Performance Analysis of Dual Axis Solar Tracker

Based on Fuzzy PID Controller on Street Lighting
Imam Abadi Ali Musyafa’ Wahyu Zulfikar Putra
Department of Engineering Physics Department of Engineering Physics Department of Engineering Physics
Institut Teknologi Sepuluh Nopember Institut Teknologi Sepuluh Nopember Institut Teknologi Sepuluh Nopember
Surabaya, Indonesia Surabaya, Indonesia Surabaya, Indonesia
imamabadi02@gmail.com musyafa@ep.its.ac.id wahyuzulfikarputra@gmail.com

Dwi Nur Fitriyanah

Department of Instrumentation
Engineering
Institut Teknologi Sepuluh Nopember
Surabaya, Indonesia
dwinur.fitriyanah@gmail.com

Abstract— A solar tracker is an electronic device consisting
of several electrical and mechanical elements, which functions to
control the solar panels so that they always follow the sun's
position at a perpendicular angle so that the energy produced by
the solar panels can be maximized. One application is used as a
source of energy for lamps in street lighting. However, in
general, they still use conventional street lighting. Therefore,
this research discusses the performance analysis of the dual-axis
solar tracker based on a fuzzy PID controller on street lighting.
In this dual-axis solar tracker system research, the fuzzy logic
control uses 5 membership functions. The system response
performance index with fuzzy and fuzzy PID control has
different values. The PV tracker has a performance increase of
48.3% greater than the fixed panel.
Keywords—photovoltaic, solar tracker, fuzzy logic controller,
fuzzy PID controller iiiii
I. INTRODUCTION
Indonesia is a country with the greatest energy
consumption in Southeast Asia and fifth in the Asia Pacific
region in the consumption of primary energy, after China,
India, Japan, and South Korea. Its high GDP growth, reaching
an average of 6,04% per year during the period 2017-2050. It
is estimated will encourage the improvement of Indonesia's
energy needs in the future. Based on Government Regulation
No. 79 the Year 2014 concerning the National Energy Policy,
that the use of Renewable Energy will be a priority, while
energy-based fossil such as diesel fuel and coal will be
minimized its use. As also described in the General Plan of
Electric Power 2018-2027, that the contribution of renewable
energy in the energy mix of power generation is targeted to
reach 23% by 2025 in Indonesia [1].
Located in the equatorial region makes the potential of
solar energy in Indonesia is very large. Indonesia has about 4.8
kWh/m2 or equivalent to 112,000 + GWp of solar energy. It is
one of the reasons why it is possible to apply the Solar Power
Plant in Indonesia. The solar power can convert solar energy
into electrical energy. One of the devices/tools that are
commonly used are photovoltaic [2]. But unfortunately, solar
energy is not used optimally because it feels photovoltaic have
the efficiency which is quite small i.e. around 14%-20% only
[3].
Photovoltaic will convert solar energy into electrical
energy by absorbing the light intensity of the sun. However the
intensity of sunlight that is absorbed will always change in one
day, so the intensity of the sunlight absorption between the
time morning, noon, and afternoon is not the same. This causes
the power outputof the photovoltaic become unstable.
However, there are already devices that can cope with things
is called the solar charge controller [4].
This study refers to some previous research with the title
“Design and implementation of an active two-axis solar
tracking system using particle swarm optimization based fuzzy
logic controller” has been done in the year 2015. In the study
using fuzzy-PSO to improve the efficiency of the solar tracker.
The fuzzy control is used there is 5 membership function [5].
Previous research has also carried out the implementation
of the fuzzy-PI control on the active dual-axis solar tracker
system. The results of these studies showed performance
improvement between the photovoltaic based on fixed mode
and solar tracker mode with control Fuzzy-PI. The
implementation of the control Fuzzy-PI on the system at an
angle of yaw produce a performance index rise time of 5,612
s, the delay time of 2,806 s, peak time amounted to 6.33 s,
settling time of 10.2 s, the maximum overshoot is equal to
0.045 % and steady-state error of 0.4. For the pitch angle to
produce the performance index rise time amounted to 2.66 s,
delay time of 1.33 s, the peak time of 3 s, the settling time of
5.25 s, a maximum overshoot of 0.25 % and steady-state error
of 0.28. And the result is increased efficiency by 27,18 % [6].
However, in some previous research energy that has been
stored in the battery has not been used on the load [6]. The
electrical energy stored in the battery can be used for a variety
of uses. One of the applications that are used to source energy
lamps in public street lighting. However, in general, is still
using the public street lighting conventional. Therefore in this
final project discussed the performance of the dual-axis solar
tracker based on the fuzzy PID controller as a source of
electrical energy in street lighting.

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 II. RESEARCH METHODOLOGY 0.5 m. Based on the design, then made the design of a
prototype active solar tracker using the software Sketch-up as
St art
there are in Fig. 3.
Study Literature

Secondary Data Collection

Desi gn of Prot otype / Hardware

Dual Axi s Solar Tracker

Electrical System Mechanical System

Design Design

Can Tools Work?

No

Yes

Design of Fuzzy PID Controller on The System Dual Axis Solar Tracker

Figure.3 The Design of The Prototype Solar Tracker

Ardui no Programming wi th The C Language

Electrical subsystems consist of several components such

Dual Axi s Solar Tracker System Software and Hardware Integration
as power supply, microcontroller, motor driver, module step-
up, step-down module, and the sensor LDR [8]. The power
Control System Tes ting
supply used in this study comes from the battery with an
on Protot ype/Hardware
No output capacity of 12V – to 13.9 V. For the supply voltage
Yes
inputs on the microcontroller requires an input voltage of 5V,
Solar Tracker Output Dat a Retrieval so the voltage drop from the power supply. Voltage drop is
done by a step-down module so that it becomes a voltage
Performance Analys is of Dual Axis
Solar Tracker on Street Li ghting
standard that is required by the microcontroller. Meanwhile,
the microcontroller Arduino mega is filled with the algorithm
Discussion of the PID controller that has been optimized by the fuzzy
logic controller. The supply voltage of the motor drivers
Reports
required a voltage of 18V, so in the electrical circuit of this
Finish research required module step-up that serves to raise the
voltage of the power supply. Motor Driver in this study serves
to regulate the supply voltage on the DC motor so following
Figure.1 Flow Diagram of Research Project command from the controller, besides as a device regulating
the direction of the DC motor for either clockwise or
A. The Design of Prototype / Hardware Solar Tracker counterclockwise. As for the type of motor driver used is the
In the implementation, the solar tracker in this study has a IC L298N.
block diagram as follows,
intensity West and East LDR + intensity
Fuzzy PID Motor DC pitch Active Solar
sensors Controller and yaw Tracker
-

West and East

LDR sensors

Figure.2 Solar Tracker Block Diagram

Designing a solar tracker that is performed consists of two

stages namely the mechanical subsystem and the electrical
subsystems [7]. The mechanical subsystem is the supporting
part of the solar tracker to be able to function following the
desired. This subsystem consists of several elements such as
the frame of the solar tracker, DC motor, and photovoltaic
Figure.4 The Realization of The Subsystem Mechanical
(PV). The framework of a solar tracker made from a base iron
in the form of light poles street lighting. Where on the bottom Solar Tracker
of the square-shaped which is useful to prop the frame on top
After creating the prototype design by using the software
and has 4 wheels which serve to facilitate the solar tracker
Sketch Up, then performed the manufacture of the mechanical
moves the position of the and in data retrieval. While the top
subsystem. First, make a buffer pole. The strut under the mast
of the assembled frame-shaped branches is used to support
is made with a square shape and there are 4 pieces of wheels
both sides of the PV panel and the second DC motor. A DC
are mounted at each corner to facilitate the later time of data
Motor serves to maintain the position of the panel is always
collection. Then measure the length of the light pole that will
perpendicular to the sun with the aim that the PV of receiving
be created. Then created a place to put photovoltaic to be used.
intensity maximum and generating the maximum energy.
The realization of the subsystem mechanic can be seen in Fig.
Framework the top of the solar tracker in this study has a
4.
height dimension of 5 m and length and width dimensions of

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 Figure.7 Membership Functions of Fuzzy Input Delta Error

where,
NB : Negative Big
NS : Negative Small
Figure.5 The Realization of The Solar Tracker Electric Z : Zero
Subsystem
PS : Positive Big
After the manufacture of the mechanical subsystem is PB : Positive Small
completed then carried out the design of electrical subsystems.
These components are installed in a panel box. There are Membership functions that have been mapped, then
several components mounted in the box between the other is determined the output of the fuzzy logic used. The value of
Arduino mega 2560, motor driver L298N, the transformer output used in this system namely the value of Kp, Ki, and Kd.
step-ups, solar charge controller, a current sensor ACS 712, a Kp, Ki, and Kd are gain of Proportional–Integral–Derivative
voltage sensor. A series of electric subsystems can be seen in controller. The fuzzy logic controller use for tuning gain PID
Fig. 5. controller for the get value. To output the value of Kp, Ki, Kd
as follows,
B. Design of Fuzzy PID Active Solar Tracker on the Lights
Street Lighting
The value of the input of the system there is two, namely
the error and the delta error which will produce three outputs,
namely the value of Kp, Ki, and Kd that will be used to
determine the value of the PWM and motor direction. In this
case, the error value is defined as the difference in the value of
the voltage generated by the four pieces of the LDR that will
affect each other. For two LDR namely the west and the east
Figure.8 Defuzzification The Value of Kp
will affect the movement of the system on the pitch axis. While
the two LDR namely north and south will affect the movement
of the system on the axis of yaw. The value of error and delta
error is defined as follows,

TABLE I
TABLE OF THE VALUES INPUT SYSTEM

Input System Input Value

Error ‫ס‬yaw (t)
Deltaerror ‫ס‬yaw (t)
Error ‫ס‬pitch (t)
Deltaerror (t) ‫ס‬pitch
Figure.9 Defuzzification Value of The Ki
Voltage LDRnorth -
LDRsouth
Error ‫ס‬yaw (t) – Error ‫ס‬yaw
(t-1)
Voltage LDRnorth -
LDRsouth
Error ‫ס‬pitch (t) – Error
‫ס‬pitch (t-1)

Figure. 10 Defuzzification Value of Kd

Then carried out the process of determining the fuzzy
membership functions and a number of fuzzy membership
input. The number of membership fuzzy used is 5 which
consists of the shape of the membership functions trapezoidal
and triangular membership functions. The shape of the interval
membership functions of the input system is as follows.
This system uses a rule base of 25 to 5 MF because it has
two enter that error and delta error where each input contains
5 MF in fuzzification and 5 MF in the defuzzification. The MF
fuzzy used is 5, which consists of the two trapezoidal shapes
and three triangular shapes.

Figure.6 Fuzzy Membership Functions of Input Error

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 25
20
15 Fixed

Voltage (Volt)
Tracker
10
5
0

06.00
07.00
08.00
09.00
10.00
11.00
12.00
13.00
14.00
15.00
16.00
17.00
Time

Figure.12 Comparison Chart of Output Voltage PV

Figure.11 Prototype Active Solar Tracker [9]
5
Then after all, starting from the realization of the

Current (Ampere)
4
mechanical subsystem, the realization of the electrical
subsystems, control system design fuzzy PID, and 3
programming on the microcontroller Arduino mega 2560 with
2 Fixed
the help of software ArduinoIDE using the C language, then
do the integration to all such as can be seen in Gambar 11. 1 Tracker
Once everything was integrated then doing trials on the
prototype have been made. 0

06.00
07.00
08.00
09.00
10.00
11.00
12.00
13.00
14.00
15.00
16.00
17.00
III. RESULT AND DISCUSSION
Time
A. The results of Testing the Fuzzy PID Active Dual Axis
Solar Tracker Figure.13 The Chart Comparison Of The Output Current PV
This test is performed to determine the power generated by
the PV by using a system of Fuzzy PID Active Dual Axis Solar Testing the latter is testing the performance of the power
Tracker. Data retrieval is taken by the prototype on Venus generated by the photovoltaic. The value of the output power
Engineering Physics ITS and with input from the intensity of obtained from the multiplication between the value of the
the light of the sun. Data collection was conducted from 06.00 voltage produced with a current value at the same time. From
am – 5.00 PM. Data retrieval is taken every 1 hour. Dual Axis graphics are presented in Fig. 14 obtained the maximum
Solar Tracker moves automatically following the direction of power of PV occurs at 11.00 PM with the maximum power for
the sunlight by using 4 LDR sensor has been mounted on a PV used in the fixed based on 82,1 watt as well as at 1.00 PM
prototype and there is already a program in the microcontroller for a PV that is used on the tracker was 86.3 Watts. From the
Arduino Mega2560 is used. While the data retrieval does not results obtained, we can deduce that performance PV used on
occur the shadow that falls on the PV. Environmental the tracker is large compared with the PV used in fixed based.
conditions when data retrieval is sunny and cloudy. It can be
obtained output data in the form of voltage, current, and power 100
90
of PV. Performance testing of photovoltaic on the research of 80
this research to determine the efficiency of the energy
Power (Watt)

70
produced by the photovoltaic (PV). After performance testing, 60 Fixed
comparing the value of the output power of the PV that is 50 Tracker
placed on the tracker and fix based. To obtain the output power 40
of PV required two variables, namely the large value of the 30
20
voltage and the current generated by the PV. Testing is carried 10
out for 11 hours with an overcast sky and with the sampling 0
taking for 1 hour. The selection of sampling time is based on
the movement of the position of the sun that is experiencing a
significant change in 1 hour. Ti me

Based on Fig. 12 seen that the output generated by the PV

is used on fix based solar tracker has a trend a little different.
The change in voltage of the second PV has a consistent
response to environmental changes. As for the results of the
deviation of the largest of these graphs by 2,0167 V that
occurred at 5.00 PM. Meanwhile, to test the performance of
the current PV is indicated by the chart such as Fig. 13. Based
on the chart above the obtained value of the deviation of 2,33
A, which occurs at the point of measurement at 5.00 PM.
Figure.14 The Chart Comparison of The Output Power PV
Based on the measurement data obtained are of great value
energy that is produced by the fixed panel of 646,4 Joules.
While the value of the energy produced by the tracker by 958,7
Joules. Highly based on the chart in Fig. 14 comparison of
power, the efficiency values obtained from the PV tracker is
large compared to the PV fixed amounted to 48.3 %. The
magnitude of the efficiency obtained from the amount of
energy produced by the PV tracker is reduced by the energy
produced by the PV fixed divided by the energy of the PV
fixed. So it can be said PV tracker has a value of higher
efficiency compared with the PV fixed.

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B. Test Setpoint Fuzzy Control and Fuzzy PID
5
Testing the set point on the final study was done to see the 4.5
response control that has been made to the desired set point. 4

LDR Voltage (V)

On the set point test is done two times test, that for pitch angle 3.5
and yaw angle. On the test set point the pitch axis, the data 3
2.5
retrieval is done with how to enable the LDR the West as the 2
set point. LDR East functioned as a sensor of the process 1.5
variable will be presented the position of PV to the sun. 1
0.5
5 0
4.5 0 0.4 0.8 1.2 1.6 2 2.4 2.8 3.2 3.6 4 4.4 4.8 5.2 5.6 6 6.4
4
LDR Voltage (V)

Time (seconds)
3.5
3 Tegangan Sudut
Pitch Angle Yaw
Voltage (LDR
(West Selatan)
LDR)
2.5 Set
Setpoint
Point(LDR Utara)
(East LDR)
2
1.5
1 Figure.17 The Response of The Test Setpoint Yaw Angle
0.5
0 Control Fuzzy PID
0
0.6
1.2
1.8
2.4
3
3.6
4.2
4.8
5.4
6
6.6
7.2
7.8
8.4
9
9.6
10.2
10.8
4.5
Time (seconds)
4
Tegangan Sudut
Pitch Angle Pitch (West
Voltage (LDR Barat)
LDR)
Set
Setpoint
Point(LDR
(EastTimur)
LDR) 3.5

LDR Voltage (Volt)

3
Figure.15 The Response of The Test Pitch Angle Setpoint
2.5
Fuzzy Control PID
2

4 1.5

3.5 1
0.5
3
0
LDR Voltage (Volt)

2.5 0 0.4 0.8 1.2 1.6 2 2.4 2.8 3.2 3.6 4 4.4 4.8 5.2
2 Time (seconds)
1.5 Tegangan Sudut
Pitch Angle Yaw(West
Voltage (LDR Selatan)
LDR)
Set Point
Setpoint (East Utara)
(LDR LDR)
1
0.5
Figure. 18 The Response of The Test Setpoint Yaw Angle
0 Control Fuzzy
0
0.6
1.2
1.8
2.4
3
3.6
4.2
4.8
5.4
6
6.6
7.2
7.8
8.4
9
9.6
10.2
10.8

Time (seconds) Based on the table of the performance of the test set point
at an angle of the pitch has a steady-state error (Ess) of 0.2%
Tegangan Sudut
Pitch Angle Pitch
Voltage (LDR
(West Barat)
LDR)
for the control of fuzzy PID and 0.12% for fuzzy control, while
SetSet Point(LDR
point (East LDR)
Timur)
the yaw angle has an Ess by 0.4% for the control of fuzzy PID
and 0.15% for fuzzy control. So from the test results set point
Figure.16 The Response of The Test Pitch Angle Setpoint this, we can conclude that the Fuzzy control PID in this
Control Fuzzy experiment goes well because tilapia Ess less than 5%.

Fig. 15 and Fig. 16 explains a chart of the response that is TABLE II

produced by the motion of the motor pitch due to the change TABLE OF THE VALUES INPUT SYSTEM
of error and delta error voltage of the LDR to change the angle
of the set point. Based on the chart above LDR west functioned Parameter Voltage LDR Voltage in the LDR
as a process variable eventually has the same value as the LDR Position of the Pitch Position of the Yaw
east that functioned as a set point Control Fuzzy PID Fuzzy Fuzzy PID Fuzzy
Rise Time of 8.2 to 9.8 a 3.6 a 4.6
On the test set point the axis of yaw, data retrieval is done (seconds)
by enabling the LDR of the north as the set point. LDR south Settling Time 9,6 11,2 4,8 5,4
functioned as a sensor of the process variable will be presented (seconds)
the position of the photovoltaic to the position of the sun. Fig.
MoV (%) 0,02 0,001 0,04 0,002
17 and Fig. 18 explained about a chart of the response that is
Ess (%) 0,2 0,12 0,4 0,15
produced by the motion of the motor yaw due to changes in
error and delta error voltage of LDR to changes in the angle of C. Estimation of State Of Charge (SOC) Dual Axis Solar
the set point. Based on the graph of the LDR south that Tracker
functioned as a variable process eventually has the same value
as the LDR of the north functioned as a set point. On the calculation of State Of Charge in the battery is used
the estimation. The minimum value of 0% on the battery
match with the voltage on the battery of 11,86 V. this Value is

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obtained by spending energy in the battery by plugging on the 13.2
load of the LED street lamp of 50 watts. The value of the
13
voltage 11,86 V is obtained from the value of the voltage on
12.8
the battery when the battery can't turn on the lights that are
installed/ in other words when the light is off. Therefore it is 12.6

Voltage (V)
assumed that the value of the condition of the battery when 0% 12.4
is equivalent to a current of battery voltage value 11,86 V. 12.2
12
While the maximum value of 100% on the battery match 11.8
with the voltage on the battery by 13,21 V. this Value is 11.6
obtained with the filling of energy in the battery by using the
11.4
photovoltaic until full. The value of the voltage of 13.21 V
11.2
obtained from the where on while charging the battery, the
current of flowing into the battery is almost approaching the
value of 0. The measurement of the current value using the
SOC (%)
sensor current ACS712. Therefore it is assumed that the value
of the condition of the battery at 100% is equivalent to the
battery voltage when the value of 13.21 V because the current Figure.21 SOC Tracker Trial 3
was not flowing to the battery.
13.20
13.2 13.00
13 12.80
12.8 12.60

Voltage (V)
12.6 12.40
Voltage (V)

12.4 12.20
12.2 12.00
12 11.80
11.8 11.60
11.6 11.40
11.4 11.20
11.2

SOC (%)
SOC (%)
Figure.22 SOC Tracker Average
Figure.19 SOC Tracker Trial 1
Testing is done to find out how long the lamp can be
lighted and used as street lighting. By using the energy that has
13.2
been stored the battery with energy sources photovoltaic.
13
Storage in a battery takes place in a time of 11 hours starting
12.8
at 06.00 WIB – 17.00 WIB. Then at 6.00 PM the energy that
12.6
Voltage (V)

has been stored in the battery is used to power the LED street
12.4
lighting lamps with a power of 50 watts. Battery with a voltage
12.2
12
of 12 Volt DC connected to the inverter to generate an AC
11.8
voltage of 220 Volts that can later be used to turn on the lights
11.6
lighting the way. Has been done 3 times of data collection. For
11.4
the experiment, the first battery can be charged by 85,19% of
11.2 full capacity with a voltage of 13,01 V on the battery. For the
experiment, the second battery can be charged by 88,15% of
full capacity with a voltage of 13,05 V on the battery. For the
SOC (%) experiment, the first battery can be charged by 87,41% of full
capacity with a voltage of 13,04 V on the battery.

Figure.20 SOC Tracker Trial 2 After testing in the first experiment the lamp can be lit for
7 hours 32 minutes. Then in the second experiment, the lamp
can be lit for 7 hours 48 minutes. And in the third experiment,
the lamp can be lit for 7 hours 42 minutes. Testing the lights
done like that shown in figure 23.

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 Figure.23 Testing of Street Lights 50 Watt

CONCLUSION
In this research, the dual axis solar tracker system with
Fuzzy PID controller uses 5 membership functions. The
system response performance index with fuzzy and fuzzy PID
control has different values. In fuzzy control, the values of rise
time and settling time are 9.8 s and 11.2 s for pitch angle and
4.6 s and 5.4 s for yaw angle, while in fuzzy PID control the
values of rise and settling time are 8, 2 s and 9.6 s for the pitch
angle and 3.6 s and 4.8 s for the yaw angle. And the
performance level is 48.3% compared to the fixed panel. The
energy produced by the PV tracker in 3 times on average can
turn on a 50 watt LED lamp load for 7 hours 40 minutes.
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