PID control for a spherical robot applied as a solar tracking system

This article explores the design and analysis of a spherical solar tracking robot controlled by a PID algorithm. The robot’s spherical shape is used for maximizing solar energy capture. The study utilizes reference signals for both azimuth and altitude angles, offering a more comprehensive and accurate approach to solar tracking compared to previous single-axis and two-axis trackers lacking control systems.The robot’s design was crafted using 3D CAD tools, enabling precise visualization of its geometry and mechanics. Matlab® Simulink and Matlab® Simscape simulations were employed to analyze the PID algorithm. The article delves into the kinematic model of the robot with two degrees of freedom, providing a thorough understanding of its motion and control capabilities.The article concludes with a discussion of the advantages of using a PID-controlled spherical robot for solar tracking. It highlights the system’s potential for efficient energy harvesting and ease of construction. The article emphasizes the system’s contribution to the advancement of research in solar robotics and its potential for providing a viable solution for efficient solar energy harvesting, leveraging advanced design and engineering tools such as 3D CAD, Matlab® Simulink and Matlab® Simscape.