Cherinet

Jimma University
Jimma Institute of Technology

Faculty of Electrical and Computer Engineering
DUAL AXIS SOLAR TRACKING SYSTEM USING LDR

SENSORS
By
1. Tase Oumer Ru1803/08
2. Ridan Abdella Ru2115/10
3. Amira Faruk Ru1097/10
4. Natoli Mustefa Ru2032/10
5. Hanan Kedir Ru1626/10
Advisor: Dr. Prashant A.
A Thesis Submitted to Jimma University, Jimma Institute of Technology,

Faculty of Electrical and Computer Engineering in Partial Fulfillment of
the Requirement for the Degree of Bachelor of Science in Electrical and
Computer Engineering (Industrial Control Engineering)
Submission date: June 16, 2022

Jimma, Ethiopia
DUAL AXIS SOLAR TRACKING SYSTEM WITH LDR SENSORS
DECLARATION
We declare that all the works included in this documentation is our own original works,
and no copying is there with our work. It is managed and organized through a final
thesis period. This thesis is worked by effective effort of the student listed below
without cheating except all sources of materials used for the thesis work have been fully
acknowledged. This thesis is worked by the below members during the academic year
of 2022 G.C. Finally, we assure that all written in the above with our signature as
follows.
Names ID Number Signature Date
1. Tase Oumer Ru1803/08 ____________ _________

2. Ridan Abdella Ru2115/10 _____________ _________
3. Amira Faruk Ru1097/10 _____________ _________
4. Natoli Mustefa Ru2032/10 _____________ _________
5. Hanan Kedir Ru1626/10 _____________ _________
Date of Submission: June 17, 2022
The Project titled as “DUAL AXIS SOLAR TRACKING SYSTEM USING LDR
SENSORS” has been submitted as partial fulfilment for the requirements of Bachelor
of Science in Electrical and Computer Engineering of Jimma Institute of Technology,
Jimma University, with my approval as the University academic advisor.
Advisor Name Signature Date
Dr. Prashant A. _________ __________
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ACKNOWLEDGEMENT
We wish to express our deepest appreciations and sincere thanks to our advisor Dr.
Prashanth A. for being our major advisor. His enthusiastic support, guidance,
encouragement, and friendship throughout the completion of this project are
memorable. And we would like to show our great honour to Jimma University, Institute
of Technology and Faculty of Electrical and Computer Engineering.
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TABLE OF CONTENTS
DECLARATION ............................................................................................................ i
ACKNOWLEDGEMENT .............................................................................................ii
TABLE OF CONTENTS ............................................................................................. iii
LIST OF FIGURE.......................................................................................................... v
LIST OF TABLE .......................................................................................................... vi
ACRONYMS ...............................................................................................................vii
ABSTRACT ............................................................................................................... viii
CHAPTER ONE ............................................................................................................ 1
BACKGROUND ........................................................................................................... 1
1.1 Introduction .......................................................................................................... 1
1.2 Statement of the Problem ..................................................................................... 3
1.3 Objectives ............................................................................................................. 3
1.3.1 General Objective ......................................................................................... 3
1.3.2 Specific Objectives ....................................................................................... 3
1.4 Scope of the Thesis .............................................................................................. 3
1.5 Significance of the Thesis .................................................................................... 3
1.6 Limitations of the Thesis ...................................................................................... 4
CHAPTER TWO ........................................................................................................... 5
LITERATURE REVIEW .............................................................................................. 5
CHAPTER THREE ..................................................................................................... 10
METHODOLOGY ...................................................................................................... 10
3.1 Methodology ...................................................................................................... 10
3.2 System Block Diagram....................................................................................... 10
3.3 Hardware Requirement ...................................................................................... 11
3.3.1 Arduino UNO.............................................................................................. 11
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3.3.2 Servo Motor ................................................................................................ 13
3.3.3 Light Dependent Resistor (LDR) ................................................................ 14
3.3.4 Solar Panel .................................................................................................. 16
3.4 Software Requirements ...................................................................................... 17
3.4.1 Arduino IDE................................................................................................ 17
3.4.2 Proteus......................................................................................................... 18
3.5 Flow Chart of the Process .................................................................................. 19
3.6 System Design .................................................................................................... 20
CHAPTER FOUR ........................................................................................................ 21
RESULT AND DISCUSSION .................................................................................... 21
4.1 When more Light is detected toward Right ....................................................... 21
4.2 When more Light is detected toward Left .......................................................... 22
4.3 When more Light is detected toward Down....................................................... 23
4.4 When more Light is detected toward Up ........................................................... 24
4.5 Overall Discussion ............................................................................................. 24
4.6.1 How it works? ............................................................................................. 25
CHAPTER FIVE ......................................................................................................... 27
CONCLUSION AND RECOMMENDATION ........................................................... 27
5.1 Conclusion.......................................................................................................... 27
5.2 Recommendation ................................................................................................ 27
References .................................................................................................................... 28
APPENDIX .................................................................................................................. 31
APPENDIX A IMPLEMENTATION IMAGES ..................................................... 31
APPENDIX B ARDUINO CODE ........................................................................... 34
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LIST OF FIGURE
Figure 3.1 Overall Methodology.................................................................................. 10
Figure 3.2 Block Diagram............................................................................................ 11
Figure 3.3 Arduino UNO [24] ..................................................................................... 13
Figure 3.4 servo motor MG90S ................................................................................... 14
Figure 3.5 Light dependent resistor (LDR) [26] .......................................................... 15
Figure 3.6 Characteristics of LDR [27] ....................................................................... 16
Figure 3.8 PV Solar panel [29] .................................................................................... 17
Figure 3.9 Arduino IDE [30] ....................................................................................... 18
Figure 3.10 Proteus [31]. ............................................................................................. 18
Figure 3.12 placement of LDRs on solar panel ........................................................... 19
Figure 3.13 Flowchart .................................................................................................. 20
Figure 3.14 3D Design of Dual Axis Solar Tracker .................................................... 20
Figure 4.1 Overall circuit diagram on proteus ............................................................. 21
Figure 4.2 when more light is detected toward right ................................................... 22
Figure 4.3 when more light is detected toward left ..................................................... 23
Figure 4.4 when more light is detected downward. ..................................................... 23
Figure 4.5 when more light is detected upward. .......................................................... 24
Figure 4.6 Prototype..................................................................................................... 25
Figure 4.7 Sun path diagram of Jimma, Ethiopia [32]. ................................................ 26
Figure APP 1 while tracking the light.......................................................................... 31
Figure APP2 System design side view ........................................................................ 31
Figure APP3 System design left side view .................................................................. 32
Figure APP4 System design right side view ................................................................ 32
Figure APP6 System design front view ....................................................................... 33
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LIST OF TABLE
Table 3.1 Jīmma, Ethiopia - Sunrise, Sunset, Dawn And Dusk Times, [28] ............... 26
Table 3.2 Jimma, Ethiopia - Solar Energy And Surface Meteorology [28]. ............... 26
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ACRONYMS
AC Alternating Current
DC Direct current
IDE Integrated Development Environment
FTDI Future Technology Devices International
ICSP In-Circuit Serial Programming
LCD Liquid Crystal Display
LDR Light Dependent Resistor
MPPT Maximum power point tracking
PCB Printed Circuit Board
PV Photo Voltaic
PWM Pulse Width Modulation
USB Universal Serial Bus
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ABSTRACT
Energy crisis is one of the prime issues in the third world developing country like
Ethiopia. Renewable energy is the only answer to solve this issue. Solar energy is one
of the most effective resources of the renewable energy which could play a significant
role to solve this crisis. Solar power is the fastest growing means of renewable energy.
The project is designed and implemented using simple dual axis solar tracker system.
In order to maximize energy generation from sun, it is necessary to introduce solar
tracking systems into solar power systems. A dual-axis tracker can increase energy by
tracking sun rays from switching solar panel in various directions. This solar panel can
rotate in all directions. This system is powered by Arduino, consists of servo motor.
Dual-axis solar tracking is developed to capture sunrays by tracking the movement of
sun in four different direction. One axis allows the solar panel to move left and right.
The other axis allows soar panel to move up and down. This work is divided into two
parts hardware and software system. In hardware part, four light dependent resistors
(LDR) is used to detect the at most light source from the sun. Two servo motors
conjointly used to move the solar panel to maximum light source location perceived by
the LDRs. In software part, the code is written by using C programming language and
has targeted to the Arduino UNO controller.
Keywords: Solar tracking, Single-axis, Dual-axis; Light Dependent Resistors (LDR),

Arduino, Servo motor, C programming language,
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CHAPTER ONE
BACKGROUND
1.1 Introduction
Energy is required for the different applications in our daily life. The world population
is increasing day by day and the demand for energy is increasing accordingly. Oil and
coal as the main source of energy nowadays, is expected to end up from the world
during the recent century which explores a serious problem in providing the humanity
with an affordable and reliable source of energy. The need of the hour is renewable
energy resources with cheap running costs. Renewable-energy is an energy which
comes from natural resources such as sunlight, wind, rain, tides, and geothermal heat,
which are renewable (naturally replenished) [1].
Renewable-energy is the best growing energy source on the globe. Renewable energy
is a source of energy that doesn't consume the finite resources of the earth and can be
easily and quickly replenished. Renewable-energy plays a key role in a country's energy
needs enabling businesses to gather energy cost investments and also revenue thus
control the outcome of climate changes [2].
Electrical energy from solar panels is derived by converting energy from the rays of the
sun into electrical current in the solar cells. The main challenge is to maximize the
capture of the rays of the sun upon the solar panels, which in turn maximizes the output
of electricity. A practical way of achieving this is by positioning the panels such that
the rays of the sun fall perpendicularly on the solar panels by tracking the movement of
the sun. However, most of the solar panels in residence areas are mounts statically
aligned on a roof and not facing towards the sun perpendicularly throughout the day.
As the sun’s position changes, low output power will be generated by the solar panels
[3].
Energy absorption is maximum when the panel is perpendicular to the sun. Hence we
have been designed prototype of a solar tracker. Photovoltaic are solid-state devices
that simply make electricity out of sunlight, silently and with little to no maintenance,
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no pollution and no significant depletion of material resources. However, it is costly to

install but in a long term it can save more energy and offers more reduction in cost.
A solar cell (also called a photovoltaic cell) is an electrical device that converts the
energy of light directly into electricity by the photovoltaic effect. A solar panel is a set
of solar photovoltaic modules electrically connected and mounted on a supporting
structure.
Maximum power point tracking (MPPT) is the process of maximizing the power output
from the solar panel by keeping its operation on the knee point of P-V characteristics.
MPPT technology will only offer maximum power which can be received from
stationary arrays of solar panels at any given time [4]. Automatic solar tracker increases
the efficiency of the solar panel by keeping the solar panel aligned with the rotating
sun. Solar tracking is a mechanized system to track the sun’s position that increases
power output of solar panel 30% to 60% than the stationary system.
The overwhelming response from the Solar Industry has encouraged Expo group to
launch "SOLAR AFRICA" and after successful editions in Kenya and Tanzania Solar
Africa is all set to step in the Ethiopian Market. Solar Africa in Ethiopia will be held
concurrently with Power &Energy Africa from 18 - 20 October 2022. Solar
photovoltaics are being promoted to replace fuel-based lighting and off-grid electrical
needs. Many African countries are currently exploring the use of solar and other
renewable energy, with Ethiopia being a strong market for solar industry and is
currently focusing on developing the same. The Government is also being very
supportive by allowing solar products to enter the country duty free [5].
Nowadays, there are many types of solar trackers invented but the two basic categories
of trackers that are widely-used are single-axis and dual-axis tracker. Single-axis
tracker can either has a horizontal or a vertical axis, while dual-axis tracker has both
horizontal and vertical axis, thus making them able to track the sun's apparent motion
almost anywhere in the world.
In this project, dual-axis solar tracker was designed. It was separated into three parts
which were input, controller and output. The input was from the LDRs, the Arduino as
the controller and, the servo motor as the output to rotate solar panel.
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1.2 Statement of the Problem
As human we need energy in every step of life. Especially in this industrialized century
we need energy more than before. Since the earth is rotating on a tilted axis and takes
an elliptical path around the sun, the efficiency of stationary solar energy is low. Single
axis solar tracking panel is more efficient and more energy generating than stationary
solar panel, also dual-axis tracking panel is more efficient than single axis tracking
panel. So, to solve this problem we have been designed prototype of dual-axis solar
tracking system.
1.3 Objectives
1.3.1 General Objective
The main objective of this project is to design dual-axis solar tracking system using
LDR to follow the position of the light.
1.3.2 Specific Objectives
 To use LDR as sensor of light
 To interface Arduino microcontroller with LDR sensors
 To use Arduino IDE software to control the hardware part
 To interface servomotor with solar panel
 To interface servomotor with Arduino
1.4 Scope of the Thesis
The scope of this thesis is not such a wide one which collects all lights and generates
energy. It is restricted on designing dual-axis solar tracking system prototype.
1.5 Significance of the Thesis
 Usage of renewable energy is easier
 Reduce environmental pollution
 Increasing energy generation
 To increase energy efficiency

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 Easily accessible and infinite in quantity
 More energy from small system
 Once installed provides long term services
1.6 Limitations of the Thesis
Obviously any system designed will have both Scope and limitation. Here the
limitations of the designed system are listed
 Cost is high at initial installation
 repairing is difficult also if one problem exists
 Not used at cloudy weather place
 Limitation of time and materials
 Expensiveness of required material
 Tracking are more complex system than fixed tracking
 Fixed tracking systems offer more field adjustability than dual axis solar
tracking system
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CHAPTER TWO
LITERATURE REVIEW
This section covers the work done by various researches using different technologies
for solar tracking. Some of them are reviewed as below.
“Design And Implementation of Automated Solar Tracking System” [6] in this paper it
discussed that Fossil fuels have been facing reduction with passing time and generation
of power is becoming a bigger challenge. Talking about renewable sources, the
conversion of solar energy into electrical energy by using photovoltaic panels is
prioritized. The watts delivered by the solar panel are directly proportional to the
relative angle of the sun in reference to the earth. Thus, the delivery of the watts is
reduced when tis relative angle changes. In this regard the efficiency of the PV panel
can be increased by using solar tracking system.
"Determination of the Optimal Tilt Angle and Orientation for Solar Photovoltaic
Arrays." The effectiveness of a solar tracker and PV technology in general, is directly
correlated to the amount of sunlight that it is being exposed to; its power output is
dependent on the amount of light that reaches the solar cell. PV technology is most
efficient when it is greeted by a light source at a perfectly perpendicular angle, i.e.
forming a 90 degree angle. In order to accomplish this in a real-world situation, the PV
panel must move with the sun to maintain this perpendicular angle [7].
In [8] paper microcontroller based solar tracking was discussed. Due to their many
benefits, renewable energy sources are becoming one of the top priorities for today's
world. In particular, to meet our ever-increasing energy needs, solar energy is emerging
as a potential source of inexhaustible and unpolluted energy. However, solar panels,
which are fundamental components of the conversion of solar energy, are installed at a
certain angle and with diurnal and seasonal shifts, are unable to track the direction of
sunlight. Using a microcontroller combination, we built a solar tracking system.
The power production can be increased up to 40 percent by using this autonomic dual
axis sun tracker. The result showed the usefulness of the sliding mode control in the
tracking process, its strength and the high quality of the sliding mode observer [9].
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Hiwe, Thin Thin [10] this paper proposes Arduino based solar tracking system to meet
our ever-increasing energy needs, solar power is emerging as a potentially inexhaustible
and non-polluting energy source. Arduino prototype driven automated solar tracking
system is primarily designed using Arduino Microcontroller, LDRs, and stepper motors
three phase motors are typically used to transfer solar power based on the accumulated
incident light controlled by LDRs. The software controls this solar panel's vertical tilt
point, and it rotates horizontally. Then according to the sunlight incident, it could follow
the direction of the sun, not just the vertical rotation as well as the horizontal rotation
of the solar panels. This system is therefore capable of optimal lighting and can
minimize the cost of electricity production by providing a minimum number of solar
panels with proper alignment with all sunlight.
Rathika Kannan. Kavitha [11] in this paper Solar tracking system was made with
stepper motor tracking system to increase the efficiency of output power of the PV
plate. Solar energy is becoming ever more an alternative energy source. It is a device
that tracks a solar array's rotation, so it is always associated with the direction of the
sun Developed and mounted in this article, the solar tracker offers a safe and
inexpensive way to align a solar panel with the sun to optimize its energy output. In the
proper orientation the solar monitoring system is configured to align the photovoltaic
solar panel with the sun for direct radiation.
Rahul, Ankit Anuraj [12] in this paper solar tracking using LDR and stepper motor is
designed. As an important tool for renewable energy, solar energy is increasingly rising.
Solar tracking helps to collect more solar energy, since a profile that is perpendicular
to the sun's rays can be maintained by the solar panel. Whilst initial costs are high for
the implementation of a solar tracking device, this paper offers a cheaper solution. The
control circuit of the solar tracker relies on an ATMega16 microcontroller. It is intended
to sense sunlight through the LDR, and then switches with the stepper motor to align
the solar panel where maximum sunlight can be obtained. The stepper motor is more
controllable, more energy-intensive, and more powerful and has good precision
tracking and little environmental impact compared to any other motor type.
Rao et al, [13] “A project using ARM7 TDMI processor” was explained. The processor
did the task of gather input from sensor and giving command to the motor to track the
sun. ARM7 TDMI processor was used to design and implement closed loop algorithm
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which form the bases of monitoring controller. This resulted in maximum current from
solar panel to increase the energy production.
Madhu et al [14] in this paper sun tracking and testing was proposed. The sun is tracked
from east to west by single axis tracker whereas the daily east to west movement of the
sun and the seasonal declination movement was tracked by two axis trackers. A large
area of sunlight is focused into a small beam by using lenses or mirror. Sunlight is
converted into electric current using the photo electric current by PV. Test results
suggest that the increase in electricity efficiency of monitoring solar plate in everyday
days is 26 to 38% compared to fixed plate. And during cloudy or rainy days it’s varies
at any degree.
This paper [15] proposes the necessity of solar tracker. This is where the necessity for
solar tracking comes in. Solar tracking is not a new concept, though it is a considerably
new concept compared to PV cells. Patents began to be filed in regards to solar tracking,
and even before that regarding simple light sensing technology, soon after the
commercial availability of efficient PV panels hit the market about 50 years ago.
H. Mousazadeh et al. [16] in this paper a review of principle and sun tracking methods
for maximizing solar output is discussed. Due to the fact that the earth is rotating on a
tilted axis and takes an elliptical path around the sun, a stationary PV panel’s output
will drastically vary throughout the year and even throughout the course of a day, Solar
tracking obviously addresses these issues by actively following the sun in the sky. A
standard PV panel will observe about 20-35% efficiency under ideal conditions, while
solar tracking has been known to potentially double that with 50-60% efficiency under
ideal conditions.
Reda, Ibrahim and Afshin Andreas [17] in this book Solar Position Algorithm for Solar
Radiation Applications is discussed. Many traditional solar PV applications employ
dual axis trackers to position the solar panels perpendicular to the sun’s rays. This
maximizes the total power output by keeping the panels in direct sunlight for the
maximum number of hours per day.
N.Othman et al., [18] in this research, Performance Analysis of Dual axis Solar
Tracking System was discussed. “Two axis sun tracking system with the use of five
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LDRs and an Arduino Uno controller” have been designed. The objective of this
research is to design and construct the automatic dual axis solar tracker for maximum
sun energy utilization. The only point of worry is that this system should consume
energy as minimum as possible so that the net profit of the system. Arduino Uno
controller has been used and it is programmed in C language. LDRs are used to detect
the maximum sunlight position in the sky and the program written performs
calculations and drives the servo motors to make PV panels perpendicular to the sun.
The sun not only travels from east to west but there is a change of an angle in north to
south direction also. So the north and south directions should also be taken care of. Dual
axis tracker do that. These tracker track the sun on a horizontal a well as vertical axis
tracker. LDRs are used to find the brightest spot of the sun in the sky. LDRs are
connected to Arduino Uno controller which gets to know the position of the sun in the
sky and hence rotates the motors towards the sun .two servomotors are used for panel
rotation which also fulfils the law cost and lightweight criteria.
S.Ahmed et al, [19] in this paper “Open loop two axes sun tracking system with an
angle controller” have designed and constructed an open loop two axes sun tracking
system with an angle controller. The hardware is selected such as it will maximize the
power collected and minimized the power consumed as the efficiency parameter lies in
between these two power parameters.
Fabian Pineda, and Carlos Andres Arredondo [20] in this book, Two axis sun module
positioning have designed and implemented a two axis sun module positioning by
sensing the maximum brightness point in the sky. A geodesic dome based sensor has
been built for the bright point tracking.
Authors J. Song et al. [21] have implemented the high precision tracking system based
on a hybrid strategy for concentrated sunlight transmission via fibres.
In general, there are two main groups that can categorize solar trackers, single or dual
axis trackers. Reda, Ibrahim and Afshin Andreas [22] have discussed the first type of
active solar collecting which is, single axis tracking. This is will result in a greater
power output than stationary PV panels, but is also more costly to design and
implement. Single axis solar trackers can either have a horizontal or a vertical axis. The
horizontal type is used in regions near the equator where the sun gets very high at noon,
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thus not having to adjust to vertical changes so much as horizontal changes, The vertical
type is used in high latitudes where the sun does not get very high, but summer days
can be very long. Conversely, utilizing the fact that vertical movement does not have
to be compensated for as much as horizontal movement.
P. Roth et al. [23] discussed the second type of active solar collecting which is, dual
axis tracking. This results in a much greater power output than a stationary PV panel,
but is also the most costly and most complicated to design. Dual axis solar trackers have
both a horizontal and a vertical axis and thus they can track the sun's apparent motion
virtually anywhere in the sky no matter where it is positioned on earth.
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CHAPTER THREE
METHODOLOGY
3.1 Methodology
For successful completion and implementation of the system of our projects some
procedures are followed. Literature related to our work have been seen, different data
and information are collected. Based on this information the solar tracker system model
was designed. The below diagram shows the overall methodology of this project.
Figure 3.1 Overall Methodology
3.2 System Block Diagram
The diagram that shows the interconnection of the system. Solar tracker system that
uses LDRs as light sensor and Arduino as controller and servo motors as output block
diagram is shown below as on figure 3.2.
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Figure 3.2 Block Diagram
The above diagram implies that the inter connection between the device used in order
to achieve the thesis and we will discuss hardware and software we have used to
accomplish our project.
3.3 Hardware Requirement
3.3.1 Arduino UNO
Arduino UNO is a microcontroller board based on the ATmega328P (datasheet). It has

14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs,
a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header and a
reset button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with AC-to-DC adapter or battery
to get started. The word "UNO" means "one" in Italian and was chosen to mark the
initial release of Arduino Software. The UNO board is the first in a series of USB-based
Arduino boards it and version 1.0 of the Arduino IDE were the reference versions of
Arduino, which have now evolved to newer releases. The ATmega328 on the board
comes preprogrammed with a bootloader that allows uploading new code to it without
the use of an external hardware programmer.
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While the UNO communicates using the original STK500 protocol, it differs from all
preceding boards in that it does not use the FTDI USB-to-serial driver chip. Instead, it
uses the Atmega16U2 (Atmega8U2 up to version R2) programmed as a USB-to-serial
converter [24].
Arduino UNO R3 Specifications
The Arduino Uno R3 board includes the following specifications.
 It is an ATmega328P based Microcontroller
 The Operating Voltage of the Arduino is 5V
 The recommended input voltage ranges from 7V to 12V
 The I/P voltage (limit) is 6V to 20V
 Digital input and output pins-14
 Digital input & output pins (PWM)-6
 Analog I/P pins are 6
 DC Current for each I/O Pin is 20 mA
 DC Current used for 3.3V Pin is 50 mA
 Flash Memory -32 KB, and 0.5 KB memory is used by the boot loader
 SRAM is 2 KB
 EEPROM is 1 KB
 The speed of the CLK is 16 MHz
 In Built LED
 Length and width of the Arduino are 68.6 mm X 53.4 mm
 The weight of the Arduino board is 25 g
The main advantage of this board is if we make a mistake we can change the
microcontroller on the board.
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Figure 3.3 Arduino UNO [24]
3.3.2 Servo Motor
There are lots of servo motors available in the market and each one has its own specialty
and applications. Most of the hobby Servo motors operates from 4.8V to 6.5V, the
higher the voltage higher the torque we can achieve, but most commonly they are
operated at +5V. Next comes the most important parameter, which is the torque at
which the motor operates. Again there are many choices here but the one here is the
2.2kg/cm torque which comes with the MG90 Motor. This 2.2kg/cm torque means that
the motor can pull a weight of 2.2kg when it is suspended at a distance of 1cm. So if
you suspend the load at 0.5cm then the motor can pull a load of 4.4kg. Based on the
load which you use in the project you can select the motor with proper torque [25].
A Servomotor is a rotary actuator or linear actuator that allows for precise control of
angular or linear position, velocity and acceleration. It consists of a suitable motor
coupled to a sensor for position feedback. It also requires a relatively sophisticated
controller, often a dedicated module designed specifically for use with servo motor.
Servomotor is not specific class of the motor, although the term servomotor is often
used to refer to a motor suitable for use in a closed-loop control system. Inside there is
a pretty simple set-up: a small DC motor, potentiometer and a control circuit. The motor
is attached to the gears to the control wheel. As the motor rotates the potentiometer’s
resistance changes, so the control circuit can precisely regulate how much movement
there is and in which direction [25].
Tower Pro MG-90S Features
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 Operating Voltage: 4.8V to 6V (Typically 5V)
 Stall Torque: 1.8 kg/cm (4.8V)
 Max Stall Torque: 2.2 kg/cm (6V)
 Operating speed is 0.1s/60° (4.8V)
 Gear Type: Metal
 Rotation : 0°-180°
 Weight of motor : 13.4gm
 Package includes gear horns and screws
Figure 3.4 servo motor MG90S
3.3.3 Light Dependent Resistor (LDR)
A photo resistor is a passive component that decreases resistance with respect to

receiving luminosity on the component's sensitive surface, in other words, it exhibits
photoconductivity. Light-dependent resistor (LDR) or photocell is a resistor whose
resistance decreases with increasing incident light intensity. A photo resistor is made
of a high resistance semiconductor. Once light rays drop on it, then immediately the
resistance will be changed. The resistance values of an LDR may change over several
orders of magnitude. The resistance value will be dropped when the light level
increases. The resistance values of LDR in darkness are several mega ohms whereas in
bright light it will be dropped to hundred ohms. So due to this change in resistance,
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these resistors are extremely used in different applications. The LDR sensitivity also
changes through the incident light’s wavelength [26].
The working principle of an LDR is photoconductivity, which is nothing but an optical

phenomenon. When the light is absorbed by the material then the conductivity of the
material enhances. When the light falls on the LDR, then the electrons in the valence
band of the material are eager to the conduction band. But, the photons in the incident
light must have energy superior to the bandgap of the material to make the electrons
jump from one band to another band (valance to conduction). Hence, when light having
ample energy, more electrons are excited to the conduction band which grades in a large
number of charge carriers. When the effect of this process and the flow of the current
starts flowing more, the resistance of the device decreases [26].
Figure 3.5 Light dependent resistor (LDR) [26]
Characteristics of LDR
The light-dependent resistor is very responsive to light. When the light is stronger, then
the resistance is lower which means, when the light intensity increases then the value
of resistance for the LDR will be decreased drastically to below 1K. When the light
drops on LDR, the resistance will be decreased and when the resistor is placed in the
dark then the resistance will be increased which is called dark resistance. If any device
absorbs light then its resistance will be reduced radically. If a stable voltage is given to
it, the light intensity will be increased & the flow of current starts increasing. So, the
following diagram represents the characteristics between resistance & illumination for
a specific LDR [27].
Page | 15
Figure 3.6 Characteristics of LDR [27]
3.3.4 Solar Panel
The solar panel consists of an array of semiconductor cell arranged

in a specific manner to achieve efficient performance. Solar panel produces electricity
from sun light. A solar panel consists of PV cells that generate electricity when exposed
to light, or Photons in sunlight hit the solar panel and are absorbed by semiconducting
materials. Photovoltaic modules use light energy (photons) from the Sun to generate
electricity through the photovoltaic effect. Most modules use wafer-based crystalline
silicon cells or thin-film cells. The structural (load carrying) member of a module can
be either the top layer or the back layer. Cells must be protected from mechanical
damage and moisture. Most modules are rigid, but semi-flexible ones based on thin-
film cells are also available. The cells are usually connected electrically in series, one
to another to the desired voltage, and then in parallel to increase current.
The power (in watts) of the module is the mathematical product of the voltage (in volts)
and the current (in amperes) of the module. The manufacturing specifications on solar
panels are obtained under standard condition, which is not the real operating condition
the solar panels are exposed to on the installation site [28].
Page | 16
Figure 3.8 PV Solar panel [29]
3.4 Software Requirements
The software required for this thesis is Arduino IDE and proteus.
3.4.1 Arduino IDE
The open-source Arduino Software (IDE) makes it easy to write code and upload it to
the board. It runs on Windows, Mac OS X, and Linux. The environment is written in
Java and based on Processing and other open-source software. This software can be
used with any Arduino board. The Arduino development environment contains a text
editor for writing code, a message area, a text console, a toolbar with buttons for
common functions, and a series of menus. It connects to the Arduino hardware to
upload programs and communicate with them. Software written using Arduino are
called sketches. These sketches are written in the text editor. Sketches are saved with
the file extension.ino. It has features for cutting/pasting and for searching/replacing
text. The message area gives feedback while saving and exporting and also displays
errors. The console displays text output by the Arduino environment including
complete error messages and other information. The bottom right-hand corner of the
window displays the current board and serial port. The toolbar buttons allow you to
verify and upload programs, create, open, and save sketches, and open the serial
monitor.
Page | 17
Figure 3.9 Arduino IDE [30]
3.4.2 Proteus
The Proteus Design Suite is a proprietary software tool suite used primarily
for electronic design automation. The software is used mainly by electronic design
engineers and technicians to create schematics and electronic prints for
manufacturing printed circuit boards. It was developed in Yorkshire, England by
Labcenter Electronics Ltd and is available in English, French, Spanish and Chinese
languages. The Proteus Design Suite is a Windows application for schematic
capture, simulation, and PCB (Printed Circuit Board) layout design. It can be purchased
in many configurations, depending on the size of designs being produced and the
requirements for microcontroller simulation. All PCB Design products include an auto
router and basic mixed mode SPICE simulation capabilities. The micro-controller
simulation in Proteus works by applying either a hex file or a debug file to the
microcontroller part on the schematic. It is then co-simulated along with any analog
and digital electronics connected to it. This enables its use in a broad spectrum of project
prototyping in areas such as motor control, temperature control and user interface
design.
Figure 3.10 Proteus [31].
Page | 18
3.5 Flow Chart of the Process
As we can see from the figure 3.12 below to start tracking light must detected by LDRs
so as Arduino compares average values of pairs of LDRs. Then servomotor starts
automatically to move the solar panel to the direction of the light. When LDRs are
detect light intensity the Arduino microcontroller read output voltage as input signal as
analog and converts it to digital and compares the average values of LDRs output
voltage. Since LDR values decreases as more intensity is perceived by it, the less values
of LDRs indicates that greater voltage output is gained and on which direction more
light is detected. Arduino microcontroller compares the average values of LDR’s output
voltage and checks which LDR pair is detecting more lights. If the average value of
LDR 1 and LDR 4 is greater than other averages of LDRs, the motor is shift the solar
panel to move up. If the average values of LDR 1 and LDR 4 output is less than others
it will check other values. If average value of LDR 2 and LDR 3 is greater than other
average values of LDRs when compared by controller unit, then the motor moves solar
panel to down. If the average value of LDR 2 and LDR 3 output is less than others it
will check other values. If the average value of LDR 3 and LDR 4 is greater than other
average values of LDRs when compared, then the motor moves solar panel to the right
direction. If the average value of LDR 2 and LDR 3 output is less than others it will
check other values. If the average value of LDR 1 and LDR 2 is greater than other
average values of LDRs when compared, then the motor moves solar panel to left. If
all averages of all LDRs are equal the controller tells solar panel to stay at its position
until other light is detected.
Figure 3.12 placement of LDRs on solar panel
Page | 19
Figure 3.13 Flowchart
3.6 System Design
Figure 3.14 3D Design of Dual Axis Solar Tracker
Page | 20
CHAPTER FOUR
RESULT AND DISCUSSION

Nowadays the number of population is increasing as well as the need of energy human
being is also increasing. But because of limited non-renewable resource of energy
decreasing and air pollution is increasing. Since non-renewable energies are limited
natural resource, using renewable energy is the ultimate solution. Also in our country
Ethiopia more than 70% of population lives without electricity. Peoples in rural area
cannot get electricity in this advanced 21st century. So, in this thesis we have designed
the way that enable us to track the position of light to increase generation and efficiency
of energy. Renewable energies are like hydropower, wind, solar energy, etc. Solar
tracking system plays an important role in order to maximize energy generation.
Figure 4.1 Overall circuit diagram on proteus
4.1 When more Light is detected toward Right
The motor to rotate the solar it needs to check whether light is detected or not by the
sensors that are placed on top of panel. If light is detected then the outputs of LDRs are
compared. If the average value of LDR 3 and LDR 4 is greater than other average values
of LDRs when compared, then the motor moves solar panel to right direction. And the
motor will shift to right direction makes solar panel tracking the movement of light.
Page | 21
The panel generates energy until the intensity of sunlight decreases. The simulation
result of sun tracking when the sun is along right direction is shown by the figure 4.2
below.
Figure 4.2 when more light is detected toward right
4.2 When more Light is detected toward Left
Up to other sensors of light which means LDRs detects light the panel remains on
tracking light to the more detected and if the average value of LDR 1 and LDR 2 is
greater than other average values of LDRs when compared, then the motor moves solar
panel to west direction. The panel generates energy until the intensity of sunlight
decreases along LDR 1 and LDR 2. When light intensity through LDR 1 and LDR 2
decreases and the sun moves to set. The simulation result of tracking to left is shown in
the figure 4.3 below.
Page | 22
Figure 4.3 when more light is detected toward left
4.3 When more Light is detected toward Down
During winter the day is short because the sun changes its position of set by setting to
south. This makes summer days longer than winter days and if average value of LDR
2 and LDR 3 is greater than other average values of LDRs when compared by controller
unit, then the motor moves solar panel to south direction. This operation repeats itself
and the result is shown in the below figure.
Figure 4.4 when more light is detected downward.
Page | 23
4.4 When more Light is detected toward Up
Since Arduino microcontroller compares the average values of LDRs to command

servos as program loaded on it Arduino checks which LDR pair is detecting more lights.
When pair of upper LDRs detects more light then Arduino send PWM (pulse width
modulation) signal to motor. If the average value of LDR 1 and LDR 4 is greater than
other averages of LDRs, the motor is shift the solar panel to move upward.
Figure 4.5 when more light is detected upward.
If all averages of all LDRs are equal the controller tells solar panel to stay at its position
until other light is detected. The solar panel remains there up to next morning. By doing
this the system tracks sun repeatedly all days.
4.5 Overall Discussion
We have worked on simple dual axis solar tracker by using Arduino and servo motors.
The result obtained from proposed method is shown in the below figure. As we can see
from figure our device contain these parts.
 Base that holds solar panel and servo motors

 Solar panel and LDRs
Page | 24
Figure 4.6 Prototype
4.6.1 How it works?
There are four LDRs that detects light on the top of solar panel that are separated. One
terminal of each LDR is connected in series with resistors. And one servo motor which
allows right-left motion is attached at the bottom of solar panel’s base and other servo
motor is attached on solar panel to move the panel up and down. The output signal is
received as Pulse Width Modulation (PWM) by the two servos. When LDR receives
light the output voltage on the terminal of LDR and resistor increases and get into
Arduino as analog signal. An Arduino compares the average values of this input and
command the servomotors to rotate the solar panel to the direction of more light
intensity. This is how it works.
Due to the movement of the earth around the sun, the direction of sunrise and sunset of
different regions are different. This makes sometimes long day and short nights and
vice versa. All this happens due to earth’s movement is elliptical on its orbit. Below
table shows us sunrise, sunset, down and dusk times of different days for Jimma,
Ethiopia.
Page | 25
Table 4.1 Jimma, Ethiopia - Sunrise, sunset, dawn and dusk times, [32]
Figure 4.7 Sun path diagram of Jimma, Ethiopia [32].
Above diagram shows sun path of Jimma Region. This is different for all regions around
the world. And the following table gives the information of solar energy and surface
meteorology of Jimma, Ethiopia.
Table 4.2 Jimma, Ethiopia - Solar energy and surface meteorology [32].
Page | 26
CHAPTER FIVE
CONCLUSION AND RECOMMENDATION
5.1 Conclusion
As the name suggests, our tracker is a dual axis tracker, meaning it tracks both X, Y.
To put into even more simple terms, it goes left, right, up, down. This means ones you
have your tracker set up you will never need to change or adjust anything, since
anywhere the suns moves your tracker will follow. The solar tracking system tracks the
sun’s position to maximize energy. The proposed dual axis solar tracker automatically
tracks the position of light by using Arduino as a controller. Program written on
Arduino IDE is loaded to Arduino so that microcontroller controls the rotation of motor.
Arduino microcontroller compares the average of pairs of LDRs and send signals of
PWM (Pulse Width Modulation) to servo motors then, servo motors moves solar panel
to the direction of sun depending on the output Arduino microcontroller. This reduces
the materials used. This system also simplifies the recycling energy and keep
environment clean from environmental pollution which biggest unsolved problem in
the world. This all has been achieved as much as possible.
5.2 Recommendation
Every thesis always has limitation of scope which needs an improvement and we know
that the scope of this project is tight, so it can be improved more by adding additional
feature. Such as humidity and temperature sensors, robots and drones with solar
tracking system that is used for different purposes like cleaning robot using solar
tracking and drone cameras using solar tracking system on it for the use of power
source.
Page | 27
References
[1] Ms. Priyanka B. Shelar, 2Mali Abhishek Dattatray, 3Sarvankar Prathamesh

Kishore, 4Gaikwad Ketan, “DUAL-AXIS SOLAR TRACKING SYSTEM
WITH WEATHER SENSOR,” International Engineering Journal For
Research & Development, vol. 5, no. 5.
[2] Sunil Kumar Jilledi*, Daniel Tesfazgi, Filmon Foto, Mahmud Ali, Abduselam
Atta,, “Design and Simulation of Dual Axis Solar Tracker for optimum solar
energy absorption,” International Journal of Sensors and Sensor Networks, no.
ISSN2329-1796, pp. 34-35, 2019.
[3] N. Barsoum, “Fabrication of Dual-Axis Solar Tracking Controller Project,”

2011.
[4] Md. Tanvir Arafat khan, S.M. shahrear Tanzil, “"Design and Construction of an
Automatic Solar Tracking System"6th International Conference on Electrical
and Computer Engineering ICECE,,” 18-20 December 2010., pp. pp. 326-329.
[5] “https://expogr.com/ethiopia/solarexpo/aboutus.php#:~:text=Solar%20Africa%
20in%20Ethiopia%20will,solar%20resources%20in%20the%20world.,”
[Online].
[6] Saad Izhaar, Usama Amanat,Ali Raza, “DESIGN AND IMPLEMENTATION

OF AUTOMATED SOLAR TRACKING SYSTEM,” 2020.
[7] Mehleri, E.D., P.L. Zervas, H.Sarimveis, J.A. Palyvos, and N.C. Markatos.,
“"Determination of the Optimal Tilt Angle and Orientation for Solar
Photovoltaic Arrays."2468-475,” in Renewable Energy 35.11 : , (2010).
[8] Shreyasi Chakraborty. Nilanjana Mukherjee. Rashmi Biswas , 2017.
[9] R. e. al, 2010.
[10] T. T. Hiwe, 2019.
Page | 28
[11] Rathika Kannan. Kavitha S, “Solar tracking system,” 2017.
[12] A. A. Rahul, “Solar tracking using LDR and stepper motor,” 2018.
[13] R. e. al, “project using ARM7 TDMI processor,” 2012.
[14] Madhu et al, 2012.
[15] “[http://www.google.com/patents/US4225781?printsec=abstract#v=onepage&q
&f=false],” [Online].
[16] H. Mousazadeh et al., “A review of principle and sun tracking methods for
maximizing solar output,” in Renewable and Sustainable Energy Reviews
1800-1818, 2009.
[17] Reda, Ibrahim, and Afshin Andreas., “ National Renewable Energy Laboratory,
n.d.,” in Solar Position Algorithm for Solar Radiation Applications. Tech.
N.p.:.
[18] N. e. al., “"Performance Analysis of Dual axis Solar Tracking System",s.l. :

IEEE International Conference on Control System, Computing and
Engineering,,” 29 Nov.- 1 Dec. 2013., pp. pp. 370-375.
[19] S.Ahmad et al, “open loop two axis sun tracking system”.
[20] Fabian Pineda, and Carlos Andres Arredondo, “"Design and Implementation of
Sun Tracker prototype for solar module positioning",” 2011. pp. 2905-2910.
[21] J. S. e. al, “"high precision tracking system based on a hybrid strategy for
concentratedsunlight transmission via fibres"”.
[22] Reda, Ibrahim, and Afshin Andreas., “National Renewable Energy

Laboratory,” in Solar position algorithm for Solar Radiation Application .
[23] P. Roth et al., “Cheap two axis sun following device, Energy Conversion and
Management,” in 1179–1192], (2005).
[24] “"https://eeeproject.com/arduino-uno-board/,” [Online].
Page | 29
[25] “https://components101.com/motors/mg90s-metal-gear-servo-motor#,”
[Online].
[26] “wikipedia,” [Online].
[27] “https://www.elprocus.com/ldr-light-dependent-resistor-circuit-and-working/,”
[Online]. [Accessed 21 May 2022].
[28] “https://en.wikipedia.org/wiki/Solar_panel,” [Online]. [Accessed 13 5 2022].
[29] “"https://www.solar-ups.eu/en/termek/10w-solar-panel/,” [Online].
[30] “https://commons.wikimedia.org/wiki/File:Arduino_Logo.svg,” [Online].
[31] “https://en.wikipedia.org/wiki/Proteus_Design_Suite,” [Online].
[32] N. e. al., “giasma.com,” 2002. [Online]. [Accessed 27 5 2022].
[33] “https://www.teachmemicro.com/arduino-lcd-tutorial/,” [Online].
[34] Madhu et al, 2012.
Page | 30
APPENDIX
APPENDIX A IMPLEMENTATION IMAGES
Figure APP 1 while tracking the light
Figure APP2 System design side view
Page | 31
Figure APP3 System design left side view
Figure APP4 System design right side view
Page | 32
Figure APP5 System design back view
Figure APP6 System design front view
Page | 33
APPENDIX B ARDUINO CODE
#include <Servo.h>
//defining Servos
Servo servohori;
int servoh = 180;
int servohLimitHigh = 175;
int servohLimitLow = 5;
Servo servoverti;
int servov = 45;
int servovLimitHigh = 90;
int servovLimitLow = 1;
//Assigning LDRs
int ldrtopl = A1; //top left LDR green
int ldrtopr = A3; //top right LDR yellow
int ldrbotl = A0; // bottom left LDR blue
int ldrbotr = A2; // bottom right LDR orange
void setup ()
Serial.begin(9600);
servohori.attach(9);
servoverti.attach(10);
Page | 34
servohori.write(180);
servoverti.write(45);
delay(2500);
void loop()
servoh = servohori.read();
servov = servoverti.read();
//capturing analog values of each LDR
int topl = analogRead(ldrtopl);
int topr = analogRead(ldrtopr);
int botl = analogRead(ldrbotl);
int botr = analogRead(ldrbotr);
// calculating average
int avgtop = (topl + topr) / 2; //average of top LDRs
int avgbot = (botl + botr) / 2; //average of bottom LDRs
int avgleft = (topl + botl) / 2; //average of left LDRs
int avgright = (topr + botr) / 2; //average of right LDRs
if (avgtop < avgbot)
servoverti.write(servov +1);
Page | 35
if (servov > servovLimitHigh)
servov = servovLimitHigh;
delay(10);
else if (avgbot < avgtop)
servoverti.write(servov -1);
if (servov < servovLimitLow)
servov = servovLimitLow;
delay(10);
else
servoverti.write(servov);
if (avgleft > avgright)
servohori.write(servoh +1);
if (servoh > servohLimitHigh)
Page | 36
servoh = servohLimitHigh;
delay(10);
else if (avgright > avgleft)
servohori.write(servoh -1);
if (servoh < servohLimitLow)
servoh = servohLimitLow;
delay(10);
else
servohori.write(servoh);
delay(50);
Page | 37

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Jimma University

Jimma Institute of Technology

DUAL AXIS SOLAR TRACKING SYSTEM USING LDR

Advisor: Dr. Prashant A.

A Thesis Submitted to Jimma University, Jimma Institute of Technology,

Submission date: June 16, 2022

Names ID Number Signature Date

1. Tase Oumer Ru1803/08 ____________ _________

Date of Submission: June 17, 2022

Advisor Name Signature Date

Dr. Prashant A. _________ __________

TABLE OF CONTENTS ............................................................................................. iii

LIST OF TABLE .......................................................................................................... vi

ABSTRACT ............................................................................................................... viii

CHAPTER ONE ............................................................................................................ 1

1.1 Introduction .......................................................................................................... 1

1.2 Statement of the Problem ..................................................................................... 3

1.3 Objectives ............................................................................................................. 3

1.3.1 General Objective ......................................................................................... 3

1.3.2 Specific Objectives ....................................................................................... 3

1.4 Scope of the Thesis .............................................................................................. 3

1.5 Significance of the Thesis .................................................................................... 3

1.6 Limitations of the Thesis ...................................................................................... 4

CHAPTER TWO ........................................................................................................... 5

LITERATURE REVIEW .............................................................................................. 5

CHAPTER THREE ..................................................................................................... 10

3.1 Methodology ...................................................................................................... 10

3.2 System Block Diagram....................................................................................... 10

3.3 Hardware Requirement ...................................................................................... 11

3.3.1 Arduino UNO.............................................................................................. 11

3.3.2 Servo Motor ................................................................................................ 13

3.3.3 Light Dependent Resistor (LDR) ................................................................ 14

3.3.4 Solar Panel .................................................................................................. 16

3.4 Software Requirements ...................................................................................... 17

3.4.1 Arduino IDE................................................................................................ 17

3.5 Flow Chart of the Process .................................................................................. 19

3.6 System Design .................................................................................................... 20

CHAPTER FOUR ........................................................................................................ 21

RESULT AND DISCUSSION .................................................................................... 21

4.1 When more Light is detected toward Right ....................................................... 21

4.2 When more Light is detected toward Left .......................................................... 22

4.3 When more Light is detected toward Down....................................................... 23

4.4 When more Light is detected toward Up ........................................................... 24

4.5 Overall Discussion ............................................................................................. 24

4.6.1 How it works? ............................................................................................. 25

CHAPTER FIVE ......................................................................................................... 27

CONCLUSION AND RECOMMENDATION ........................................................... 27

5.2 Recommendation ................................................................................................ 27

APPENDIX A IMPLEMENTATION IMAGES ..................................................... 31

APPENDIX B ARDUINO CODE ........................................................................... 34

IDE Integrated Development Environment

FTDI Future Technology Devices International

ICSP In-Circuit Serial Programming

LCD Liquid Crystal Display

LDR Light Dependent Resistor

MPPT Maximum power point tracking

PCB Printed Circuit Board

PWM Pulse Width Modulation

USB Universal Serial Bus

1. Tase Oumer Ru1803/08 ____ _

Dr. Prashant A. _ __