Tracking and angles

One of the most unused options in residential solar power stations is the concept of tracking. A solar panel array can be mounted in such a way as to be adjustable. An adjustable array can have it's position adjusted periodically, to follow the sun, resulting the maximum exposure of the array to the sun's light/radiation. If an array is fixed in position, there will be one period in the day when the amount of power generated will be greatest. Before and after, the power will grow or decay with decreasing exposure. When sunlight shines on a panel at an angle, there is less energy than when illuminated from a position directly above the panel. Tracking positions the array so the sun is directly above the array and not at an angle off to one side.
   One of the major obstacles to tracking is mounting technology. There is no shortage or difficulty in acquiring the electronics or software use in tracking. Placing an array high in the air and on pivoting points is difficult since most hardware for the task is not in the hands of the consumer. Companies that specialize in medium to large installations can install such a system, but the cost is usually much more that the average consumer can afford. Retail, turn-key solar power stations are not cheap. My knowledge and experience in electronic engineering and advanced mathematics gives me an edge in such a pursuit. I can find out what I don't know and need to, then learn. Slow, maybe, but successful.
   My background in personal computing devices and programming has prepared me for the task of assembling or writing software and hardware for the task. Like anyone else, however, I'm stumped when it comes to mounting an array for tracking. I've considered many, many possibilities, both conventional, and not. For example, I considered finding the largest automotive universal  joint possible (think Hum-V or tractor trailor, possibly a tank) and using that as my primary pivot point.
   I also considered a popular option version used by installation companies based on worm gears or slew drives. Affordable and accessible by the consumer. The steel pipe/post which holds those devices is another matter. The closest I've come to locating that resource is one of the basketball posts found in many school yards or church yards. A steel pipe is mounted on another piece of pipe embedded in concrete and having a flange welded/molded to the top. The flange is circular and has several bolt holes to match with a similar flange on the bottom of the pipe with the basketball goal.
   The approach I finally decided on uses a device known as a linear actuator, effectively, a motorized arm. The unit resembles the pneumatic lift in the rear hatch of a hatchback automobile or the shock absorber in a car. The one I picked is designed for use in rugged conditions, including outdoors, and can push or pull 10,000 Newtons. That's approximately one ton. The array consists of 6-12 solar panels of about 20 lbs. each, two steel struts about 20 lbs each and a steel pipe about 20 lbs. Eventually, the array will weigh about three or four hundred pounds. Fortunately, the linear actuator will only have to push/pull the vertical vector from a 45 degree angled array. This means that only part of the weight of the array will need to be accommodated by the actuator. The linear actuator rod extends/retracts ten inches. The unit will have to be placed close enough to the center of the array that the ten inch push/pull will result in a change in angle of the array of at least 120 degrees. That will be close to the center. Given the closeness of the position, the force required to move the array will be greater than if the rod extended longer and could be placed further from the center of the array.
   The array can track the sun using one or both of two methods: sensor detection of the sun; and calculated sun position. The expected position of the sun at a given date and time can be calculated and used to position the array. Small solar cells, about an inch or more in size, can be used to detect the sun's position by the comparison of the power produced by each of the cells when they are mounted at relative positions corresponding to a cross. One high, one low, one left, and one right of center and mounted on the array to increase reliability and accuracy.
   One can serve as a check or verification of the other.
   The amount of energy acquired by tracking, compared to a fixed, unmoving array is worth the extra cost and work.
   Currently, I have 600W in six panels that produce only 350W at sun's highest point at my latitude (something else to consider when setting up an array). The time of year is the middle of winter, so the sun does not rise very high in the sky, and is never directly overhead, even in summer, due to the effect of latitude. By tracking the sun, I can point the array directly at the sun in the morning and keep the array pointed at the sun throughout the day. This will move my solar power production closer to the 600W@10hours per day I can achieve.