97 5. PV TRACKER AND EMS The active PV trackers used in the project are an advancement of classic photovoltaic installations with permanently mounted modules. These systems enable the continuous adjustment of the panel in relation to the sun's location, which allows for better use of solar energy and translates into increased energy yield. Literature studies indicate that the use of single-axis active sun tracking systems typically leads to an increase in annual energy gain of approximately 12-20% compared to fixed installations (Lazariou et al., 2015). Active trackers are equipped with externally powered drives, which ensures greater precision, speed, and predictability of operation (Singh et al., 2018). The design of the active tracker in the project has been adjusted to the composite support frame, which allows the tracking system to be adapted without the need to rebuild the floating structure (Figure 5). The proposed solution is based on a rotation axis located along the ridge formed by two adjacent PV panel sections, enabling each section to tilt independently. Each panel section is equipped with an independent drive system consisting of two electric actuators, resulting in a total of four actuators controlling the entire tracker. The tilt range of each panel section is ±15°, which enables effective sun tracking while maintaining the mechanical stability of the structure. Figure 5 – A model of an active single-axis tracker developed for the FPV The project also includes the design of the tracker control architecture, in which the high-level decision-making functions are separated from local motion execution. The local layer (Tracker Control Unit) is responsible for controlling the actuators and reporting operating parameters on an ongoing basis, while the EMS master system collects environmental and operating data, analyses operating conditions, and transmits control commands to the trackers. This architecture also includes integration with a weather station and communication gateway, enabling data transfer between PV islands and the EMS master layer. Panel movement control is based on a controller system that works with drives and a buffer power supply. To increase reliability and diagnostic capabilities, a digital communication bus is used to read/save actuator parameters such as current position, motor current, operating status, movement speed, limit switch signals, and alarm and error logs. This solution allows for continuous position feedback and early detection of undesirable conditions. Communication between the master layer and PV islands is planned based on the LoRaWAN network with remote access to the master layer via an Internet connection (e.g., LTE/4G/5G).
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