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Space Optimization and Backtracking for Dual Axis Solar Photovoltaic Tracker
Vasantha P. N.1, Shubham Dehankar2,1, Manali Raman3,1, Kaustubh Karnataki1, Ganesh Shankar1
1
FluxGen Engineering Technologies Pvt. Ltd., Bangalore, India, 2SRM University, Chennai, India
3
RV College of Engineering, Bangalore, India
vasantha@fluxgentech.com, shubhamsd290894@gmail.com, manali.raman91@gmail.com,
kaustubh@fluxgentech.com, ganesh@fluxgentech.com
Abstract- Amidst the world which runs on the limited non-
renewable resources, alternative sources of energy are gaining
the center stage. Solar energy, the primary source of energy, can
be harnessed by employing photovoltaic modules. Developing a
dual axis tracking mechanism that traces the sun’s path in two
degrees of freedom will produce higher electrical yields when
compared to single axis trackers and fixed tilt structures. Dual
axis solar tracker employs two motors which are independently
controlled such that one directs the panel to follow the sun’s
zenith angle variation and other the sun’s azimuth angle
variation. It is ensured that solar radiation is perpendicular to
the panel during the solar window. When elevation angle is
low, shading is a grave concern as it drastically decreases the
efficiency of power generation. This paper suggests a proficient
approach to eliminate mutual shading without using sensors but
by employing mathematical strategy called backtracking.
Taking into consideration the increasing cost of land, this paper
presents a novel model of space optimization between array of
panels and distance between panels of same array for a dual axis
tracker. The mathematical modeling ensures the effective usage
of area for the installation thereby maximizing the energy
output and minimizing the cost.
Keywords-Photovoltaics; dual-axis tracker;inter-row spacing;
shading; backtracking; cost
I. INTRODUCTION
According to the Energy Flowcharts 2.71., 2009, the
amount of solar energy reaching the surface of the planet is
about twice the earth's non-renewable resources of coal, oil
and natural gas [1]. Tropical countries receive huge amount
of solar energy throughout the year. The amount of solar
irradiance on the earth’s surface is given by the true solar
hours. The most daunting task now is to determine how to tap
the solar insolation effectively, thereby maximizing the
energy production and meeting the ever-increasing energy
demands. In this regard, a system must be developed to
harness solar energy efficiently. Solar trackers have been
implemented for the same reason. The performance output
obtained from a tracker mechanism shows a higher electrical
yield, when compared to fixed tilt structures. It is worth to
note that the higher energy yield of the solar tracker is in
direct relevance to the location, where the system has been
installed. Depending on the latitude, the sun’s day to day and
seasonal movements vary. To extract solar energy to its
maximum potential, the tracker must be synchronized with
both the zenith and the azimuth angle of the sun. Thus, a dual
axis tracker becomes the need of the hour.
In this paper, a dual axis tracker is being implemented

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using two different motors decoupled in their movement, one
motor governing the panel to follow the zenith angle and the
other directing the panel to follow the azimuth angle. Open
loop tracking is adopted since closed loop system is not reliable
in cloudy conditions as it uses photo sensors for feedback. The
Solar Tracker Controller uses solar position algorithm and
some mathematical computation for the Sun’s position in the
sky. The count of encoder pulses from motor gives rotor
position thus actual panel position can be determined. By
making these two positions coincide on continuous basis, the
panels are forced to follow the Sun.
If duration of conventional tracking is extended, the
distance between the panels should be increased to avoid
shading of one panel by the other. For higher energy output
it must be ensured that sun rays are perpendicular to panels at
least during true solar hours. So the best practice would be to
perform conventional tracking during solar window and
backtracking during the rest of the day to maximize land
utilization. Tracking is performed generally from 9am to
3pm, which is the solar window, in tropical countries like
India [2]. During early mornings and late evenings, when
length of shadow is outsized, backtracking is done to avoid
shading. This paper calculates backtracking angle for both the
movements of the panels and also proposes the layout of the
solar farm to avoid shading.
II. MOTIVATION AND PROBLEM STATEMENT
FluxGen Engineering Technologies Pvt. Ltd., Bangalore
India, is a renewable energy based company, which is
working on developing control and monitoring solutions in
renewable energy projects. Recently, FluxGen has developed
an intelligent control of single axis solar tracker mechanism
using ‘Solar Position Algorithm’ by NREL, to obtain exact
position of sun and consequently accomplish tracking by
aligning panels accordingly. While installation of solar plant
two arduous problems in terms of shading and space
constraint were faced. As dual axis tracking is more efficient
than single axis tracking system authors are motivated to
resolve the aforesaid problems in dual axis tracking system.
Accounting to the exponentially increasing land costs, this
paper optimizes the area that is used for constructing a solar
power plant by calculating most favorable distance between
the panels and arrays. The paper uses a unique approach that

Figure1: Schematic for calculating spacing between arrays
takes into consideration the zenith and azimuth angle
separately to calculate the respective backtracking angle and
carry out backtracking during non solar hours.
III. TRACKING AND BACKTRACKING
A. Inter row spacing
A shadow falling on a small part of a panel has a
surprisingly large effect on power output [2]. Since, the cells
within a panel are normally wired in series, the shaded cells
produce less power and affect the current flow of the whole
panel, thereby reducing the efficiency to a great extent. So
measures must be taken while installation of solar panels such
that mutual shading does not occur while tracking. The
distance between the panels should be optimized to achieve
maximum electrical energy performance. Analyzing the fact
that, the length of the shadow is inversely proportional to
elevation angle, inter row spacing is a function of the worst
case elevation angle while tracking. At angles lower than the
worst case elevation angles, backtracking is done to eliminate
the shading on the panels.
Consider a panel of length ‘L’, width ‘W’ and the
erected height of the panel from ground ‘H’. The spacing
Figure2: Schematic for calculating spacing between adjacent
panels in a row (top view)

Figure3: Representation of the position of the sun in the spherical
coordinate
between arrays of panels is decided such that mutual shading
is avoided while tracking. From fig.1,
L1= H*sec(ec)
L2= H*sec(ec) – (L/2)
L3= H*sec(ec) + (L/2) (1)
The distance between rows of the panels (D) is given by,
D = L3 cosec (ec)
From equation (1),
D = {H*sec(ec) + (L/2)} cosec (ec) (2)
where, ec is the worst case elevation angle while tracking i.e.,
the angle at the start of solar window in winter season(21
December in India), when solar altitude is low.
B. Spacing between the panels in the same row
The orientation of shadow depends on the azimuth angle.
The worst case solar azimuth angle has been used to
determine the distance between the panels in same row,
which can prevent shadowing while tracking.
From fig. 2, the distance between adjacent panels (D1) is
given by
D1 = D cos(ac)
From equation (2),
D1 = {H*sec(ec) + (L/2)} cosec(ec)* cos (ac) (3)
where, ac is the worst case azimuth angle while tracking, that
is the angle at the start of solar window in winter season(21
December in India), when sun is more towards south.
 Figure4: Schematic for calculating back tracking angle incase of
orientation of panels towards zenith angle
C. Tracking
Due to the rotational movement of the sun, a spherical
coordinate system comes into picture. The azimuth angle ‘a’
is the angle between the orthogonal projection of the sun
vector to the xy-plane. The x-axis refers to east-west direction
and y-axis is the south-north direction. The zenith angle ‘z’
is an indication of sun’s altitude. It is observed by measuring
the angle between the orthogonal projection of the sun vector
to the xy-plane and the z-axis. The sun’s elevation angle ‘e’
is given by 90-z.
From fig.3., the coordinates of sun can be expressed in
Cartesian as follows:
x=r cos e * sin a
y=r cos e * cos a
z=r sin e
The yield of a solar module is directly proportional
to angle of incidence for a given albedo. The maximal yield
can be achieved when the sun’s beam is perpendicular to the
module plane. An optimal alignment along zenith would be
lengthwise, parallel to the y-axis, i.e. perpendicular to the
east-west axis. By referring to equations (4) and (6), the panel
should be tilted at an angle ‘te’ with respect to the axis of
panel,
te = tan-1(x/z)
For finest alignment along azimuth, the panel should
be at an angle ‘ta’ with respect to axis of panel. Thus from
equations (4), (5) and (6),
ta = tan-1 ( y / z)
D. Back tracking
PV array layout should be optimized regarding mutual
shading, so that significant yield can be obtained when sun is
Figure5: Schematic for calculating back tracking angle in
case of orientation of panels towards azimuth angle
low on the horizon. Backtracking thus becomes necessary,
where panels no more follow sun rather they orient themselves
such that no shading occurs. The back tracking calculation
considers position of sun, spacing between panels, size and
shape of array to minimize shading and maximize
orthogonality. When backtracking is used with conjunction of
dual axis tracker in commercial fields annual gains of 4% to
5% can be realized [9].
Backtracking is essential, when the shadow of one row
falls on the other. Considering the zenith angle of the sun at a
particular instance, the following derivation calculates the
backtracking angle with which the motor should be aligned,
to eliminate shading.
(4)
(5) The following procedure can be used for calculating at back
(6) tracking angle ‘b’, from fig. 4:
tan(e)= {L cos(b)}/ {D- L sin(b)}(9)
D tan(e) – L sin(b) tan(e) = L cos(b)
D sin(e) = b cos(b - e)
cos-1{D sin(e)/ L} = b – e
b = e + cos-1{D sin(e) / L}(10)
where, D is the inter-row spacing and e is the elevation angle
at any particular instant.
(7)
To avoid shading between the adjacent panels of the same
row, backtracking should be employed, considering the
azimuth angle. Fig. 5 depicts how backtracking can be
achieved with respect to azimuth angle. Here, y-axis is South-
North direction and ‘a’ is azimuth angle which affects the
(8) angle variation of the shadow. The movement of the panel to
follow the azimuth angle is accomplished using the second
motor.
The back tracking angle ‘w’ can be obtained from Figure4,
tan(a)= {L cos(w)}/ {D1- L sin(w)}(11)

D1tan(a) – L sin(w) tan(a) = L cos(w)
D1sin(a) = b cos(w - a)
cos-1{D1 sin(a)/ L} = w – a

w= a + cos-1{D1 sin(a) / L} (12)

where, D1 is the distance between adjacent panels in a row

and a is the azimuth angle at a given time.

E. Flow of operation
Fig. 6 represents the flow of operation of a solar tracker which
assures that the highest possible share of the available solar
radiation reaches the surface of the photovoltaic modules. The
proposed dual axis solar tracker works on an open loop
mechanism and performs the tracking function using standard
algorithms. The rotation of the motor is independent of any sensor
feedback mechanism. It is solely dependent on the time (GMT)
of that location. For generalized operation, mathematical
algorithm has been developed that ensures point-to-point efficient
tracking by obtaining data points from the database. The tracker
is set to track for 12 hours, with reference to the zenith from the Figure6: Flowchart presenting flow of operation
database. General variation in Zenith angle is from 90deg in
morning to 0deg at noon to 90deg in evening.
Here, Zn, in flowchart, corresponds to the zenith angle at the REFERENCES
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IV. CONCLUSION [8] Online Resource: http://www.greentechmedia.com/articles/read/Solar-
Balance-of-System-To-Track-or-Not-to-Track-Part-I
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between the panels so that energy yield can be maximized for
a given ground cover ratio, when dual axis tracker is
employed. Hence, this paper provides a solution to meet the
increasing energy demands and to judiciously use the land
under solar cover.