Design and implementation of smart electronic solar tracker based on Arduino

TELKOMNIKA, Vol.17, No.5, October 2019, pp.2486~2496
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v17i5.10912 ◼ 2486
Received August 16, 2018; Revised February 28, 2019; Accepted March 12, 2019
Design and implementation of smart electronic solar
tracker based on Arduino
Muthna Jasim Fadhil*1
, Rashid Ali Fayadh2
, Mousa K. Wali3
Department of Power Engineering, Electrical Engineering Technical College,
Middle Technical University (MTU), Baghdad, Iraq
*Corresponding author, e-mail: muthnafadhil@gmail.com1
, rashidfayadh47@gmail.com2
Abstract
Demand of energy increases in the global and exponential exhaustion is favored of resources by
fossil fuel for electricity production with the new systems development. Compared with all other remainder
energies, the specialist sun energy is the most bountiful energy and it's typically easy to be changed into
electrical energy. The main thing of using solar panel is to produce electrical energy from sun's energy but
the optimum energy can be generated by tracking solar panel due to the sun movement from east to west.
The problem can be solved by proposed systems where the sun tracking by solar panel that based on high
intensity of sun ray. This paper concentrates on tracking the sun by using servo motor coupled with solar
panel. So that, the largest quantity of sun light at the incident panel along the day at any time is better than
that for method of fixed panel array which is less efficient. The microcontroller Arduino (mode UNO) was
programmed by using C++ language while the track of sun light processing was implemented by using
light depending resistor (LDR), Chip IC H-bridge and microcontroller Arduino (UNO) circuits have been
designed by using Proteus software. By circuit design and sun tracking control process, the cost reduction
has been improved and high amount of energy was saved when implemented this system.
Keywords: microcontroller Arduino UNO, photovoltaic panel, Proteus program, sensors LDR,
servo motors
Copyright © 2019 Universitas Ahmad Dahlan. All rights reserved.
1. Introduction
The electricity power production and demand are increasing continuously nowadays
with the available frightening rate of consumption main traditional resources energy like natural
gas, petroleum and coal. Today, fossil fuels are at the forefront of energy, accounting for 85% of
all resources used in energy production. The fossil fuel resources are being gradually depleted
and used them cause pollution and global warming due to greenhouse gases emitted.
Therefore, the trend towards an alternative to fossil fuels has gradually begun to be replaced by
sources of renewable energy. Sustainability, abundance and ubiquity all of these factors have
made solar energy is the best choice of renewable energy to meet the growing need of
electricity. The solar energy is widely available and cost free completely [1-3].
The photovoltaic cells are devices of sold state which are converting the sunlight to
electricity also they are not causing pollution, slightly no need maintenance and not noisy devices.
However the installation is expensive but it can save much energy and the cost can be reduced
over long years [4]. The amount of electrical energy production proportional directly with sun light
intensity that reach photovoltaic surface panel and the angle between incident sun light and
the panel surface. Maximum electrical power obtained when sun light and surface PV panel
perpendicular to each other which represent the optimal angle and in this case power density on
surface panel is the same as for the sunlight [5]. The sun position changing continuously that
make sun light and fixed surface panel no more perpendicular to each other by means the angle
between them continuous changing which effects on electrical power output and in this case
power density on fixed PV surface panel is lower than that of the light sun. Thus, the fixed PV
panels cannot operate with same efficiency for a long time because of this situation [6-8].
Solar tracking system using to ensure that surface PV panel module with incident sun
light always perpendicular to each other in order to obtain maximum power output over all day
time where the mechanism of solar tracking system give PV panels ability to track or follow
the sun [9-11]. Power is captured by solar tracker of single axis when structure is rotating along
horizontal axis in one direction from east to west elevation movement is better than fixed panel

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Design and implementation of smart electronic solar tracker... (Muthna Jasim Fadhil)
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where the electricity can be increased by 27% to 32% while for dual axis full capacity can be
received at same time [12]. The maximum sun light can be captured when using solar tracker in
dual axis with movement in two directions azimuth and elevation, the reports showed that
the output electricity is increased by 40% to 50% by using dual axis solar tracker [13, 14].
Several previous works have been done in this field of solar tracking system with
various methods and techniques. In [15], proposed mechanism in parallel mode using for solar
tracker decoupled of two axes where driving torque highly decrease by utilizing solar tracker
and no need using reducers with great decreasing ratio. In [16], Scanning curve and
electro-luminescence using for tested PV model in order to calculate the power losses results
from salient dirt, mechanical and thermal effect. In [17], classification and presentation several
types of solar tracking systems according to the methods and techniques of driving,
the research reached to optimal solution when using devices with intelligent driver. Designed
and implemented solar tracking system in order to improve efficiency of the energy for PV panel
was discussed in [18]. Proposed guidance stationary of a two-dimensional solar tracking model
that depending on series time based feature planed under restriction bound satellite attitude of
conjugation control dealing in [19].
In this paper, development design and simulation utilized in solar tracker dual axis
model, the system installed and the data collected from practical implemented in Iraq exactly
Baghdad city. The system using one time as a fixed model and another time as tracking model.
The optimal power obtained when using tracking case as clear in the results, that is return to
effect algorithm schedule on system performance additional to that the system proposed also
provide the best rate data transfer and regular distribution.
2. Sun’s Position Determination
The position of object for exact location relative to sun in sky can be determined by
several established equations. The angular position of the sun relying on time local and
longitude for correction of time solar. The first step in calculation of sun position is to determine
time solar which is depending on the sun angular motion apparent. The elevation in the sky
becomes maximum for the sun at the noon solar time. Solar time is used for angle
determination of the sun needs to do two thinks for local time, firstly, all local longitude (Lcal)
should be corrected by comparison with longitude of meridian standard (Lrd) and secondly,
standard time (T) correction represents discrepancies between mean and apparent solar times.
Time in minutes is difference between solar and standard time [20, 21].
Solar time-Standard time = 4(Lrd −Lcal)+T (1)
The T parameter can be defined by:
𝑇 = 229.2[0.000075 − 0.040891 sin(2𝐷) − 0.014615 cos(2𝐷) − 0.032077sin(𝐷) +
0.001868 cos(𝐷)] (2)
𝐷 = (𝑘 − 1)
360
365
(3)
where k is the days of year or Julian date.
The angle of declination ∂ is the sun angular position with equator respect at solar noon.
This angle is decisive to determination the solar position and is varies seasonally [22].
𝛿 = 23.451 sin (360
284+𝑘
365
) (4)
The hour angle (β) is the next sun's position serious characteristic which represents the sun
displacement angle when the sun local meridian east or west, it’s positive in afternoon and
negative in the morning. The following formula acts as an hour angle and because the rotation
of earth 15o every hour so that:
𝛽 = 15(time solar − 12) (5)
the altitude (𝜃) plays a big role for the sun position which has relationship in calculation of
incident angle (𝜙) which is the angle between the vertical and component beam of solar.

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𝜙 = cos 𝜃 cos 𝛿 cos 𝛽 + sin 𝜃 sin 𝛿 (6)
The next is the angle of elevation (γ) which represents the angle between the horizontal and
solar component beam which is determined by subtraction 90o from incidence angle [23, 24].
Then the angle of azimuth (𝛿) can be calculated, if the function sign −1 means hour angle is
negative and +1 if it is positive.
𝛿 = sign(𝛽) |cos−1
(
cos 𝜙 𝑧 sin 𝜃−sin 𝛿
sin 𝜙 𝑧 cos 𝜃
)| (7)
The calculation is remaining that related to location daily of the sunrise and sunset of the sun.
The hour angle sunset (βhh) explains the sun angular displacement at the meridian local sunset.
𝛽ℎℎ = cos−1
(− tan 𝜃 tan 𝛿) (8)
The hour angle sunrise (βhr) is hour angle sunset but in negative (for hour angles west of meridian
local is positive and east is negative, all the above equations can be shown in Figure 1 [25].
Figure 2 explains the operation of the proposed system; it represents the circuit hardware for
solar tracking that can be used for azimuth and elevation tracking. It consists of three stages
LDR sensors, comparator and relay with servo motor drive port. The principle operation of this
electronic circuit is depending on the creating error voltages among 4 LDRs. The high voltage
when LDR is lighted while the lower voltage when LDR shadow. The voltage difference between
two sensors is amplified by using differential amplifier and the voltage error feedback can be
represented by [26]:
𝑣 𝑁𝑆 = −
𝑅6
𝑅3
𝑣 𝑁 + (1 +
𝑅6
𝑅3
)
𝑅5
𝑅4+𝑅5
𝑉𝑁 (9)
or
𝑣 𝑁𝑆 =
𝑅6
𝑅3
(𝑣 𝑁 − 𝑣 𝑆) (10)
The second stage is the comparator which is used as switch to turn the relay on, then
the motor rotates where the comparator is used to compare the threshold values with
voltage error.
𝑣𝑡ℎ1 =
𝑅9
𝑅9+𝑅7
𝑉𝑐𝑐 (11)
𝑣𝑡ℎ2 =
𝑅9
𝑅9+𝑅7
(−𝑉𝑐𝑐) (12)
Last stage is relay and drive of servo motor which is consist of two pairs of Darlington component
where finally direction of rotation motor is depending on the largest current gain and relay actuate.
Figure 1. Collector geometry of
tracking system
Figure 2. Complete sun tracker circuit diagram for
tracking in azimuth or elevation directional control

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Under blocks diagram premises the flow chart in Figure 3 is designed for control
algorithm in order to allow the prototype and all the LDR sensors checking position. Depending
on flow chart shown in Figure 2, the variation in radiation of solar incident on the LDRs
(North = VN is the voltage respect to LDR1, South = VS is the voltage respect to LDR2,
East = VE is the voltage respect to LDR3, West = VW is the voltage respect to LDR4).
The reason to build a suitable module to equipment performances is that the proposed scheme
requirements and the sensors block response against the effect of radiation variation for
movements in both directions azimuth and elevation (checking the response of servo motor).
The radiation of the tracker movement over predominates is available and doesn't equal to zero
during hours of daylight and it's zero value from nightfall to next day morning so when the day
over the west is the final position of tracker and before measuring of new day starting.
Additionally, to avoid weak components available because of vibrations of mechanical parts due
to continuous motors stop and moving so every 10 minutes spaced measurements in order to
saturate the system and capture frequency by this way is reducing.
Figure 3. Flow chart diagram explains solar tracking prototype

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3. Hardware Description
Below are short definitions for components that using in system prototype.
3.1. Light Dependent Resistor (LDR) Sensors
LDRs are also named as photo conductors or photo resistors and the photoconductivity
is the principal of thier working. LDR resistance is increased with decrease light intensity and
vice versa. Solar energies catch by purpose sensing which are done by using LDRs before
providing the input analog to Arduino.
3.2. Servo Motor
Servo mechanism is the principle work of dc motor which has 3 wires and maximum
angle of 180° can be rotated, in this work using 5 V motor. There are two servo motors using for
both elevation and azimuth directions because the system is working in dual axis. Arduino
provides output of PWM to these servo motors for operation.
3.3. Solar Panel
Solar energy is a group of photovoltaic cells that produce electrical energy from sun
light energy and convert the received light energy from sun into electrical energy. Solar panel
extracts high-energy emitted from the sun. They are widely applications of solar panel in
industrial area, domestic and street lights.
3.4. Arduino
Arduino type ATmega 328p is a microcontroller that using in this work for motor position
control. Arduino has 14 input/output digital ports that provide signals of PWM to servo motor by
6 of them and 6 input ports as analogue, also contains oscillator crystal of 16 MHz and cable
USB for push through program. The Arduino advantages are independent platform, construction
robust and low price. Table 1 shows the components description of the system prototype
depending on their functions.
Table 1. Components of System Prototype Description
Components Description
Solar panel 15x15 inch squares dimension, 35 watt ratings and thin film material.
Arduino UNO ATmega328 operations tracking controller electronic Programmable, 16MHz clock, 6 inputs
analogue and 14 inputs digital pin.
Servo motor HXT900 Servo 9gr, 0.6A, 5v
LDR GM 9516 photodiodes semiconductors Light responsible for signal sending to Arduino result
movement activation.
4. Algorithm of Solar Tracker
The closed loop improvement of solar tracker blocks diagram is descriped in Figure 4.
The main aim is to get the largest perpendicularity between the incident sun rays and the panel
photovoltaic surface. Controller feedback is depending on platform of Arduino and the sensors
are depending on LDR sensors and operational amplifier. The comparator input is the output
intensity and LDR sensors are received the amplified and feedback generated error voltage
which is variance between North-South and East-West response sensors and this leads to
imbalance case. These radiation variations with activity of two by two effect on the comparator
and make it sense, actuator linear being extended rod or back move to get maximum
performance in movement elevation or allows the driver is turning by means of servo motor for
effectiveness improving in movement of azimuth. The controller makes panel of photovoltaic
and radiation solar monitored by sending differential signal when occurs the difference that
allows change in position of solar panel until obtained zero error voltage practically. All data pair
(elevation and azimuth) apprehend and stored by platform of Arduino and after that being
explicated, it activities motors movement [3-5].

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Figure 4. Block diagram of closed loop solar tracking system
5. Prototype Fabrication and Simulation Circuit
The Proteus program using level functional of tracker for electric scheme through
implemented of this model. The parts of programming are sevided in to three sections of input
sensors, H-bridge, Arduino for input signals and comparison LDRs voltages and the last one
is for section movement related with servo motors. The analog part of Arduino can be described
as follow: A0 pin = sensor1 input, A1 pin = sensor 2 input, A2 pin = sensor 3 input,
A3 pin = sensor 4 input.
Compiler Arduino contains the written code and software is compiled also. Input
sensors are represented by four LDR with their results and are simulated for five cases beside
the H-bridge provides the output voltage of these sensors. When LDR1 at position1 (right and
bottom) is getting sun light, the LDR1 sends the signal to Arduino after that both DC servo
motors received this signal from Arduino and both servo motor (bottom and top) will rotate in
clockwise direction. The same process is done for LDR2 at position 2 (left to bottom) when is
getting sun light. At position 3 (left and top), when LD3 is getting sun light and its voltage is
greater than other three LDRs voltages the same process will be done. LDR4 sends the signal
to Arduino and both DC servo motors receive signal from Arduino then opposite process will be
done in this case compare to positions 1 and 2 where both DC servo motors (top and bottom)
will rotate anticlockwise direction. The Arduino is programmed by using C++ language.
The direction of DC motors rotation is depending on LDR conditions, two DC servo motors are
used in the system of tracking dual axis where the elevation direction control is using one motor
(MOTOR X) and azimuth direction control is using another motor (MOTOR Y). In Table 2, all
situation tracking cases are shown and they are represented by using Proteus program for
circuit shown in Figure 5. Table 3 shows the four sensors LDR measurements output voltage at
real time. The sensor LDR voltage output is not stable due to the various of low intensity where
these readings were taken for sunny day.
Figure 5. The circuit represented of all cases of solar tracking system simulated by using
proteus program

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Table 2. The 5 Situations Available for LDR Sensors in Solar Tracking System
Case No. LDR highest voltage LDR light intensity Action of the system
Case 1 LDR2,LDR3 and
LDR4 < LDR1
LDR1=16.2 LUX
LDR2,LDR3 and
LDR4 = 0.2 LUX
Motor x rotates counter clockwise response for
(elevation control) and motor y rotates clockwise
response for (azimuth control).
LDR4 < LDR2
LDR2=16.2 LUX
LDR1,LDR3 and
LDR4 = 0.2 LUX
Motor x rotates clockwise response for (elevation
control) and motor y rotates counter clockwise
LDR4 < LDR3
LDR3=16.2 LUX
LDR1,LDR2 and
LDR4 = 0.2 LUX
Motor y rotates clockwise response for (elevation
control) and motor x rotates counter clockwise
LDR3 < LDR4
LDR1=LDR2 = LDR3
= LDR4=16.2 LUX
Motor y rotates counter clockwise response for
(elevation control) and motor x rotates clockwise
Case 5 LDR1=LDR2 =
LDR3 = LDR4
LDR1=LDR2 = LDR3
= LDR4=16.2 LUX
Motor x and motor y do not rotate and remain in same
position.
Table 3. Sensors LDR Output Voltage
Reading No. LDR1 LDR2 LDR3 LDR4
1 0.69 0.91 2.63 0.94
2 0.92 1.19 2.79 1.17
3 3.54 2.12 1.9 0.57
4 2.14 2.53 2.72 3.21
5 2.37 2.38 2.74 2.39
6 2.76 2.76 2.87 2.65
7 2.43 2.43 2.79 2.12
8 2.5 2.56 2.95 2.76
9 3.53 3.57 3.24 3.49
10 2.77 2.74 2.72 2.62
11 2.59 2.56 3.14 2.33
12 2.63 2.78 3.18 2.60
13 3.73 3.79 3.22 3.84
14 2.74 2.71 3.28 2.72
15 2.66 2.65 3.50 2.79
5.1. Implementation Results
The finishing model hardware and a lot of system planned were implemented as shown
in Figure 6. This module is supported at height of 1.5 feet where for tracker control is higher that
should be increased panel altitude and installed in atmosphere open air. The accomplishment of
hardware used panel photovoltaic (PV) 35 watt and it is type mono crystalline while using
motors for rotation in both elevation and azimuth directions are static magnetic servo motors
which are moving in steps to follow the position correction. The system input consists of 4 LDRs
fixed at PV panel that send signal to Arduino UNO controller at the analog pins of A0 to A4.
The 4 LDRs are taken as pair where if less intensity on one sensor rather than the others then
on the node, voltage difference is occured and send to related channel of Arduino for necessary
action taken and the servo motors will rotate PV panel to the highest intensity of LDR position.
Validation and test of experiment: The sun tracker performance was verified and
scheme control of feasibility was illustrated, solar tracking system prototype laboratory was
installed and tested. This work was done in Baghdad city, Iraq where the experimental
outcomes have been done on 13th and 14th of April 2018 which were sunny days by installing
system of the proposed devices on the roof of building. At the same time, output power data
was collected at time between 7:30 a.m. to 6:30 pm.
The latitude of Baghdad is 33.34 degree north, so for fixed module and in order to get
maximum solar radiation, the face of PV panel is fixed in direction of south at 33.34 degree tilt
angle. The sun tracker with PV panel test experiment shows in Figure 6 while for solar tracking
system, the panel moves freedom in two directions elevation and azimuth angle. (YOKOGAWA
FX106) recorder paperless is employed in this work to display current and voltage values that
measured in real time which are produced by PV panel. The earth moves 15 degree per hour,
so it can be developed the system by means of reducing power consumption to make tracking

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servo motor not turn on all time. This characteristic is done by estimating algorithm for time
schedule in order to track the sun every half hour. The values of output voltage, current and
power for fixed module and for various times are registered in Table 4, while Table 5 shows
the results of solar tracking module of dual axis PV panel rotation. The experimental data in
Tables 4 and 5 were used for plotting graphical power output as shown in Figure 6.
(a) (b)
Figure 6. Proposed solar tracking system: (a) front view and (b) side view
Table 4. Results for PV Panel
for fixed Module
Time Current (A) Voltage (V) Power (W)
7:30 0.04 3.8 0.15
8:30 0.13 4.43 0.58
9:30 0.41 11.81 4.84
10:30 0.77 14.42 11.10
11:30 1.31 17.37 22.75
12:30 1.43 18.10 25.88
13:30 1.53 18.75 28.35
14:30 1.37 18.05 24.73
15:30 1.09 15.24 16.61
16:30 0.79 11.82 9.34
17:30 0.51 7.01 3.58
18:30 0.11 2.11 0.23
Table 5. Results Obtained
for Dual Axis Tracking Module
Time Current (A) Voltage (V) Power (W)
7:30 0.19 7.2 1.37
8:30 1.3 8.43 10.96
9:30 1.23 14.94 18.38
10:30 1.35 16.76 22.63
11:30 1.45 17.58 25.49
12:30 1.61 18.32 29.50
13:30 1.65 18.83 30.71
14:30 1.49 18.61 28.06
15:30 1.21 16.54 20.01
16:30 1.11 16.1 17.87
17:30 0.72 15.01 10.81
18:30 0.51 7.11 3.63
5.2. Experimental Results
This work was done in Baghdad city (Iraq) where the experimental outcomes have been
done on 13th and 14th of April 2018 which were sunny days by installing the proposed system
devices on the roof of building. The time for collection of data power output between 7:30 a.m.
to 6:30 p.m. The measurement results of production current and voltage waveforms for tracking
and fixed systems are shown in Figure 7 while Figure 8 shows the comparison between two
output powers for both systems. It can be seen clearly from Figure 7 (a) (fixed system),
the current and voltage were registered maximum values (1.53 A and 18.57 V) at afternoon
time (13.30), and the minimum values of currents and voltages were recorded at the beginning
and end of the day which are 7:30 AM and 6:30 PM. The same action was happen for dual axis
solar tracking system as shown in Figure 7 (b) where it reaches maximum values for current
and voltage (1.63 A and 18.83 V) at time of 13.30 also the minimum values of current and
voltage were registered at same time of fixed system module.

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(a)
(b)
Figure 7. Characteristic of current and voltage output as a function of time measurement:
(a) PV Fixed system, (b) solar tracking system
Figure 8. Comparison between fixed and solar tracking system based on
output power generating with other related power
As shown in Figure 8, the performance of fixed and tracking systems reaches the peak
at noon that is because both PV panels are faced almost the same trend, but a small difference
in angle. The output power reaches maximum values at afternoon time (13.30) which were
recorded as 31.06 watt and 28.35 watt for tracking and fixed system respectively. The tracking
system has important factor for evaluating which is gain of energy, the gain energy means that
extent the tracking system to increase the resulting energy compared with a fixed system.

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The generated energies for tracking and fixed systems were 97.63 w-h and 76.42 w-h
respectively, so (97.63–76.42)/76.42=0.2775, or 27.75% obtained for generated gain energy.
However, for tracking system energy, the calculation of consumption energy of motor rotation
should be taken in consideration where the consumption energy of motor was 0.7 w-h, so
the tracking system gain energy was (97.63–76.42–0.7)/76.42=0.2683, or 26.83%. Figure 8 also
explain comparison of this proposed system included fixed and tracking model with other related
work [27], the results obtained approximately same Because the coordinates of the latitudes of
the globe are the same for the both places where the results were taken even though they are in
two different countries.
6. Conclusion
This paper presents modern prototype and effective photovoltaic solar tracker based on
platform of Arduino. The following control effective logic can be moved regularly independent for
different situations of radiation. The proposed system hardware design, simulated using Proteus
program and recorder paperless (YOKOGAWA FX106) is employed in this work to register
values of voltage and current that produced by PV panel along the day. The practical results
collected by installing proposed hardware system in Iraq exactly Baghdad city. The comparison
of results obtained shows that energy about 26.83% gains by applying the prototype of solar
tracking development module over fixed module. These results are presenting the device
effectiveness and the ability to use in buildings (plots, garden area, flat roofs, etc.).
The production photovoltaic centers are utilizing models scale and correct developing
encapsulation for electronic and electric components of direct sustain equipment up to weather
conditions. It is accomplished engaging features provide such as an accessible and effective
cost control execution and the two axis ability to move together within their own domains.
Additional for ability to regulate the precision of tracking, it findings empirical guide to believe
work research that provide improve applications of solar energy. Beside the dual axis of solar
tracking system, there are several other techniques available for production solar power tracking
system such as concentrator parabolic dish, concentrator central receiver and tower power
which are high efficient and more production of electricity, but the worse think for these
techniques is costly and expensive setup. If the proposed system that using in this research
paper compared with all the above systems of solar tracking will find our system of dual axis
solar tracking is higher efficient, easy setup and effectivlly lower cost.
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