Design and Implementation

of a Dual axis solar tracking

system using ATmega32

Pravin Gawande Arti Mhaske Swayam Gurnule

VIIT Pune VIIT Pune VIIT Pune
(ENTC Dept.) (ENTC Dept.) (ENTC Dept.)
Pravin Gawande@[Link] arti.22310107@[Link] Swayam.22310762@[Link]

Manish Somwanshi
VIIT Pune
(ENTC Dept.)
manish.22310373@[Link]
Abstract—This work presents Motor, Pulse Width Modulation
the design and development of a (PWM), Renewable Energy, Sun
cost-effective and effective Dual Tracking System, Microcontroller-
Axis Solar Tracker system based Based Automation, Solar Panel
on the ATmega32 microcontroller. Efficiency, Embedded System
Unlike conventional fixed or Design
single-axis trackers, the dual-axis
tracker maximizes the collection
of solar energy by tilting the 1. INTRODUCTION
panel in the azimuth (horizontal)
and elevation (vertical) axes. Four The need for sustainable and
Light Dependent Resistors (LDRs) renewable energy solutions is
arranged in a quadrant are growing exponentially worldwide
utilized to calculate the direction with the rising environmental
of maximum sunlight. Based on concerns and the exhaustion of
the analog input from the
fossil fuel resources[2],[14].
sensors, the ATmega32 compares
and processes light intensities to Among all the renewable sources,
generate PWM signals that drive solar energy is a readily available
two servo motors that are used and eco-friendly source[11].
for real-time panel positioning. A However, the efficiency of solar
comparative study with a fixed energy systems depends
panel under the same conditions significantly on the orientation of
indicates a 20–35% increase in
the solar panels towards the
energy output. This paper
stresses the feasibility of sun[12]. Fixed solar panels,
constructing an intelligent, although easy to install, do not
autonomous sun tracking take full solar irradiance during
solution utilizing low-cost the day since the sun is
elements, showing much promise continuously on the move across
for household, business, and the sky[4],[18]. To mitigate this
rural electrification systems.
disadvantage, solar tracking
systems have been incorporated,
KEYWORDS- Dual Axis Solar
Tracker, ATmega32, Light which offer the facility for
Dependent Resistors (LDR), Servo
adjusting the panel's angle to depletion of fossil fuel
follow the sun path[1],[2]. resources[2],[14]. Among all the
renewable sources, solar energy
While single-axis trackers is a readily available and eco-
improve energy output by friendly source[11]. However, the
aligning with the sun's east-west efficiency of solar energy systems
movement, they fall short when depends heavily on the
responding to the sun's vertical orientation of the solar panels
position change from season to towards the sun. Fixed solar
season[24]. On the contrary, a panels, although easy to install,
dual-axis solar tracker provides do not harvest maximum solar
better performance by the irradiance during the day since
dynamic tilt of the panel in both the sun is in constant motion
the azimuth (horizontal) and across the sky[4],[18]. As a
elevation (vertical) axes, thus remedy for this limitation, solar
remaining always perpendicular tracking systems have been
to the sun. The following is the incorporated, which offer the
description of how the dual-axis mechanism for tilting the angle of
solar tracking system has been the panel to follow the path of
installed on the ATmega32 the sun[2],[1].
microcontroller[9],[4]. The
system employs Light Dependent Although single-axis trackers
Resistors (LDRs) for sensing the improve energy output by
intensity of sunlight and tracking the east-west motion of
providing real-time data to the the sun, they are short of
microcontroller for response to the sun's vertical
processing[13],[17]. position change with the
season[24]. On the other hand, a
The microcontroller compares dual-axis solar tracker provides
the values received from various more performance by
sensors and the microcontroller dynamically tilting the panel in
controls two servo motors both the azimuth (horizontal) and
through Pulse Width Modulation elevation (vertical) axes, thus
(PWM) accordingly to orient the always being perpendicular to
panel[5],[15]. The planned the sun. Following is the
system not only is effective in explanation of how the double-
improving solar energy collection axis solar tracker system has been
but also inexpensive, light, and implemented on the ATmega32
scalable for numerous microcontroller. The system
applications. The research aims makes use of Light Dependent
to bridge the gap between Resistors (LDRs) to sense sunlight
expensive commercial trackers intensity and create real-time
and inefficient fixed systems by values for processing.
offering an economic, embedded
solution for smart sun tracking. The microcontroller compares
sensor values and hence controls
2. LITERATURE SURVEY two servo motors using Pulse
Width Modulation (PWM) to
The need for sustainable and
place the panel. The suggested
renewable energy solutions is
system not only saves on energy
growing exponentially all over the
harvesting from the sun in an
globe with the rise in
efficient manner but is also cost-
environmental concerns and the
effective, miniature, and scalable and simplicity. The design, built
for numerous applications. The using an Arduino UNO, LDRs, and
research aims to bridge the gap DC motor with relay control, was
between expensive commercial meant for rural deployment[23].
trackers and inefficient fixed
systems by introducing an Although a success in
affordable, embedded solution to improving panel orientation and
smart sun tracking. The efficiency maximizing output during the
of solar energy systems has been day, the design's limitations in
a subject of study in academic terms of controlling accurately
and industrial communities for and being vertically mobile
many years. One of the most limited its application for larger
powerful areas in this field is the or more dynamic deployments.
use of solar tracking systems, Moreover, as there was no
which try to maintain an optimal feedback mechanism, the
angle between the sun and the response of the system to abrupt
solar panel. A thorough review of changes in light (e.g., cloud
recent literature reveals a shift cover) was not adequately
from simple, manual systems to controlled. A major breakthrough
intelligent, automated systems occurred in the year 2022 by
based on microcontrollers and Verma and Singh in their paper
embedded systems[2],[12]. "Dual Axis Solar Tracker Using
In 2021, Patel et al. presented ATmega328.". Their design is
a "Solar Panel Tracking System introduced with a two-axis
Using Microcontroller," in which mechanism relying on two servo
they employed an ATmega16 motors and four LDRs installed in
microcontroller to design a a cross-array for detecting both
single-axis tracking system[4]. changes in azimuth and elevation
of sunlight[25].

Real-time sensor readings were

Two LDR sensors were placed controlled by the ATmega328
at both ends of a solar panel in microcontroller to adjust the
implementing the tracker such panel orientation accordingly.
that the system can monitor the The configuration was found to
east-west position of the sun display smoother motor control,
throughout the day. greater accuracy in alignment,
and greater efficiency. However,
Servo motors were utilized for it did not include support for real-
panel alignment, and the system time monitoring, energy storage
exhibited a 30% increase in integration, or IoT features of
energy output compared to fixed remote access and data logging.
panels. While encouraging results In these works, common
were observed, the system did limitations observed are:
not incorporate vertical • Limitation to single-axis
(elevation) tracking, which motion.
resulted in loss of performance
with seasonal changes in sun • No predictive algorithms
altitude. For comparison, the or machine learning for sun path
Sharma and Kulkarni 2020 paper prediction.
titled "Efficient Solar Tracker
Using Arduino" prioritized cost
 • No real-time monitoring Tracker LDRs, 2 tracking monitori
or modular scalability. Using Servo ng, no
ATmega328 Motors smart
•Limited use of strong, control
programmable microcontrollers features
beyond Arduino-class platforms.

• These findings necessitate a 3. METHODOLOGY

low-cost, scalable, and intelligent
3.1 Component Selection
dual-axis tracking system that
The Dual Axis Solar Tracker
uses powerful microcontrollers
system is intended to ensure
like ATmega32. The system
maximum exposure of the solar
presented in this paper bridges
panel to sunlight by dynamically
these gaps using:
tilting its position in the
horizontal (azimuth) and vertical
• Dual-axis motion control
(elevation) axes. It employs LDR
using precision servo motors.
sensors to detect sunlight, servo
motors for displacement, and the
• Analog light intensity sensing
ATmega32 microcontroller for
using four LDRs.
making real-time decisions.
 ATmega32
• Real-time analog data Microcontroller: Acts
processing using ATmega32's 10- as the brain of the
bit ADC. system. It reads inputs
from LDRs via its ADC
• A closed-loop control channels and sends
strategy with future IoT PWM signals to
integration possibilities. control the servo
Table 1: comparison table motors based on the
SR Paper Title Technolo Yea comparison of light
N gy Used r intensities[2].
O.
 LDR Sensors: Four
Light Dependent
Resistors (LDRs) are
placed in a cross
Solar Panel ATmega1 20 pattern. They detect
Tracking 6, 2 21 light intensity from
System LDRs, East, West, North, and
Using Servo South directions.
Microcontr Motor Differences in
oller readings guide the
motor movement to
align the panel[3].
Efficient Arduino 20
Solar UNO, 2 20  Servo Motors: Two
Tracker LDRs, DC servo motors
Using Motor (horizontal and
Arduino vertical) rotate the
solar panel:
Dual Axis ATmega3 20 Horizontal servo aligns
Solar 28, 4 22 East–West (azimuth).
 Vertical servo adjusts Figure 1: circuit design of dual
North–South axis solar tracker
(elevation)[4].
3.2.1 Software Implementation
 Solar Panel:Mounted The microcontroller is
on a frame driven by programmed using embedded C
the servos. The panel language. The code reads ADC
adjusts continuously values from the LDRs and
to face the direction compares them. Based on the
with the highest light comparison, it generates
intensity, improving appropriate outputs:
energy efficiency[5].  If LDR1 > LDR2 → panel
moves left.
 Power Supply: The  If LDR2 > LDR1 → panel
circuit operates on a moves right.
regulated 5V supply  If values are similar →
using a 7805 voltage panel remains
regulator. The servos stationary.
and microcontroller The logic is implemented using
share this power simple if-else conditions and ADC
source. functions provided in the AVR
library.

Resistors (10kΩ) are employed

in the voltage divider circuits with 3.3 Calculations
LDRs. They assist in converting
light intensity into readable LDR-Resistor Voltage
analog voltages for the Divider Formula:
microcontroller.
• 22pF Capacitors
connected to the 16 MHz crystal
are Vout=Vin ∗ ( R+ RLDR )
oscillator and ground to stabilize Where:
its working.  Vin=5V
• 16 MHz Crystal Oscillator  R=10kΩ
delivers a timing-accurate clock  LDR varies with light
signal to the ATmega32 (e.g., 1kΩ in bright,
microcontroller, providing 100kΩ in dark)
accurate timing for ADC
conversions and PWM signal Example:
generation.  In bright light:

3.2 Circuit Design:

Vout=5 ∗ ( 1010k +1k k )=4.54 V
 In darkness:

Vout =5 ∗ ( 10 k10+100
k
k)
=0.45 V

This difference allows

ATmega32’s ADC to detect the
brightest direction.

3.4 Block Diagram

 allowing the panel to point
towards the position of the sun
during the day.
All the components are powered
by a power supply, which can be
a battery or a solar panel itself, so
the installation is self-sustaining
and well-suited for renewable
energy use. This tracking system
provides the maximum amount
of sunlight to the solar panel at
all times, which improves energy
efficiency by a considerable
margin compared to a stationary
solar panel installation.

3.5 Flow diagram

Block Diagram 1: Dual Axis
Solar Tracker Using ATmega32

The block diagram demonstrates

the principle of operation of a
Dual-Axis Solar Tracking System
with an ATmega32
microcontroller. The system starts
with sunlight being incident on
four LDR (Light Dependent
Resistor) sensors, positioned
around the solar panel in a
strategic manner, to sense the
direction of different intensities
of light. The sensors produce
analog voltage signals
proportional to the received light
intensity.
These signals are input into the
ATmega32 microcontroller, which
uses its ADC (Analog-to-Digital
Converter) to scan and compare Flowchart 1: Flowchart of Solar
the readings from each of the Panel Movement Control Logic
four LDRs. The microcontroller 4. RESULT AND DISCUSSION
then uses these readings to
decide in which direction the 4.1. Gerber image
solar panel should turn to face
the maximum amount of light. It
then employs PWM (Pulse Width
Modulation) to regulate two
servo motors: one for left-right
horizontal movement and the
other for up-down vertical
adjustment. These motors are
attached to a solar panel mount,
 Figure 3: Final PCB Layout of
Dual Axis Solar Tracker System
The PCB layout is minimized to
avoid noise interference,
particularly important for analog
signals from the LDRs to the
microcontroller's ADC. The
system reliability is ensured by
proper routing and isolation of
power and signal lines.
Component positioning is
performed to ensure
compactness with the ability to
solder and assemble easily.

Figure 2: Gerber File Output [Link]:

for Dual Axis Solar Tracker PCB
The Gerber files created are
the end artwork for PCB
production. They contain all
required layers like top copper,
bottom copper, solder mask,
silkscreen, and drill data.
Gerber output guarantees that
the designed PCB layout can be
directly sent to a fabrication plant
without any data loss or design
ambiguity.

[Link] design

Figure 4: Final Layout of Dual

Axis Solar Tracker System

4.4 Real-Time LCD Output

Observations

Table 2: Sample LCD Messages

and Corresponding Panel
Movements

LCD Message System Behavior

LDR1 is Brighter Servo rotates panel to the East
LDR2 is Brighter Servo rotates panel to the West
LDR3 is Brighter Servo tilts panel upwards (North)
LDR4 is Brighter Servo tilts panel downwards (South)
Balanced Light Panel remains stationary
 •12 PM - 2 PM
(Midday):At midday, the
4.5. Panel Orientation solar panel is at its
highest level of tilt, with
the azimuth angle
pointing straight south
(or the region's solar
noon position). The
angle of elevation is also
at its highest to receive
the greatest possible
solar radiation. When it
is doing this, the solar
panel is perfectly aligned
to produce energy and
this is usually the
maximum energy output
of the day. The graph
will reflect the steepest
change in panel angles
graph 1: Panel Orientation Angle when the system is
Change Throughout the Day following the highest
point of the sun[2],[14].

[Link] Observations and • Afternoon (3 PM - 6

PM):With the sun's
Analysis:
movement towards the
• Morning (6 AM - 9 west in the afternoon,
AM):In the early the solar tracking system
morning, when the sun changes the azimuth
is rising, the tracking angle to the west and
system starts adjusting lowers the elevation
the panel's azimuth angle accordingly. The
angle to the east. The panel keeps itself
elevation angle of the aligned with the sun to
panel is also slowly ensure maximum
increased to capture of solar energy
accommodate the low for efficient power
angle of the sun. This generation despite the
stage is defined by a changing position of the
gradual rise of both sun lower in the sky. The
azimuth and elevation curve will show a faster
angles, providing adjustment in both the
maximum exposure to azimuth and elevation
the sun's beams in the angles as the tracking
morning. The change of system tracks the sun's
orientation is also a movement towards the
gradual one, mimicking horizon
the movement of the
sun along the •Key Insights:
horizon[11],[16].
 •Efficiency of Solar across changing levels of solar
Tracking: The dynamic, irradiation.
continuous adjustment
of both the azimuth and Table 3: comparison table of
elevation angles outpur parameters(fixed vs
throughout the day tracking)
means that the panel is
always at an optimal Volta Powe Efficienc Efficienc
angle for capturing solar Power Irradian Input
Voltage ge r y y
energy, enhancing the Time (Tracke ce Powe
(Fixed) (Trac (Fixed (Fixed) (Tracked
overall efficiency of the d) [W] [W/m²] r [W]
ked) ) [W] [%] ) [%]
system over fixed-
position panels[24]. 11:0 5.31
5.29 V 0.267 0.265 900 4.41 6.05% 6.01%
0 AM V
•Solar Irradiance and
Energy Harvesting: The 12:0 5.34
5.32 V 0.265 0.265 1000 4.90 5.41% 5.41%
plot illustrates how 0 PM V
keeping the solar panels
at a perpendicular angle 01:0 5.35
5.19 V 0.255 0.265 950 4.655 5.48% 5.69%
to the sun's rays ensures 0 PM V
maximum solar
irradiance, leading to 02:0 5.35
4.87 V 0.240 0.265 850 4.165 5.76% 6.36%
more energy generation 0 PM V
during the day[11],[7].
03:0 5.34
4.66 V 0.230 0.265 700 3.430 6.71% 7.73%
0 PM V
•Tracking System
Performance: The
04:0 5.33
tracking system's 4.42 V 0.220 0.265 600 2.940 7.48% 9.01%
0 PM V
capability to change
direction in real-time 05:0 5.32 0.215
according to the 4.31 V 0.265 400 1.960 10.99% 13.52%
0 PM V 5
movement of the sun
proves its efficiency in 06:0 5.29
keeping the solar panels 4.18 V 0.205 0.265 250 1.225 16.73% 21.63%
0 PM V
at optimal energy
production levels. This  Panel area = 0.0049 m²
constant optimization  Irradiance values are
leads to a considerable estimated based on time
enhancement in overall of day and typical clear
solar power generation. sky conditions.
 Output power is derived
using P=V×IP = V \times
4.6. Data Analysis Table IP=V×I, assuming current
This part offers comparative ≈ 0.05 A
examination of the solar panel
yield utilizing a dual-axis solar  Efficiency(η)=
tracker as compared to a
stationary (non-tracking) panel. ( Pout
Pin )
∗100
Voltage, power generation, and
determined efficiency were  Pout=V×I is the
measured and compared on electrical power
hourly bases through the day
 output of the
panel. 4.7. Graphs of efficiency
 Pin=Irradiance
×
Area of the pan
el represents
the input
power based on
the irradiance
falling on the
panel.
The above table shows the
comparative performance of
solar panels with a fixed (non- Graph 2: Efficiency (%) vs Time of
tracking) setup compared to a Day
dual-axis tracking set-up. It The graph directly
clearly indicates that although demonstrates that at noon
both systems provide roughly (12:00–2:00 PM), the two
similar power output around systems work comparably as the
noon (12:00 PM), the tracked sun is almost overhead.
system outperforms the fixed Nevertheless, the tracked panel
panel by a huge margin during possesses a visible efficiency
the early morning and late benefit at early and late hours
afternoon times. (e.g., 6:00 PM), when the
For instance, at 6:00 PM, the orientation of the fixed panel is
panel being tracked has a power no longer favorable. This
output of 0.265 W and an confirms the capability of the
efficiency of 21.63%, while the tracking system in receiving
fixed panel falls to 0.205 W and oblique-angle sunlight and
16.73% efficiency. This is the enhancing energy harvesting on a
pattern all day long: as the sun's daily basis.
angle changes, the fixed panel's
efficiency decreases, while the
tracker realigns to optimize solar
collection.
The contrast is more noticeable
when irradiance is low,
demonstrating that tracking is
particularly worthwhile under
suboptimal sunlight conditions.
These gains, while seeming
minute per hour, add up to a Graph 3: Power Output (W) vs
much greater total daily energy Time of Day for Fixed and
production. Tracked Solar Panels
These findings validate the As Figure 7 indicates, both
project goal — to show that a systems operate at similar levels
dual-axis solar tracker enhances at peak sun (midday), but the
overall solar panel efficiency, tracked system delivers close to
making it more appropriate for constant power levels all day
renewable energy use in real- long. The fixed panel, however,
world, variable sunlight shows a constant drop in output
conditions. prior to and after solar noon. This
contrast is most apparent in the
early morning and late afternoon. 5.2 FUTURE SCOPE
For instance, at 6:00 PM, the While the current
tracked system continues to have implementation gives a
a full 0.265 W output, whereas functional and effective solution,
the fixed system falls to only there are certain upgrades and
0.205 W. directions for the future that can
further improve the effectiveness
5. CONCLUSION AND FUTURE and reliability of the solar
SCOPE tracking system:
5.2.1 Incorporation of Real-
5.1 CONCLUSION
Time Clock (RTC):: The inclusion
The constructed Dual Axis Solar
of an RTC module can provide the
Tracker using ATmega32
system with the ability to forecast
successfully demonstrates an
the path of the sun in terms of
efficient and real-world means of
location and time, reducing the
optimizing solar energy
requirement for continuous
harvesting by maintaining the
sensor input and servo
solar panel aligned with the sun's
movement. This would improve
position at every instant. By
tracking precision and reduce
employing four LDR sensors for
power consumption[11],[23].
detecting sunlight intensity and
5.2.2 MPPT Algorithm Use: By
servo motors for controllable
adding a Maximum Power Point
panel movement, the system
Tracking (MPPT) algorithm, the
cleverly maximizes solar exposure
system can be further optimized
throughout the day.
to dynamically manage load
conditions such that the solar
The project not only exhibits
panel is always operating at its
the combination of analog
maximum power point[5],[19].
sensing (via LDRs) and digital
5.2.3 IoT and Remote
control (via ATmega32's ADC and
Monitoring: Adding IOT features
PWM modules), but also exhibits
(via GSM modules or ESP8266)
an affordable solution with
would enable remote logging of
simple electronic components,
data, performance checking, and
thus being able to be afforded by
fault detection. This would
low-cost industrial applications as
enable the system to be scalable
well as educational use. Real-
for huge solar farms[20],[22].
time feedback from the LCD
5.2.4 Weather-Based
interface provides an additional
Optimization:Later versions can
level of usability and diagnostic
have weather sensors (rain
capability for the system.
sensors, temperature, humidity)
to allow real-time action like
With experimental testing and
turning off movement on cloudy
simulation in Proteus, the tracker
or stormy days, which would save
was proven to increase solar
the panel and improve energy
panel orientation efficiency
efficiency[17],[24].
significantly compared to fixed-
5.2.5 Solar Panel Cleaning
angle panels. The system
Mechanism: Solar panel
optimizes adaptation to changing
efficiency will significantly reduce
directions of sunlight, minimizes
due to dust and debris. A
human effort, and optimizes
mechanical arm incorporated
energy production with minimal
into the system can remove
power consumption.
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