup function will only run once, after each power up
or reset of the Arduino board. INPUT, OUTPUT, RETURN.
Void Loop ( ) {
}
PURPOSE − after creating a setup () function, which initializes and sets the initial values, the
loop () function does precisely what its name suggests, and loops consecutively, allowing your
program to change and respond. Use it to actively control the Arduino board. INPUT, OUTPUT,
RETURN.
CHAPTER 6
ADVANTAGES & APPLICATIONS
ADVANTAGES:
 Solar trackers generate more electricity in roughly the same amount of space needed for
fixed-tilt systems, making them ideal for optimizing land usage.
 Advancements in technology and reliability in electronics and mechanics have drastically
reduced long-term maintenance concerns for tracking systems.
Applications:
 Domestic power source

 Solar power plant
CHAPTER 7
RESULTS & DISCUSSION
The final results of this project are as shown in figure solar panel shifts its position with respect
to sunlight in various direction.
(a) Up direction (b) down direction

Here there are four ldr placed over the solar panel for detection of sunlight as sunlight falls on it
the voltage of ldr increases here by utilizing dc motor it shifts its direction accordingly. The
different direction of solar panel are shown in figure (a), (b), (c), (d).
(c) left direction (d) right direction

There is an add on feature, in this project we have added a switch and real time clock so that by
pressing it shifts its mode to rtc where solar panel tends to rotate according to time it can be
helpful whenever there is less sunlight and cloudy or dust particles.
Moreover the output values of 2 sensors are displayed in lcd display. To monitor the humidity
and temperature value we have used dht11 and to detect the rainfall value we used rain sensor.
CONCLUSION
Solar tracking mechanisms improve the energy gain of solar power plants. A dual-axis
tracking system is generally the one that reaches the highest energy gain in every region. It is
therefore the most versatile system, since it can be installed anywhere, guaranteeing a high
energy gain. Solar trackers are recommended everywhere from an energetic point of view, since
they always increase the amount of collected energy. Two degrees of freedom orientation is
feasible. Arduino Uno controller is used to control the position of DC motors which ensures
point to point intermittent motion resulting from the DC geared motors.Altitude angle is
restricted between 0' to 8 r and azimuth angle is restricted between 60' to 300' in
Baghdad.Standalone working and wireless communication is achieved with computer which
makes the system reliable and observable. The use of LDR sensors and high precision angle
sensors guarantees a more accurate and efficient tracking system. We can know the whether
condition surrounding it in lcd display.
FUTURE SCOPE
 Single-axis and dual-axis photovoltaic tracking system, with appropriate control systems,
the electrical energy can increase from 22–56%, compared to fixed PV system.
 Combinations of microprocessor- and sensor-based control systems represent the most
commonly used control method as well as the most efficient.
 Active tracking systems use electrical drives to move the axis, which can consume a huge
amount of electrical energy because of improper control systems. Therefore, it is
necessary to optimize the power consumption of electrical drives, which can be done by
reducing the number of motor movements.
 Sensor-based photovoltaic tracking systems are more expensive because of additional
sensor devices, but provide lower tracking error (0.14◦ ), compared to sensor less
photovoltaic tracking systems (0.43◦ ).
 Electric motors used in PV tracking applications are exposed to weather conditions and
are therefore designed to withstand strong winds, and high temperatures and humidity.
The most commonly used electric motor is permanent magnet brushless DC motors as
they are easy to maintain.
 Novel innovative tracking systems will include dynamic weather forecasting and cooling
of the PV system with wind or water.
REFERENCES
[1] Power from the sun. (n.d.). Retrieved from http://www.powerfromthesun.net/Boo kl

[2] The Sun's Position. (2013, March 28). Tn Photovoltaic Education Network, from
http://pveducation.org/pvcdrom/properties-of-sunlightl suns position
[3] Zhan, T., Lin, W., Tsai, M. and Wang, G. Design and Implementation of the Dual-
axis Solar Tracking System. TEEE.37th Annual Computer Software and Applications
Conference. pp.276-277 (20 II)
[4] Zolkapli, M., AI-Junid S. A., Othman Z., Manut, A., and MohdZulkifli A. High-
efficiency dual-axis solar tracking developement using Arduino .IEEE .International
Conference on Technology, Informatics, Management, Engineering &
Environment.pp.43-47 (2013)
[5] Alexandru, C.; Pozna, C. Simulation of a dual-axis solar tracker for improving the
performance of a photovoltaic panel. Proc. Inst. Mech. Eng. Part A J. Power Energy
2010, 224, 797–811. [CrossRef]
[6] Alexandru, C.; Pozna, C. The optimization of the tracking mechanism used for a
group of PV panels. In Proceedings of the International Conference on Renewable
Energies and Power Quality (ICREPQ), Valencia, Spain, 15–17 April 2009.
[7] Alexandru, C.; Comsit, M. The energy balance of the photovoltaic tracking systems
using virtual prototyping platform. In Proceedings of the 5th International Conference on
the European Electricity Market (EEM), Lisbon, Portugal, 28–30 May 2008; pp. 1–6.

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Domain: Embedded System

The main goal of this project is to design a

Primary stage or indirect sensing

maximum extraction of energy from the

axis solar tracking (azimuth angle as well

1.1. INTRODUCTION TO EMBEDDED SYSTEMS:

An embedded system is a special-purpose computer system designed to perform one or a few

device. Industrial machines, automobiles, medical equipment, cameras, household appliances,

1.2. CHARACTERISTIC OF EMBEDDED SYSTEM

 Speed (bytes/sec): Should be high speed

1.3. APPLICATIONS OF EMBEDDED SYSTEMS

 Robotics: industrial robots, machine tools, Robocop soccer robots

Medical systems: prostheses, revalidation machine.

1.4. INTRODUCTION TO THE PROJECT:

[2] THE IMPLEMENTATION OF SOLAR TRACKER USING ARDUINO WITH

 No monitoring of Weather condition

4.1. BLOCK DIAGRAM:

4.4. CIRCUIT DIAGRAM:

5.1. HARDWARE TOOLS:

Special pin functions:

In addition, some pins have specialized functions:

Fig: Arduino UNO

Fig: Arduino UNO pinout

microcontroller or a microchip which can perform exchanging working.

Figure: Solar panel

Pin Pin Name Description

2 Input 1 Directly controls the Output 1 pin. Controlled by digital circuits

3 Output 1 Connected to one end of Motor 1

4 Ground Ground pins are connected to ground of circuit (0V)

5 Ground Ground pins are connected to ground of circuit (0V)

6 Output 2 Connected to another end of Motor 1

7 Input 2 Directly controls the Output 2 pin. Controlled by digital circuits

10 Input 3 Directly controls the Output 3 pin. Controlled by digital circuits

11 Output 3 Connected to one end of Motor 2

12 Ground Ground pins are connected to ground of circuit (0V)

13 Ground Ground pins are connected to ground of circuit (0V)

14 Output 4 Connected to another end of Motor 2

15 Input 4 Directly controls the Output 4 pin. Controlled by digital circuits

16 Vcc2 (Vss) Connected to +5V to enable IC function

Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 rotates in Clock

Input 3 = HIGH(5v) Output 1 = HIGH Motor 2 rotates in Clock

Input 1 = LOW(0v) Output 1 = LOW Motor 1 rotates in Anti-

Input 3 = LOW(0v) Output 1 = LOW Motor 2 rotates in Anti

Input 1 = HIGH(5v) Output 1 = HIGH Motor 1 stays still

Input 2 = HIGH(5v) Output 2 = HIGH

Input 3 = HIGH(5v) Output 1 = LOW Motor 2 stays still

Input 4 = HIGH(5v) Output 2 = HIGH

 Commonly utilized in exchanging circuits.

L293D MOTOR DRIVER IC

L293D Motor Driver IC

Motor Driver IC L293D Pinout

 It is competent to work two dc engines simultaneously.

Where to use L293D IC

Bit by bit directions to use a L293D Motor Driver IC

 It is utilized to drive high current Motors utilizing Digital Circuits

1 voltage. Since these terminals will be connected together only through a

 It is standard 130 Type DC motor

Where to Use Hobby DC motor

The most effective method to utilize the DC engine

5.1.5. DHT11 TEMPERATURE SENSOR:

Fig.6. DHT11 Temperature Sensor

Overall Communication Process:

5.1.6. 16x2 LCD: